Projection image detection method and device, readable storage medium and electronic equipment

Abstract

The present disclosure relates to a projection image detection method, device, readable storage medium and electronic equipment. The method comprises: acquiring a current navigation route of a target vehicle and a to-be-projected image; generating a reference navigation image according to the current navigation route; and determining whether the to-be-projected image is accurate according to the reference navigation image. In this way, whether the to-be-projected image is accurate can be automatically detected in real time according to the reference navigation image during vehicle driving, saving time and effort. In addition, the to-be-projected image is an image before projection, which is generated based on the current navigation route, and does not require an additional projection image acquisition device, thereby avoiding the problem of affecting the driving line of sight due to the installation of the projection image acquisition device, ensuring driving safety and reducing vehicle cost. Furthermore, in the case that the actual projection image does not conform to the actual road, the problem can be quickly located according to the accuracy detection result of the to-be-projected image, saving manpower and resources.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of vehicles, in particular, to a projected image detection method and device, readable storage medium and electronic equipment. BACKGROUND

[0002] The vehicle-mounted head-up display (HUD) projects navigation information onto the front windshield, and then reflects it into the driver's forward vision range, so that the driver can intuitively know the navigation information. This puts forward higher requirements for the fitting degree of the HUD projected image and the road, and makes the detection of the fitting degree of the HUD projected image and the road particularly important.

[0003] At present, the HUD projected image is mainly recorded by a camera, and then it is determined whether the projected image is fitted with the actual road by playing back the video, which is time-consuming, labor-intensive and low in efficiency. Moreover, since only the driver's eye position can clearly see the HUD projected image, other positions cannot see the HUD projected image, therefore, the camera used to record the HUD projected image needs to be set in front of the driver's eyes, which will inevitably affect the driving line of sight and exist driving safety hazards. In addition, in the case that the projected image is not fitted with the actual road, it is difficult to quickly determine whether the problem is caused by inaccurate navigation route or HUD software, which needs to waste a lot of manpower to investigate and analyze. SUMMARY

[0004] In order to overcome the problems in the related art, the present disclosure provides a projected image detection method, device, readable storage medium and electronic equipment.

[0005] In order to achieve the above-mentioned purpose, in a first aspect, the present disclosure provides a projected image detection method, comprising:

[0006] obtaining a current navigation route of a target vehicle and a to-be-projected image generated based on the current navigation route and out-of-vehicle environment information of the target vehicle;

[0007] generating a reference navigation image according to the current navigation route;

[0008] determining whether the to-be-projected image is accurate according to the reference navigation image.

[0009] Optionally, the generating a reference navigation image according to the current navigation route comprises:

[0010] for each position point in the current navigation route, determining a target pixel point corresponding to the position point from the projection pixel points of the projection surface to which the to-be-projected image is projected;

[0011] According to each of the target pixel points, a reference navigation image is generated.

[0012] Optionally, the target pixel point corresponding to the position point is determined from the projection pixel points of the projection surface to which the to-be-projected image is projected, including:

[0013] For each projection pixel point in the projection surface to which the to-be-projected image is projected, a reference offset corresponding to the projection pixel point is determined, wherein the reference offset is an offset of a ground point corresponding to the projection pixel point relative to the target vehicle;

[0014] A first target offset matching the position point is determined from all the reference offsets, wherein the first target offset is a reference offset with a smallest difference between a first offset of the position point relative to the target vehicle in all the reference offsets;

[0015] A projection pixel point corresponding to the first target offset in the projection surface is determined as the target pixel point corresponding to the position point.

[0016] Optionally, the first target offset matching the position point is determined from all the reference offsets, including:

[0017] According to a projection ground range, a second target offset matching the position point is determined, wherein a position point corresponding to the second target offset falls within the projection ground range, and the projection ground range is a ground area corresponding to the projection surface;

[0018] According to the second target offset, the first target offset matching the position point is determined from all the reference offsets.

[0019] Optionally, the second target offset matching the position point is determined according to the projection ground range, including:

[0020] It is determined whether the position point falls within the projection ground range;

[0021] If the position point falls within the projection ground range, a first offset of the position point relative to the target vehicle is determined as the second target offset;

[0022] If the position point falls outside the projection ground range, and at least one of adjacent position points of the position point in the current navigation route falls within the projection ground range, the second target offset is determined according to the projection ground range and the adjacent position points.

[0023] Optionally, the second target offset is determined according to the projection ground range and the adjacent position points, including:

[0024] determining a second offset of the adjacent position point relative to the target vehicle, for each of the adjacent position points falling within the projected ground range; determining a first intersection between a first line segment and a boundary line of the projected ground range, wherein the first line segment is a line segment between a position point represented by the first offset and a position point represented by the second offset;

[0025] determining a coordinate of each of the first intersections as the second target offset.

[0026] Optionally, the determining the second target offset according to the projected ground range and the adjacent position point comprises:

[0027] correcting the position point according to the projected ground range and the adjacent position point, so that the corrected position point falls within the projected ground range;

[0028] determining a third offset of the corrected position point relative to the target vehicle, and determining the third offset as the second target offset.

[0029] Optionally, the correcting the position point according to the projected ground range and the adjacent position point comprises:

[0030] determining a second intersection between a second line segment and a boundary line of the projected ground range, for each of the adjacent position points falling within the projected ground range, wherein the second line segment is a line segment between the position point and the adjacent position point;

[0031] replacing the position point with each of the second intersections.

[0032] Optionally, the determining the first target offset matching the position point from all the reference offsets according to the second target offset comprises:

[0033] if the second target offset is contained in all the reference offsets, determining the second target offset as the first target offset;

[0034] if the second target offset is not contained in all the reference offsets, determining a reference offset having a smallest distance from the second target offset as the first target offset.

[0035] Optionally, the current navigation route comprises two point lists, wherein the point lists comprise a plurality of position points.

[0036] The generating a reference navigation image according to each of the target pixel points comprises:

[0037] connecting each of the target pixel points in sequence according to the position points corresponding to the target pixel points in the point column to obtain a first curve and a second curve;

[0038] connecting a first pixel point of the first curve with a first pixel point of the second curve and connecting a last pixel point of the first curve with a last pixel point of the second curve to obtain a reference navigation image.

[0039] Optionally, the determining whether the to-be-projected image is accurate according to the reference navigation image comprises:

[0040] determining a similarity between the reference navigation image and the to-be-projected image;

[0041] if the similarity is greater than a preset similarity threshold, determining that the to-be-projected image is accurate.

[0042] In a second aspect, the present disclosure provides a projection image detection device, comprising:

[0043] an acquisition module configured to acquire a current navigation route of a target vehicle and a to-be-projected image generated based on the current navigation route and vehicle external environment information of the target vehicle;

[0044] a generation module configured to generate a reference navigation image according to the current navigation route acquired by the acquisition module;

[0045] a determination module configured to determine whether the to-be-projected image acquired by the acquisition module is accurate according to the reference navigation image generated by the generation module.

[0046] In a third aspect, the present disclosure provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the projection image detection method provided in the first aspect of the present disclosure.

[0047] In a fourth aspect, the present disclosure provides an electronic device, comprising:

[0048] a memory having a computer program stored thereon;

[0049] a processor configured to execute the computer program in the memory to implement the steps of the projection image detection method provided in the first aspect of the present disclosure.

[0050] In the technical solution, firstly, the current navigation route of the target vehicle and the to-be-projected image generated based on the current navigation route and the out-of-vehicle environment information fusion of the target vehicle are acquired; then, the reference navigation image is generated according to the current navigation route; and finally, whether the to-be-projected image is accurate is determined according to the reference navigation image. In this way, whether the to-be-projected image is accurate can be automatically detected in real time according to the reference navigation image during the driving of the vehicle, which saves time and effort. In addition, the to-be-projected image is an image before projection generated based on the current navigation route, and does not need to additionally set a projection image acquisition device, so that the problem that the driving line of sight is affected due to the installation of the projection image acquisition device can be avoided, the driving safety is ensured, and the vehicle cost is reduced. In addition, in the case that the actual projection image does not match the actual road, the problem can be quickly located according to the accuracy detection result of the to-be-projected image, so that manpower and material resources are saved.

[0051] Other features and advantages of the present disclosure will be described in detail in the following detailed description section. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

[0053] Figure 1 is a flowchart of a projection image detection method according to an exemplary embodiment.

[0054] Figure 2 is a flowchart of a method for generating a reference navigation image according to a current navigation route according to an exemplary embodiment.

[0055] Figure 3A and Figure 3B is a process schematic diagram of generating a reference navigation image according to each target pixel point according to an exemplary embodiment.

[0056] Figure 4 is a block diagram of a projection image detection device according to an exemplary embodiment.

[0057] Figure 5 is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0058] The detailed description of the present disclosure is described in detail below in combination with the drawings. It should be understood that the detailed description described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0059] It should be noted that all the actions of obtaining signals, information or data in the present disclosure are carried out in accordance with the corresponding data protection regulations and policies of the country where the device is located, and with the authorization given by the owner of the corresponding device.

[0060] Figure 1 is a flowchart of a projection image detection method according to an exemplary embodiment. Wherein, the method can be applied to a vehicle controller or a special processor arranged on a vehicle. As shown in Figure 1 , the method can include the following S101-S103.

[0061] In S101, the current navigation route of the target vehicle and the to-be-projected image generated based on the current navigation route and the out-of-vehicle environment information of the target vehicle are obtained.

[0062] In the present disclosure, the above-mentioned current navigation route can be obtained from a special server provided by the manufacturer of the target vehicle, or from a third-party application (for example, a navigation application). Wherein, the current navigation route can be generated according to the current position and the destination, and it can include a plurality of sequentially connected position points (including the starting point and the ending point).

[0063] The to-be-projected image is generated by the HUD fusion module based on the current navigation route and the out-of-vehicle environment information, and then the to-be-projected image is projected onto the front windshield through the projection device connected to the HUD fusion module. Wherein, the HUD is composed of an image generator, a folding mirror and a rotating mirror, and the image generator includes the HUD fusion module and the projection device. In addition, the to-be-projected image can be obtained by communicating with the HUD fusion module.

[0064] In S102, a reference navigation image is generated according to the current navigation route.

[0065] In S103, it is determined whether the to-be-projected image is accurate according to the reference navigation image.

[0066] In the present disclosure, after determining whether the to-be-projected image is accurate, the accuracy determination result of the to-be-projected image can be saved. In this way, in the case that the actual projected image does not fit the actual road, the determination result can be used to quickly determine whether it is a data providing problem (i.e. inaccurate navigation route) or a HUD software problem. Specifically, if the to-be-projected image is inaccurate, it indicates that the generated to-be-projected image is inaccurate, at this time, it can be determined that it is a problem of the HUD software (specifically, the to-be-projected image generation method in the HUD fusion module); if the to-be-projected image is accurate, it indicates that the method of generating the to-be-projected image is accurate, at this time, it can be determined that it is a data providing problem (i.e. inaccurate navigation route).

[0067] In addition, the projection image detection method can be performed at a preset time interval (e.g., 1 s).

[0068] In the technical solution, first, the current navigation route of the target vehicle and the to-be-projected image generated based on the current navigation route and the out-of-vehicle environment information of the target vehicle are obtained; then, the reference navigation image is generated according to the current navigation route; and finally, whether the to-be-projected image is accurate is determined according to the reference navigation image. In this way, whether the to-be-projected image is accurate can be automatically detected in real time according to the reference navigation image during the driving of the vehicle, which saves time and effort. In addition, the to-be-projected image is an image before projection, which is generated based on the current navigation route, and does not need to additionally set a projection image acquisition device, so that the problem that the driving line of sight is affected due to the installation of the projection image acquisition device can be avoided, the driving safety is ensured, and the vehicle cost is reduced. In addition, in the case that the actual projection image does not match the actual road, the problem can be quickly located according to the accuracy detection result of the to-be-projected image, which saves manpower and material resources.

[0069] The specific implementation of S102 in the above S102, that is, generating a reference navigation image according to the current navigation route, will be described in detail below. Specifically, S1021 and S1022 shown in the above S102 can be implemented: Figure 2

[0070] In S1021, for each position point in the current navigation route, a target pixel point corresponding to the position point is determined from the projection pixel points of the projection surface to which the to-be-projected image is projected.

[0071] In the present disclosure, the projection surface to which the to-be-projected image is projected is the virtual image plane on the front windshield.

[0072] In S1022, a reference navigation image is generated according to each target pixel point.

[0073] In the above embodiment, the target pixel points corresponding to the position points in the current navigation route can be determined in parallel, so that the reference navigation image can be quickly generated, and the real-time performance of detecting whether the to-be-projected image is accurate is ensured.

[0074] The specific implementation of S1021 in the above S102, that is, determining a target pixel point corresponding to a position point from the projection pixel points of the projection surface to which the to-be-projected image is projected, will be described in detail below. Specifically, the following steps (1) to (3) can be implemented:

[0075] (1) For each projection pixel point in the projection surface to which the to-be-projected image is projected, a reference offset corresponding to the projection pixel point is determined.

[0076] ​In the present disclosure, the reference offset corresponding to a projection pixel point is the offset of the ground point corresponding to the projection pixel point relative to the target vehicle. The projection plane corresponds to the projection ground range in front of the vehicle. The projection pixel points in the projection plane correspond one-to-one to the ground points in the projection ground range. The projection ground range is the ground area corresponding to the projection plane.

[0077] (2) determining a first target offset matching the position point from all the reference offsets.

[0078] The first target offset is the reference offset with the smallest difference between the first offset of the position point relative to the target vehicle from all the reference offsets.

[0079] (3) determining the target pixel point corresponding to the position point as the projection pixel point in the projection plane corresponding to the first target offset.

[0080] In the above embodiment, the target pixel points corresponding to the position points in the navigation route are determined by using the reference offsets as a medium. This can ensure that the ground position points corresponding to the target pixel points are located within the projection ground range, thereby ensuring that the reference navigation image falls within the projection plane, and further ensuring the accuracy of the to-be-projected image accuracy detection.

[0081] The specific implementation of determining the reference offset corresponding to each projection pixel point in the projection plane to which the to-be-projected image is projected will be described in detail below. Specifically, this can be achieved in various ways. In one embodiment, for each projection pixel point in the projection plane, the ground point corresponding to the projection pixel point can be determined first. The correspondence between the projection pixel points in the projection plane and the ground points is pre-calibrated. Then, the offset of the ground point relative to the target vehicle is determined. For example, the offset of the center of mass of the target vehicle relative to the target vehicle can be determined as the offset of the ground point relative to the target vehicle. Finally, the offset is determined as the reference offset corresponding to the projection pixel point.

[0082] In another embodiment, the correspondence between the projection pixel points in the projection plane and the reference offsets is pre-established. In this way, the reference offset corresponding to the projection pixel point can be quickly obtained according to the correspondence. The reference offset corresponding to each projection pixel point in the projection plane can be determined in the same way as described in the above embodiment, and the correspondence can be established.

[0083] The following describes in detail the specific implementation of the step (2) above, i.e., determining the first target offset matching the position point from all the reference offsets. Specifically, the step (2) can be implemented by the following steps (21) and (22):

[0084] (21) Determining the second target offset matching the position point according to the projected ground range.

[0085] In the present disclosure, the position point corresponding to the second target offset falls within the projected ground range.

[0086] (22) Determining the first target offset matching the position point from all the reference offsets according to the second target offset.

[0087] Specifically, if the second target offset is included in all the reference offsets, the second target offset is determined as the first target offset; if the second target offset is not included in all the reference offsets, the reference offset having the smallest gap between the second target offset among all the reference offsets is determined as the first target offset, wherein the distance between the position point represented by the reference offset and the position point represented by the second target offset can be used to measure the gap between the reference offset and the second target offset.

[0088] The following describes in detail the specific implementation of the step (21) above, i.e., determining the second target offset matching the position point according to the projected ground range. Specifically, the step (21) can be implemented by the following steps (211) to (215):

[0089] (211) Determining whether the position point falls within the projected ground range.

[0090] If the position point falls within the projected ground range, the following step (212) is performed; if the position point does not fall within the projected ground range, the following step (213) is performed.

[0091] (212) Determining the first offset of the position point relative to the target vehicle as the second target offset.

[0092] (213) Determining whether all the adjacent position points of the position point in the current navigation route fall outside the projected ground range.

[0093] In the present disclosure, the current navigation route includes two point lists (a general navigation route has a width, i.e., one point list on the left and one point list on the right), wherein the point list includes a plurality of position points, and the plurality of position points are sequentially connected, and the adjacent position point of a position point is the position point adjacent to the position point in the point list. Among them, the adjacent position point of the first position point in the point list and the adjacent position point of the last position point in the point list are both one, and the adjacent position points of other position points in the point list are both two.

[0094] If the adjacent position points of the position point in the current navigation route all fall outside the projected ground range, when generating the reference navigation image, the position point is discarded, and it can be considered that the second target offset matched with the position point is empty, i.e., the target pixel point corresponding to the position point is empty, at this time, the following step (214) is performed; if the adjacent position points of the position point in the current navigation route do not all fall outside the projected ground range, i.e., at least one of the adjacent position points of the position point in the current navigation route falls within the projected ground range, the following step (215) is performed.

[0095] (214) The second target offset is empty.

[0096] (215) Determine the second target offset according to the projected ground range and the adjacent position points.

[0097] Specifically, the second target offset can be determined in various ways according to the projected ground range and the adjacent position points. In one embodiment, the second target offset can be determined by the following steps [1] and [2]:

[0098] [1] For each adjacent position point falling within the projected ground range, determine the second offset of the adjacent position point relative to the target vehicle; determine the first intersection point between the first line segment and the boundary line of the projected ground range, wherein the first line segment is the line segment between the position point represented by the first offset and the position point represented by the second offset.

[0099] Among them, the offset can be represented by (x, y, z), which is used to represent the offset of the corresponding position point in the x, y, and z directions relative to the target vehicle, wherein z is the direction from the tail to the head, y is the vertical upward direction, and x is the direction to the right side of the target vehicle (from the tail to the head direction).

[0100] [2] The coordinates of each first intersection point are determined as the second target offset.

[0101] In the present disclosure, the coordinates of the first intersection point represent the offset.

[0102] In another embodiment, the second target offset can be determined according to the projected ground range and the adjacent position points by the following steps ① and ②:

[0103] ①According to the projection ground range and the adjacent position point, the position point is corrected so that the position point obtained after correction falls within the projection ground range.

[0104] Specifically, for each adjacent position point falling within the projection ground range, a second intersection point between a second line segment and the boundary line of the projection ground range can be determined, wherein the second line segment is a line segment between the position point and the adjacent position point; and then each second intersection point is used to replace the position point.

[0105] In an embodiment, the adjacent position point of the position point is one, and the adjacent position point falls within the projection ground range. In this case, an intersection point between a second line segment and the boundary line of the projection ground range can be determined first, wherein the second line segment is a line connecting the adjacent position point and the position point; and then the intersection point is used to replace the position point.

[0106] In another embodiment, the adjacent position points of the position point are two, one of which falls within the projection ground range and the other falls outside the projection ground range. In this case, an intersection point between a second line segment and the boundary line of the projection ground range can be determined first, wherein the second line segment is a line segment between the adjacent position point falling within the projection ground range and the position point; and then the intersection point is used to replace the position point.

[0107] In yet another embodiment, the adjacent position points of the position point are two, and both of the adjacent position points fall within the projection ground range. In this case, an intersection point between a line segment between the position point and each adjacent position point and the boundary line of the projection ground range can be determined to obtain two intersection points; and then the two intersection points are used to replace the position point.

[0108] For example, the adjacent position points of the position point P are two, which are position point A and position point B, and both of the adjacent position points fall within the projection ground range, wherein the intersection point A' between the line segment AP and the boundary line of the projection ground range, and the intersection point B' between the line segment BP and the boundary line of the projection ground range; and then the intersection point A' and the intersection point B' are used to replace the position point P.

[0109] ②The third offset of the position point obtained after correction with respect to the target vehicle is determined, and the third offset is determined as the second target offset.

[0110] The specific implementation of generating the reference navigation image according to each target pixel point in S1022 is described in detail below. Specifically, the current navigation route includes two point lists, and each point list includes a plurality of position points. In this case, the first curve and the second curve can be obtained by sequentially connecting each target pixel point according to the order of the position points corresponding to the target pixel points in the point list to which the target pixel points belong. Then, the first pixel point of the first curve and the first pixel point of the second curve are connected, and the last pixel point of the first curve and the last pixel point of the second curve are connected to obtain the reference navigation image. The first pixel point corresponds to the first position point of the point list, and the last pixel point corresponds to the last position point of the point list.

[0111] For example, the navigation route includes two point lists, namely a point list F composed of position points a1, e1, b1, c1, e4, and d2, and a point list L composed of position points a2, e2, b2, c2, e3, and d1. The position point a1 corresponds to the target pixel point A1, the position point a2 corresponds to the target pixel point A2, the position point e1 corresponds to the target pixel point E1, the position point e2 corresponds to the target pixel point E2, the position point b1 corresponds to the target pixel point B1, the position point b2 corresponds to the target pixel point B2, the position point c1 corresponds to the target pixel point C1, the position point c2 corresponds to the target pixel point C2, the position point e4 corresponds to the target pixel point E4, the position point e3 corresponds to the target pixel point E3, the position point d2 corresponds to the target pixel point D2, and the position point d1 corresponds to the target pixel point D1. The target pixel points A1, E1, B1, C1, E4, and D2 are sequentially connected to obtain the first curve between A1 and D2 as shown in FIG. 6A. Meanwhile, the target pixel points A2, E2, B2, C2, E3, and D1 are sequentially connected to obtain the second curve between A2 and D1 as shown in FIG. 6B. Then, the first pixel point A1 of the first curve and the first pixel point A2 of the second curve are connected, and the last pixel point D2 of the first curve and the last pixel point D1 of the second curve are connected to obtain the polygon as shown in FIG. 6C, that is, the reference navigation image. Figure 3A Figure 3A Figure 3B

[0112] The specific implementation of determining whether the to-be-projected image is accurate according to the reference navigation image in S103 is described in detail below. Specifically, the similarity between the reference navigation image and the to-be-projected image can be determined first. If the similarity is greater than a preset similarity threshold (for example, 95%), it is determined that the to-be-projected image is accurate. If the similarity is less than or equal to the preset similarity threshold, it is determined that the to-be-projected image is not accurate.

[0113] ​​​In the present disclosure, the similarity between the reference navigation image and the image to be projected can be measured in various ways. In one embodiment, the reference navigation image is a polygon, and a polygon to be projected corresponding to the reference navigation image is intercepted on the image to be projected; the ratio of the number of non-white pixel points in the polygon to be projected to the total number of pixel points contained in the polygon to be projected is determined as the similarity between the reference navigation image and the image to be projected.

[0114] In another embodiment, the Euclidean distance, cosine distance, Hamming distance, etc. can be used to measure the similarity between the reference navigation image and the image to be projected.

[0115] Figure 4 is a block diagram of a projection image detection device according to an exemplary embodiment. As shown in Figure 4 the device 400 includes:

[0116] The acquisition module 401 is configured to acquire a current navigation route of a target vehicle and an image to be projected generated based on the current navigation route and outside environment information of the target vehicle.

[0117] The generation module 402 is configured to generate a reference navigation image according to the current navigation route acquired by the acquisition module.

[0118] The determination module 403 is configured to determine whether the image to be projected acquired by the acquisition module 401 is accurate according to the reference navigation image generated by the generation module 402.

[0119] In the above technical solution, first, the current navigation route of the target vehicle and the image to be projected generated based on the current navigation route and the outside environment information of the target vehicle are acquired; then, the reference navigation image is generated according to the current navigation route; finally, whether the image to be projected is accurate is determined according to the reference navigation image. In this way, during the driving of the vehicle, whether the image to be projected is accurate can be automatically detected in real time according to the reference navigation image, saving time and effort. In addition, the image to be projected is an image before projection generated based on the current navigation route, and does not require an additional projection image acquisition device, thereby avoiding the problem of affecting the driving line of sight due to the installation of the projection image acquisition device, ensuring the driving safety, and reducing the cost of the vehicle. Furthermore, in the case that the actual projection image does not match the actual road, the problem can be quickly located according to the accuracy detection result of the image to be projected, saving manpower and material resources.

[0120] Optionally, the generation module 402 includes:

[0121] a first determining sub-module, configured to determine, for each position point in the current navigation route, a target pixel point corresponding to the position point from among projection pixel points of a projection plane to which the to-be-projected image is projected;

[0122] a generating sub-module, configured to generate a reference navigation image according to each target pixel point.

[0123] Optionally, the first determining sub-module comprises:

[0124] a second determining sub-module, configured to determine, for each projection pixel point in the projection plane to which the to-be-projected image is projected, a reference offset corresponding to the projection pixel point, wherein the reference offset is an offset of a ground point corresponding to the projection pixel point relative to the target vehicle;

[0125] a third determining sub-module, configured to determine, from all the reference offsets, a first target offset matching the position point, wherein the first target offset is a reference offset having a smallest difference from a first offset of the position point relative to the target vehicle among all the reference offsets;

[0126] a fourth determining sub-module, configured to determine, as the target pixel point corresponding to the position point, a projection pixel point in the projection plane corresponding to the first target offset.

[0127] Optionally, the third determining sub-module comprises:

[0128] a fifth determining sub-module, configured to determine, according to a projection ground range, a second target offset matching the position point, wherein a position point corresponding to the second target offset falls within the projection ground range, and the projection ground range is a ground area corresponding to the projection plane;

[0129] a sixth determining sub-module, configured to determine, according to the second target offset, the first target offset matching the position point from among all the reference offsets.

[0130] Optionally, the fifth determining sub-module comprises:

[0131] a seventh determining sub-module, configured to determine whether the position point falls within the projection ground range;

[0132] an eighth determining sub-module, configured to, if the position point falls within the projection ground range, determine a first offset of the position point relative to the target vehicle as the second target offset;

[0133] a ninth determining sub-module, configured to determine the second target offset according to the projected ground range and the adjacent position points if the position point falls outside the projected ground range and at least one of the adjacent position points in the current navigation route falls within the projected ground range.

[0134] Optionally, the ninth determining sub-module includes:

[0135] a tenth determining sub-module, configured to determine, for each of the adjacent position points falling within the projected ground range, a second offset of the adjacent position point relative to the target vehicle; and

[0136] a twelfth determining sub-module, configured to determine a coordinate of each of the first intersection points as the second target offset.

[0137] Optionally, the ninth determining sub-module includes:

[0138] a correcting sub-module, configured to correct the position point according to the projected ground range and the adjacent position points, so that the corrected position point falls within the projected ground range;

[0139] a thirteenth determining sub-module, configured to determine a third offset of the corrected position point relative to the target vehicle, and determine the third offset as the second target offset.

[0140] Optionally, the correcting sub-module includes:

[0141] a fourteenth determining sub-module, configured to determine, for each of the adjacent position points falling within the projected ground range, a second intersection between a second line segment and a boundary line of the projected ground range, wherein the second line segment is a line segment between the position point and the adjacent position point;

[0142] a replacing sub-module, configured to replace the position point with each of the second intersection points.

[0143] Optionally, the sixth determining sub-module includes:

[0144] a fifteenth determining sub-module, configured to determine the second target offset as the first target offset if the second target offset is contained in all the reference offsets.

[0145] The sixteenth determining sub-module is configured to determine, if the second target offset is not included in all the reference offsets, a reference offset with the smallest gap between the second target offset as the first target offset.

[0146] Optionally, the current navigation route comprises two point lists, wherein the point list comprises a plurality of position points.

[0147] The generating sub-module comprises:

[0148] The first connecting sub-module is configured to connect each target pixel point in sequence according to the order of the position point corresponding to the target pixel point in the point list, to obtain a first curve and a second curve.

[0149] The second connecting sub-module is configured to connect a head pixel point of the first curve with a head pixel point of the second curve, and connect a tail pixel point of the first curve with a tail pixel point of the second curve, to obtain a reference navigation image.

[0150] Optionally, the determining module 403 comprises:

[0151] The seventeenth determining sub-module is configured to determine a similarity between the reference navigation image and the image to be projected.

[0152] The eighteenth determining sub-module is configured to determine that the image to be projected is accurate if the similarity is greater than a preset similarity threshold.

[0153] As to the apparatus in the above-described embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments about the method, and thus will not be described in detail here.

[0154] The present disclosure also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the steps of the above-mentioned projection image detection method provided by the present disclosure.

[0155] Figure 5 is a block diagram of an electronic device 700 according to an exemplary embodiment. As shown in Figure 5 The electronic device 700 can include a processor 701 and a memory 702. The electronic device 700 can also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0156] The processor 701 is configured to control overall operations of the electronic device 700 to complete all or part of the steps of the projection image detection method described above. The memory 702 is configured to store various types of data to support operations of the electronic device 700, which can include, for example, instructions for operating any application or method on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, and the like. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The multimedia component 703 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 702 or transmitted through the communication component 705. The audio component also includes at least one speaker configured to output audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 705 is configured to perform wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the corresponding communication component 705 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0157] In an exemplary embodiment, the electronic device 700 can be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic elements for performing the projection image detection method described above.

[0158] In another exemplary embodiment, a computer readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the projection image detection method described above. For example, the computer readable storage medium can be the memory 702 described above including program instructions, which can be executed by the processor 701 of the electronic device 700 to complete the projection image detection method described above.

[0159] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above-described embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0160] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the present disclosure.

[0161] Furthermore, any combination of various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, and it should also be considered as disclosed by the present disclosure.

Claims

1. A projection image detection method, characterized in that: include: Acquire a current navigation route of a target vehicle and an image to be projected generated by fusing the current navigation route and the external environment information of the target vehicle; generating a reference navigation image according to the current navigation route; determining whether the image to be projected is accurate based on the reference navigation image; The generating a reference navigation image according to the current navigation route includes: For each position point in the current navigation route, determining a target pixel point corresponding to the position point from projection pixel points of the projection surface onto which the image to be projected is to be projected; generating a reference navigation image according to each of the target pixels; The determining of a target pixel point corresponding to the position point from projection pixel points of a projection surface onto which the image to be projected is to be projected comprises: For each projection pixel point in the projection surface onto which the image to be projected is to be projected, determining a reference offset corresponding to the projection pixel point, wherein the reference offset is an offset of a ground point corresponding to the projection pixel point relative to the target vehicle; Determine a first target offset that matches the position point from all the reference offsets, wherein the first target offset is a reference offset that has the smallest difference from the first offset of the position point relative to the target vehicle among all the reference offsets; Determining a projection pixel point in the projection plane corresponding to the first target offset as a target pixel point corresponding to the position point; The determining a first target offset that matches the position point from all the reference offsets includes: Determining a second target offset that matches the position point according to the projected ground range, wherein the position point corresponding to the second target offset falls within the projected ground range, and the projected ground range is a ground area corresponding to the projection surface; According to the second target offset, a first target offset matching the position point is determined from all the reference offsets.

2. The method according to claim 1, characterized in that Determining a second target offset that matches the position point according to the projected ground range includes: Determine whether the location point falls within the projected ground range; If the location point falls within the projected ground range, determining the location point relative to the first offset as the second target offset; If the location point falls outside the projected ground range and at least one of the adjacent location points of the location point in the current navigation route falls within the projected ground range, the second target offset is determined based on the projected ground range and the adjacent location point.

3. The method according to claim 2, characterized in that The determining the second target offset according to the projected ground range and the adjacent position points includes: For each adjacent position point within the projected ground range, determining a second offset of the adjacent position point relative to the target vehicle; Determine a first intersection point between a first line segment and a boundary line of the projected ground range, wherein the first line segment is a line segment between a position point represented by the first offset and a position point represented by the second offset; The coordinates of each of the first intersection points are determined as the second target offset.

4. The method according to claim 2, characterized in that The determining the second target offset according to the projected ground range and the adjacent position points includes: Correcting the position point according to the projected ground range and the adjacent position points so that the corrected position point falls within the projected ground range; A third offset of the corrected position point relative to the target vehicle is determined, and the third offset is determined as the second target offset.

5. The method according to claim 4, characterized in that The correcting the position point according to the projected ground range and the adjacent position points includes: For each adjacent position point within the projected ground range, determining a second intersection point between a second line segment and a boundary line of the projected ground range, wherein the second line segment is a line segment between the position point and the adjacent position point; The position point is replaced by each of the second intersection points.

6. The method according to claim 1, characterized in that Determining a first target offset matching the position point from all the reference offsets according to the second target offset includes: If all the reference offsets include the second target offset, determining the second target offset as the first target offset; If the second target offset is not included in all the reference offsets, the reference offset with the smallest difference from the second target offset among all the reference offsets is determined as the first target offset.

7. The method according to claim 1, characterized in that The current navigation route includes two point lists, wherein the point lists include a plurality of location points; Generating a reference navigation image according to each target pixel point includes: Connecting each of the target pixel points in the order of their corresponding position points in the corresponding point column to obtain a first curve and a second curve; The first pixel point of the first curve is connected to the first pixel point of the second curve, and the last pixel point of the first curve is connected to the last pixel point of the second curve to obtain a reference navigation image.

8. The method according to any one of claims 1 to 7, characterized in that The determining, based on the reference navigation image, whether the image to be projected is accurate includes: Determining the similarity between the reference navigation image and the image to be projected; If the similarity is greater than a preset similarity threshold, it is determined that the image to be projected is accurate.

9. A projection image detection device, characterized in that: include: An acquisition module is used to acquire a current navigation route of a target vehicle and an image to be projected generated by fusing the current navigation route and the external environment information of the target vehicle; a generating module, configured to generate a reference navigation image according to the current navigation route acquired by the acquiring module; a determination module, configured to determine whether the image to be projected acquired by the acquisition module is accurate based on the reference navigation image generated by the generation module; The generation module includes: A first determining submodule is configured to determine, for each position point in the current navigation route, a target pixel point corresponding to the position point from the projection pixel points of the projection surface onto which the image to be projected is to be projected; A generating submodule, configured to generate a reference navigation image according to each target pixel point; The first determining submodule includes: a second determining submodule, configured to determine, for each projection pixel point in the projection surface onto which the image to be projected is to be projected, a reference offset corresponding to the projection pixel point, wherein the reference offset is an offset of a ground point corresponding to the projection pixel point relative to the target vehicle; a third determining submodule, configured to determine a first target offset that matches the position point from all the reference offsets, wherein the first target offset is a reference offset that has the smallest difference from the first offset of the position point relative to the target vehicle among all the reference offsets; a fourth determining submodule, configured to determine a projection pixel point in the projection plane corresponding to the first target offset as a target pixel point corresponding to the position point; The third determining submodule includes: a fifth determining submodule, configured to determine a second target offset that matches the position point based on the projected ground range, wherein the position point corresponding to the second target offset falls within the projected ground range, and the projected ground range is a ground area corresponding to the projection surface; The sixth determining submodule is configured to determine, based on the second target offset, a first target offset that matches the position point from all the reference offsets.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

11. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 8.

Images