Vehicle navigation guidance method, device and electronic equipment based on coordinate conversion

Abstract

The present application provides a vehicle navigation guidance method based on coordinate conversion, a vehicle navigation guidance method, device and electronic equipment based on coordinate conversion, which determine planned path data according to acquired driving guidance information, construct a two-dimensional AR navigation guidance arrow in an AR projection display surface through coordinate conversion, project and display the two-dimensional AR navigation guidance arrow on the AR projection display surface, and convert the planned path data into a two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion, so that in the user's perspective, the two-dimensional AR navigation guidance arrow fits on the road surface, realizes better augmented reality fusion display with the actual road surface and intersection, and provides users with more intuitive and efficient navigation guidance.

Description

Technical Field

[0001] The present application relates to the field of driving guidance technology, and in particular to a vehicle navigation guidance method, device and electronic equipment based on coordinate transformation. Background Art

[0002] The principle of augmented reality head-up display (AR-HUD) is to display a virtual image in the driver's field of vision in front of the vehicle. AR technology can be used to integrate virtual display content with real scenes to provide the driver with more intuitive driving guidance. Navigation, as information commonly used by drivers, is generally displayed in AR-HUD. However, the current navigation displays are all icons or dynamic arrows, which only serve as a turn or U-turn prompt information to the driver and cannot be integrated with the actual road surface or intersection to achieve better augmented reality fusion display. Summary of the invention

[0003] In view of this, the purpose of the present application is to propose a vehicle navigation guidance method, device and electronic device based on coordinate transformation to solve the problem that the navigation display cannot be integrated with the actual road surface or intersection to achieve augmented reality display.

[0004] Based on the above purpose, the first aspect of the present application provides a vehicle navigation guidance method based on coordinate transformation, comprising:

[0005] Acquiring driving guidance information, and determining planned path data according to the driving guidance information;

[0006] Determine the projection position of the AR projection display surface according to the preset human eye position on the driver's side;

[0007] Based on the planned path data, constructing a two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion;

[0008] The two-dimensional AR navigation guide arrow is projected and displayed on the AR projection display surface according to the projection position.

[0009] A second aspect of the present application provides a vehicle navigation guidance device based on coordinate conversion, comprising:

[0010] The navigation module is configured to: obtain driving guidance information, and determine the planned path data according to the driving guidance information;

[0011] The position determination module is configured to: determine the projection position of the AR projection display surface according to a preset driving side human eye position;

[0012] A two-dimensional arrow confirmation module is configured to: construct a two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion based on the planned path data;

[0013] The projection module is configured to project and display the two-dimensional AR navigation guide arrow on the AR projection display surface according to the projection position.

[0014] The third aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the present application is implemented.

[0015] From the above, it can be seen that the vehicle navigation guidance method, device and electronic device based on coordinate conversion provided by the present application determine the planned path data according to the acquired driving guidance information, construct a two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion, and project the two-dimensional AR navigation guidance arrow on the AR projection display surface. The planned path data is converted into a two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion, so that in the user's perspective, the two-dimensional AR navigation guidance arrow fits on the road surface, realizing better augmented reality fusion display with the actual road surface and intersection, and providing users with more intuitive and efficient navigation guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 This is a flow chart of a vehicle navigation guidance method based on coordinate transformation according to an embodiment of the present application;

[0018] Figure 2 A schematic diagram of a vehicle in the vehicle positioning coordinate system according to an embodiment of the present application;

[0019] Figure 3 A schematic diagram of an AR road virtual guide arrow corresponding to the guidance path of an embodiment of the present application;

[0020] Figure 4 A schematic diagram of determining a projection position for an embodiment of the present application;

[0021] Figure 5 A schematic diagram of a three-dimensional AR navigation guide arrow according to an embodiment of the present application;

[0022] Figure 6 A schematic diagram of coordinate transformation according to an embodiment of the present application;

[0023] Figure 7 A logical schematic diagram of a vehicle navigation guidance method based on coordinate transformation according to an embodiment of the present application;

[0024] Figure 8 A simplified flow chart of a vehicle navigation guidance method based on coordinate transformation according to an embodiment of the present application;

[0025] Fig. 9 A flowchart for determining a projection position for an embodiment of the present application;

[0026] Fig.10 A flowchart of a spatial conversion model of an AR navigation guidance arrow is constructed for an embodiment of the present application;

[0027] Fig.11 A flowchart for determining a three-dimensional AR navigation guidance arrow for an embodiment of the present application;

[0028] Fig.12 A flowchart for determining a two-dimensional AR navigation guidance arrow for an embodiment of the present application;

[0029] Fig.13 A flowchart for determining planning path data for an embodiment of the present application;

[0030] Fig.14 This is a schematic diagram of the first lane change guidance in an embodiment of the present application;

[0031] Fig.15 This is a schematic diagram of projection display of the first lane change in the embodiment of the present application;

[0032] Fig.16 This is a schematic diagram of the second lane change guidance in an embodiment of the present application;

[0033] Fig.17 This is a schematic diagram of projection display of the second lane change in the embodiment of the present application;

[0034] Fig.18 This is a schematic diagram of the turn guidance of an embodiment of the present application;

[0035] Fig.19 A schematic diagram of a projection display of a turn in an embodiment of the present application;

[0036] Fig. 20 This is a schematic diagram of the structure of a vehicle navigation guidance device based on coordinate conversion according to an embodiment of the present application;

[0037] Fig.21 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application;

[0038] Figure symbols: 1. Vehicle; 2. Map positioning coordinate point; 3. Y axis of the vehicle positioning coordinate system; 4. X axis of the vehicle positioning coordinate system; 5. Lane; 6. Road traffic sign line; 7. Angle between the X axis of the vehicle positioning coordinate system and the next road direction; 8. Angle between the X axis of the vehicle positioning coordinate system and the current road direction; 9. Angle between the current road and the next road; 10. The X axis angle of the vehicle before and after the vehicle turns; 11. The center line of the current road; 12. The center line of the next road; 13. The distance between the vehicle and the turning intersection; 14. The distance between the vehicle and the lane line on the right side of the road edge; 15. The distance between the vehicle and the intersection guide lane line; 16. The distance between the vehicle and the right lane line of the lane; 17. The Y distance of the driver's eye in the vehicle positioning coordinate system; 18. The X distance of the driver's eye in the vehicle positioning coordinate system; 19. The height of the driver's eye and the horizontal ground; 20. Horizontal road surface; 21. AR Projection display surface; 22. Center point of AR projection display surface; 23. Downward viewing angle; 24. Horizontal plane of human eyes on the driver's side; 25. Position of human eyes on the driver's side; 26. Stereoscopic coordinate system of human eyes on the driver's side; 27. Reference coordinate system of the center point of projection display surface; 28. Space coordinate system of AR navigation guidance arrow; 29. ​​Space conversion model of AR navigation guidance arrow; 30. Center point of AR road virtual guidance arrow; 31. Y-direction distance of the center point of AR road virtual guidance arrow from the vehicle positioning coordinate system; 32. X-direction distance of the center point of AR road virtual guidance arrow from the vehicle positioning coordinate system; 33. AR navigation guidance arrow; 34. AR road virtual guidance arrow; 35. Visual middle point; 36. Display end point of AR navigation guidance arrow; 37. End point of AR road virtual guidance arrow; 38. Display starting point of AR navigation guidance arrow; 39. Starting point of AR road virtual guidance arrow. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0040] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] In some embodiments, Figure 1 As shown, the vehicle navigation guidance method based on coordinate transformation includes:

[0042] Step 100: Acquire driving guidance information, and determine planned path data according to the driving guidance information.

[0043] In this step, the driving guidance information includes map data, vehicle location information and navigation information, illustratively, as follows Figure 2 Taking the road scene shown as an example, the navigation information includes the current road where the vehicle 1 is located and the next road to be driven to, wherein: Figure 2 The corresponding scenario is that vehicle 1 changes lanes and turns from its current position and enters the right intersection of the crossroads. Figure 2 The current road in the figure is the road located at the lower side of the cross-shaped road, and the next road is the road located at the lower side of the cross-shaped road. Then, the center line 11 of the current road is taken as the X-axis, the center line 12 of the next road is taken as the Y-axis, and the intersection of the center line 11 of the current road and the center line 12 of the next road is taken as the origin to construct a road coordinate system, where: Figure 2 As shown, in the road coordinate system, the upward direction is the positive direction of the X axis, and the rightward direction is the positive direction of the Y axis; the map data includes the number of lanes of the current road and the next road and the lane type of each lane 5, road traffic sign lines 6, traffic lights and other road information, such as Figure 2 As shown, the number of lanes on the current road and the next road is three. According to the road traffic marking lines 6 on each lane 5 of the current road, it can be seen that the current road is a straight or left turn lane, a straight lane, and a straight or right turn lane from left to right.

[0044] Furthermore, the vehicle position information is obtained on the basis of the vehicle positioning coordinate system, which is a coordinate system constructed with the map positioning coordinate point 2 of the vehicle 1 as the origin, the parallel horizontal plane and the driving direction of the vehicle 1 as the positive direction of the X-axis 4 of the vehicle positioning coordinate system, and the direction perpendicular to the right of the parallel horizontal plane and the driving direction of the vehicle 1 as the positive direction of the Y-axis 3 of the vehicle positioning coordinate system, wherein the parallel horizontal plane is the horizontal road surface 20, and the vehicle position information includes: the angle 7 between the X-axis of the vehicle positioning coordinate system and the direction of the next road, the angle 8 between the X-axis of the vehicle positioning coordinate system and the direction of the current road, the angle 9 between the current road and the next road, the X-axis angle 10 before and after the vehicle turns, the center line 11 of the current road, the center line 12 of the next road, the distance 13 between the vehicle and the turning intersection, the distance 14 between the vehicle and the right side road edge lane line, the distance 15 between the vehicle and the intersection guide lane line, and the distance 16 between the vehicle and the right side lane line of the lane, wherein, Figure 2 The position of the vehicle 1 in the middle dotted line can better represent the specific positions of the angle 7 between the X-axis of the vehicle positioning coordinate system and the next road direction, the angle 8 between the X-axis of the vehicle positioning coordinate system and the current road direction, the angle 9 between the current road and the next road, and the X-axis angle 10 before and after the vehicle turns.

[0045] Further, illustratively, the following is determined based on the map data, the vehicle position information and the navigation information: Figure 3 The AR road virtual guidance arrow 34 corresponding to the planned path shown indicates that the user drives the vehicle 1 to turn right after changing lanes twice, enters the straight lane of the next road, and determines the planned path data corresponding to the planned path.

[0046] Step 200: Determine the projection position of the AR projection display surface according to the preset human eye position on the driver's side.

[0047] In this step, if Figure 4 As shown, taking the human eye position 25 on the driver's side as a reference point, the projection position of the AR projection display surface 21 is determined according to a preset downward viewing angle and a preset projection distance.

[0048] Step 300: Based on the planned path data, a two-dimensional AR navigation guidance arrow is constructed in the AR projection display surface through coordinate transformation.

[0049] In this step, it first includes: determining a three-dimensional AR navigation guidance arrow in the constructed AR navigation guidance arrow space coordinate system according to the planned path data.

[0050] For example, Figure 5As shown, the AR road virtual guidance arrow starting point 39, the AR road virtual guidance arrow ending point 37, and the AR road virtual guidance arrow center point 30 are determined according to the planned path data, and the driving side human eye position 25 and the AR road virtual guidance arrow starting point 39, the AR road virtual guidance arrow ending point 37, and the AR road virtual guidance arrow center point 30 are connected. The midpoints of all connecting lines constitute a three-dimensional AR navigation guidance arrow 33 in the pre-constructed AR navigation guidance arrow space coordinate system 28.

[0051] Furthermore, it also includes: based on the constructed AR navigation guidance arrow space conversion model, converting the three-dimensional AR navigation guidance arrow into the two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion. Figure 6 As shown, the origin of the AR navigation guidance arrow spatial coordinate system 28 and the projection display surface center point reference coordinate system 27 are in the same plane (AR projection display surface 21), so by removing the coordinate of the three-dimensional AR navigation guidance arrow 33 in the driving direction (X-axis direction), the three-dimensional AR navigation guidance arrow 33 can be converted into a two-dimensional AR navigation guidance arrow 33 in the AR projection display surface 21.

[0052] Step 400: projecting and displaying the two-dimensional AR navigation guidance arrow on the AR projection display surface according to the projection position.

[0053] In this step, exemplarily, the AR projection display surface 21 is projected and displayed according to the projection position, and the two-dimensional AR navigation guidance arrow 33 seen by the user on the driving side is presented in the form of an AR road surface virtual guidance arrow 34, that is, from the perspective of the user's human eye, the two-dimensional AR navigation guidance arrow 33 is attached to the horizontal road surface 20.

[0054] In summary, taking AR-HUD as an example of a projection device, the logic of the vehicle navigation guidance method based on coordinate transformation provided in the embodiment of the present application is as follows: Figure 7 As shown in the figure, high-precision map data is obtained, and the vehicle position information and other vehicle human-machine hard point data and high-precision navigation information are combined to perform spatial coordinate conversion and spatial angle adjustment in the AR-HUD projection display area, and AR fusion guidance path display drawing is performed to achieve better integration with high-precision map navigation application scenarios, and provide more intuitive and efficient navigation guidance for driving users. The method can be simplified as follows Figure 8The process shown, after obtaining the high-precision map data, generates the display content of the projection display surface (three-dimensional AR navigation guidance arrow 33), combines the human-machine hard point parameters of the whole vehicle (vehicle position information) to perform spatial coordinate transformation, obtains the data of the two-dimensional AR navigation guidance arrow 33, and obtains the two-dimensional AR navigation guidance arrow 33 in the projection surface after AR fusion processing. Finally, the AR high-precision navigation information is projected onto the projection surface in the form of real-time updated two-dimensional AR navigation guidance arrow 33 for display, so as to achieve a better integration of projection display and high-precision map navigation application scenarios, and converts the navigation information such as lane change, turn, and U-turn in the planned path data through the AR navigation guidance arrow space conversion model 29, so as to achieve better augmented reality fusion display with the actual road surface and intersection, and provide users with more intuitive and efficient navigation guidance.

[0055] In some embodiments, Fig. 9 As shown, the projection position of the AR projection display surface is determined according to the preset human eye position on the driving side, including:

[0056] Step 310: Obtain a preset projection distance and downward viewing angle.

[0057] Step 320: Taking the position of the human eye on the driver's side as a reference point, determine the projection position of the AR projection display surface according to the projection distance and the downward viewing angle.

[0058] Among them, the lower viewing angle is the angle between the horizontal plane 24 of the human eye on the driver's side and the line connecting the human eye position 25 on the driver's side and the center point 22 of the AR projection display surface. The projection distance is the distance between the AR projection display surface 21 and the human eye position 25 on the driver's side in the driving direction. The human eye position 25 on the driver's side is taken as the reference point, and the coordinates of the center point 22 of the AR projection display surface in the three-dimensional coordinate system 26 of the human eye on the driver's side are determined according to the projection distance and the lower viewing angle 23. The coordinate value of the coordinate in the X-axis direction is the projection distance. In order to improve the viewing experience, the coordinate value in the Y-axis direction is zero, and the coordinate value in the Z-axis direction is the projection distance multiplied by tanθ, wherein θ is the lower viewing angle 23. Determining the projection position through the lower viewing angle allows the driver to view the driving information without lowering his head.

[0059] In some embodiments, Fig.10 As shown, the AR navigation guidance arrow space conversion model is constructed, including:

[0060] Step 501: Obtain the center point of the AR road virtual guidance arrow in the planned path data.

[0061] Step 502: The center point of the AR road virtual guidance arrow is determined as the visual target point, the position of the human eye on the driver's side is determined as the visual origin, and the visual target point and the visual origin are connected.

[0062] Step 503: connect the visual target point and the visual origin, and determine the intersection of the connecting line and the AR projection display surface as the visual midpoint.

[0063] Step 504: construct a projection display surface center point reference coordinate system with the center point of the AR projection display surface as the origin.

[0064] Step 505: constructing an AR navigation guidance arrow space coordinate system with the visual midpoint as the origin;

[0065] Step 506: Taking the visual origin as the reference point, determine the coordinate transformation relationship between the AR navigation guidance arrow space coordinate system and the projection display surface center point reference coordinate system to obtain the AR navigation guidance arrow space transformation model.

[0066] Among them, Figure 6 As shown, the center point 30 of the AR road virtual guidance arrow is determined as the visual target point, the driver's side human eye position 25 is determined as the visual origin, the visual target point and the visual origin are connected, and the intersection of the line connecting the visual target point and the visual origin and the AR projection display surface 21 is taken as the visual middle point 35, wherein, since the visual middle point 35 is located in the AR projection display surface 21, the coordinate value of the center point of the AR navigation guidance arrow 33 in the X-axis direction in the driver's side human eye stereo coordinate system 26 is the value corresponding to the projection distance; then, the coordinate value of the visual middle point 35 in the Y-axis direction and the Z-axis direction in the driver's side human eye stereo coordinate system 26 is determined in combination with the coordinate of the center point 30 of the AR road virtual guidance arrow in the driver's side human eye stereo coordinate system 26.

[0067] Furthermore, a projection display surface center point reference coordinate system 27 is constructed with the center point 22 of the AR projection display surface as the origin, the driving direction of the vehicle 1 as the X-axis direction, and the direction perpendicular to the driving direction of the vehicle 1 as the Y-axis direction. An AR navigation guidance arrow space coordinate system 28 is constructed with the visual middle point 35 as the origin, the driving direction of the vehicle 1 as the X-axis direction, the direction perpendicular to the driving direction of the vehicle 1 as the Y-axis direction, and the height direction of the vehicle 1 perpendicular to the horizontal road surface 20 as the Z-axis direction. Since the visual middle point 35 is located in the AR projection display surface 21, the plane where the projection display surface center point reference coordinate system 27 is located is the same plane as the ZY plane of the AR navigation guidance arrow space coordinate system 28. Therefore, with the visual origin as the reference point, the visual origin and any point in the AR navigation guidance arrow space coordinate system 28 are connected. The intersection of the line connecting the point and the plane where the projection display surface center point reference coordinate system 27 is located is the coordinate point of the point in the projection display surface center point reference coordinate system 27 after coordinate transformation. According to the above coordinate transformation relationship, the AR navigation guidance arrow space transformation model 29 is obtained. The coordinate transformation relationship can make the three-dimensional content in the AR navigation guidance arrow space coordinate system 28 and the two-dimensional content in the projection display surface center point reference coordinate system 27 present the same display content in the user's eyes. The construction of the AR navigation guidance arrow space transformation model 29 can quickly calculate the coordinate transformation of the obtained driving guidance information, thereby improving the conversion efficiency.

[0068] In some embodiments, Fig.11 As shown, according to the planned path data, a three-dimensional AR navigation guidance arrow is determined in the constructed AR navigation guidance arrow space coordinate system, including:

[0069] Step 410: construct a vehicle positioning coordinate system with the vehicle's map positioning coordinate point as the origin.

[0070] Step 420: construct a driver-side human eye stereoscopic coordinate system with the driver-side human eye position as the origin.

[0071] Step 430: Obtain the coordinate points of the AR road virtual guidance arrows in the planned path data in the vehicle positioning coordinate system;

[0072] Step 440: Convert the coordinate point to the human eye stereo coordinate system through coordinate conversion, then convert the coordinate point from the human eye stereo coordinate system to the AR navigation guide arrow space coordinate system, and draw a three-dimensional AR navigation guide arrow in the AR navigation guide arrow space coordinate system according to the converted coordinate point.

[0073] Wherein step 440 comprises:

[0074] Determine a first mapping relationship between the vehicle positioning coordinate system and the driver's side human eye stereo coordinate system.

[0075] Determine a second mapping relationship between the driver's eye stereo coordinate system and the AR navigation guidance arrow space coordinate system.

[0076] Determine the starting point of the AR road virtual guidance arrow, the ending point of the AR road virtual guidance arrow, and the center point of the AR road virtual guidance arrow in the vehicle positioning coordinate system of the planned path data.

[0077] Based on the first mapping relationship and the second mapping relationship, the AR navigation guidance arrow starting point, AR navigation guidance arrow center point, and AR navigation guidance arrow ending point of the three-dimensional AR navigation guidance arrow in the AR navigation guidance arrow space coordinate system are determined according to the AR road surface virtual guidance arrow starting point, AR road surface virtual guidance arrow ending point, and AR road surface virtual guidance arrow center point.

[0078] A three-dimensional AR navigation guidance arrow is drawn in the AR navigation guidance arrow space coordinate system according to the AR navigation guidance arrow starting point, the AR navigation guidance arrow center point, and the AR navigation guidance arrow ending point.

[0079] Among them, exemplary ones are Figure 5 As shown, the vehicle positioning coordinate system is a coordinate system constructed with the map positioning coordinate point 2 of the vehicle 1 as the origin, the positive direction of the X-axis 4 of the vehicle positioning coordinate system in a horizontal plane parallel to the driving direction of the vehicle 1 as the positive direction, and the direction perpendicular to the right in the horizontal plane and the driving direction of the vehicle 1 as the positive direction of the Y-axis 3 of the vehicle positioning coordinate system, wherein the parallel horizontal plane is the horizontal road surface 20; the driver's side human eye stereoscopic coordinate system 26 is constructed with the driver's side human eye position 25 as the origin, the vehicle 1 driving direction as the X-axis direction, the direction perpendicular to the vehicle 1 driving direction as the Y-axis direction, and the height direction of the vehicle 1 perpendicular to the horizontal road surface 20 as the Z-axis direction.

[0080] Furthermore, the Y-direction distance 31 of the center point of the AR road virtual guidance arrow from the vehicle positioning coordinate system and the X-direction distance 32 of the center point of the AR road virtual guidance arrow from the vehicle positioning coordinate system are determined according to the planned path data, and then the coordinates of the center point 30 of the AR road virtual guidance arrow in the vehicle positioning coordinate system are obtained. In the vehicle positioning coordinate system, the Y-direction distance 17 of the driver's eye in the vehicle positioning coordinate system and the X-direction distance 18 of the driver's eye in the vehicle positioning coordinate system are determined according to the preset driver's eye position 25. The Y-direction distance 31 of the center point of the AR road virtual guidance arrow from the vehicle positioning coordinate system and the Y-direction distance 17 of the driver's eye in the vehicle positioning coordinate system are added to obtain the Y-axis direction coordinate value of the center point of the AR road virtual guidance arrow in the driver's eye stereoscopic coordinate system 26. The X-direction distance 32 of the center point from the vehicle positioning coordinate system minus the X-direction distance 18 of the driver's eye in the vehicle positioning coordinate system is obtained to obtain the coordinate value of the center point of the AR road virtual guide arrow in the X-axis direction in the driver's eye stereo coordinate system 26, and the negative value of the height value of the driver's eye position 25 is determined as the coordinate value of the center point 30 of the AR road virtual guide arrow in the Z-axis direction in the driver's eye stereo coordinate system 26, thereby realizing the conversion of the coordinates of the center point 30 of the AR road virtual guide arrow from the vehicle positioning coordinate system to the driver's eye stereo coordinate system 26, and obtaining a first mapping relationship. According to the first mapping relationship, the starting point 39 of the AR road virtual guide arrow in the vehicle positioning coordinate system, the ending point 37 of the AR road virtual guide arrow, and the coordinate points of the center point 30 of the AR road virtual guide arrow in the driver's eye stereo coordinate system 26 are determined.

[0081] Furthermore, with the driver's eye position 25 as the reference point, first determine the first distance from the visual middle point 35 to the driver's eye position 25 in the driving direction (X-axis direction), and then determine the second distance from the center point 30 of the AR road virtual guidance arrow to the driver's eye position 25 in the driving direction (X-axis direction). The ratio of the first distance to the second distance is the second mapping relationship. According to the ratio, the AR road virtual guidance arrow starting point 39 and the AR road virtual guidance arrow ending point 37 corresponding to the AR navigation guidance arrow starting point 38 and the AR navigation guidance arrow ending point 36 in the AR navigation guidance arrow space coordinate system 28 are determined. The center point is the visual middle point 35. According to the AR navigation guidance arrow starting point 38, the AR navigation guidance arrow ending point 36, and the AR navigation guidance arrow center point, a three-dimensional AR navigation guidance arrow 33 is drawn in the AR navigation guidance arrow space coordinate system 28. By first constructing the three-dimensional AR navigation guidance arrow 33, the user on the driving side can see a virtual image in the form of an AR road virtual guidance arrow 34. However, the AR projection display surface 21 is two-dimensional, so the three-dimensional AR navigation guidance arrow 33 needs to be converted into a two-dimensional AR projection display surface 21 in a subsequent step.

[0082] In some embodiments, Fig.12 As shown, based on the constructed AR navigation guidance arrow space conversion model, the three-dimensional AR navigation guidance arrow is converted into a two-dimensional AR navigation guidance arrow in the AR projection display surface 21 through coordinate conversion, including:

[0083] Step 510: Determine the three-dimensional coordinate data of the three-dimensional AR navigation guidance arrow in the AR navigation guidance arrow space coordinate system.

[0084] Step 520: Taking the visual origin as the reference point, the three-dimensional coordinate data is converted into two-dimensional coordinate data in the projection display surface center point reference coordinate system 27 according to the coordinate conversion relationship.

[0085] Step 530 : Draw a two-dimensional AR navigation guidance arrow in the reference coordinate system of the center point of the projection display surface according to the two-dimensional coordinate data to obtain a two-dimensional AR navigation guidance arrow in the AR projection display surface 21 .

[0086] Among them, a mapping between the driver's side human eye stereoscopic coordinate system 26 and the AR navigation guidance arrow space coordinate system 28 is established according to the coordinate relationship between the visual origin and the visual midpoint 35, and the coordinates of the three-dimensional AR navigation guidance arrow 33 in the driver's side human eye stereoscopic coordinate system 26 are converted into three-dimensional coordinate data of the three-dimensional AR navigation guidance arrow 33 in the AR navigation guidance arrow space coordinate system 28 according to the mapping. Taking the visual origin as the reference point, the three-dimensional coordinate data in the AR navigation guidance arrow space coordinate system 28 is converted into two-dimensional coordinate data in the projection display surface center point reference coordinate system 27 according to the coordinate conversion relationship, and a two-dimensional AR navigation guidance arrow 33 is drawn in the projection display surface center point reference coordinate system 27 according to the two-dimensional coordinate data, wherein the two-dimensional coordinate data includes the AR navigation guidance arrow display starting point 38, the AR navigation guidance arrow display ending point 36, the AR navigation guidance arrow display center point (visual origin), the AR navigation guidance arrow display boundary point, etc. Taking the visual origin as the reference point, the three-dimensional AR navigation guidance arrow 33 in the AR navigation guidance arrow space coordinate system 28 and the two-dimensional AR navigation guidance arrow 33 in the projection display surface center point reference coordinate system 27 can present the same display content in the eyes of the user. Since the data source of the two-dimensional AR navigation guidance arrow 33 is the AR road virtual guidance arrow 34, the display content presented by the two-dimensional AR navigation guidance arrow 33 in the AR projection display surface 21 in the eyes of the user is the AR road virtual guidance arrow 34 attached to the horizontal road surface 20, but the AR road virtual guidance arrow 34 does not actually exist. The three-dimensional AR navigation guidance arrow 33 constructed first can enable the user on the driving side to see a virtual image in the form of the AR road virtual guidance arrow 34. The dimensional conversion of the three-dimensional AR navigation guidance arrow 33 is based on the visual origin, so in the user's field of vision, the content seen is consistent. While ensuring that the user can see the virtual image in the form of the AR road virtual guidance arrow 34, two-dimensional projection can be performed, which simplifies the projection difficulty and saves projection costs.

[0087] In some embodiments, Fig.13 As shown, the planned path data is determined based on the map data, the vehicle position information and the navigation information, including:

[0088] Step 210: Determine the current road, the next road, the number of lanes, and the lane type of each lane based on the map data and the navigation information.

[0089] Step 220: Determine the starting position of the planned path on the current road according to the current position of the vehicle.

[0090] Step 230: Determine the end position of the planned path on the next road based on the map data and navigation information.

[0091] Step 240: Determine the planned path data according to the vehicle position information, the starting position, the ending position, the number of lanes, and the lane type of each lane.

[0092] The determination of the planned route data can provide accurate driving guidance to the user after the user determines the destination. Figure 2 Taking the road scene shown in the figure as an example, vehicle 1 enters the right intersection of the crossroad after changing lanes twice and turning once from the current position. The navigation information can determine the current position of vehicle 1 in the map data, and determine the current road where vehicle 1 is located based on the current position; according to the destination set by the user and the navigation information, the next road in the map to be driven can be determined. Figure 2 The current road in the figure is the road located at the lower side of the cross-shaped road, and the next road is the road located at the lower side of the cross-shaped road. When the current lane and the next lane are determined, the number of lanes of the current road and the next road and the lane type of each lane 5, the road traffic sign line 6, the traffic light and other road information are determined from the map data, such as Figure 2 As shown, it can be seen that the number of lanes on the current road and the next road are both three. According to the road traffic sign lines 6 on each lane 5 of the current road, it can be seen that the current road is a straight or left turn lane, a straight lane, and a straight or right turn lane from left to right. Therefore, if the vehicle 1 wants to enter the straight lane of the next road, it needs to change lanes to the right twice and turn right in sequence. The navigation module (such as navigation software) can determine the first lane change point of the planned path on the current road according to the current position of the vehicle 1, combined with the distance 13 of the vehicle from the turning intersection, the distance 14 of the vehicle from the right road edge lane line, the distance 15 of the vehicle from the intersection guide lane line, the distance 16 of the vehicle from the right lane line of the lane, the angle 7 of the X-axis of the self-vehicle positioning coordinate system and the direction of the next road, the angle 8 of the X-axis of the self-vehicle positioning coordinate system and the direction of the current road, the angle 9 of the current road and the next road, and the X-axis angle 10 of the vehicle before and after the vehicle turns, and use this point as the starting position, that is, the starting point 39 of the AR road virtual guidance arrow; according to the destination set by the user, the navigation module can determine the ending position of the planned path on the next road in the map, that is, the ending point 37 of the AR road virtual guidance arrow, and the corresponding planned path can be obtained according to the self-vehicle position information, the starting position, the ending position, the number of lanes and the lane type of each lane 5, and the coordinate data of the planned path in the self-vehicle positioning coordinate system is used as the planned path data.

[0093] Among them, due to the limitation of the user's field of view, the planned path cannot be displayed in the form of a two-dimensional AR navigation guidance arrow 33 on the AR projection display surface 21 at one time, so it is necessary to control the length of the planned path to be converted into a two-dimensional AR navigation guidance arrow 33 according to the preset path length, and perform navigation guidance in sections. For example, first, as Fig.14 and Fig.15 As shown, according to the distance 15 between the vehicle and the guide lane line of the intersection and the starting point 39 of the AR road virtual guidance arrow for the first lane change, the first lane change path planning to the right is performed, and the two-dimensional AR navigation guidance arrow 33 for the first lane change is generated on the AR projection display surface 21 through the map data, navigation information and the vehicle position information. In combination with the distance 13 between the vehicle and the turning intersection, the distance 14 between the vehicle and the lane line at the right edge of the road, and the X-axis angle 10 before and after the vehicle turns, the position, size, angle and shape of the two-dimensional AR navigation guidance arrow 33 on the AR projection display surface 21 are drawn and displayed in real time through the AR navigation guidance arrow space conversion model 29.

[0094] Furthermore, if Fig.16 and Fig.17 As shown, the starting point 39 of the AR road virtual guidance arrow for the second lane change is obtained according to the second lane change point, and the navigation guidance arrow for the second lane change is generated on the AR projection display surface 21 through the map data, navigation information and the vehicle position information, and combined with the distance 13 between the vehicle and the turning intersection, the distance 14 between the vehicle and the lane line at the right edge of the road, and the X-axis angle 10 before and after the vehicle turns, the position, size, angle, and shape of the two-dimensional AR navigation guidance arrow 33 on the AR projection display surface 21 are drawn and displayed in real time through the AR navigation guidance arrow space conversion model 29.

[0095] Further, if Fig.18 and Fig.19 As shown, after entering the right-turn guide lane, the right-turn path is planned at the intersection according to the distance 13 between the vehicle and the turning intersection, and the starting point 39 of the AR road virtual guidance arrow for the right turn is obtained according to the right turn point. Through the map data, navigation information and the vehicle position information, a two-dimensional AR navigation guidance arrow 33 for turning right is generated on the AR projection display surface 21. Combined with the distance 13 between the vehicle and the turning intersection, the distance 14 between the vehicle and the lane line on the right side of the road edge, the angle 7 between the X-axis of the vehicle positioning coordinate system and the direction of the next road, the angle 8 between the X-axis of the vehicle positioning coordinate system and the direction of the current road, the angle 9 between the current road and the next road, and the X-axis angle 10 before and after the vehicle turns, the position, size, angle and shape of the two-dimensional AR navigation guidance arrow 33 on the AR projection display surface 21 are drawn and displayed in real time through the AR navigation guidance arrow space conversion model 29.

[0096] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0097] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0098] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle navigation guidance device based on coordinate transformation, such as Fig. 20 As shown, including:

[0099] The navigation module 10 is configured to obtain driving guidance information and determine planned path data according to the driving guidance information.

[0100] The position determination module 20 is configured to determine the projection position of the AR projection display surface according to the preset human eye position on the driver's side.

[0101] The two-dimensional arrow confirmation module 30 is configured to construct a two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion based on the planned path data.

[0102] The projection module 40 is configured to project and display a two-dimensional AR navigation guide arrow on the AR projection display surface according to the projection position.

[0103] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0104] The device of the above embodiment is used to implement the corresponding vehicle navigation guidance method based on coordinate transformation in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0105] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle navigation guidance method based on coordinate transformation described in any of the above embodiments is implemented.

[0106] Fig.21 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0107] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0108] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0109] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0110] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0111] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0112] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0113] The electronic device of the above embodiment is used to implement the corresponding vehicle navigation guidance method based on coordinate conversion in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0114] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle navigation guidance method based on coordinate transformation as described in any of the above embodiments.

[0115] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0116] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the vehicle navigation guidance method based on coordinate transformation as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0117] A vehicle comprises a control device for a vehicle central control display screen as described in the above embodiment, or an electronic device as described in the above embodiment, or a computer-readable storage medium as described in the above embodiment.

[0118] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0119] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0120] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0121] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle navigation guidance method based on coordinate transformation, characterized in that: include: Acquiring driving guidance information, and determining planned path data according to the driving guidance information; Determine the projection position of the AR projection display surface according to the preset human eye position on the driver's side; Based on the planned path data, constructing a two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion; Projecting and displaying the two-dimensional AR navigation guide arrow on the AR projection display surface according to the projection position; The step of constructing a two-dimensional AR navigation guide arrow in the AR projection display surface through coordinate transformation based on the planned path data includes: Determining a three-dimensional AR navigation guidance arrow in the constructed AR navigation guidance arrow space coordinate system according to the planned path data, including: constructing a vehicle positioning coordinate system with the map positioning coordinate point of the vehicle as the origin; constructing a driver's side human eye stereo coordinate system with the driver's side human eye position as the origin; obtaining the coordinate point of the AR road virtual guidance arrow of the planned path data in the vehicle positioning coordinate system; converting the coordinate point to the human eye stereo coordinate system through coordinate conversion, and then converting the coordinate point from the human eye stereo coordinate system to the AR navigation guidance arrow space coordinate system, and drawing the three-dimensional AR navigation guidance arrow in the AR navigation guidance arrow space coordinate system according to the converted coordinate point; Based on the constructed AR navigation guidance arrow space conversion model, the three-dimensional AR navigation guidance arrow is converted into the two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion; The construction of the AR navigation guidance arrow space conversion model includes: Obtaining the center point of the AR road virtual guidance arrow in the planned path data; The center point of the AR road virtual guidance arrow is determined as the visual target point, and the position of the human eye on the driver's side is determined as the visual origin; Connecting the visual target point and the visual origin, and determining the intersection of the connecting line and the AR projection display surface as the visual middle point; Constructing a projection display surface center point reference coordinate system with the center point of the AR projection display surface as the origin; Constructing the AR navigation guidance arrow space coordinate system with the visual middle point as the origin; Taking the visual origin as a reference point, the coordinate transformation relationship between the AR navigation guidance arrow space coordinate system and the reference coordinate system of the center point of the projection display surface is determined to obtain the AR navigation guidance arrow space transformation model.

2. The method according to claim 1, characterized in that The step of converting the coordinate point into the human eye stereoscopic coordinate system through coordinate conversion, then converting the coordinate point from the human eye stereoscopic coordinate system to the AR navigation guide arrow space coordinate system, and drawing the three-dimensional AR navigation guide arrow in the AR navigation guide arrow space coordinate system according to the converted coordinate point includes: Determine a first mapping relationship between the vehicle positioning coordinate system and the driver's side human eye stereo coordinate system; Determine a second mapping relationship between the driver's eye stereoscopic coordinate system and the AR navigation guidance arrow spatial coordinate system; Determine the starting point of the AR road virtual guidance arrow, the ending point of the AR road virtual guidance arrow, and the center point of the AR road virtual guidance arrow of the planned path data in the vehicle positioning coordinate system; Based on the first mapping relationship and the second mapping relationship, determine the AR navigation guidance arrow starting point, the AR navigation guidance arrow center point, and the AR navigation guidance arrow ending point of the three-dimensional AR navigation guidance arrow in the AR navigation guidance arrow space coordinate system according to the AR road virtual guidance arrow starting point, the AR road virtual guidance arrow ending point, and the AR road virtual guidance arrow center point; The three-dimensional AR navigation guidance arrow is drawn in the AR navigation guidance arrow space coordinate system according to the AR navigation guidance arrow starting point, the AR navigation guidance arrow center point and the AR navigation guidance arrow ending point.

3. The method according to claim 1, characterized in that The method of converting the three-dimensional AR navigation guide arrow into the two-dimensional AR navigation guide arrow in the AR projection display surface through coordinate conversion based on the constructed AR navigation guide arrow space conversion model includes: Determine three-dimensional coordinate data of the three-dimensional AR navigation guidance arrow in the AR navigation guidance arrow spatial coordinate system; Taking the visual origin as a reference point, converting the three-dimensional coordinate data into two-dimensional coordinate data in a reference coordinate system of the center point of the projection display surface according to the coordinate conversion relationship; The two-dimensional AR navigation guide arrow is drawn in the reference coordinate system of the center point of the projection display surface according to the two-dimensional coordinate data to obtain the two-dimensional AR navigation guide arrow in the AR projection display surface.

4. The method according to claim 1, characterized in that: The driving guidance information obtained includes map data, vehicle location information and navigation information; The step of determining the planned path data according to the driving guidance information includes: determining a current road, a next road, a number of lanes, and a lane type for each lane based on the map data and the navigation information; Determining a starting position of the planned path on the current road according to the current position of the vehicle; Determine the end position of the planned path on the next road according to the map data and the navigation information; The planned path data is determined according to the vehicle position information, the starting position, the ending position, the number of lanes, and the lane type of each lane.

5. The method according to claim 1, characterized in that The step of determining the projection position of the AR projection display surface according to the preset driving side human eye position includes: Get the preset projection distance and downward viewing angle; Taking the human eye position on the driver's side as a reference point, the projection position of the AR projection display surface is determined according to the projection distance and the downward viewing angle.

6. A vehicle navigation guidance device based on coordinate conversion, characterized in that: include: The navigation module is configured to: obtain driving guidance information, and determine the planned path data according to the driving guidance information; The position determination module is configured to: determine the projection position of the AR projection display surface according to a preset driving side human eye position; A two-dimensional arrow confirmation module is configured to: construct a two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion based on the planned path data; The step of constructing a two-dimensional AR navigation guide arrow in the AR projection display surface through coordinate transformation based on the planned path data includes: Determining a three-dimensional AR navigation guidance arrow in a constructed AR navigation guidance arrow space coordinate system according to the planned path data, including: determining a three-dimensional AR navigation guidance arrow in a constructed AR navigation guidance arrow space coordinate system according to the planned path data, including: constructing a vehicle positioning coordinate system with the map positioning coordinate point of the vehicle as the origin; constructing a driver-side human eye stereo coordinate system with the driver-side human eye position as the origin; obtaining the coordinate point of the AR road virtual guidance arrow of the planned path data in the vehicle positioning coordinate system; converting the coordinate point to the human eye stereo coordinate system through coordinate conversion, and then converting the coordinate point from the human eye stereo coordinate system to the AR navigation guidance arrow space coordinate system, and drawing the three-dimensional AR navigation guidance arrow in the AR navigation guidance arrow space coordinate system according to the converted coordinate point; Based on the constructed AR navigation guidance arrow space conversion model, the three-dimensional AR navigation guidance arrow is converted into the two-dimensional AR navigation guidance arrow in the AR projection display surface through coordinate conversion; The construction of the AR navigation guidance arrow space conversion model includes: Obtaining the center point of the AR road virtual guidance arrow in the planned path data; The center point of the AR road virtual guidance arrow is determined as the visual target point, and the position of the human eye on the driver's side is determined as the visual origin; Connecting the visual target point and the visual origin, and determining the intersection of the connecting line and the AR projection display surface as the visual middle point; Constructing a projection display surface center point reference coordinate system with the center point of the AR projection display surface as the origin; Constructing the AR navigation guidance arrow space coordinate system with the visual middle point as the origin; Taking the visual origin as a reference point, determining a coordinate transformation relationship between the AR navigation guidance arrow space coordinate system and the reference coordinate system of the center point of the projection display surface, and obtaining the AR navigation guidance arrow space transformation model; The projection module is configured to project and display the two-dimensional AR navigation guide arrow on the AR projection display surface according to the projection position.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 5 when executing the program.

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