Vehicle real-time lane navigation method, device, storage medium and Beidou intelligent terminal

Abstract

The present invention discloses a vehicle real-time lane navigation method, device, storage medium and Beidou intelligent terminal based on Beidou intelligent terminal; wherein, the method includes: planning a real-time navigation path on a built-in map based on a navigation destination; performing real-time positioning processing to obtain real-time positioning information; the Beidou intelligent terminal obtains real-time driving video data on the vehicle in real time based on a communication connection; performs lane recognition processing on the real-time driving video data to obtain the lane information of the vehicle on the current driving road; performs fitting insertion processing on the built-in map based on the lane information and real-time positioning information of the vehicle on the current driving road to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map; performs real-time lane navigation processing on the vehicle with real-time lane position information on the real-time navigation path of the built-in map based on the real-time navigation path. In the embodiment of the present invention, lane-level navigation guidance of the vehicle in navigation can be realized.

Description

Technical Field

[0001] The present invention relates to the field of positioning and navigation technology, and in particular to a vehicle real-time lane navigation method, device, storage medium and Beidou intelligent terminal based on Beidou intelligent terminal. Background Art

[0002] With the development of technology, more and more cars are now equipped with 360-degree panoramic camera devices, or can be equipped with 360-degree camera devices to collect real-time road condition video data; at the same time, the built-in maps of existing smart terminals can provide navigation planning for vehicle driving, but due to various reasons, the car navigation of existing smart terminals can only provide ordinary route planning navigation, and cannot accurately determine the specific situation of vehicle navigation to the lane where the vehicle is located in the route planning navigation. In this way, when driving on closed roads, if the user misses the voice prompt information, it is easy to cause the user to miss the relevant exit, or cause the user to change lanes on a solid line, etc., which will bring corresponding driving safety problems and lead to a poor user experience. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a vehicle real-time lane navigation method, device, storage medium and Beidou intelligent terminal based on Beidou intelligent terminal, which can realize lane-level navigation guidance of the vehicle in navigation, avoid users from easily missing related exits after missing voice prompts, avoid corresponding driving safety issues, and bring users a better driving experience.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a vehicle real-time lane navigation method based on a Beidou intelligent terminal, wherein the Beidou intelligent terminal is communicatively connected with the vehicle, and the method includes:

[0005] Acquire a navigation destination input by a user on the Beidou intelligent terminal, and plan a real-time navigation path on a built-in map based on the navigation destination;

[0006] Perform real-time positioning processing based on the Beidou intelligent terminal and obtain real-time positioning information;

[0007] The Beidou intelligent terminal obtains real-time driving video data on the vehicle in real time based on the communication connection;

[0008] The Beidou intelligent terminal performs lane recognition processing on the real-time driving video data to obtain lane information of the vehicle on the current driving road;

[0009] Performing fitting and insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the real-time positioning information to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map;

[0010] Based on the real-time navigation path, real-time lane navigation processing is performed on the vehicle with real-time lane position information on the real-time navigation path of the built-in map.

[0011] Optionally, obtaining a navigation destination input by a user on the Beidou intelligent terminal, and planning a real-time navigation path on a built-in map based on the navigation destination, includes:

[0012] Calling up the built-in map on the Beidou smart terminal, and receiving a navigation destination input by a user based on an input box of the built-in map;

[0013] A navigation route planning process is performed on the built-in map based on the navigation destination to obtain a real-time navigation route; wherein the built-in map is a real-time traffic map that updates traffic information in real time.

[0014] Optionally, the Beidou intelligent terminal obtains real-time driving video data on the vehicle in real time based on the communication connection, including:

[0015] After the vehicle is started, real-time video visual acquisition and processing are performed based on the vehicle-mounted camera equipment to obtain real-time driving video data;

[0016] The Beidou intelligent terminal performs real-time video driving video data extraction and processing on the vehicle in real time based on the communication connection with the vehicle to obtain real-time driving video data; wherein the communication connection is a communication connection of an HDMI interface, a USB interface or a Type-C interface, and the on-board camera equipment is a camera equipment arranged around the vehicle; the real-time driving video data is 360-degree panoramic real-time driving video data formed by splicing the real-time video data collected by the on-board camera equipment.

[0017] Optionally, the Beidou intelligent terminal performs lane recognition processing on the real-time driving video data to obtain lane information of the vehicle on the current driving road, including:

[0018] The Beidou intelligent terminal performs frame processing on the real-time driving video data according to the shooting frame rate to obtain real-time driving video frame data;

[0019] Performing redundancy removal processing on the real-time driving video frame data at a preset frame number interval to obtain first real-time driving video frame data;

[0020] Performing vehicle target recognition processing on the first real-time driving video frame data according to a preset vehicle profile matching method to obtain a vehicle recognition target;

[0021] Performing target removal processing on the vehicle recognition target in the first real-time driving video frame data to obtain second real-time driving video frame data;

[0022] Lane recognition processing is performed on the second real-time driving video frame data to obtain lane information of the vehicle on the current driving road.

[0023] Optionally, performing lane recognition processing on the second real-time driving video frame data to obtain lane information of the vehicle on the current driving road includes:

[0024] grayscale the second real-time driving video frame data to obtain grayscale second real-time driving video frame data;

[0025] Dividing the grayscale second real-time driving video frame data into a plurality of to-be-identified regions on average, and calculating the average grayscale value and standard deviation of pixels in each to-be-identified region;

[0026] Determine a binarization algorithm for each area to be identified based on the average grayscale value and standard deviation of pixels in each area to be identified, and perform weighted threshold calculation on the binarization algorithm to obtain a binarization weighted threshold;

[0027] Performing binarization processing on the corresponding area to be identified based on the binarization weighted threshold to obtain a binarization processing result;

[0028] Performing lane extraction processing based on the binarization processing result and obtaining a lane extraction result;

[0029] Lane recognition processing is performed based on the lane extraction result to obtain lane information of the vehicle on the current driving road.

[0030] Optionally, performing fitting insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the real-time positioning information to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map includes:

[0031] Obtaining highway data of the real-time positioning information on the built-in map, wherein the highway data includes highway curvature value data and highway slope data;

[0032] Based on the lane information of the vehicle on the current driving road and the highway data, fitting and insertion processing is performed on the built-in map to obtain real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0033] Optionally, the performing fitting insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the highway data includes:

[0034] Cutting the lane information of the vehicle on the current driving road according to the road curvature value data and the road slope data in the road data to obtain the cut lane information of the vehicle on the current driving road;

[0035] A fitting and insertion process is performed on the built-in map based on the lane information of the cut vehicle on the current driving road.

[0036] In addition, an embodiment of the present invention further provides a vehicle real-time lane navigation device based on a Beidou intelligent terminal, wherein the Beidou intelligent terminal is communicatively connected with the vehicle, and the device comprises:

[0037] Planning module: used to obtain the navigation destination input by the user on the Beidou intelligent terminal, and plan a real-time navigation path on the built-in map based on the navigation destination;

[0038] Positioning module: used to perform real-time positioning processing based on the Beidou intelligent terminal and obtain real-time positioning information;

[0039] Driving data acquisition module: used for the Beidou intelligent terminal to obtain real-time driving video data on the vehicle in real time based on the communication connection;

[0040] Lane recognition module: used for the Beidou intelligent terminal to perform lane recognition processing on the real-time driving video data to obtain the lane information of the vehicle on the current driving road;

[0041] A fitting insertion module: used for performing fitting insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the real-time positioning information, so as to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map;

[0042] Navigation processing module: used for performing real-time lane navigation processing on the vehicle's real-time lane position information on the real-time navigation path of the built-in map based on the real-time navigation path.

[0043] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle real-time lane navigation method as described in any one of the above is implemented.

[0044] In addition, an embodiment of the present invention further provides a Beidou intelligent terminal, which is an intelligent terminal including a Beidou positioning system, and includes:

[0045] one or more processors;

[0046] Memory;

[0047] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to: execute any one of the above-mentioned vehicle real-time lane navigation methods.

[0048] In an embodiment of the present invention, lane-level navigation guidance can be implemented in the vehicle navigation, so that the user can avoid missing the relevant exit after missing the voice prompt, avoid corresponding driving safety issues, and bring a better driving experience to the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 It is a flowchart of a method for real-time lane navigation of a vehicle based on a Beidou intelligent terminal in an embodiment of the present invention;

[0051] Figure 2 Schematic diagram of the structure of a real-time lane navigation device for a vehicle based on a Beidou intelligent terminal in an embodiment of the present invention;

[0052] Figure 3 It is a schematic diagram of the structural composition of the Beidou intelligent terminal in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Embodiment 1

[0055] See also Figure 1 , Figure 1 It is a flow chart of a vehicle real-time lane navigation method based on Beidou intelligent terminal in an embodiment of the present invention.

[0056] like Figure 1As shown, a vehicle real-time lane navigation method based on Beidou intelligent terminal, the Beidou intelligent terminal is communicatively connected with the vehicle, and the method includes:

[0057] S11: obtaining a navigation destination input by a user on the Beidou intelligent terminal, and planning a real-time navigation path on a built-in map based on the navigation destination;

[0058] In the specific implementation process of the present invention, the navigation destination input by the user is obtained on the Beidou smart terminal, and a real-time navigation path is planned on the built-in map based on the navigation destination, including: calling up the built-in map on the Beidou smart terminal, and receiving the navigation destination input by the user based on the input box of the built-in title map; performing navigation path planning processing on the built-in map based on the navigation destination to obtain a real-time navigation path; wherein the built-in map is a real-time traffic map that updates traffic information in real time.

[0059] Specifically, the Beidou smart terminal is an intelligent terminal device that includes the Beidou positioning system, which may be a smart phone terminal or a tablet terminal device with the Beidou positioning system; after the Beidou smart terminal is connected to the vehicle through the corresponding interface, the user can perform relevant operations on the Beidou smart terminal to call out the built-in map of the Beidou smart terminal, and at the same time, by entering the navigation destination in the input box of the built-in map, the built-in map can perform navigation path planning and processing according to the navigation destination, thereby obtaining a real-time navigation path; among them, since the Beidou smart terminal has a 4G or 5G network, it can connect to the network in real time, so that the built-in map can be a real-time traffic map that updates traffic information in real time.

[0060] S12: Perform real-time positioning processing based on the Beidou intelligent terminal and obtain real-time positioning information;

[0061] In the specific implementation process of the present invention, real-time positioning information can be obtained by performing real-time positioning processing through the Beidou positioning system of the Beidou intelligent terminal.

[0062] S13: The Beidou intelligent terminal obtains real-time driving video data on the vehicle in real time based on the communication connection;

[0063] In a specific implementation of the present invention, the Beidou intelligent terminal obtains real-time driving video data on the vehicle in real time based on the communication connection, including:

[0064] After the vehicle is started, real-time video visual acquisition and processing are performed based on the on-board camera equipment to obtain real-time driving video data; the Beidou intelligent terminal performs real-time video driving video data extraction and processing on the vehicle in real time based on the communication connection with the vehicle to obtain real-time driving video data; wherein, the communication connection is a communication connection of an HDMI interface, a USB interface or a Type-C interface, and the on-board camera equipment is a camera equipment arranged around the vehicle; the real-time driving video data is a 360-degree panoramic real-time driving video data formed by splicing the real-time video data collected by the on-board camera equipment.

[0065] Specifically, in the specific implementation process of the present invention, after the vehicle is started, real-time video acquisition and processing are performed by the on-board camera equipment arranged around the vehicle to obtain real-time driving video data, and then the Beidou intelligent terminal performs real-time video driving video data extraction and processing on the vehicle in real time through the communication connection with the vehicle to obtain the extracted real-time driving video data; since the extracted real-time driving video data has not yet been subjected to corresponding splicing processing to form a 360-degree panoramic real-time driving video data, therefore, a vehicle-mounted camera distortion coefficient is set, and the distortion coefficient is used to calculate the transformation coefficient of the on-board camera equipment, and after the transformation coefficient is obtained, the transformation coefficient is used to extract the real driving video data. The real-time driving video data is subjected to distortion removal processing to obtain real-time driving video data with distortion removed, and then the real-time driving video data with distortion removed is used for corresponding splicing processing to obtain spliced ​​real-time driving video data; the spliced ​​real-time driving video data is used for surface projection processing, and the real-time driving video data after the surface projection is subjected to multi-band fusion processing to obtain the final real-time driving video data, and the real-time driving video data is 360-degree panoramic real-time driving video data; and the communication connection is a communication connection of an HDMI interface, a USB interface or a Type-C interface, and the on-board camera equipment is arranged on camera equipment around the vehicle.

[0066] S14: The Beidou intelligent terminal performs lane recognition processing on the real-time driving video data to obtain lane information of the vehicle on the current driving road;

[0067] In the specific implementation process of the present invention, the Beidou intelligent terminal performs lane recognition processing on the real-time driving video data to obtain the lane information of the vehicle on the current driving road, including: the Beidou intelligent terminal performs frame processing on the real-time driving video data according to the shooting frame rate to obtain real-time driving video frame data; performs redundancy removal processing on the real-time driving video frame data according to a preset frame number interval to obtain first real-time driving video frame data; performs vehicle target recognition processing on the first real-time driving video frame data in a preset vehicle contour matching manner to obtain a vehicle recognition target; performs target removal processing on the vehicle recognition target in the first real-time driving video frame data to obtain second real-time driving video frame data; performs lane recognition processing on the second real-time driving video frame data to obtain the lane information of the vehicle on the current driving road.

[0068] Furthermore, the lane recognition processing is performed on the second real-time driving video frame data to obtain the lane information of the vehicle on the current driving road, including: grayscale processing is performed on the second real-time driving video frame data to obtain grayscale second real-time driving video frame data; the grayscale second real-time driving video frame data is evenly divided into a number of areas to be identified, and the pixel grayscale average value and pixel standard deviation in each area to be identified are calculated; based on the pixel grayscale average value and pixel standard deviation in each area to be identified, a binarization algorithm for each area to be identified is determined, and a weighted threshold is calculated for the binarization algorithm to obtain a binarization weighted threshold; based on the binarization weighted threshold, a binarization processing is performed on the corresponding area to be identified to obtain a binarization processing result; based on the binarization processing result, a lane extraction processing is performed to obtain a lane extraction result; based on the lane extraction result, a lane recognition processing is performed to obtain the lane information of the vehicle on the current driving road.

[0069] Specifically, the Beidou intelligent terminal performs frame processing on the real-time driving video data according to the shooting frame rate during shooting to obtain the real-time driving video frame data, and then performs redundancy removal processing on the real-time driving video frame data according to the preset frame number interval to obtain the first real-time driving video frame data, which can be one frame interval or two frame interval according to the user's preset frame number interval; the preset vehicle contours of various types of vehicles set in the corresponding database need to perform target contour recognition on the first real-time driving video frame data, and then perform vehicle target recognition processing by matching the recognized target contour with the preset vehicle contour, and when the match is successful, obtain the vehicle recognition target; then remove the recognized vehicle recognition target in the first real-time driving video frame data, so as to obtain the second real-time driving video frame data; and then perform lane recognition processing on the second real-time driving video frame data to obtain the lane information of the vehicle on the current driving road.

[0070] When performing lane recognition, it is first necessary to grayscale the second real-time driving video frame data to obtain grayscale second real-time driving video frame data; then the grayscale second real-time driving video frame data needs to be evenly divided into a number of areas to be recognized, and the grayscale average value and standard deviation of the pixels in each area to be recognized are calculated at the same time; then the binarization algorithm of each area to be recognized is determined according to the grayscale average value and standard deviation of the pixels in each area to be recognized, and the binarization algorithm is used to perform weighted threshold calculation to obtain a binarization weighted threshold; then the weighted threshold is used to perform binarization processing on the corresponding area to be recognized to obtain a binarization processing result; the lane separation line is extracted through the binarization processing result to obtain a lane extraction result; then, lane recognition and positioning processing is performed according to the position of the user's vehicle in the lane extraction result to obtain the lane information of the vehicle on the current driving road.

[0071] S15: performing fitting and insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the real-time positioning information to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map;

[0072] In the specific implementation process of the present invention, the fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle in the current driving road and the real-time positioning information to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map, including: obtaining highway data of the real-time positioning information on the built-in map, the highway data including highway curvature value data and highway slope data; fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle in the current driving road and the highway data to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0073] Furthermore, the fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle on the current traveling road and the highway data, including: cutting the lane information of the vehicle on the current traveling road according to the highway curvature value data and the highway slope data in the highway data to obtain the lane information of the vehicle on the current traveling road after cutting; and fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle on the current traveling road after cutting.

[0074] Specifically, by implementing the positioning information and performing kilometer data acquisition processing on the built-in map position corresponding to the real-time positioning information, the kilometer data of the corresponding position can be obtained, and the kilometer data includes road curvature value data and road slope data; then, according to the lane information and road data of the vehicle on the current driving road, fitting and insertion processing is performed on the built-in map to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0075] That is, the lane information of the vehicle on the current road is cut according to the highway curvature value data and the highway slope data in the highway data, and the lane information of the vehicle on the current road is cut into lane information that is the same as the kilometer curvature value data and the kilometer slope data in the kilometer data, so as to obtain the lane information of the vehicle on the current road after cutting; then the lane information of the vehicle on the current road after cutting is fitted and inserted on the built-in map, so as to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0076] S16: Performing real-time lane navigation processing on the vehicle with real-time lane position information on the real-time navigation path of the built-in map based on the real-time navigation path.

[0077] In the specific implementation process of the present invention, the real-time vehicle navigation voice prompt processing can be performed on the vehicle according to the real-time navigation path combined with the specific situation of the real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0078] In an embodiment of the present invention, lane-level navigation guidance can be implemented in the vehicle navigation, so that the user can avoid missing the relevant exit after missing the voice prompt, avoid corresponding driving safety issues, and bring a better driving experience to the user.

[0079] Embodiment 2

[0080] See also Figure 2 , Figure 2 It is a schematic diagram of the structural composition of a vehicle real-time lane navigation device based on a Beidou intelligent terminal in an embodiment of the present invention.

[0081] like Figure 2 As shown, a vehicle real-time lane navigation device based on a Beidou intelligent terminal, the Beidou intelligent terminal is communicatively connected with the vehicle, and the device includes:

[0082] Planning module 21: used to obtain the navigation destination input by the user on the Beidou intelligent terminal, and plan a real-time navigation path on the built-in map based on the navigation destination;

[0083] In the specific implementation process of the present invention, the navigation destination input by the user is obtained on the Beidou smart terminal, and a real-time navigation path is planned on the built-in map based on the navigation destination, including: calling up the built-in map on the Beidou smart terminal, and receiving the navigation destination input by the user based on the input box of the built-in title map; performing navigation path planning processing on the built-in map based on the navigation destination to obtain a real-time navigation path; wherein the built-in map is a real-time traffic map that updates traffic information in real time.

[0084] Specifically, the Beidou smart terminal is an intelligent terminal device that includes the Beidou positioning system, which may be a smart phone terminal or a tablet terminal device with the Beidou positioning system; after the Beidou smart terminal is connected to the vehicle through the corresponding interface, the user can perform relevant operations on the Beidou smart terminal to call out the built-in map of the Beidou smart terminal, and at the same time, by entering the navigation destination in the input box of the built-in map, the built-in map can perform navigation path planning and processing according to the navigation destination, thereby obtaining a real-time navigation path; among them, since the Beidou smart terminal has a 4G or 5G network, it can connect to the network in real time, so that the built-in map can be a real-time traffic map that updates traffic information in real time.

[0085] Positioning module 22: used to perform real-time positioning processing based on the Beidou intelligent terminal and obtain real-time positioning information;

[0086] In the specific implementation process of the present invention, real-time positioning information can be obtained by performing real-time positioning processing through the Beidou positioning system of the Beidou intelligent terminal.

[0087] Driving data acquisition module 23: used for the Beidou intelligent terminal to obtain real-time driving video data on the vehicle in real time based on the communication connection;

[0088] In a specific implementation of the present invention, the Beidou intelligent terminal obtains real-time driving video data on the vehicle in real time based on the communication connection, including:

[0089] After the vehicle is started, real-time video visual acquisition and processing are performed based on the on-board camera equipment to obtain real-time driving video data; the Beidou intelligent terminal performs real-time video driving video data extraction and processing on the vehicle in real time based on the communication connection with the vehicle to obtain real-time driving video data; wherein, the communication connection is a communication connection of an HDMI interface, a USB interface or a Type-C interface, and the on-board camera equipment is a camera equipment arranged around the vehicle; the real-time driving video data is a 360-degree panoramic real-time driving video data formed by splicing the real-time video data collected by the on-board camera equipment.

[0090] Specifically, in the specific implementation process of the present invention, after the vehicle is started, real-time video acquisition and processing are performed by the on-board camera equipment arranged around the vehicle to obtain real-time driving video data, and then the Beidou intelligent terminal performs real-time video driving video data extraction and processing on the vehicle in real time through the communication connection with the vehicle to obtain the extracted real-time driving video data; since the extracted real-time driving video data has not yet been subjected to corresponding splicing processing to form a 360-degree panoramic real-time driving video data, therefore, a vehicle-mounted camera distortion coefficient is set, and the distortion coefficient is used to calculate the transformation coefficient of the on-board camera equipment, and after the transformation coefficient is obtained, the transformation coefficient is used to extract the real driving video data. The real-time driving video data is subjected to distortion removal processing to obtain real-time driving video data with distortion removed, and then the real-time driving video data with distortion removed is used for corresponding splicing processing to obtain spliced ​​real-time driving video data; the spliced ​​real-time driving video data is used for surface projection processing, and the real-time driving video data after the surface projection is subjected to multi-band fusion processing to obtain the final real-time driving video data, and the real-time driving video data is 360-degree panoramic real-time driving video data; and the communication connection is a communication connection of an HDMI interface, a USB interface or a Type-C interface, and the on-board camera equipment is arranged on camera equipment around the vehicle.

[0091] Lane recognition module 24: used for the Beidou intelligent terminal to perform lane recognition processing on the real-time driving video data to obtain lane information of the vehicle on the current driving road;

[0092] In the specific implementation process of the present invention, the Beidou intelligent terminal performs lane recognition processing on the real-time driving video data to obtain the lane information of the vehicle on the current driving road, including: the Beidou intelligent terminal performs frame processing on the real-time driving video data according to the shooting frame rate to obtain real-time driving video frame data; performs redundancy removal processing on the real-time driving video frame data according to a preset frame number interval to obtain first real-time driving video frame data; performs vehicle target recognition processing on the first real-time driving video frame data in a preset vehicle contour matching manner to obtain a vehicle recognition target; performs target removal processing on the vehicle recognition target in the first real-time driving video frame data to obtain second real-time driving video frame data; performs lane recognition processing on the second real-time driving video frame data to obtain the lane information of the vehicle on the current driving road.

[0093] Furthermore, the lane recognition processing is performed on the second real-time driving video frame data to obtain the lane information of the vehicle on the current driving road, including: grayscale processing is performed on the second real-time driving video frame data to obtain grayscale second real-time driving video frame data; the grayscale second real-time driving video frame data is evenly divided into a number of areas to be identified, and the pixel grayscale average value and pixel standard deviation in each area to be identified are calculated; based on the pixel grayscale average value and pixel standard deviation in each area to be identified, a binarization algorithm for each area to be identified is determined, and a weighted threshold is calculated for the binarization algorithm to obtain a binarization weighted threshold; based on the binarization weighted threshold, a binarization processing is performed on the corresponding area to be identified to obtain a binarization processing result; based on the binarization processing result, a lane extraction processing is performed to obtain a lane extraction result; based on the lane extraction result, a lane recognition processing is performed to obtain the lane information of the vehicle on the current driving road.

[0094] Specifically, the Beidou intelligent terminal performs frame processing on the real-time driving video data according to the shooting frame rate during shooting to obtain the real-time driving video frame data, and then performs redundancy removal processing on the real-time driving video frame data according to the preset frame number interval to obtain the first real-time driving video frame data, which can be one frame interval or two frame interval according to the user's preset frame number interval; the preset vehicle contours of various types of vehicles set in the corresponding database need to perform target contour recognition on the first real-time driving video frame data, and then perform vehicle target recognition processing by matching the recognized target contour with the preset vehicle contour, and when the match is successful, obtain the vehicle recognition target; then remove the recognized vehicle recognition target in the first real-time driving video frame data, so as to obtain the second real-time driving video frame data; and then perform lane recognition processing on the second real-time driving video frame data to obtain the lane information of the vehicle on the current driving road.

[0095] When performing lane recognition, it is first necessary to grayscale the second real-time driving video frame data to obtain grayscale second real-time driving video frame data; then the grayscale second real-time driving video frame data needs to be evenly divided into a number of areas to be recognized, and the grayscale average value and standard deviation of the pixels in each area to be recognized are calculated at the same time; then the binarization algorithm of each area to be recognized is determined according to the grayscale average value and standard deviation of the pixels in each area to be recognized, and the binarization algorithm is used to perform weighted threshold calculation to obtain a binarization weighted threshold; then the weighted threshold is used to perform binarization processing on the corresponding area to be recognized to obtain a binarization processing result; the lane separation line is extracted through the binarization processing result to obtain a lane extraction result; then, lane recognition and positioning processing is performed according to the position of the user's vehicle in the lane extraction result to obtain the lane information of the vehicle on the current driving road.

[0096] A fitting insertion module 25 is used to perform fitting insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the real-time positioning information, so as to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map;

[0097] In the specific implementation process of the present invention, the fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle in the current driving road and the real-time positioning information to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map, including: obtaining highway data of the real-time positioning information on the built-in map, the highway data including highway curvature value data and highway slope data; fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle in the current driving road and the highway data to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0098] Furthermore, the fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle on the current traveling road and the highway data, including: cutting the lane information of the vehicle on the current traveling road according to the highway curvature value data and the highway slope data in the highway data to obtain the lane information of the vehicle on the current traveling road after cutting; and fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle on the current traveling road after cutting.

[0099] Specifically, by implementing the positioning information and performing kilometer data acquisition processing on the built-in map position corresponding to the real-time positioning information, the kilometer data of the corresponding position can be obtained, and the kilometer data includes road curvature value data and road slope data; then, according to the lane information and road data of the vehicle on the current driving road, fitting and insertion processing is performed on the built-in map to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0100] That is, the lane information of the vehicle on the current road is cut according to the highway curvature value data and the highway slope data in the highway data, and the lane information of the vehicle on the current road is cut into lane information that is the same as the kilometer curvature value data and the kilometer slope data in the kilometer data, so as to obtain the lane information of the vehicle on the current road after cutting; then the lane information of the vehicle on the current road after cutting is fitted and inserted on the built-in map, so as to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0101] The navigation processing module 26 is used to perform real-time lane navigation processing on the real-time lane position information of the vehicle on the real-time navigation path of the built-in map based on the real-time navigation path.

[0102] In the specific implementation process of the present invention, the real-time vehicle navigation voice prompt processing can be performed on the vehicle according to the real-time navigation path combined with the specific situation of the real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

[0103] In an embodiment of the present invention, lane-level navigation guidance can be implemented in the vehicle navigation, so that the user can avoid missing the relevant exit after missing the voice prompt, avoid corresponding driving safety issues, and bring a better driving experience to the user.

[0104] Embodiment 3

[0105] A computer-readable storage medium is provided in an embodiment of the present invention, wherein a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, a vehicle real-time lane navigation method of any one of the above embodiments is implemented. The computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (EraSable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, the storage device includes any medium that can store or transmit information in a readable form by a device (e.g., a computer, a mobile phone), which can be a read-only memory, a disk or an optical disk, etc.

[0106] An embodiment of the present invention further provides a computer application program, which runs on a computer and is used to execute the vehicle real-time lane navigation method of any one of the above embodiments.

[0107] also, Figure 3 It is a schematic diagram of the structural composition of the Beidou intelligent terminal in an embodiment of the present invention.

[0108] The embodiment of the present invention also provides a Beidou intelligent terminal, such as Figure 3 The Beidou intelligent terminal includes a processor 302, a memory 303, an input unit 304, a display unit 305 and other devices. Those skilled in the art can understand that Figure 3The device structure device shown does not constitute a limitation on all devices, and may include more or fewer components than shown, or combine certain components. The memory 303 can be used to store the application 301 and various functional modules, and the processor 302 runs the application 301 stored in the memory 303, thereby executing various functional applications and data processing of the device. The memory can be an internal memory or an external memory, or include both internal and external memories. The internal memory may include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, or a random access memory. The external memory may include a hard disk, a floppy disk, a ZIP disk, a U disk, a magnetic tape, etc. The memory disclosed in the present invention includes but is not limited to these types of memories. The memory disclosed in the present invention is only used as an example and not as a limitation.

[0109] The input unit 304 is used to receive the input of the signal and the keyword input by the user. The input unit 304 may include a touch panel and other input devices. The touch panel can collect the user's touch operation on or near it (such as the user's operation on or near the touch panel using any suitable object or accessory such as a finger, stylus, etc.), and drive the corresponding connection device according to a pre-set program; other input devices may include but are not limited to one or more of a physical keyboard, a function key (such as a play control key, a switch key, etc.), a trackball, a mouse, a joystick, etc. The display unit 305 can be used to display the information input by the user or the information provided to the user and various menus of the Beidou intelligent terminal. The display unit 305 can be in the form of a liquid crystal display, an organic light emitting diode, etc. The processor 302 is the control center of the Beidou intelligent terminal, which uses various interfaces and lines to connect various parts of the entire device, and executes various functions and processes data by running or executing software programs and / or modules stored in the memory 302, and calling data stored in the memory.

[0110] As an embodiment, the Beidou intelligent terminal is an intelligent terminal that includes a Beidou positioning system, which includes: one or more processors 302, a memory 303, and one or more applications 301, wherein the one or more applications 301 are stored in the memory 303 and are configured to be executed by the one or more processors 302, and the one or more applications 301 are configured to execute the vehicle real-time lane navigation method in any one of the above-mentioned embodiments.

[0111] In an embodiment of the present invention, lane-level navigation guidance can be implemented in the vehicle navigation, so that the user can avoid missing the relevant exit after missing the voice prompt, avoid corresponding driving safety issues, and bring a better driving experience to the user.

[0112] In addition, the above is a detailed introduction to a vehicle real-time lane navigation method, device, storage medium and Beidou smart terminal based on a Beidou smart terminal provided in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for a general technician in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle real-time lane navigation method based on Beidou intelligent terminal, characterized in that: The Beidou intelligent terminal is communicatively connected with the vehicle, and the method includes: Acquire a navigation destination input by a user on the Beidou intelligent terminal, and plan a real-time navigation path on a built-in map based on the navigation destination; Perform real-time positioning processing based on the Beidou intelligent terminal and obtain real-time positioning information; The Beidou intelligent terminal obtains real-time driving video data on the vehicle in real time based on the communication connection; The Beidou intelligent terminal performs lane recognition processing on the real-time driving video data to obtain lane information of the vehicle on the current driving road; Performing fitting and insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the real-time positioning information to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map; Based on the real-time navigation path, the vehicle performs real-time lane navigation processing on the real-time lane position information on the real-time navigation path of the built-in map; The Beidou intelligent terminal performs lane recognition processing on the real-time driving video data to obtain lane information of the vehicle on the current driving road, including: The Beidou intelligent terminal performs frame processing on the real-time driving video data according to the shooting frame rate to obtain real-time driving video frame data; Performing redundancy removal processing on the real-time driving video frame data at a preset frame number interval to obtain first real-time driving video frame data; Performing vehicle target recognition processing on the first real-time driving video frame data according to a preset vehicle profile matching method to obtain a vehicle recognition target; Performing target removal processing on the vehicle recognition target in the first real-time driving video frame data to obtain second real-time driving video frame data; Performing lane recognition processing on the second real-time driving video frame data to obtain lane information of the vehicle on the current driving road; The performing lane recognition processing on the second real-time driving video frame data to obtain lane information of the vehicle on the current driving road includes: grayscale the second real-time driving video frame data to obtain grayscale second real-time driving video frame data; Dividing the grayscale second real-time driving video frame data into a plurality of to-be-identified regions on average, and calculating the average grayscale value and standard deviation of pixels in each to-be-identified region; Determine a binarization algorithm for each area to be identified based on the average grayscale value and standard deviation of pixels in each area to be identified, and perform weighted threshold calculation on the binarization algorithm to obtain a binarization weighted threshold; Performing binarization processing on the corresponding area to be identified based on the binarization weighted threshold to obtain a binarization processing result; Performing lane extraction processing based on the binarization processing result and obtaining a lane extraction result; Lane recognition processing is performed based on the lane extraction result to obtain lane information of the vehicle on the current driving road.

2. The vehicle real-time lane navigation method according to claim 1, characterized in that: The method of obtaining a navigation destination input by a user on the Beidou intelligent terminal and planning a real-time navigation path on a built-in map based on the navigation destination includes: Calling up the built-in map on the Beidou smart terminal, and receiving a navigation destination input by a user based on an input box of the built-in map; A navigation route planning process is performed on the built-in map based on the navigation destination to obtain a real-time navigation route; wherein the built-in map is a real-time traffic map that updates traffic information in real time.

3. The vehicle real-time lane navigation method according to claim 1, characterized in that: The Beidou intelligent terminal obtains real-time driving video data on the vehicle in real time based on the communication connection, including: After the vehicle is started, real-time video visual acquisition and processing are performed based on the vehicle-mounted camera equipment to obtain real-time driving video data; The Beidou intelligent terminal performs real-time video driving video data extraction and processing on the vehicle in real time based on the communication connection with the vehicle to obtain real-time driving video data; wherein the communication connection is a communication connection of an HDMI interface, a USB interface or a Type-C interface, and the on-board camera equipment is a camera equipment arranged around the vehicle; the real-time driving video data is 360-degree panoramic real-time driving video data formed by splicing the real-time video data collected by the on-board camera equipment.

4. The vehicle real-time lane navigation method according to claim 1, characterized in that: The performing fitting and insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the real-time positioning information to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map includes: Obtaining highway data of the real-time positioning information on the built-in map, wherein the highway data includes highway curvature value data and highway slope data; Based on the lane information of the vehicle on the current driving road and the highway data, fitting and insertion processing is performed on the built-in map to obtain real-time lane position information of the vehicle on the real-time navigation path of the built-in map.

5. The vehicle real-time lane navigation method according to claim 4, characterized in that: The fitting and insertion processing is performed on the built-in map based on the lane information of the vehicle on the current driving road and the highway data, including: Cutting the lane information of the vehicle on the current driving road according to the road curvature value data and the road slope data in the road data to obtain the cut lane information of the vehicle on the current driving road; A fitting and insertion process is performed on the built-in map based on the lane information of the cut vehicle on the current driving road.

6. A vehicle real-time lane navigation device based on Beidou intelligent terminal, characterized in that: The Beidou intelligent terminal is connected to the vehicle for communication, and the device includes: Planning module: used to obtain the navigation destination input by the user on the Beidou intelligent terminal, and plan a real-time navigation path on the built-in map based on the navigation destination; Positioning module: used to perform real-time positioning processing based on the Beidou intelligent terminal and obtain real-time positioning information; Driving data acquisition module: used for the Beidou intelligent terminal to obtain real-time driving video data on the vehicle in real time based on the communication connection; Lane recognition module: used for the Beidou intelligent terminal to perform lane recognition processing on the real-time driving video data to obtain the lane information of the vehicle on the current driving road; A fitting insertion module: used for performing fitting insertion processing on the built-in map based on the lane information of the vehicle on the current driving road and the real-time positioning information, so as to obtain the real-time lane position information of the vehicle on the real-time navigation path of the built-in map; A navigation processing module: used for performing real-time lane navigation processing on the vehicle with real-time lane position information on the real-time navigation path of the built-in map based on the real-time navigation path; The Beidou intelligent terminal performs lane recognition processing on the real-time driving video data to obtain lane information of the vehicle on the current driving road, including: The Beidou intelligent terminal performs frame processing on the real-time driving video data according to the shooting frame rate to obtain real-time driving video frame data; Performing redundancy removal processing on the real-time driving video frame data at a preset frame number interval to obtain first real-time driving video frame data; Performing vehicle target recognition processing on the first real-time driving video frame data according to a preset vehicle profile matching method to obtain a vehicle recognition target; Performing target removal processing on the vehicle recognition target in the first real-time driving video frame data to obtain second real-time driving video frame data; Performing lane recognition processing on the second real-time driving video frame data to obtain lane information of the vehicle on the current driving road; The performing lane recognition processing on the second real-time driving video frame data to obtain lane information of the vehicle on the current driving road includes: grayscale the second real-time driving video frame data to obtain grayscale second real-time driving video frame data; Dividing the grayscale second real-time driving video frame data into a plurality of to-be-identified regions on average, and calculating the average grayscale value and standard deviation of pixels in each to-be-identified region; Determine a binarization algorithm for each area to be identified based on the average grayscale value and standard deviation of pixels in each area to be identified, and perform weighted threshold calculation on the binarization algorithm to obtain a binarization weighted threshold; Performing binarization processing on the corresponding area to be identified based on the binarization weighted threshold to obtain a binarization processing result; Performing lane extraction processing based on the binarization processing result and obtaining a lane extraction result; Lane recognition processing is performed based on the lane extraction result to obtain lane information of the vehicle on the current driving road.

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

8. A Beidou intelligent terminal, characterized in that: The Beidou intelligent terminal is an intelligent terminal including a Beidou positioning system, which includes: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to: execute the vehicle real-time lane navigation method according to any one of claims 1 to 5.

Images