Updating method and updating device for vehicle navigation

Abstract

The invention discloses a vehicle navigation updating method and an updating device thereof. The updating method comprises the following steps: acquiring an original live-action image of a front navigation road section through an aircraft; obtaining a road image in the original live-action image according to the pose information of the aircraft; generating a road identification track for indicating a road extension direction in a same-direction lane in the road image; acquiring the proportion of the pixel coordinate set of all vehicles in the same-direction lane in the road sign track, and determining the traffic condition of the same-direction lane according to the proportion; and updating the navigation interface according to the traffic condition. By executing the steps, the updating method can efficiently detect the condition of the front road section in the navigation route and fuse the obtained traffic information of the front road section into the vehicle-mounted navigation system in real time, so that the road condition of the front navigation road section can be visually and accurately presented for a vehicle owner in real time, the vehicle owner can conveniently adjust the path in time, and the navigation efficiency is improved. Congested road conditions are avoided, and high practical significance is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted navigation, and in particular to a vehicle-mounted navigation updating method, a vehicle-mounted navigation updating device, and a computer-readable storage medium. Background Art

[0002] At present, common in-vehicle navigation uses satellite positioning systems to locate the user's vehicle, and processes big data based on the data of the application software of the cooperating (or downloaded) map manufacturer in the in-vehicle device or mobile terminal to obtain the navigation section information. During the driving process, the background server pushes the navigation information of the road ahead stored in the application software to the in-vehicle device or mobile terminal, and the owner drives the vehicle forward based on the navigation information and some real-time road condition information obtained.

[0003] However, the existing navigation information push method has a limited distance for the navigation section ahead that can be obtained at one time, and the efficiency, real-time, intuitiveness and accuracy of the navigation section detection are insufficient. In particular, when the existing communication means lag or fail, the car owner cannot obtain the traffic conditions in the navigation section ahead in time, such as congestion, which may directly cause the car owner's trip to be delayed.

[0004] In order to solve the above-mentioned problems existing in the prior art, the art is in urgent need of an updated vehicle navigation technology that can efficiently detect the conditions of the road section ahead in the navigation route, and integrate the acquired traffic information of the road section ahead into the vehicle navigation system in real time, thereby accurately presenting the road conditions of the navigation section ahead to the car owner in real time and intuitively, so that the car owner can adjust the route in time and avoid congested road conditions, which has strong practical significance. Summary of the invention

[0005] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or decisive elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention provides a method for updating a vehicle-mounted navigation, a device for updating a vehicle-mounted navigation, and a computer-readable storage medium, which can efficiently detect the condition of the road section ahead in the navigation route, and integrate the acquired traffic information of the road section ahead into the vehicle-mounted navigation system in real time, thereby accurately presenting the road condition of the navigation section ahead to the car owner in real time and intuitively, so that the car owner can adjust the route in time and avoid congested road conditions, which has strong practical significance.

[0007] Specifically, the above-mentioned vehicle navigation update method provided according to the first aspect of the present invention includes the following steps: obtaining an original real-scene image of the navigation section ahead through an aircraft; obtaining a road image in the original real-scene image based on the posture information of the aircraft; generating a road marking trajectory indicating the extension direction of the road in the same-direction lane of the road image; obtaining the proportion of the pixel coordinate set of all vehicles in the same-direction lane in the road marking trajectory, and determining the traffic condition of the same-direction lane based on the proportion; and updating the navigation interface based on the traffic condition.

[0008] Furthermore, in some embodiments of the present invention, the aircraft includes an image acquisition device for horizontally downwardly acquiring the original real-scene image of the navigation section ahead, and the step of acquiring the original real-scene image of the navigation section ahead through the aircraft includes: determining a preset height value of the aircraft from the ground based on the size of the target original real-scene image; adaptively adjusting the actual height value of the aircraft from the ground based on the preset height value according to the height of the road surface in the navigation section; and acquiring the original real-scene image of the target size based on the height information of the aircraft and the installation angle information of the image acquisition device.

[0009] Furthermore, in some embodiments of the present invention, the step of acquiring the original real-scene image of the target size based on the altitude information of the aircraft and the installation angle information of the image acquisition device also includes: setting the flight path of the aircraft so that it flies above the lane centerline of the road in the navigation section; the projection point of the aircraft corresponds to the lane centerline, and the original real-scene image of the target size is acquired with the projection point as the center; and in response to acquiring each of the original real-scene images, scaling and / or cropping each of the original real-scene images according to the original real-scene image of the preset length size to adjust it to the preset length size.

[0010] Furthermore, in some embodiments of the present invention, the step of obtaining the road image in the original real scene image based on the posture information of the aircraft includes: adjusting the angle of the original real scene image based on the posture information of the aircraft; and determining the road image in the original real scene image based on the position information of the aircraft.

[0011] Furthermore, in some embodiments of the present invention, the step of adjusting the angle of the original real-scene image according to the attitude information of the aircraft includes: in response to the existence of an angle between the center line of the original real-scene image acquired at the Nth moment and the center line of the navigation section corresponding to the Nth moment, adjusting the original real-scene image at the Nth moment according to the angle so that the center line of the original real-scene image at the Nth moment is parallel to the center line of the navigation section corresponding to the Nth moment.

[0012] Furthermore, in some embodiments of the present invention, the step of determining the road image in the original real-life image based on the position information of the aircraft includes: determining the longitude and latitude information of the aircraft based on a positioning system; determining lane information of the road below the aircraft based on the longitude and latitude information, wherein the lane information includes the number of lanes and lane width; and capturing the road image in the original real-life image based on the lane information.

[0013] Furthermore, in some embodiments of the present invention, the step of generating a road marking trajectory indicating the extension direction of the road in the same-direction lane of the road image includes: determining at least one lane in the road image that is in the same direction as the driving direction of the navigation vehicle; generating the road marking trajectory based on a pixel coordinate set of the isolation belt in the same-direction lane and a pixel coordinate set of the road boundary, wherein the road marking trajectory is located between the isolation belt and the road boundary and is composed of a corresponding pixel coordinate set.

[0014] Further, in some embodiments of the present invention, the step of obtaining the proportion of the pixel coordinate set of all vehicles in the same-direction lane in the road marking trajectory, and determining the traffic condition of the same-direction lane based on the proportion includes: marking the pixel coordinate set of all vehicle contours on the same-direction lane according to a preset time interval; confirming the presence of other vehicles on the same-direction lane in response to the pixel coordinates of the vehicle contour being located on the pixel coordinate set of the road marking trajectory; or confirming the absence of other vehicles on the same-direction lane in response to the absence of occupied pixel coordinate points in the pixel coordinate set of the road marking trajectory; and judging the traffic condition of the same-direction lane based on the proportion of the pixel coordinates of the vehicle contour in the pixel coordinate set of the road marking trajectory.

[0015] Further, in some embodiments of the present invention, the step of judging the traffic condition of the same-direction lane according to the ratio of the pixel coordinates of the vehicle contour to the pixel coordinates of the road sign trajectory includes: in response to the ratio being less than a first threshold value, determining that the traffic condition is in a unobstructed state; or in response to the ratio being greater than or equal to the first threshold value and less than a second threshold value, determining that the traffic condition is in a slow-moving state; or in response to the ratio being greater than or equal to the second threshold value and less than a third threshold value, determining that the traffic condition is in a congested state; or in response to the ratio being greater than or equal to the third threshold value, determining that the traffic condition is in a severely congested state.

[0016] Further, in some embodiments of the present invention, the step of updating the navigation interface according to the traffic condition includes: in response to determining that the traffic condition is in a unobstructed state, marking the navigation section of the same-direction lane as green on the navigation interface; or in response to determining that the traffic condition is in a slow-moving state, marking the navigation section of the same-direction lane as yellow on the navigation interface; or in response to determining that the traffic condition is in a congested state, marking the navigation section of the same-direction lane as red on the navigation interface; or in response to determining that the traffic condition is in a severely congested state, marking the navigation section of the same-direction lane as dark red on the navigation interface.

[0017] Furthermore, in some embodiments of the present invention, in response to determining that the traffic condition is in a congested state, the navigation section of the same-direction lane is marked in red on the navigation interface; or in response to determining that the traffic condition is in a severely congested state, the navigation section of the same-direction lane is marked in dark red on the navigation interface, it may also include: replacing the initial lane in the navigation section with the remaining lanes in the same-direction lane marked in green or yellow; or re-planning the navigation route.

[0018] According to the second aspect of the present invention, the vehicle navigation updating device is provided. The vehicle navigation updating device comprises a memory and a processor. The processor is connected to the memory and is configured to implement the vehicle navigation updating method provided by the first aspect of the present invention.

[0019] In addition, according to the third aspect of the present invention, there is also provided a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, the above-mentioned vehicle navigation update method provided by the first aspect of the present invention is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above features and advantages of the present invention can be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0021] Figure 1 A flow chart of a method for updating vehicle navigation provided according to some embodiments of the present invention is shown;

[0022] Figure 2 A schematic diagram showing a forward navigation section shown in a navigation interface provided according to some embodiments of the present invention is shown;

[0023] Figure 3 A schematic diagram showing an aircraft photographing process provided according to some embodiments of the present invention is shown;

[0024] Figure 4 A schematic diagram showing an aircraft acquiring an original real scene image of a target size according to some embodiments of the present invention is shown;

[0025] Figure 5A A schematic diagram showing angle adjustment of an original real scene image acquired by an aircraft according to some embodiments of the present invention is shown;

[0026] Figure 5B for Figure 5A Schematic diagram of the initial angle of the original real scene image acquired by the aircraft;

[0027] Fig. 6A A schematic diagram of a road image provided according to some embodiments of the present invention is shown;

[0028] Figure 6B A schematic diagram of stitching sample images according to paths provided in some embodiments of the present invention is shown;

[0029] Figure 7 A schematic diagram showing pixel coordinates of a road image provided according to some embodiments of the present invention; and

[0030] Figure 8 A structural block diagram of a vehicle navigation updating device provided according to some embodiments of the present invention is shown.

[0031] Reference numerals:

[0032] Steps S110 to S150;

[0033] 300 aircraft;

[0034] 410 lane median;

[0035] 610 overlap area;

[0036] 700 road images;

[0037] 710 First Lane;

[0038] 711 Isolation Zone;

[0039] 712 Road Boundary;

[0040] 713 Road marking tracks;

[0041] 714, 715, 716 vehicles;

[0042] 720 2nd lane;

[0043] 800 Update device for in-car navigation;

[0044] 810 Memory;

[0045] 820 processor. DETAILED DESCRIPTION

[0046] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In addition, the terms "upper", "lower", "left", "right", "top", "bottom", "horizontal" and "vertical" used in the following description should be understood as the directions shown in the paragraph and the related drawings. Such relative terms are only used for the convenience of description and do not mean that the device described therein must be manufactured or operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0049] It is understood that although the terms "first", "second", "third", etc. may be used herein to describe various components, regions, layers and / or parts, these components, regions, layers and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers and / or parts. Therefore, the first component, region, layer and / or part discussed below may be referred to as a second component, region, layer and / or part without departing from some embodiments of the present invention.

[0050] As mentioned above, the existing navigation information push method has a limited distance for the navigation section ahead that can be obtained at one time, and the efficiency, real-time, intuitiveness and accuracy of the navigation section detection are insufficient. In particular, when the existing communication means lag or fail, the car owner cannot obtain the traffic conditions in the navigation section ahead in time, such as congestion, which may directly cause the car owner's trip to be delayed.

[0051] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a method for updating a vehicle-mounted navigation, a device for updating a vehicle-mounted navigation and a computer-readable storage medium, which can efficiently detect the condition of the road section ahead in the navigation route, and integrate the acquired traffic information of the road section ahead into the vehicle-mounted navigation system in real time, thereby accurately presenting the road condition of the navigation section ahead to the car owner in real time and intuitively, so that the car owner can adjust the route in time and avoid congested road conditions, which has strong practical significance.

[0052] In some non-limiting embodiments, the updating method of the vehicle navigation system provided in the first aspect of the present invention can be implemented by the updating device of the vehicle navigation system provided in the second aspect of the present invention. The working principle of the updating device of the vehicle navigation system will be described below in conjunction with some embodiments of the updating method of the vehicle navigation system.

[0053] First, see Figure 1 , Figure 1 FIG. 1 is a flow chart showing a method for updating a vehicle navigation system according to some embodiments of the present invention. Figure 1 As shown, the updating method of the vehicle navigation system may mainly include the following steps:

[0054] S110: Acquire an original real-scene image of the navigation section ahead through the aircraft.

[0055] Specifically, in some embodiments, the destination can be marked in advance in the vehicle system, and then the navigation route with the shortest time and / or the shortest distance can be obtained. Figure 2 , Figure 2 A schematic diagram of a forward navigation segment shown in a navigation interface provided according to some embodiments of the present invention is shown.

[0056] like Figure 2 As shown, point A is the current position of the navigation vehicle (this vehicle). When the navigation vehicle is at point A, if the owner in the car (the owner in the present invention is uniformly understood as the person driving the vehicle) wants to know the road condition information of the navigation section B ahead, the aircraft can be released through touch or voice control to detect the road condition of the navigation section B ahead. For example, the owner can say in voice: "Hi, please open the trunk and release the aircraft". After receiving the voice command, the voice assistant in the car powers on the aircraft and connects it to the network system of the vehicle system (such as Wi-Fi). After the network connection is successful, the navigation path information on the vehicle system is transmitted to the aircraft for aircraft path planning. When the aircraft is ready, the trunk can be opened automatically, and then the aircraft flies out to explore the road condition of the navigation section B ahead according to the planned path.

[0057] Optionally, in some embodiments, the aircraft of the present invention is preferably a small-sized unmanned aerial vehicle with high flexibility during flight. The aircraft may include an image acquisition device for horizontally downwardly acquiring the original real-view image of the navigation section B ahead.

[0058] Furthermore, in some embodiments, a radar sensor may be installed below the aircraft to obtain the height of the aircraft from the ground in real time and adjust the height value, so as to collect the original real-life image of the target size. Specifically, the preset height of the aircraft from the ground may be determined based on the size of the original real-life image of the target. Afterwards, as the section detection time changes, the actual height of the aircraft from the ground may be adaptively adjusted based on the preset height value according to the height of the road surface of navigation section B.

[0059] Please see Figure 3 , Figure 3 FIG. 2 is a schematic diagram showing a process of photographing an aircraft according to some embodiments of the present invention. Figure 3In the illustrated embodiment, in the navigation section B, the aircraft 300 is in a normal state, for example, at time N, and performs level flight by maintaining a preset height value h from the ground. When the aircraft 300 encounters a raised obstacle on the road surface, such as a tree, during the detection process, for example, at time N+1, it can automatically perform obstacle climbing to increase the actual distance of the aircraft 300 from the ground, for example, to h+δ, where h+δ>h, so as to avoid hitting the obstacle. After the aircraft 300 passes the obstacle tree, at time N+2, it can automatically perform a fall after obstacle avoidance to adjust the actual distance of the aircraft 300 from the ground to h. Further, when the aircraft 300 encounters a downward slope on the road surface, it can automatically perform a constant-height descent along the slope, for example, during the process from time N+2 to time N+3, the aircraft 300 slowly descends, and always maintains a preset height value h from the opposite side during the descent. When the aircraft 300 returns to the flat road surface state, it can continue to perform level flight at the preset height value h.

[0060] According to the height information of the aircraft 300 and the installation angle information of the image acquisition device, the original real scene image of the target size can be obtained. Figure 4 , Figure 4 FIG. 1 is a schematic diagram showing an aircraft acquiring an original real scene image of a target size according to some embodiments of the present invention. Figure 4 As shown, in some preferred embodiments, first, the flight path of the aircraft 300 can be set so that it flies above the lane centerline 410 according to the lane centerline 410 of the road in the navigation section B. Optionally, the projection point O of the aircraft 300 can correspond to the lane centerline 410, and the original real scene image of the target size is collected with this projection point O as the center. Figure 4 As shown, the installation angle Θ of the image acquisition device on the aircraft 300 is known, and its height h is also known, so the actual length Len of the original real scene image collected can be determined, and the actual length Len = 2*h*NanΘ.

[0061] In some optional embodiments, the above Figure 3 The original real-scene images of the navigation section B ahead corresponding to the N to N+3 moments collected in the above are transmitted to the vehicle-mounted system of the vehicle-mounted host through wireless communication methods such as Wi-Fi protocol / 4G / 5G. Preferably, in some embodiments, the real-scene image data may also include the latitude and longitude information, altitude information, and shooting direction information of the aircraft.

[0062] After receiving the data of each original real scene image, the vehicle-mounted system can scale and / or crop the original real scene images actually obtained according to the original real scene images of the preset length size to adjust them to the preset length size.

[0063] Specifically, the received altitude information of the aircraft 300 can be compared with the preset altitude value. When the received actual altitude value > the preset altitude value, the image can be scaled down so that the shooting ratio of the received original real-scene image is the same as that of the target image. Otherwise, the image can be enlarged to obtain an image of the target size.

[0064] like Figure 1 As shown, after the original real-scene image of the navigation section ahead is acquired through the aircraft, the above-mentioned vehicle navigation updating method provided by the present invention further includes step S120: acquiring a road image in the original real-scene image according to the position information of the aircraft.

[0065] In some optional embodiments, the direction of navigation segment B may change in the actual segment. Figure 5A As shown, Figure 5A FIG. 1 is a schematic diagram showing the angle adjustment of the original real scene image acquired by the aircraft according to some embodiments of the present invention. Figure 5A As shown, navigation section B is a winding section, and the direction of each of its small sections has changed compared with the previous section. The shooting azimuth of the aircraft 300 has also changed to a certain extent. The centerline direction of the original real-scene image taken by the aircraft 300 is consistent with its azimuth angle D. Therefore, it is preferred to rotate the collected original real-scene images to unify the azimuth rotation of the received images.

[0066] Optionally, the angle of the first image captured horizontally downward by the image acquisition device in the aircraft 300 can be recorded, and the orientation of this image can be used as a standard for angle adjustment. For example, the centerline direction of the first image captured can be parallel to the centerline of the navigation section B. In some embodiments of the present invention, for the convenience of angle calculation, due north can be selected as 0 degrees for angle adjustment.

[0067] Please see Figure 5B , Figure 5B for Figure 5A Schematic diagram of the initial angle of the original real scene image obtained by the aircraft in FIG. Figure 5B As shown, in some embodiments, the angle of the original real scene image collected at each moment is parallel to the vertical axis. Figure 5AIn the navigation section B, from the perspective of the coordinate system, there is an angle between each original real scene image and the longitudinal axis. Therefore, for the effect of the subsequent splicing of the road image, preferably, when performing image splicing, when there is an angle between the center line of the original real scene image obtained at the Nth, N+1th, and N+2th time and the center line of the navigation section corresponding to the Nth time, for example, ∠θ1, ∠θ2, ∠θ3, the original real scene images at the Nth, N+1th, and N+2th time can be rotated and adjusted according to these angles, so that the center line of the original real scene image at the Nth, N+1th, and N+2th time is parallel to the center line of the navigation section B corresponding to the Nth, N+1th, and N+2th time. In this way, each original real scene image with the same orientation as the first image can be obtained, and these original real scene images with adjusted orientations can be spliced ​​to obtain a road image.

[0068] In some preferred embodiments, the original real scene image collected by the aircraft 300 generally includes not only the image on the road surface, but also some scenes on the road side, so the size of the original real scene image collected is generally much larger than the size of the road image, but the actual useful image is only the real scene image on the road surface. Therefore, the road image in the original real scene image can be determined according to the position information of the aircraft 300.

[0069] Specifically, see Fig. 6A , Fig. 6A FIG. 2 shows a schematic diagram of a road image provided according to some embodiments of the present invention. Fig. 6A As shown, point O is the projection point of the aircraft 300, which is located above the center line 410 of the lane. The latitude and longitude information of the projection point O of the aircraft 300 and the direction angle D of the aircraft 300 can be obtained through the positioning system in the positioning sensor configured on the aircraft 300, such as GPS. For example, the original real scene image transmitted back by the aircraft 300 each time can include the latitude and longitude information of the aircraft 300. Afterwards, the current position of the aircraft 300 is used to search the map data to find the lane information of the road where the current aircraft 300 is located, where the lane information can include the number of lanes and the lane width. For example, the number of lanes of the road below the aircraft 300 is found to be n, and the width of the standard motor vehicle lane is generally fixed to m, then the actual lane width can be determined to be R = n*m.

[0070] Please continue to return Figure 4 ,exist Figure 4 In the example, the length of the original real scene image collected by the aircraft 300, that is, the total number of pixels of the long axis is W, then the actual length occupied by each pixel point is k=Len / W, and the total number of pixels occupied by the lane width R is N=R*Len / W. Since the clarity of the middle area of ​​the road image is the highest, in some preferred embodiments, such as Fig. 6AAs shown, the middle square can be intercepted, that is, the actual lane width R is used as the side length of the square in the original real scene image, and the latest real scene image is directly projected to the corresponding position.

[0071] like Figure 6B As shown, Figure 6B A schematic diagram of stitching sample images according to some embodiments of the present invention by path is shown. Even if there is an overlapped area 610 of the images collected at two moments, for example, the Nth moment and the N+1th moment, the latest content can be overwritten to the overlapped position each time, that is, the road image at the previous moment N is covered by the road image at the latter moment N+1.

[0072] Continue as Figure 1 As shown, after acquiring the road image, the above-mentioned vehicle navigation updating method provided by the present invention further includes step S130: generating a road marking track indicating the extension direction of the road in the same-direction lane of the road image.

[0073] In some embodiments, at least one lane in the road image that is in the same direction as the navigation vehicle's travel direction may be determined first. Figure 7 , Figure 7 FIG. 4 shows a schematic diagram of pixel coordinates of a road image provided according to some embodiments of the present invention. Figure 7 As shown, with the lower left corner of the dotted box as the origin of the pixel coordinate system XOY, in the road image 700, the first lane 710 is the lane in the same direction as the navigation vehicle's driving direction, and the second lane 720 is the lane in the opposite direction to the navigation vehicle's driving direction. Figure 7 Optionally, the first lane 710 and the second lane 720 in the road image may include multiple lanes, respectively.

[0074] In some embodiments of the present invention, the road marking track may include a virtual track for indicating the direction in which the road extends. Specifically, optionally, in the pixel coordinate system XOY, the pixel coordinate set P1 (x1, y1) of the isolation belt 711 in the first lane 710 and the pixel coordinate set P2 (x2, y2) of the road boundary 712 may be determined. It can be understood that the isolation belt 711 and the road boundary 712 here may contain many points p1 and p2, and in this embodiment, only one point is taken for illustration. At least one virtual road marking track 713 may be provided between the isolation belt 711 and the road boundary 712 to indicate the direction in which the road extends, and its pixel coordinate set is P (x = (x1 + x2) / 2, y = (y1 + y2) / 2). The road marking track 713 can be used to identify whether there is a vehicle in the first lane 710 in the same direction as the navigation vehicle.

[0075] Continue as Figure 1 As shown, after determining the road marking trajectory of the same-direction lane in the road image, the above-mentioned vehicle navigation update method provided by the present invention also includes step S140: obtaining the proportion of the pixel coordinate set of all vehicles in the same-direction lane in the road marking trajectory, and determining the traffic condition of the same-direction lane based on the proportion.

[0076] Specifically, if Figure 7 As shown, in some embodiments, all vehicles on the first lane 710 can be identified according to a preset time interval. When a vehicle is identified, a set of pixel coordinates of the vehicle outline is identified. For example, assuming that a vehicle 714 is identified on the first lane 710, the outline of the vehicle 714 is constructed using pixel coordinates.

[0077] When it is found that the pixel coordinates of the vehicle outline are located on the pixel coordinate set of the road sign track 713, it can be confirmed that there are other vehicles on the first lane 710. It can also be understood that the coordinates of the vehicle outlines that the road sign track 713 passes can be identified as the existence of other vehicles, that is, between the coordinates (x, y3) to (x, y4) corresponding to the vehicle 714, there are n coordinates that are located on the pixel coordinate set of the road sign track 713, so it can be confirmed that there is a vehicle on the first lane 710. On the contrary, if there is no occupied pixel coordinate point in the pixel coordinate set of the road sign track 713, it can be confirmed that there are no other vehicles on the first lane 710.

[0078] In this embodiment, not only can the presence of moving vehicles be accurately indicated by the occupation of the pixel coordinate set of the road marking trajectory 713 by the body length of other vehicles, but in other embodiments, such as when a traffic accident occurs on the road, the partial occupation of the pixel coordinate set of the road marking trajectory 713 by the contour coordinates of a vehicle in a stopped and tilted state can also be accurately indicated, that is, the presence of the vehicle in the accident can also be clearly indicated.

[0079] Furthermore, in some preferred embodiments, the traffic condition on the first lane 710 may also be determined based on the proportion of the pixel coordinate set of the road sign trajectory 713 to the pixel coordinate of the vehicle contour.

[0080] Specifically, the total number of pixels of the road sign track 713 is w (when the dotted frame representing the road image is cut out from the original real scene image, w is a known quantity), as Figure 7As shown, there are three vehicles on the first lane 710, namely, vehicle 714 whose body length is composed of n pixel coordinates, vehicle 715 whose body length is composed of j pixel coordinates, and vehicle 716 whose body length is composed of z pixel coordinates. The proportion of the pixel coordinate set of all vehicles on the first lane 710 in the road sign track 713 is: c = (n + j + z) / w.

[0081] In some embodiments, at least one threshold may be set to determine the traffic condition of the first lane 710. Optionally, as shown in Table 1 below,

[0082] Table 1

[0083] The proportion of vehicles in the first lane Traffic conditions Road Color c＜30％ Smooth green 30％≤c<50％ amble yellow 50％≤c<70％ Congestion red c≥70％ Severe congestion Dark Red

[0084] Continue as Figure 1 As shown, after the traffic conditions of the same-direction lanes are determined, the above-mentioned vehicle navigation updating method provided by the present invention further includes step S150: updating the navigation interface according to the traffic conditions.

[0085] Specifically, as shown in Table 1 above, when the above-mentioned proportion value is less than the first threshold value of 30%, it is determined that the traffic condition of the first lane 710 is in a smooth state. At this time, the navigation section of the first lane 710 can be marked as green on the navigation interface, indicating that the navigation vehicle is recommended to continue along this navigation route and enter the first lane 710 to move forward smoothly. When the proportion value is greater than or equal to the first threshold value of 30% and less than the second threshold value of 50%, it is determined that the traffic condition of the first lane 710 is in a slow-moving state. At this time, the navigation section of the first lane 710 can be marked as yellow on the navigation interface, indicating that the navigation vehicle can continue along this navigation route, but may need to move slowly to enter the first lane 710. When the proportion value is greater than or equal to the second threshold value of 50% and less than the third threshold value of 70%, it is determined that the traffic condition of the first lane 710 is in a congested state. At this time, the navigation section of the first lane 710 can be marked as red on the navigation interface. When the proportion is greater than or equal to the third threshold value of 70%, it is determined that the traffic condition of the first lane 710 is in a serious congestion state. At this time, the navigation section of the first lane 710 can be marked as dark red on the navigation interface.

[0086] Further, in some preferred embodiments, in response to determining that the traffic condition of the first lane 710 is in a congested state or a severely congested state, that is, on the navigation interface, after the navigation section of the first lane 710 is marked in red or dark red, the initial lane in the navigation section, that is, the first lane 710, can be replaced with the remaining lanes marked in green or yellow in the same direction as the navigation vehicle. In order to save time, the navigation system in the vehicle system can also re-plan the navigation route.

[0087] In some embodiments, the navigation map can also refresh the traffic information of the navigation section B ahead according to a preset frequency, thereby refreshing the coloring of the navigation section. When coloring the navigation section, the corresponding section position can be matched based on the navigation refresh frequency. Specifically, you can return to Figure 2 Point A is the moment when the aircraft 300 starts sampling. Assuming that the sampling period of the aircraft 300 is T, it just reaches point C after nT periods, and at this time, the map refresh frequency is just reached. The vehicle-mounted system can send corresponding parameters, for example, the longitude and latitude of point A, the longitude and latitude of point C, and the road color type of point C, so that the corresponding navigation road section B between point A and point C is drawn in different colors. During the period when the aircraft 300 performs image sampling, the coloring starts. When the navigation vehicle passes by, the color of the navigation road section B disappears, or when the aircraft 300 restarts sampling, the original road section color can also disappear.

[0088] Although the above methods are illustrated and described as a series of actions for simplicity of explanation, it should be understood and appreciated that these methods are not limited by the order of the actions, because according to one or more embodiments, some actions may occur in a different order and / or concurrently with other actions from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art.

[0089] So far, the updating method of the vehicle navigation provided by the first aspect of the present invention has been introduced. Figure 8 , Figure 8 A structural block diagram of a vehicle navigation updating device provided according to some embodiments of the present invention is shown.

[0090] like Figure 8 As shown, in some non-limiting embodiments, the vehicle navigation update method provided by the first aspect of the present invention can be implemented via the vehicle navigation update device 800 provided by the second aspect of the present invention. Specifically, Figure 8 As shown, a memory 810 and a processor 820 may be configured in the updating device 800 for the vehicle-mounted navigation. The memory 810 includes but is not limited to the computer-readable storage medium provided in the third aspect of the present invention, on which computer instructions are stored. The processor 820 is connected to the memory 810 and is configured to execute the computer instructions stored in the memory 810 to implement the updating method for the vehicle-mounted navigation provided in the first aspect of the present invention.

[0091] Those skilled in the art will appreciate that the above embodiments of the updating method of the vehicle navigation are only some non-limiting implementation methods provided by the present invention, and are intended to clearly demonstrate the main concept of the present invention and provide some specific solutions that are convenient for the public to implement, rather than to limit all working modes or all functions of the updating device 800 of the vehicle navigation. Similarly, the updating device 800 of the vehicle navigation is only a non-limiting implementation method provided by the present invention, and does not constitute a limitation on the implementation subject of each step in the updating method of the vehicle navigation.

[0092] In summary, the present invention provides a method for updating a vehicle-mounted navigation, a device for updating a vehicle-mounted navigation, and a computer-readable storage medium, which can efficiently detect the condition of the road section ahead in the navigation route, and integrate the acquired traffic information of the road section ahead into the vehicle-mounted navigation system in real time, thereby accurately presenting the road condition of the navigation section ahead to the car owner in real time and intuitively, so that the car owner can adjust the route in time and avoid congested road conditions, which has strong practical significance.

[0093] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but should be granted the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for updating a vehicle navigation system, characterized in that: The following steps are involved: Acquire the original real-life image of the navigation section ahead through the aircraft; Acquire a road image in the original real scene image according to the position and posture information of the aircraft; Generating a road marking track indicating an extending direction of the road in a same-direction lane of the road image; Obtaining a proportion of a pixel coordinate set of all vehicles in the same-direction lane in the road sign trajectory, and determining a traffic condition of the same-direction lane according to the proportion; as well as The navigation interface is updated according to the traffic conditions.

2. The updating method according to claim 1, characterized in that: The aircraft includes an image acquisition device for horizontally downwardly acquiring an original real-view image of the navigation section ahead, and the step of acquiring the original real-view image of the navigation section ahead by the aircraft includes: Determining a preset height value of the aircraft from the ground according to the size of the original real scene image of the target; According to the height of the road surface in the navigation section, on the basis of the preset height value, adaptively adjusting the actual height value of the aircraft from the ground; and An original real scene image of a target size is acquired according to the altitude information of the aircraft and the installation angle information of the image acquisition device.

3. The updating method according to claim 2, characterized in that: The step of acquiring the original real scene image of the target size according to the height information of the aircraft and the installation angle information of the image acquisition device also includes: Setting a flight path of the aircraft so that the aircraft flies above the centerline of a lane of a road in the navigation section; The projection point of the aircraft corresponds to the center line of the lane, and the original real scene image of the target size is acquired with the projection point as the center; and In response to acquiring each of the original real scene images, scaling and / or cropping are performed on each of the original real scene images according to the original real scene images of the preset length size to adjust them to the preset length size.

4. The updating method according to claim 2, characterized in that: The step of acquiring the road image in the original real scene image according to the posture information of the aircraft comprises: According to the attitude information of the aircraft, adjusting the angle of the original real scene image; and A road image in the original real scene image is determined according to the position information of the aircraft.

5. The updating method according to claim 4, characterized in that: The step of adjusting the angle of the original real scene image according to the attitude information of the aircraft comprises: In response to an angle between a center line of an original real-scene image acquired at the Nth moment and a center line of a navigation section corresponding to the Nth moment, the original real-scene image at the Nth moment is adjusted according to the angle so that the center line of the original real-scene image at the Nth moment is parallel to the center line of the navigation section corresponding to the Nth moment.

6. The updating method according to claim 4, characterized in that: The step of determining the road image in the original real scene image according to the position information of the aircraft comprises: Determining the latitude and longitude information of the aircraft according to the positioning system; Determine lane information of the road below the aircraft according to the latitude and longitude information, wherein the lane information includes the number of lanes and lane width; and A road image is captured from the original real scene image according to the lane information.

7. The updating method according to claim 1, characterized in that: The step of generating a road marking track indicating the extending direction of the road in the same-direction lane of the road image comprises: Determine at least one lane in the road image that is in the same direction as the traveling direction of the navigation vehicle; The road marking trajectory is generated according to the pixel coordinate set of the isolation belt in the same-direction lane and the pixel coordinate set of the road boundary, wherein the road marking trajectory is located between the isolation belt and the road boundary and is composed of corresponding pixel coordinate sets.

8. The updating method according to claim 7, characterized in that: The step of obtaining the proportion of the pixel coordinate set of all vehicles in the same-direction lane in the road sign trajectory, and determining the traffic condition of the same-direction lane according to the proportion comprises: According to a preset time interval, a pixel coordinate set of all vehicle contours on the same-direction lane is marked; In response to the pixel coordinates where the vehicle outline exists being located on the pixel coordinate set of the road marking track, confirming that there are other vehicles on the same-direction lane; or In response to no pixel coordinate point being occupied in the pixel coordinate set of the road sign trajectory, confirming that no other vehicle is present on the same-direction lane; and The traffic condition of the same-direction lane is determined according to the ratio of the pixel coordinate set of the road sign trajectory to the pixel coordinate of the vehicle outline.

9. The updating method according to claim 8, characterized in that: The step of judging the traffic condition of the same-direction lane according to the ratio of the pixel coordinate set of the road sign trajectory to the pixel coordinate of the vehicle outline comprises: In response to the proportion being less than a first threshold, determining that the traffic condition is in a smooth state; or In response to the proportion being greater than or equal to a first threshold and less than a second threshold, determining that the traffic condition is in a slow-moving state; or In response to the proportion being greater than or equal to the second threshold and less than the third threshold, determining that the traffic condition is in a congested state; or In response to the proportion being greater than or equal to a third threshold, it is determined that the traffic condition is in a serious congestion state.

10. The updating method according to claim 9, characterized in that: The step of updating the navigation interface according to the traffic conditions comprises: In response to determining that the traffic condition is unobstructed, marking the navigation section of the same-direction lane in green on the navigation interface; or In response to determining that the traffic condition is in a slow-moving state, the navigation section of the same-direction lane is marked in yellow on the navigation interface; or In response to determining that the traffic condition is in a congested state, marking the navigation section of the same-direction lane in red on the navigation interface; or In response to determining that the traffic condition is in a serious congestion state, the navigation section for the same-direction lane is marked in dark red on the navigation interface.

11. The updating method according to claim 10, characterized in that: After the step of marking the navigation section of the same-direction lane in red on the navigation interface in response to determining that the traffic condition is in a congested state; or marking the navigation section of the same-direction lane in dark red on the navigation interface in response to determining that the traffic condition is in a severely congested state, the method may further include: Replace the initial lane in the navigation section with the remaining lanes in the same direction marked as green or yellow; or Re-plan the navigation route.

12. An updating device for vehicle navigation, characterized in that: include: Memory; as well as A processor is connected to the memory and is configured to implement the updating method of the vehicle navigation according to any one of claims 1 to 11.

13. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by the processor, the updating method of the vehicle navigation according to any one of claims 1 to 11 is implemented.

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