Satellite navigation image distribution control method, device, electronic equipment and medium

Abstract

The present application provides a method, device, electronic device and medium for controlling the sending of satellite navigation images, and relates to the field of satellite communication and navigation technology. The method for controlling the sending of satellite navigation images provided by the present application includes: determining a target satellite navigation image, wherein the target satellite navigation image is a warning navigation image containing an emergency; determining a target area corresponding to the target satellite navigation image and multiple vehicles in the target area, and obtaining vehicle information corresponding to the multiple vehicles respectively; based on the vehicle information, determining the relative distance information and multiple speed information of the multiple vehicles; based on the vehicle information, the relative distance information and the multiple speed information, screening out the target vehicle from the multiple vehicles in the target area, and sending the target satellite navigation image to the target vehicle for display. The present application can reduce the occurrence of chain accidents of subsequent vehicles due to emergencies, and improve the safety of following vehicles.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a method, device, electronic equipment and medium for controlling the sending of satellite navigation images. Background Art

[0002] With the continuous development of low-orbit satellite technology, today's low-orbit satellites can integrate remote sensing and navigation functions at the same time, that is, they have the ability to transmit images and provide navigation services for vehicles. During the low-orbit satellite navigation process, road images can be transmitted in real time to the vehicle's navigation terminal for display, so that the vehicle driver can understand the road conditions more intuitively and clearly.

[0003] However, the inventors of the present application have discovered that when an emergency occurs ahead of the vehicle on the road and relatively close to the vehicle, the driver needs to make a subjective judgment on the road image received by the vehicle navigation terminal in order to identify the emergency and take corresponding actions, which reduces the safety of vehicle driving. At the same time, vehicles that are not in the first position are blocked by the vehicle in front and cannot directly observe the emergency ahead. At the same time, the time required for the driver to make a subjective judgment on the road image received by the vehicle navigation terminal is short, which can easily cause a chain accident between the vehicle that is not in the first position and other vehicles. Summary of the invention

[0004] In order to reduce the occurrence of chain accidents among subsequent vehicles due to emergencies and improve the safety of following vehicles, the present application provides a method, device, electronic device and medium for controlling the sending of satellite navigation images.

[0005] The present application provides a method for controlling the sending of satellite navigation images, which adopts the following technical solutions:

[0006] A method for controlling the sending of satellite navigation images, comprising:

[0007] Determining a target satellite navigation image, wherein the target satellite navigation image is a warning navigation image containing an emergency event;

[0008] Determine a target area corresponding to the target satellite navigation image and a plurality of vehicles in the target area, and obtain vehicle information corresponding to the plurality of vehicles respectively;

[0009] Based on the vehicle information, determine relative distance information and multiple speed information of multiple vehicles;

[0010] Based on the vehicle information, relative distance information and multiple speed information, a target vehicle is screened out from multiple vehicles in a target area, and a target satellite navigation image is sent to the target vehicle for display.

[0011] According to some embodiments, the above-mentioned determination of the target satellite navigation image includes: obtaining an initial satellite navigation image, wherein the initial satellite navigation image is a satellite navigation image of the largest area that can be captured by an image acquisition device installed on the target satellite; obtaining road types of roads contained in the initial satellite navigation image and image division rules corresponding to the road types; dividing the initial satellite navigation image based on the road types and the image division rules to determine a plurality of sub-initial navigation images; determining feature points corresponding to the plurality of sub-initial navigation images, respectively, and determining the target satellite navigation image from the plurality of sub-initial navigation images based on the feature points.

[0012] According to some embodiments, the above-mentioned determination of the target area corresponding to the target satellite navigation image includes: determining the location information of the emergency contained in the target satellite navigation image; obtaining the road type corresponding to the target satellite navigation image and the road direction of the road where the emergency occurred, and retrieving the preset target area division rule corresponding to the road type; based on the location information, road direction and preset target area division rule, determining the target area corresponding to the target satellite navigation image.

[0013] According to some embodiments, the above-mentioned preset target area division rules include an area length parameter and an area width parameter; based on the location information, the road direction and the preset target area division rules, the target area corresponding to the target satellite navigation image is determined, including: defining the length of the target area with the length parameter, and defining the width of the target area with the area width parameter, wherein the length is parallel to the road direction and the width is perpendicular to the road direction; using the location information as the center point of the width edge line of the target area close to the road direction.

[0014] According to some embodiments, the above-mentioned vehicle information includes vehicle location information and a vehicle road number; based on the vehicle information, the relative distance information and the multiple speed information, a target vehicle is screened out from multiple vehicles in a target area, including: based on the vehicle road number, multiple vehicles are divided to determine multiple groups of vehicles; based on the vehicle location information, the vehicles included in the multiple groups of vehicles are screened respectively to determine the initial target vehicle in each group of vehicles that is closest to the location of the emergency; the distance information between the initial target vehicle and the location of the emergency is determined; when the distance information satisfies the preset distance information, the initial target vehicle is defined as the target vehicle.

[0015] According to some embodiments, the above-mentioned vehicle information includes vehicle position information; the relative distance information is the distance information between the vehicle and the preceding vehicle belonging to the same lane; based on the vehicle information, the relative distance information and multiple speed information, a target vehicle is screened out from multiple vehicles in a target area, including: based on the vehicle position information and preset screening rules, multiple vehicles are screened to determine multiple first initial vehicles; when the relative distance information of any first initial vehicle among the multiple first initial vehicles satisfies the preset relative distance information, and the speed information of any first initial vehicle is greater than the preset speed information, any first initial vehicle is defined as a target vehicle.

[0016] According to some embodiments, the above method also includes: obtaining vehicle density information corresponding to the target area, and comparing the vehicle density information with preset density information; when the density information is greater than the preset density information, sending the target satellite navigation image to all vehicles in the target area for display.

[0017] The present application provides a satellite navigation image transmission control device, which adopts the following technical solutions:

[0018] A satellite navigation image sending control device includes: an image determination module, an information acquisition module, an information determination module and a first image sending module, wherein:

[0019] An image determination module, used to determine a target satellite navigation image, wherein the target satellite navigation image is a warning navigation image containing an emergency event;

[0020] An information acquisition module, used to determine a target area corresponding to a target satellite navigation image and a plurality of vehicles in the target area, and to acquire vehicle information corresponding to each of the plurality of vehicles;

[0021] An information determination module, used to determine relative distance information of a plurality of vehicles and a plurality of speed information based on the vehicle information;

[0022] The first image sending module is used to screen out a target vehicle from multiple vehicles in a target area based on vehicle information, relative distance information and multiple speed information, and send a target satellite navigation image to the target vehicle for display.

[0023] According to some embodiments, the above-mentioned image determination module is specifically used to: obtain an initial satellite navigation image, wherein the initial satellite navigation image is a satellite navigation image of the largest area that can be captured by an image acquisition device installed on a target satellite; obtain road types of roads contained in the initial satellite navigation image and image division rules corresponding to the road types; divide the initial satellite navigation image based on the road types and the image division rules to determine a plurality of sub-initial navigation images; determine feature points corresponding to the plurality of sub-initial navigation images, and based on the feature points, determine a target satellite navigation image from the plurality of sub-initial navigation images.

[0024] According to some embodiments, the above-mentioned information acquisition module is specifically used to: determine the location information of the emergency contained in the target satellite navigation image; obtain the road type corresponding to the target satellite navigation image and the road direction of the road where the emergency occurred, and call up the preset target area division rules corresponding to the road type; based on the location information, road direction and preset target area division rules, determine the target area corresponding to the target satellite navigation image.

[0025] According to some embodiments, the above-mentioned preset target area division rules include an area length parameter and an area width parameter; the above-mentioned information acquisition module is specifically used to: define the length of the target area with the length parameter, and define the width of the target area with the area width parameter, wherein the length is parallel to the road direction and the width is perpendicular to the road direction; and use the position information as the center point of the width edge line of the target area close to the road direction.

[0026] According to some embodiments, the above-mentioned vehicle information includes vehicle location information and vehicle road number; the above-mentioned first image sending module is specifically used to: divide multiple vehicles based on vehicle road numbers to determine multiple groups of vehicles; based on the vehicle location information, screen the vehicles included in the multiple groups of vehicles respectively, and determine the initial target vehicle in each group of vehicles that is closest to the location of the emergency; determine the distance information between the initial target vehicle and the location of the emergency; when the distance information meets the preset distance information, define the initial target vehicle as the target vehicle.

[0027] According to some embodiments, the above-mentioned vehicle information includes vehicle position information; the relative distance information is the distance information between the vehicle and the preceding vehicle belonging to the same lane; the above-mentioned first image sending module is specifically used to: screen multiple vehicles based on the vehicle position information and preset screening rules, and determine multiple first initial vehicles; when the relative distance information of any first initial vehicle among the multiple first initial vehicles satisfies the preset relative distance information, and the speed information of any first initial vehicle is greater than the preset speed information, define any first initial vehicle as a target vehicle.

[0028] According to some embodiments, the above-mentioned satellite navigation image sending control device also includes: a density information comparison module and a second image sending module, wherein the density information comparison module is used to obtain vehicle density information corresponding to the target area and compare the vehicle density information with the preset density information; the second image sending module is used to send the target satellite navigation image to all vehicles in the target area for display when the density information is greater than the preset density information.

[0029] The present application provides an electronic device, which adopts the following technical solution:

[0030] An electronic device, comprising:

[0031] processor;

[0032] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned satellite navigation image sending control method.

[0033] The present application provides a computer-readable medium, which adopts the following technical solution:

[0034] A computer readable medium stores a computer program, and when the computer program is executed by a processor, the processor executes the above-mentioned satellite navigation image sending control method.

[0035] According to the above-mentioned embodiment provided by the present application, a target satellite navigation image containing an emergency is determined, and the target area corresponding to the target satellite navigation image and the vehicle information of the vehicles in the area are determined; then, the relative distance information and speed information of multiple vehicles are determined based on the vehicle information, and the target vehicles to which the target satellite navigation image needs to be sent are screened out from the target area based on the vehicle information and the relative distance information and speed information, so that the target vehicle with the need to display the target satellite navigation image is determined through the actual situation during the vehicle driving process, and the target satellite navigation image is sent to the target vehicle, thereby reducing the occurrence of chain accidents of subsequent target vehicles due to emergencies, and improving the driving safety of the first-priority vehicle and the following vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a block diagram of a method for controlling the sending of satellite navigation images according to an embodiment of the present application;

[0037] Figure 2 is a schematic diagram of the target area of ​​an embodiment of the present application;

[0038] Figure 3 is a block diagram of a satellite navigation image sending control device according to an embodiment of the present application;

[0039] Figure 4It is a schematic diagram of an electronic device according to an embodiment of the present application.

[0040] Description of reference numerals:

[0041] 30: satellite navigation image sending control device; 301: image determination module; 302: information acquisition module; 303: information determination module; 304: first image sending module; 40: electronic device; 401: processor; 402: bus; 403: memory; 404: transceiver. DETAILED DESCRIPTION

[0042] The following is combined with Figure 1-Figure 4 This application is described in further detail.

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the drawings in the embodiments of the present application are collected below to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] An embodiment of the present application provides a method for controlling the sending of satellite navigation images, which can be executed by an electronic device, wherein the electronic device can be a server, wherein the server can be an independent physical server, or a server cluster or distributed device composed of multiple physical servers, or a cloud server that provides cloud computing services; the server can be installed on a ground communication terminal or on a satellite.

[0045] Reference Figure 1 A method for controlling the sending of satellite navigation images includes: step S101, step S102, step S103 and step S104, wherein:

[0046] S101, determining a target satellite navigation image.

[0047] In some embodiments, the target satellite navigation image is a warning navigation image containing an emergency event.

[0048] A ground image containing road information is captured by an image acquisition device installed on a target satellite, and the ground image is sent to an electronic device; wherein the ground image is an initial satellite navigation image, and the range captured by the image is the maximum range that the image acquisition device can capture; since there are multiple roads and roads of multiple road types in the initial satellite navigation image, and roads of different road types have different driving requirements for vehicles traveling therein, therefore, when determining the target satellite navigation image, it is necessary to divide the initial satellite navigation image and extract feature points, so as to determine the target satellite navigation image.

[0049] S102, determining a target area corresponding to the target satellite navigation image and a plurality of vehicles in the target area, and acquiring vehicle information respectively corresponding to the plurality of vehicles.

[0050] In some embodiments, the target area is the area affected by the emergency in the target satellite navigation image containing the emergency, and the target area includes all vehicles with inter-area following phenomenon; wherein the inter-area following phenomenon is the phenomenon of vehicles driving in a cluster within a certain road section.

[0051] The electronic device determines that the target satellite navigation image indicates that an emergency has occurred on the road where the vehicle is traveling. At this time, it is necessary to further determine the area affected by the emergency and the vehicles in the area, that is, the electronic device can determine the location of the emergency in the target satellite navigation image, and use the location as a reference point for determining the target area; in addition, the electronic device determines the target area division rule corresponding to the road where the emergency occurred based on the road type and road direction where the emergency occurred, and then divides the target area, and at the same time, obtains vehicle information of vehicles located in the target area.

[0052] S103, determining relative distance information and multiple speed information of multiple vehicles based on the vehicle information.

[0053] In some embodiments, the relative distance information is the distance information between the vehicle and a preceding vehicle that belongs to the same lane as the vehicle.

[0054] When an emergency occurs on the road, there is a situation where all lanes of the road are affected; in each lane, there is no leading vehicle between the vehicles and the emergency, and its driver can intuitively determine the emergency without the help of navigation equipment, but other vehicles behind the leading vehicle may not be able to immediately determine that the emergency has occurred in front due to the obstruction of the vehicle in front. If the other vehicles are too close to the leading vehicle and the speed is too fast, when the leading vehicle makes corresponding operations for the emergency, such as emergency braking, the drivers of other vehicles cannot make operations in time, which can easily cause chain accidents. Therefore, after determining the vehicle information, the electronic equipment determines the relative distance information and speed information of the vehicle based on the vehicle information, and uses the relative distance information and speed information of the vehicle as reference information for subsequent determination of which vehicle the target satellite navigation image needs to be sent to.

[0055] S104, based on the vehicle information, the relative distance information and the multiple speed information, a target vehicle is screened out from the multiple vehicles in the target area, and the target satellite navigation image is sent to the target vehicle for display.

[0056] In some embodiments, the electronic device uses the vehicle location information, vehicle road number information and other information contained in the vehicle information to divide multiple vehicles, and then uses the relative distance information and speed information of the vehicles as judgment parameters to screen out the target vehicle from multiple vehicles in the target area; the electronic device sends the target satellite navigation image to the target vehicle for display, thereby helping the driver of the target vehicle to be warned in advance and take advance action, thereby reducing the occurrence of accidents involving the target vehicle due to emergencies and improving the safety of the target vehicle.

[0057] In some embodiments, the electronic device sends the target satellite navigation image to the target vehicle, and also sends the cause of the emergency, the relative distance information between the emergency and the target vehicle, and the time required for the target vehicle to reach the location of the emergency when traveling at the current speed to the target vehicle, so as to provide favorable reference information for the target vehicle driver to perform correct operations.

[0058] In step S101, a target satellite navigation image is determined, including: obtaining an initial satellite navigation image, wherein the initial satellite navigation image is a satellite navigation image of the largest area that can be captured by an image acquisition device installed on a target satellite; the initial satellite navigation image can be taken by an image acquisition device installed on a low-orbit satellite, and can also be taken by an image acquisition device installed on a high-orbit satellite; obtaining road types of roads contained in the initial satellite navigation image and image division rules corresponding to the road types; dividing the initial satellite navigation image based on the road types and the image division rules to determine a plurality of sub-initial navigation images; determining feature points corresponding to the plurality of sub-initial navigation images, and determining a target satellite navigation image from the plurality of sub-initial navigation images based on the feature points.

[0059] In some embodiments, the electronic device first obtains an initial satellite navigation image from an image acquisition device installed on a satellite; due to the influence of the satellite's operating altitude, the initial satellite navigation image captures a larger range of the ground, and there is a situation where the initial satellite navigation image contains multiple roads and / or multiple roads of different road types, and the emergency is generally a vehicle accident, landslide, etc., that is, the emergency occurs on a lane of a road; therefore, in the process of determining the target satellite navigation image containing the emergency, the electronic device can first divide the initial satellite navigation image based on road type, that is, the electronic device first obtains the road type of the road contained in the initial satellite navigation image from a preset traffic road database.

[0060] Subsequently, the electronic device retrieves the image division rule corresponding to the road type preset in advance, divides the initial satellite navigation image based on the road type and its corresponding image division rule, and determines a plurality of sub-initial navigation images; subsequently, the electronic device extracts feature points from the plurality of sub-initial navigation images, determines the feature points of each sub-initial navigation image, and based on the determined feature points, selects the target satellite navigation image from the plurality of sub-initial navigation images; thereby, through the image division rules of different road types, the initial satellite navigation graphics are divided into sub-images of appropriate sizes for feature point extraction, thereby improving the accuracy of feature point extraction.

[0061] In some embodiments, the setting of image segmentation rules can be set based on the road speed requirements of the road type. For example, the road type can be an expressway, a national highway, a county road, etc.; the driving speed of an expressway is higher than that of roads of other road types. Therefore, when an emergency occurs on a expressway, such as a vehicle collision, the scope of the emergency is larger than that of roads of other road types; for the image segmentation of expressways, the size of the divided images can be relatively large; and the driving speed of national highways is lower than that of expressways. Therefore, when an emergency occurs on national highways, such as a vehicle collision, the scope of the emergency is smaller than that of emergencies occurring on highways. For the image segmentation of expressways, the size of the divided images can be relatively small to ensure the accuracy of feature point extraction.

[0062] In step S102, the target area corresponding to the target satellite navigation image is determined, including: determining the location information of the emergency contained in the target satellite navigation image; obtaining the road type corresponding to the target satellite navigation image and the road direction of the road where the emergency occurred, and retrieving the preset target area division rule corresponding to the road type; based on the location information, road direction and preset target area division rule, determining the target area corresponding to the target satellite navigation image.

[0063] In some embodiments, the electronic device first determines the location information of the emergency contained in the target satellite navigation image through a positioning device, and simultaneously obtains the road type corresponding to the target satellite navigation image and the road direction of the road where the emergency occurred; the road type can reflect the vehicle's driving speed, and the road direction can reflect the area affected by the emergency; in addition, the electronic device retrieves the preset target division rule corresponding to the road type, uses the location information of the emergency as the reference point for target area division, and divides the target area from the target satellite navigation image based on the road direction and the preset target area division rule.

[0064] In some embodiments, the preset target area division rules are set based on the road driving requirements of the road type. For example, the area length parameter and area width parameter in the preset target area division rules for a road whose road type is a highway are greater than the area length parameter and area width parameter in the preset target area division rules for a road whose road type is a national highway.

[0065] In some embodiments, the preset target area division rules include an area length parameter and an area width parameter; based on the location information, the road direction and the preset target area division rules, the target area corresponding to the target satellite navigation image is determined, including: defining the length of the target area with the length parameter, and defining the width of the target area with the area width parameter, wherein the length is parallel to the road direction and the width is perpendicular to the road direction; using the location information as the center point of the width edge line of the target area close to the road direction.

[0066] In some embodiments, the electronic device determines the length parameter and width parameter of the target area based on a preset target area division rule corresponding to the road type, and uses the location information as the edge point of the target area, and uses the road direction as the edge point for determining the location information as the target area. That is, the electronic device divides the preliminary target area according to the preset target area division rule, and then uses the location information as the center point of the width edge line of the target area close to the road direction to divide the final target area.

[0067] In some embodiments, reference Figure 2 , taking the location information 1 of the emergency as the center point of the width edge line 4 of the target area 2 close to the road direction 3, the final target area is divided based on the area length parameter and area width parameter included in the preset target area division rule.

[0068] In step S104, the vehicle information includes vehicle location information and a vehicle road number; based on the vehicle information, relative distance information and multiple speed information, a target vehicle is screened out from multiple vehicles in a target area, including: based on the vehicle road number, multiple vehicles are divided to determine multiple groups of vehicles; based on the vehicle location information, the vehicles included in the multiple groups of vehicles are screened respectively to determine an initial target vehicle in each group of vehicles that is closest to the location of the emergency; the distance information between the initial target vehicle and the location of the emergency is determined; when the distance information satisfies the preset distance information, the initial target vehicle is defined as the target vehicle.

[0069] In some embodiments, the vehicle road number is the lane number included in the road. During vehicle driving, when the vehicle is far away from the emergency and there is no vehicle in front of the vehicle, the driver can have sufficient time to discover the emergency and make corresponding operations. Therefore, in this case, the driver can use the navigation image to drive and can determine the emergency in front by subjective judgment, and then make corresponding operations; while for vehicles close to the emergency, it is not ruled out that the driver has time to discover the emergency and make corresponding operations, but there is also a possibility that the driver is distracted and does not discover or make corresponding operations in time. In this case, it is necessary to provide target satellite navigation images for these vehicles to warn the drivers of these vehicles.

[0070] Therefore, in the process of determining the target vehicle in the target area, the electronic device first divides multiple vehicles based on the vehicle road number to determine multiple groups of vehicles, each group of vehicles is a collection of vehicles traveling in the same lane, and then the electronic device screens the vehicles included in each group of vehicles based on the vehicle position information to determine the initial target vehicle that is closest to the emergency, and then calculates the distance information between the initial target vehicle and the emergency; and compares the distance information with the preset distance information to determine whether the distance information meets the preset distance information; when the electronic device determines that the distance information meets the preset distance information, it indicates that the driver of the initial target vehicle is distracted and cannot promptly discover the emergency or perform corresponding operations in a timely manner, and then the electronic device defines the initial target vehicle as a target vehicle; wherein the preset distance information is a preset distance range.

[0071] In some embodiments, since there may be a situation of following a vehicle during driving, the following vehicle is affected by the front vehicle, and it is difficult for its driver to intuitively determine the emergency. Therefore, after the electronic device determines whether the vehicle closest to the emergency in each lane of the target area is the target vehicle, it also needs to judge whether the following vehicle is the target vehicle.

[0072] That is, the vehicle information includes the vehicle position information; the relative distance information is the distance information between the vehicle and the preceding vehicle that belongs to the same lane; based on the vehicle information, the relative distance information and the multiple speed information, a target vehicle is screened out from the multiple vehicles in the target area, including: based on the vehicle position information and the preset screening rules, multiple vehicles are screened to determine multiple first initial vehicles, wherein the first initial vehicle is a following vehicle; when the relative distance information of any first initial vehicle among the multiple first initial vehicles satisfies the preset relative distance information, and the speed information of any first initial vehicle is greater than the preset speed information, it indicates that the driver of any first initial vehicle fails to operate in time due to the influence of an emergency during driving, and there is a risk of collision with the preceding vehicle, and then the electronic device defines any first initial vehicle as a target vehicle to warn the driver of any first initial vehicle, thereby reducing the occurrence of chain accidents caused by the emergency.

[0073] When the relative distance information of a certain first initial vehicle among multiple first initial vehicles does not meet the preset relative distance information, it indicates that the certain first initial vehicle is far away from the front vehicle. After the driver of the front vehicle makes a corresponding operation, the certain first initial vehicle has enough time to make a corresponding operation, and then there is no need to send the target satellite navigation image to the certain first initial vehicle, thereby reducing the pressure on the satellite to transmit image data.

[0074] In some embodiments, when it is determined that the target area contains too many vehicles, it indicates that the distance between vehicles is too small. For safety reasons, it can be considered to send the target satellite navigation image to all vehicles included in the target area to warn the drivers of all vehicles in the target area of ​​the emergency ahead. Then, when the e-book device determines the target area, the electronic device obtains the vehicle density information corresponding to the target area, and compares the vehicle density information with the preset density information; when the density information is greater than the preset density information, it indicates that the vehicle density in the target area is too high and the distance between vehicles is relatively small. It is necessary to send the target satellite navigation image to all vehicles in the target area at the same time. Then, the electronic device sends the target satellite navigation image to all vehicles in the target area for display.

[0075] In some embodiments, when the electronic device sends the target satellite navigation image to all vehicles in the target area for display, it first determines the data transmission resources of the target satellite to determine whether the data transmission resources are less than the preset data transmission resources. When the data transmission resources are less than the preset data transmission resources, it indicates that the target satellite cannot send the target satellite navigation image to all vehicles at the same time. At this time, the electronic device sends the target satellite navigation image and image forwarding instructions to other satellites that can provide communication services for all vehicles. Other satellites respond to the image forwarding instructions and send the target satellite navigation image to vehicles in the target area.

[0076] The present application provides a satellite navigation image transmission control device, which adopts the following technical solutions:

[0077] Reference Figure 3 A satellite navigation image sending control device 30 includes: an image determination module 301, an information acquisition module 302, an information determination module 303 and a first image sending module 304, wherein:

[0078] An image determination module 301 is used to determine a target satellite navigation image, wherein the target satellite navigation image is a warning navigation image containing an emergency event;

[0079] The information acquisition module 302 is used to determine a target area corresponding to the target satellite navigation image and a plurality of vehicles in the target area, and to acquire vehicle information corresponding to the plurality of vehicles respectively;

[0080] An information determination module 303, for determining relative distance information of a plurality of vehicles and a plurality of speed information based on the vehicle information;

[0081] The first image sending module 304 is used to filter out a target vehicle from multiple vehicles in the target area based on the vehicle information, relative distance information and multiple speed information, and send the target satellite navigation image to the target vehicle for display.

[0082] In some embodiments, the above-mentioned image determination module 301 is specifically used to: obtain an initial satellite navigation image, wherein the initial satellite navigation image is a satellite navigation image of the largest area that can be captured by an image acquisition device installed on a target satellite; obtain road types of roads contained in the initial satellite navigation image and image division rules corresponding to the road types; divide the initial satellite navigation image based on the road types and the image division rules to determine a plurality of sub-initial navigation images; determine feature points corresponding to the plurality of sub-initial navigation images, and based on the feature points, determine a target satellite navigation image from the plurality of sub-initial navigation images.

[0083] In some embodiments, the above-mentioned information acquisition module 302 is specifically used to: determine the location information of the emergency event contained in the target satellite navigation image; obtain the road type corresponding to the target satellite navigation image and the road direction of the road where the emergency event occurred, and retrieve the preset target area division rules corresponding to the road type; based on the location information, road direction and preset target area division rules, determine the target area corresponding to the target satellite navigation image.

[0084] In some embodiments, the above-mentioned preset target area division rules include area length parameters and area width parameters; the above-mentioned information acquisition module 302 is also specifically used to: define the length of the target area with the length parameter, and define the width of the target area with the area width parameter, wherein the length is parallel to the road direction and the width is perpendicular to the road direction; use the position information as the center point of the width edge line of the target area close to the road direction.

[0085] In some embodiments, the above-mentioned vehicle information includes vehicle location information and vehicle road number; the above-mentioned first image sending module 304 is specifically used to: divide multiple vehicles based on the vehicle road number to determine multiple groups of vehicles; based on the vehicle location information, screen the vehicles included in the multiple groups of vehicles respectively, and determine the initial target vehicle in each group of vehicles that is closest to the location of the emergency; determine the distance information between the initial target vehicle and the location of the emergency; when the distance information meets the preset distance information, define the initial target vehicle as the target vehicle.

[0086] In some embodiments, the above-mentioned vehicle information includes vehicle position information; the relative distance information is the distance information between the vehicle and the preceding vehicle belonging to the same lane; the above-mentioned first image sending module 304 is also specifically used to: screen multiple vehicles based on the vehicle position information and preset screening rules, and determine multiple first initial vehicles; when the relative distance information of any first initial vehicle among the multiple first initial vehicles meets the preset relative distance information, and the speed information of any first initial vehicle is greater than the preset speed information, any first initial vehicle is defined as a target vehicle.

[0087] In some embodiments, the above-mentioned satellite navigation image sending control device 30 also includes: a density information comparison module and a second image sending module, wherein the density information comparison module is used to obtain vehicle density information corresponding to the target area and compare the vehicle density information with the preset density information; the second image sending module is used to send the target satellite navigation image to all vehicles in the target area for display when the density information is greater than the preset density information.

[0088] In some embodiments, the image determination module 301 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the information acquisition module 302 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the information determination module 303 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the first image sending module 304 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the density information comparison module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the second image sending module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device.

[0089] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] An embodiment of the present application discloses an electronic device, including: a processor; a memory storing a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned satellite navigation image sending control method.

[0091] For example, refer to Figure 4 , Figure 4The electronic device 40 shown includes: a processor 401 and a memory 403. The processor 401 and the memory 403 are connected, such as through a bus 402. Optionally, the electronic device 40 may also include a transceiver 404. It should be noted that in actual applications, the transceiver 404 is not limited to one, and the structure of the electronic device 40 does not constitute a limitation on the embodiments of the present invention.

[0092] Processor 401 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in the disclosure of the present invention. Processor 401 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0093] The bus 402 may include a path to transmit information between the above components. The bus 402 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 402 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0094] The memory 403 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0095] The memory 403 is used to store application code for executing the solution of the present invention, and the execution is controlled by the processor 401. The processor 401 is used to execute the application code stored in the memory 403 to implement the content shown in the above method embodiment.

[0096] Figure 4 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0097] An embodiment of the present application discloses a computer-readable medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes a method for controlling the sending of satellite navigation images.

[0098] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0099] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling the transmission of satellite navigation images, characterized in that: include: Determining a target satellite navigation image, wherein the target satellite navigation image is a warning navigation image containing an emergency event; Determine a target area corresponding to the target satellite navigation image and a plurality of vehicles within the target area, and obtain vehicle information corresponding to the plurality of vehicles respectively; Based on the vehicle information, determining relative distance information and multiple speed information of the multiple vehicles; Based on the vehicle information, the relative distance information and the plurality of speed information, a target vehicle is selected from a plurality of vehicles in the target area, and the target satellite navigation image is sent to the target vehicle for display, wherein the vehicle information includes vehicle location information and vehicle road number; Wherein, determining the target satellite navigation image includes: Acquire an initial satellite navigation image, wherein the initial satellite navigation image is a satellite navigation image of the largest area that can be acquired by an image acquisition device installed on the target satellite; Acquire road types of roads included in the initial satellite navigation image and image division rules corresponding to the road types; Based on the road type and the image division rule, the initial satellite navigation image is divided to determine a plurality of sub-initial navigation images; Determining feature points respectively corresponding to the plurality of sub-initial navigation images, and determining the target satellite navigation image from the plurality of sub-initial navigation images based on the feature points; The step of selecting a target vehicle from a plurality of vehicles in the target area based on the vehicle information, the relative distance information, and the plurality of speed information includes: Based on the vehicle road numbers, the plurality of vehicles are divided to determine a plurality of groups of vehicles; Based on the vehicle position information, the vehicles included in the multiple groups of vehicles are screened respectively to determine the initial target vehicle in each group of vehicles that is closest to the location of the emergency; Determining distance information between the initial target vehicle and the location of the emergency; In a case where the distance information satisfies preset distance information, the initial target vehicle is defined as the target vehicle.

2. The method according to claim 1, characterized in that The determining of the target area corresponding to the target satellite navigation image comprises: Determining location information of an emergency event contained in the target satellite navigation image; Acquire the road type corresponding to the target satellite navigation image and the road direction of the road where the emergency occurs, and retrieve the preset target area division rule corresponding to the road type; Based on the location information, the road direction and the preset target area division rule, a target area corresponding to the target satellite navigation image is determined.

3. The method according to claim 2, characterized in that The preset target area division rule includes an area length parameter and an area width parameter; The determining the target area corresponding to the target satellite navigation image based on the position information, the road direction and the preset target area division rule includes: The length of the target area is defined by the length parameter, and the width of the target area is defined by the area width parameter, wherein the length is parallel to the road direction, and the width is perpendicular to the road direction; The position information is used as the center point of a width edge line of the target area close to the road direction.

4. The method according to claim 1, characterized in that The vehicle information includes vehicle position information; the relative distance information is the distance information between the vehicle and the preceding vehicle in the same lane; The step of selecting a target vehicle from a plurality of vehicles in the target area based on the vehicle information, the relative distance information, and the plurality of speed information includes: Based on the vehicle position information and a preset screening rule, screening the plurality of vehicles to determine a plurality of first initial vehicles; When the relative distance information of any first initial vehicle among the multiple first initial vehicles satisfies the preset relative distance information, and the speed information of any first initial vehicle is greater than the preset speed information, the any first initial vehicle is defined as the target vehicle.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Acquiring vehicle density information corresponding to the target area, and comparing the vehicle density information with preset density information; In a case where the density information is greater than the preset density information, the target satellite navigation image is sent to all vehicles in the target area for display.

6. A satellite navigation image sending control device, characterized in that: include: An image determination module, used to determine a target satellite navigation image, wherein the target satellite navigation image is a warning navigation image containing an emergency event; An information acquisition module, used to determine a target area corresponding to the target satellite navigation image and a plurality of vehicles in the target area, and to acquire vehicle information respectively corresponding to the plurality of vehicles; An information determination module, configured to determine relative distance information and multiple speed information of the multiple vehicles based on the vehicle information; a first image sending module, configured to screen out a target vehicle from a plurality of vehicles in the target area based on the vehicle information, the relative distance information and the plurality of speed information, and send the target satellite navigation image to the target vehicle for display, wherein the vehicle information includes vehicle location information and vehicle road number; The image determination module is used to obtain an initial satellite navigation image, wherein the initial satellite navigation image is a satellite navigation image of the largest area that can be collected by an image acquisition device installed on a target satellite; obtain a road type of a road contained in the initial satellite navigation image and an image division rule corresponding to the road type; divide the initial satellite navigation image based on the road type and the image division rule to determine a plurality of sub-initial navigation images; determine feature points respectively corresponding to the plurality of sub-initial navigation images, and determine the target satellite navigation image from the plurality of sub-initial navigation images based on the feature points; The first image sending module is used to divide the multiple vehicles based on the vehicle road numbers to determine multiple groups of vehicles; based on the vehicle position information, screen the vehicles included in the multiple groups of vehicles respectively to determine the initial target vehicle in each group of vehicles that is closest to the location of the emergency; determine the distance information between the initial target vehicle and the location of the emergency; and when the distance information meets the preset distance information, define the initial target vehicle as the target vehicle.

7. An electronic device, characterized in that: include: processor; A memory storing a computer program, which, when executed by the processor, enables the processor to perform the method according to any one of claims 1 to 5.

8. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 5.

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