Vehicle driving guiding method, system, device, medium and program product

Abstract

The invention provides a vehicle driving guiding method, system and device, a medium and a program product, and belongs to the technical field of vehicle guiding. The method comprises the following steps: calculating a driving path of a starting position and a target position of a vehicle, and obtaining the number of vehicles driving on the driving path; distributing color layers with different colors for each vehicle; obtaining the current position of the vehicle on the driving path; according to the current position of the vehicle, the front-back position relation of the vehicle on the driving path is obtained; according to the front-back position relation, arranging the color layers to form a layer arrangement sequence; generating an activation sequence according to the current position of each vehicle; and generating a guide control instruction according to the layer arrangement sequence and the activation sequence, wherein the guide control instruction is used for controlling the state of a guide lamp arranged on the driving path. The method can position the vehicle position in real time, controls the state change of the driving path guiding lamp according to the position, and improves the guiding effect.

Description

Technical Field

[0001] The present invention relates to the field of vehicle guidance technology, and in particular to a vehicle driving guidance method, system, device, medium, and program product. Background Art

[0002] Underground garages are often complex and large in structure, and drivers are prone to getting lost or wasting time while driving. The lighting guidance system can provide drivers with a clear driving path in real time to guide the vehicle, thereby greatly improving parking efficiency.

[0003] However, the existing light guidance system usually uses a single color control, which only lights up when a vehicle enters the parking lot. However, this method cannot accurately locate the vehicle in real time. Moreover, it is a single color control, which cannot effectively guide multiple vehicles at the same time, especially during peak hours or in complex parking garage environments, which can easily cause traffic congestion and chaos.

[0004] In addition, in the prior art, vehicle positioning and guidance are usually achieved through vehicle electronic tags. However, this system is too dependent on hardware modules, especially requiring each vehicle to be equipped with an electronic tag. This not only increases the burden on car owners, but also the electronic tags of different vehicles and different brands may have compatibility issues, further increasing the complexity of system implementation and maintenance. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention proposes a vehicle driving guidance method, system, medium, and program product. The method assigns a color layer to each vehicle, collects the current position of the vehicle in real time, and controls the state change of the driving path guide lights according to the current position, thereby improving the guidance effect of multiple vehicles driving at the same time. The method is suitable for guiding vehicles entering or leaving the warehouse.

[0006] On one hand, the present invention provides a vehicle driving guidance method, comprising: calculating a driving path between a starting position and a target position of a vehicle; obtaining the number of vehicles traveling on the driving path; assigning a color layer of a different color to each vehicle based on the number of vehicles being multiple; obtaining a current position of the vehicle on the driving path; obtaining a front-to-rear position relationship of the vehicle on the driving path according to the current position of the vehicle; arranging the color layers according to the front-to-rear position relationship to form a layer arrangement sequence, wherein the layer arrangement sequence is used to characterize that the color layers of the vehicles in the front position are arranged in the front; generating an activation sequence according to the current position of each vehicle, wherein the activation sequence is configured as follows: the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by each vehicle between the current position and the target position is in an activated state; generating a guidance control instruction according to the layer arrangement sequence and the activation sequence, wherein the guidance control instruction is used to control the state of the guidance lights arranged on the driving path.

[0007] In one embodiment of the present invention, when there are multiple vehicles traveling in the same direction on the driving path, if a second vehicle overtakes the first vehicle and the distance by which the second vehicle exceeds the first vehicle is greater than or equal to a distance threshold, the arrangement order of the color layers matched by the second vehicle is adjusted and the layer arrangement sequence is updated; if the distance by which the second vehicle exceeds the first vehicle is less than the distance threshold, the arrangement order of the color layers matched by the second vehicle is kept unchanged.

[0008] In one embodiment of the present invention, the vehicle driving guidance method further comprises: if it is monitored that only one vehicle is driving on the driving path or all vehicles are driving in the same direction, controlling the guide lights on both sides of the vehicle's driving direction to display synchronously.

[0009] In one embodiment of the present invention, the vehicle driving guidance method further includes: if a vehicle traveling in the opposite direction is detected on the driving path, for the non-overlapping lane portion, the guide lights on both sides of the vehicle's driving direction are controlled to be displayed synchronously; for the overlapping lane portion, the guide lights on one side of the vehicle's driving direction are controlled to be displayed according to the color layer matched by the vehicle.

[0010] In one embodiment of the present invention, the color layer matched by each vehicle includes a main guide color and a secondary guide color, the main guide color is displayed statically, and the secondary guide color is displayed dynamically and flashingly.

[0011] In one embodiment of the present invention, a method for obtaining the current position of a vehicle includes: identifying the four corner points of a license plate in an acquired vehicle image, and obtaining the pixel coordinates of the four corner points on the image; selecting a point on the license plate as the origin, establishing a world coordinate system, and obtaining the posture transformation relationship between the world coordinate system and the camera coordinate system according to the size of the license plate to obtain the distance from the license plate to the camera; calculating the distance between the vehicle and the vertical ground point of the camera according to the illumination angle of the camera, the vertical distance from the camera to the ground, and the vertical distance from the license plate to the ground; determining the vehicle coordinates in the two-dimensional coordinate system based on the coordinates of the camera in the two-dimensional coordinate system of the site and the distance between the vehicle and the vertical ground point of the camera to obtain the current position of the vehicle.

[0012] In one embodiment of the present invention, the posture transformation relationship between the world coordinate system and the camera coordinate system is obtained according to the size of the license plate to obtain the distance from the license plate to the camera, including: using the pixel coordinates of the four corner points of the license plate, the intrinsic parameter matrix of the camera and the size of the license plate, the three-dimensional coordinates of the four corner points of the license plate in the camera coordinate system are calculated by the inverse transformation of the perspective projection; according to the three-dimensional coordinates of the four corner points of the license plate in the camera coordinate system and the corresponding points in the world coordinate system, the posture transformation relationship between the world coordinate system and the camera coordinate system is solved by using the rigid body transformation; and the distance from the license plate to the camera is calculated using the translation vector in the posture transformation relationship.

[0013] In one embodiment of the present invention, a plurality of cameras are arranged at intervals on the top of the garage passage to collect vehicle images in real time.

[0014] In one embodiment of the present invention, if multiple cameras capture images of the same vehicle, the distance from the license plate in each image to each camera is calculated, and the image with the smallest distance is selected as a reference to determine the current position of the vehicle.

[0015] In one embodiment of the present invention, the driving path selects the optimal path, and the Dijkstra algorithm is used to calculate the optimal path from the starting position to the target position, which specifically includes: abstracting each guide light as a node, and connecting adjacent guide lights with edges, the weight of each edge represents the distance between adjacent guide lights, and constructing an adjacency matrix; determining the starting position as the source point, the target position as the target point, and recording the shortest distance from the source point to each node; selecting the first node closest to the source point from the unvisited nodes, for each adjacent second node of the first node, if the shortest distance from the second node to the source point is greater than the distance between the first node and the second node plus the sum of the shortest distance from the first node to the source point, then the shortest distance from the second node to the source point is updated to the sum of the distance between the first node and the second node plus the shortest distance from the first node to the source point; traversing all nodes to obtain the optimal path from the source point to the target point.

[0016] Another aspect of the present invention provides a vehicle driving guidance system, comprising: a vehicle dispatching system, configured on a system server, for calculating the driving path between the vehicle's starting position and the target position when receiving a vehicle entry request or exit request, and converting the driving path into a lighting sequence of a guide light and sending it to the guidance server. A collection unit, a plurality of cameras arranged on the top of the garage passage, for collecting vehicle images of the lane in real time. A guidance server is connected to the vehicle dispatching system and the acquisition unit, and is used to: calculate the current position of the vehicle in real time according to the vehicle image; and obtain the number of vehicles traveling on the driving path; based on the number of vehicles being multiple, assign a color layer of different colors to each vehicle; according to the current position of the vehicle, obtain the front and rear position relationship of the vehicle on the driving path; according to the front and rear position relationship, arrange the color layers to form a layer arrangement sequence, and the layer arrangement sequence is used to represent that the color layers of the vehicles in the front position are arranged in the front; generate an activation sequence according to the current position of each vehicle, and the activation sequence is configured as follows: the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by each vehicle between the current position and the target position is in an activated state; and generate a guidance control instruction according to the layer arrangement sequence and the activation sequence, and the guidance control instruction is used to control the state of the guidance lights arranged on the driving path. A lighting system, wherein the lighting system includes a plurality of guide lights, and the lighting system is connected to the guide server to control the state change of the guide lights of the driving path according to the guidance control instructions during the driving of the vehicle.

[0017] In one embodiment of the present invention, the vehicle driving guidance system further includes: an encoder, connected to the guidance server, for encoding and encrypting the guidance control instructions issued; the lighting system further includes a light controller, which is connected to the encoder and the plurality of guidance lights, and the light controller acts as a decoder to decode the encoded guidance control instructions.

[0018] In one embodiment of the present invention, the plurality of guide lights are underground light strips arranged in the middle of each lane or on both sides of the lane.

[0019] The present invention also provides a vehicle driving guidance device, adopting the above-mentioned vehicle driving guidance method, and the vehicle driving guidance device at least comprises: a path planning module, used to calculate the driving path of the vehicle's starting position and target position; a position determination module, used to obtain the current position of the vehicle on the driving path; a vehicle number acquisition module, used to obtain the number of vehicles traveling on the driving path; a layer allocation module, used to allocate a color layer of a different color to each vehicle; a layer arrangement module, used to obtain the front and rear position relationship of the vehicle on the driving path according to the current position of the vehicle; and arrange the color layers according to the front and rear position relationship. , forming a layer arrangement sequence, wherein the layer arrangement sequence is used to characterize that the color layer of the vehicle in the front position is arranged in the front; an activation configuration module is used to generate an activation sequence according to the current position of each vehicle, wherein the activation sequence is configured as follows: the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by each vehicle between the current position and the target position is in an activated state; a guidance control module is used to generate a guidance control instruction according to the layer arrangement sequence and the activation sequence, wherein the guidance control instruction is used to control the state of the guidance lights arranged on the driving path.

[0020] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned vehicle driving guidance method when executed by a processor.

[0021] Another aspect of the present invention provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle driving guidance method when executed by a processor.

[0022] It can be seen from the above scheme that the advantages of the present invention are:

[0023] The vehicle driving guidance method disclosed by the present invention improves the guidance effect of multiple vehicles driving at the same time by assigning a color layer to each vehicle, collecting the current position of the vehicle in real time, and controlling the state change of the driving path guide light according to the current position. The method is suitable for guiding vehicles entering or leaving the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the structure of a vehicle driving guidance system disclosed in one embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the overall process of a vehicle driving guidance method disclosed in one embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the principle of vehicle position calculation;

[0027] Figure 4 A schematic diagram for guiding bicycle driving;

[0028] Figure 5 It is a guiding schematic diagram for multiple vehicles traveling in the same direction;

[0029] Figure 6 It is a schematic diagram for guiding multiple vehicles traveling in opposite directions;

[0030] Figure 7 The present invention is a schematic structural diagram of a vehicle driving guidance device disclosed in one embodiment of the present invention.

[0031] Reference numerals:

[0032] 100: vehicle driving guidance system;

[0033] 110: Vehicle dispatching system;

[0034] 120: boot server;

[0035] 130: encoder;

[0036] 140: Lighting system;

[0037] 1401: Lighting controller;

[0038] 1402: guide light;

[0039] 150: collection unit;

[0040] 1501: camera;

[0041] 200: vehicle driving guidance device;

[0042] 210: path planning module;

[0043] 220: location determination module;

[0044] 230: Vehicle quantity acquisition module;

[0045] 240: layer allocation module;

[0046] 250: layer arrangement module;

[0047] 260: Activate the configuration module;

[0048] 270: Boot control module. DETAILED DESCRIPTION

[0049] It should be noted that, in this application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0051] First, please refer to Figure 1 As shown in Figure 1 The framework diagram of the vehicle driving guidance system disclosed in one embodiment of the present invention is shown. The vehicle driving guidance system 100 is suitable for the inbound and outbound guidance of vehicles, and mainly comprises several parts such as a vehicle dispatching system 110, a guidance server 120, an encoder 130, a lighting system 140, and a collection unit 150. The lighting system 140 is composed of a lighting controller 1401 and a plurality of guide lights 1402 connected to the lighting controller 1401. In one embodiment, the guide lights 1402 use underground light strips, such as DMX512 RGB underground lights, and each underground light can display full color through a controller. The underground lights are installed at a certain distance. In addition, according to the requirements of the lane, such as the U-shaped corner of the lane, special corner arc underground lights are also provided. In addition, the guide lights 1402 of the present invention are not limited to underground installation methods, and other installation methods such as wall mounting and hanging mounting can also be set differently according to specific scenarios. In addition, in one embodiment, the guide lights can be arranged in the middle of each single lane or on both sides of the single lane, and the present invention does not make specific limitations.

[0052] The acquisition unit 150 includes several cameras 1501 arranged on the top of the garage passage, which are used to collect vehicle images of the lane in real time. In this embodiment, the vehicle dispatching system 110 is configured on the system server. When receiving the vehicle's entry request, the vehicle dispatching system will allocate a parking space for the vehicle and determine the driving path from the starting position to the target parking space; when receiving the exit request, the vehicle dispatching system will use the current position of the vehicle as the starting position and the garage exit position as the target position to determine the driving path, so as to convert the driving path into the lighting sequence of the guide light for the guidance operation this time and send it to the guidance server 120. The guidance server 120 is connected to the vehicle dispatching system 110 and the acquisition unit 150, and is mainly used to configure the color layer of the vehicle, and calculate the current position of the vehicle in real time according to the vehicle image collected by the acquisition unit, and generate a guidance control instruction in combination with the current position of the vehicle, the color layer, etc. to control the state change of the guide light of the driving path. For this process, it will be described in detail in the following guidance method. The encoder 130 is connected to the guidance server 120, receives and sends the guidance control instruction for encoding and encryption, etc. The light controller 1401 of the lighting system 140 communicates with the encoder 130. The light controller, as a decoder, receives the encoded guidance control instruction and decodes it. During the driving process of the vehicle, the state change of the driving path guidance light is controlled according to the guidance control instruction. In one embodiment, the light controller 1401 communicates with the encoder 130 via the TCP / IP protocol, and the communication protocol is the DMX512 international standard. The light controller 1401 controls the guidance light 1402 via the RS485 interface, but the present invention is not limited to this.

[0053] In combination with the above-mentioned vehicle driving guidance system, another embodiment of the present invention further discloses a vehicle driving guidance method. Figure 2 As shown, Figure 2 The overall flow chart of the vehicle driving guidance method is shown, and the vehicle driving guidance method specifically includes the following steps:

[0054] Step S1, calculating the driving path between the starting position and the target position of the vehicle, and converting the driving path into a lighting sequence of the guide lights.

[0055] In one embodiment, taking the vehicle entry guidance as an example, when the vehicle dispatch system receives a vehicle entry request, it will determine whether it is a fixed vehicle or a temporary vehicle based on the collected license plate information to allocate a parking space, that is, the target position, and calculate the driving path based on the vehicle's starting position and target position, and convert the driving path into a lighting sequence of the guide lights and send it to the guidance server.

[0056] The vehicle outbound guidance is similar to the vehicle inbound guidance, that is, when the vehicle dispatching system receives a vehicle inbound request, it will use the vehicle's current position as the starting position and the vehicle entrance position as the target position to determine the driving path, so as to convert the driving path into a lighting sequence of the guide lights for the guidance operation and send it to the guidance server.

[0057] In practice, the optimal path is usually selected for the driving path between the starting position and the target position of the vehicle. In one embodiment, the Dijkstra algorithm is used to calculate the optimal path from the starting position to the target position, specifically: first, each guide light is abstracted as a node, and the adjacent guide lights are connected by edges, and the weight of each edge represents the distance between adjacent guide lights, and an adjacency matrix is ​​constructed. The starting position is determined as the source point, the target position is determined as the target point, and the shortest distance from the source point to each node is recorded. Initially, except for the source point distance being 0, the distances of other nodes are positive infinity (indicating unknown), and all nodes are marked as unvisited at the beginning. Then, the first node closest to the source point is selected from the unvisited nodes. For each adjacent second node of the first node, if the shortest distance from the second node to the source point is greater than the sum of the distance between the first node and the second node plus the shortest distance from the first node to the source point, then the shortest distance from the second node to the source point is updated to the sum of the distance between the first node and the second node plus the shortest distance from the first node to the source point. Traverse all nodes to obtain the optimal path from the source point to the target point.

[0058] Step S2: Calculate the current position of the vehicle in real time while the vehicle is traveling.

[0059] In one embodiment, a plurality of cameras are arranged at intervals on the top of the garage passage to collect vehicle images of the lane in real time and feed them back to the guidance server to collect the current position information of the vehicle in real time.

[0060] Specifically, refer to Figure 3 As shown, Figure 3The schematic diagram of the principle of calculating the current position of the vehicle is shown. First, the collected vehicle images are preprocessed by graying, denoising, contrast enhancement and other operations to improve the recognition effect of the license plate area. Image processing techniques (such as edge detection, contour extraction, etc.) are used to identify the contour of the license plate in the preprocessed vehicle image, and the four corner points of the license plate are determined by specific algorithms (such as Hough transform, corner point detection, etc.), and the pixel coordinates of the four corner points on the image are obtained. Then, a point (such as the midpoint of the license plate or any corner point) is selected as the origin on the license plate to establish a world coordinate system. The position transformation relationship between the world coordinate system and the camera coordinate system is obtained according to the size of the license plate (including length, width, height, etc.), and the distance from the license plate to the camera is obtained. And according to the illumination angle of the camera, the vertical distance from the camera to the ground, and the vertical distance from the license plate to the ground, the distance between the vehicle and the vertical ground point of the camera is calculated. Finally, according to the coordinates of the camera in the two-dimensional coordinate system of the site and the distance between the vehicle and the vertical ground point of the camera, the coordinates of the vehicle in the two-dimensional coordinate system are determined, and the current position of the vehicle can be obtained.

[0061] In one embodiment, the distance from the license plate to the camera is calculated by using the pixel coordinates of the four corner points of the license plate, the intrinsic parameter matrix of the camera, and the size of the license plate, and calculating the three-dimensional coordinates of the four corner points of the license plate in the camera coordinate system through the inverse transformation of the perspective projection. According to the three-dimensional coordinates of the four corner points of the license plate in the camera coordinate system and the corresponding points in the world coordinate system, the rigid body transformation is used to solve the posture transformation relationship between the world coordinate system and the camera coordinate system. Finally, the distance from the license plate to the camera can be calculated using the translation vector in the posture transformation relationship.

[0062] In addition, if multiple cameras capture images of the same vehicle, by calculating the distance from the license plate to each camera in each image, the image with the smallest distance can be selected as a reference to determine the current position of the vehicle. If a single camera captures images of multiple vehicles, the current position information of different vehicles can be determined using the above method.

[0063] In this embodiment, by identifying the license plate information during the driving process of the vehicle, the real-time coordinates of the vehicle in the garage can be accurately obtained, and the vehicle position can be obtained in real time. Compared with the existing technology, only a certain number of cameras need to be installed at fixed positions, and no specific hardware electronic tags need to be used to identify the vehicle, and the vehicle position information can be obtained in real time to dynamically update the state of the guide light according to the vehicle position.

[0064] Step S3: Obtain the number of vehicles traveling on the driving path.

[0065] In reality, there may not be only one vehicle on the driving path at the same time. There may be multiple vehicles traveling in the same direction. By obtaining the number of vehicles on the driving path in real time, different color layers can be assigned to different vehicles according to their current positions.

[0066] Step S4: assign a color layer of a different color to each vehicle.

[0067] In one embodiment, when receiving a vehicle entry request or exit request, while determining the driving path, the guidance server will also assign a color layer to the vehicle. The color layer can be a predefined color value (such as RGB value) or a color name (such as "red", "blue", etc.). If there are multiple vehicles on the driving path, different vehicles are assigned different color layers.

[0068] In one embodiment, the color layer matched to each vehicle includes a main guide color and a secondary guide color, wherein the main guide color is displayed statically and the secondary guide color is displayed dynamically and flashingly. Figure 4 As shown in Figure 4 The scene of a bicycle entering the garage is shown. When a vehicle enters the garage, a matching color layer is assigned to the vehicle. The color layer includes a main guide color and a secondary guide color. In the figure, blue is the main guide color, which is displayed statically and does not flicker. Orange is the secondary guide color, which is displayed with a dynamic flickering effect.

[0069] Step S5, according to the current position of the vehicle, obtaining the front and rear position relationship of the vehicle on the driving path; according to the front and rear position relationship, arranging the color layers to form a layer arrangement sequence, wherein the layer arrangement sequence is used to represent that the color layers of the vehicle in the front position are arranged in the front.

[0070] In one embodiment, after obtaining the current position of each vehicle and the color layer assigned to each vehicle, a layer arrangement sequence can be further generated according to the current position of each vehicle and the color layer assigned to each vehicle. The layer arrangement sequence is used to characterize that the color layer of the vehicle in the front position is ranked in the front, the color layer ranked first is located at the top layer, and the other color layers are distributed in the bottom layer in sequence according to the sorting order to form a multi-layer color layer. Specifically, when there is only one vehicle traveling on the driving path, the layer arrangement sequence only includes the color layer matched by the vehicle, that is, the guide light of the driving path displays the corresponding color according to the color image matched by the vehicle. When there are multiple vehicles traveling in the same direction on the driving path, the front and rear position sequence of the vehicle will be determined according to the current position of each vehicle, and then the color layers will be arranged according to the front and rear position sequence of the vehicle to form a layer arrangement sequence, that is, the priority is set, the vehicle at the front has the highest priority and the color layer matched is located at the top layer, and the color layers matched by the remaining vehicles are arranged in the lower layer in sequence according to the priority order corresponding to each vehicle, so as to generate the layer arrangement sequence.

[0071] Step S6, generating an activation sequence according to the current position of each vehicle, wherein the activation sequence is configured as follows: the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by each vehicle between the current position and the target position is in an activated state.

[0072] In one embodiment, an activation sequence is further generated according to the current position of each vehicle, and the activation sequence is mainly used to control the activation state of the color layer matched by each vehicle according to the position change. Specifically, the activation sequence is configured so that the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by the vehicle between the current position and the target position is in an active state. That is, for each vehicle, the color layer corresponding to the starting position to the target position is set to be inactive, and the color layer corresponding to the current position to the target position is activated. Therefore, a guidance control instruction can be generated in combination with the layer arrangement sequence and the activation sequence to control the state of the guide lights arranged on the driving path, that is, the on and off state and the color display state.

[0073] Step S7: generating a guidance control instruction according to the layer arrangement sequence and the activation sequence, wherein the guidance control instruction is used to control the state of the guidance lights arranged on the driving path.

[0074] In the embodiment, the corresponding point guidance control instruction can be generated through the above-generated layer arrangement sequence and activation sequence to control the on and off and color display of the guide light. The layer arrangement sequence and activation sequence are both related to the current position. The layer arrangement sequence determines the arrangement order of the color layers of each vehicle according to the position order, and the activation sequence controls the activation state of each color layer in the layer arrangement sequence at different positions. The combination of the two can realize the control of the guide light.

[0075] Specifically, for a scenario where there is only one vehicle on the driving path, Figure 4 As shown in , according to the color layer assigned to the vehicle, the generated layer arrangement sequence only includes the color layer matched by the vehicle. The activation sequence generated according to the current position of the vehicle is configured so that the color layer matched by the vehicle between the starting position and the current position is in an inactive state, and the color layer matched by the vehicle between the current position and the target position is in an active state, and then the final guidance control instruction generated according to the layer arrangement sequence and the activation sequence is used to control the state of the guide lights arranged on the driving path. That is, because the guide lights on the driving path are only controlled by the color layer matched by the vehicle at this time, and the color layer is in an inactive state between the starting position and the current position, and the color layer is in an active state between the current position and the target position, then the guide lights between the starting position and the current position will be turned off, and the guide lights between the current position and the target position will be lit, and the color corresponding to the color layer matched by the vehicle will be displayed. That is, the guide lights on the path traveled are off, and the path traveled is lit. The vehicle is guided by the main guide color and the secondary guide color of the color layer matched by the vehicle. When it finally reaches the target position (i.e. the target parking space), all the guide lights on the travel path will be off.

[0076] When a plurality of vehicles traveling in the same direction are detected on the driving path, Figure 5As shown. When there are multiple vehicles traveling in the same direction on the driving path, the front and rear position order of the vehicles will be determined according to the current position of each vehicle, and the layer arrangement sequence will be generated. The layer arrangement sequence is the priority setting based on the front and rear position order of the vehicles. The vehicle at the front has the highest priority and the color layer matched is at the top layer. The color layers matched by the remaining vehicles are arranged in the lower layer according to the priority order corresponding to each vehicle. In addition, for each vehicle, the color layer corresponding to the starting position to the target position is set to be inactive, and the color layer corresponding to the current position to the target position is activated. The guidance control instructions generated by combining the layer arrangement sequence and the activation sequence are used to control the on and off state and color display state of the guide lights arranged on the driving path. Taking the driving of two vehicles as an example, at the beginning, the layer arrangement sequence is shown as the color layer matched by the front vehicle (the first vehicle) is at the top layer, and the color layer matched by the second vehicle (the second vehicle) is at the second top layer. For the second-ranked vehicle, the color layer matched by the second-ranked vehicle is at the second-top layer, and is activated between the current position and the target position of the vehicle, and is inactive between the starting position and the current position of the vehicle; for the front-most vehicle, the color layer matched from the current position to the target position is activated, and the color layer is at the top layer. Then the guide light of the front-most vehicle from the current position to the target position will light up and display the color of the top-top color layer. For the second-ranked vehicle, since the color layer matched by the front-most vehicle between the starting position and the target position is inactive, the guide light will light up and display the color of the second-top color layer on the path from the front-most vehicle, and for the path in front of the front-most vehicle, although the second-top color layer is also activated, since the top-top color layer is activated, the indicator light will only show the color of the top-top color image when it is displayed. At this time, it can always be ensured that when the vehicles are traveling in the same direction, the guide lights in the path ahead of each vehicle will display the guide color that matches the vehicle itself, that is, the guide lights in the path ahead of the frontmost vehicle will display the guide color that matches the vehicle, the guide lights in the path between two adjacent vehicles will display the guide color that matches the next vehicle, and the guide lights in the path behind the last vehicle will all be off. Figure 5 As shown in Figure 5 The following figure shows a scene where two vehicles enter the warehouse from the same direction. Each vehicle is assigned a color layer. The main guide color of the first vehicle is blue, and the secondary guide color is orange; the main guide color of the second vehicle is green, and the secondary guide color is pink. The first vehicle has the highest priority, and the color layer is at the top layer, such as Figure 5 The guide lights of the path ahead of the first vehicle are displayed in blue and orange; the guide lights of the path between the first vehicle and the second vehicle are displayed in green and pink, and the guide lights of the path behind the second vehicle are all off.

[0077] In addition, it should be noted that during the driving process of the vehicle, as the vehicle travels and the relative position changes, the layer arrangement sequence and activation sequence are dynamically adjusted. If the vehicle behind overtakes, it will be readjusted according to its real-time front and rear position order. For example, if there are multiple vehicles traveling in the same direction on the driving path, the first vehicle is located behind the first vehicle at the beginning. If the distance of the second vehicle overtaking the first vehicle is greater than or equal to a distance threshold (for example, 2m), the arrangement order of the color layer matched by the second vehicle is adjusted, that is, the color layer matched by the second vehicle is adjusted from the lower layer to the top layer, and the layer arrangement sequence is updated; if the distance of the second vehicle overtaking the first vehicle is less than the distance threshold, the arrangement order of the color layer matched by the second vehicle is kept unchanged, that is, the layer arrangement sequence remains unchanged. This method of combining real-time position calculation, guide light on and off control and layer intelligent arrangement not only improves the intuitiveness and accuracy of vehicle guidance, but also effectively enhances the guidance efficiency and safety when multiple vehicles travel in the same direction.

[0078] In this embodiment, the state of the guide light is controlled according to the color layer assigned to the vehicle traveling on the driving path and the current position of the vehicle to guide the vehicle. Compared with the single-color guidance commonly used in the prior art, in this embodiment, the guidance setting is flexible and the guidance effect is improved, especially for the situation where multiple vehicles are traveling at the same time, so that the driver can visually distinguish different guidance information more easily, reduce the possibility of misjudgment and confusion, and enable the driver to clearly identify the color of the guide light in a complex or long-distance driving environment. In addition, while providing the driver with clear driving path instructions, this method can avoid unnecessary lighting waste and reduce energy consumption and operating costs.

[0079] Furthermore, in one embodiment, if Figure 3 , Figure 4 As shown, guide lights are arranged in the middle or on both sides of a single lane. If it is detected that only one vehicle is traveling on the driving path or all vehicles are traveling in the same direction, the guide lights on both sides of the vehicle's driving direction are controlled to display synchronously, that is, the display is kept consistent, showing the same color and the same on and off state. The synchronous display of guide lights on both sides of the driving direction can more clearly indicate the direction and path of the vehicle's driving, reducing the driver's confusion and misjudgment. Especially in conditions with poor visibility such as underground garages, the synchronized light guidance can significantly improve the visibility and safety of the road.

[0080] Furthermore, in one embodiment, if Figure 6As shown, if it is detected that there is a vehicle traveling in the opposite direction on the driving path, correct guidance cannot be performed if the guide lights on both sides are displayed synchronously. In this regard, in the present embodiment, for the non-overlapping lane portion, the guide lights on both sides of the driving direction are still controlled to be displayed synchronously. For the overlapping lane portion, the guide lights on the side of the vehicle's driving direction are controlled to be displayed according to the color layer matched by the vehicle. For example, according to the principle of keeping to the right, the guide lights on the right side of the vehicle's driving direction are controlled to be displayed according to the color layer matched by the vehicle, so that the guide lights on the right lanes of the two vehicles traveling in opposite directions both display the color of the color layer matched by the vehicle itself. As shown Figure 6 As shown, when two vehicles enter the warehouse in opposite directions, the main guide color assigned to the first vehicle is blue, and the secondary guide color is orange. The main guide color assigned to the second vehicle is green, and the secondary guide color is pink. In the overlapping part of the lanes of the two vehicles, according to the principle of driving on the right, the guide light on the right side of the driving direction displays the matching guide color, blue on the right side of the first vehicle, and green on the right side of the second vehicle. In the non-overlapping part, the guide lights of the two lanes are displayed synchronously. For example, the lane that the first vehicle has passed is the area that the second vehicle needs to pass, and it displays green. In this embodiment, in the overlapping lane part, by controlling the guide light on one side of the vehicle's driving direction to display according to the color layer matched by the vehicle, vehicles traveling in different directions can be clearly identified, and vehicles traveling in each direction can be accurately guided, and erroneous interference between each other can be effectively prevented.

[0081] In summary, the vehicle driving guidance method disclosed by the present invention is applicable to different scenarios such as vehicle entry guidance and exit guidance. Compared with the guidance system of the prior art, the present invention calculates the driving path and assigns a color layer to each vehicle when obtaining the vehicle entry guidance or exit guidance request. And during the vehicle driving process, the current position of the vehicle is calculated in real time, and the state of the guide light is dynamically updated according to the vehicle position. Specifically, according to the current position of each vehicle and the color layer assigned to each vehicle, a layer arrangement sequence is generated; according to the current position of each vehicle, an activation sequence is generated; according to the layer arrangement sequence and the activation sequence, a guidance control instruction is generated to control the state of the guide light arranged on the driving path. The method introduces a color layer so that each vehicle has a unique guidance mark, and even when multiple vehicles are driving at the same time, each vehicle can be accurately distinguished and guided to avoid confusion and conflict. In addition, by collecting the vehicle position in real time, the lighting and extinguishing of the guide light can be controlled to guide the vehicle to drive, especially for the situation where multiple vehicles are driving in the same direction, interference between each other can be prevented, and the guidance effect is further improved. While providing clear driving path instructions for the driver, unnecessary lighting waste can be avoided, and energy consumption and operating costs can be reduced.

[0082] In addition, it should be noted that the vehicle driving guidance method disclosed in the present invention is not limited to the above steps S1-S7, and the steps can be reordered, added, or deleted. As long as the technical effect expected by the technical solution of the present invention can be achieved, the present invention will not be specifically limited here.

[0083] Correspondingly, corresponding to the above-mentioned vehicle driving guidance method, the present invention further provides a vehicle driving guidance device 200, referring to Figure 7 As shown, Figure 7 A schematic structural diagram of the vehicle driving guidance device 200 is shown.

[0084] The vehicle driving guidance device 200 at least includes a path planning module 210, a position determination module 220, and a guidance module 230, wherein:

[0085] The path planning module 210 is used to calculate the driving path between the starting position and the target position of the vehicle, and convert the driving path into a lighting sequence of the guide lights.

[0086] The position determination module 220 is used to calculate the current position of the vehicle in real time while the vehicle is traveling.

[0087] The vehicle quantity acquisition module 230 is used to obtain the number of vehicles traveling on the driving path.

[0088] The layer allocation module 240 is used to allocate a color layer of a different color to each vehicle.

[0089] The layer arrangement module 250 is used to obtain the front and rear position relationship of the vehicle on the driving path according to the current position of the vehicle; according to the front and rear position relationship, the color layers are arranged to form a layer arrangement sequence, and the layer arrangement sequence is used to represent that the color layers of the vehicle in the front position are arranged in the front.

[0090] The activation configuration module 260 is used to generate an activation sequence according to the current position of each vehicle, and the activation sequence is configured as follows: the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by each vehicle between the current position and the target position is in an activated state.

[0091] The guidance control module 270 is used to generate a guidance control instruction according to the layer arrangement sequence and the activation sequence, and the guidance control instruction is used to control the state of the guidance lights arranged on the driving path.

[0092] In addition, technicians in the matching field can clearly understand that for the convenience and simplicity of description, the specific working process of the vehicle driving guidance device 200 can refer to the corresponding process in the aforementioned vehicle driving guidance method embodiment, and will not be repeated here.

[0093] In addition, the present invention also proposes an electronic device in another embodiment, comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor executes the above-mentioned vehicle driving guidance method.

[0094] The present invention also proposes a storage medium in another embodiment for storing a computer program for executing the above-mentioned vehicle driving guidance method. It should be understood that the storage medium in the embodiment of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0095] In addition, the present invention also provides a computer program product in one embodiment, wherein the computer program product includes a computer program, and the computer program can be stored on a readable storage medium. When the computer program is executed by a processor, the computer can execute the above-mentioned vehicle driving guidance method.

[0096] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A vehicle driving guidance method, characterized in that: Include: Calculate the vehicle's starting position and target position's driving path; Obtaining the number of vehicles traveling on the driving path; Based on the number of vehicles being multiple, assigning a color layer of a different color to each vehicle; Obtaining the current position of the vehicle on the driving path; According to the current position of the vehicle, the front and rear position relationship of the vehicle on the driving path is obtained; according to the front and rear position relationship, the color layers are arranged to form a layer arrangement sequence, and the layer arrangement sequence is used to indicate that the color layers of the vehicles in the front position are arranged in the front; according to the current position of each vehicle, an activation sequence is generated, and the activation sequence is configured as follows: the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by each vehicle between the current position and the target position is in an activated state; A guidance control instruction is generated according to the layer arrangement sequence and the activation sequence, and the guidance control instruction is used to control the state of the guidance lights arranged on the driving path.

2. The vehicle driving guidance method according to claim 1, characterized in that: In the case where there are multiple vehicles traveling in the same direction on the driving path, if a second vehicle overtakes the first vehicle and the distance by which the second vehicle exceeds the first vehicle is greater than or equal to a distance threshold, the arrangement order of the color layers matched by the second vehicle is adjusted and the layer arrangement sequence is updated; if the distance by which the second vehicle exceeds the first vehicle is less than the distance threshold, the arrangement order of the color layers matched by the second vehicle is kept unchanged.

3. The vehicle driving guidance method according to claim 1, characterized in that: Also includes: If it is detected that only one vehicle is traveling on the driving path or all vehicles are traveling in the same direction, the guide lights on both sides of the vehicle's driving direction are controlled to display synchronously.

4. The vehicle driving guidance method according to claim 1, characterized in that: Also includes: If a vehicle traveling in the opposite direction is detected on the driving path, for the non-overlapping lane portion, the guide lights on both sides of the vehicle's driving direction are controlled to display synchronously; For the overlapping lanes, the guide light on the side that controls the vehicle's driving direction is displayed based on the color layer matched by the vehicle.

5. The vehicle driving guidance method according to claim 1, characterized in that: The color layer matched by each vehicle includes a main guide color and a secondary guide color, wherein the main guide color is displayed statically, and the secondary guide color is displayed dynamically and flashingly.

6. The vehicle driving guidance method according to claim 1, characterized in that: The method for obtaining the current position of the vehicle includes: Identify the four corner points of the license plate in the acquired vehicle image and obtain the pixel coordinates of the four corner points on the image; Select a point on the license plate as the origin, establish a world coordinate system, and obtain the pose transformation relationship between the world coordinate system and the camera coordinate system based on the size of the license plate to obtain the distance from the license plate to the camera; Calculate the distance between the vehicle and the vertical ground point of the camera based on the camera's illumination angle, the vertical distance from the camera to the ground, and the vertical distance from the license plate to the ground; According to the coordinates of the camera in the two-dimensional coordinate system of the site and the distance between the vehicle and the vertical ground point of the camera, the coordinates of the vehicle in the two-dimensional coordinate system are determined to obtain the current position of the vehicle.

7. The vehicle driving guidance method according to claim 6, characterized in that: According to the size of the license plate, the pose transformation relationship between the world coordinate system and the camera coordinate system is obtained, and the distance from the license plate to the camera is obtained, including: Using the pixel coordinates of the four corner points of the license plate, the camera's intrinsic parameter matrix, and the size of the license plate, the three-dimensional coordinates of the four corner points of the license plate in the camera coordinate system are calculated through the inverse transformation of the perspective projection; According to the three-dimensional coordinates of the four corner points of the license plate in the camera coordinate system and the corresponding points in the world coordinate system, the rigid body transformation is used to solve the posture transformation relationship between the world coordinate system and the camera coordinate system; The distance from the license plate to the camera is calculated using the translation vector in the pose transformation relationship.

8. The vehicle driving guidance method according to claim 7, characterized in that: Multiple cameras are arranged at intervals on the top of the garage passage to capture vehicle images in real time.

9. The vehicle driving guidance method according to claim 8, characterized in that: If multiple cameras capture images of the same vehicle, calculate the distance from the license plate to each camera in each image, select the image with the smallest distance as the reference, and determine the current position of the vehicle.

10. The vehicle driving guidance method according to claim 1, characterized in that: The driving path selects the optimal path, and uses the Dijkstra algorithm to calculate the optimal path from the starting position to the target position, which specifically includes: Each guide light is abstracted as a node, and adjacent guide lights are connected with edges. The weight of each edge represents the distance between adjacent guide lights, and an adjacency matrix is ​​constructed. Determine the starting position as the source point, the target position as the target point, and record the shortest distance from the source point to each node; Select a first node closest to the source point from unvisited nodes, and for each second node adjacent to the first node, if the shortest distance from the second node to the source point is greater than the sum of the distance between the first node and the second node plus the shortest distance from the first node to the source point, update the shortest distance from the second node to the source point to the sum of the distance between the first node and the second node plus the shortest distance from the first node to the source point; Traverse all nodes and obtain the optimal path from the source point to the target point.

11. A vehicle driving guidance system, characterized in that: Include: The vehicle dispatching system is configured on the system server, and is used to calculate the driving path between the starting position and the target position of the vehicle when receiving a vehicle entry request or exit request, and convert the driving path into a lighting sequence of the guide light and send it to the guide server; The acquisition unit is composed of several cameras arranged on the top of the garage passage to collect vehicle images in the lane in real time; A guidance server is connected to the vehicle dispatching system and the acquisition unit, and is used to: calculate the current position of the vehicle in real time according to the vehicle image; and obtaining the number of vehicles traveling on the driving path; based on the number of vehicles being multiple, assigning a color layer of a different color to each vehicle; according to the current position of the vehicle, obtaining the front and rear position relationship of the vehicle on the driving path; according to the front and rear position relationship, arranging the color layers to form a layer arrangement sequence, the layer arrangement sequence being used to characterize that the color layers of the vehicles in the front position are arranged in the front; generating an activation sequence according to the current position of each vehicle, the activation sequence being configured as follows: the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by each vehicle between the current position and the target position is in an activated state; and generating a guidance control instruction according to the layer arrangement sequence and the activation sequence, the guidance control instruction being used to control the state of the guidance lights arranged on the driving path; A lighting system, wherein the lighting system includes a plurality of guide lights, and the lighting system is connected to the guide server to control the state change of the guide lights of the driving path according to the guidance control instructions during the driving of the vehicle.

12. The vehicle driving guidance system according to claim 11, characterized in that: Also includes: An encoder, connected to the guidance server, for encoding and encrypting the guidance control instruction issued; The lighting system further includes a light controller, which is connected to the encoder and the plurality of guide lights. The light controller serves as a decoder to decode the encoded guide control instructions.

13. The vehicle driving guidance system according to claim 11, characterized in that: The plurality of guide lights are underground light strips arranged in the middle of each single lane or on both sides of the single lane.

14. A vehicle driving guidance device, characterized in that: The vehicle driving guidance method according to any one of claims 1 to 10 is adopted, and the vehicle driving guidance device at least comprises: A path planning module is used to calculate the driving path between the vehicle's starting position and the target position; A position determination module, used to obtain the current position of the vehicle on the driving path; A vehicle quantity acquisition module, used to obtain the number of vehicles traveling on the driving path; A layer allocation module is used to allocate different color layers to each vehicle; A layer arrangement module is used to obtain the front and rear position relationship of the vehicle on the driving path according to the current position of the vehicle; arrange the color layers according to the front and rear position relationship to form a layer arrangement sequence, wherein the layer arrangement sequence is used to indicate that the color layers of the vehicle in the front position are arranged in the front. An activation configuration module is used to generate an activation sequence according to the current position of each vehicle, wherein the activation sequence is configured as follows: the color layer matched by each vehicle between the starting position and the current position is in an inactive state, and the color layer matched by each vehicle between the current position and the target position is in an active state; The guidance control module is used to generate a guidance control instruction according to the layer arrangement sequence and the activation sequence, and the guidance control instruction is used to control the state of the guidance lights arranged on the driving path.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the vehicle driving guidance method described in any one of claims 1-10 are implemented.

16. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the vehicle driving guidance method described in any one of claims 1-10 are implemented.

Images