Piloting method, device and equipment based on vehicle lamp projection, medium and program product

Abstract

The invention relates to a vehicle lamp projection-based navigation method, device and equipment, a medium and a program product. The method comprises the steps that navigation information of a target vehicle is obtained, the navigation information comprises global starting and ending places and real-time positioning information, vehicle moving direction prediction is carried out according to the navigation information and historical vehicle state information, and real-time self-vehicle moving direction prediction information is obtained; based on the real-time local environment perception information and the real-time self-vehicle moving direction prediction information of the target vehicle, determining a candidate local advancing route about the target vehicle; generating candidate vehicle lamp projection control information for navigating each candidate local advancing route; according to the real-time vehicle state information of the target vehicle, target vehicle lamp projection control information used for vehicle navigation is determined from the candidate vehicle lamp projection control information; and controlling the target vehicle to perform vehicle lamp projection in real time according to the target vehicle lamp projection control information. By adopting the method, the active pilot driving service can be directly provided for the driver by using the vehicle lamp.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a navigation method, device, computer equipment, computer-readable storage medium and computer program product based on vehicle light projection. Background Art

[0002] DLP (Digital Light Processing) headlights are a high-precision lighting technology based on digital micromirror devices (DMDs) that can achieve dynamic, programmable beam control and image projection. Among related technologies, DLP headlight projection is mainly used in the design of automotive intelligent bodies, focusing on interaction with other vehicles. For example, it can interact with other vehicles or pedestrians by projecting specific patterns or signals (such as turn prompts, brake warnings, etc.) to improve road safety.

[0003] Among related technologies, DLP headlights have not yet fully utilized their high-precision projection capabilities to provide drivers with intuitive navigation guidance and achieve self-driving. Summary of the invention

[0004] Based on this, it is necessary to provide a navigation method, device, computer equipment, computer readable storage medium and computer program product based on headlight projection to address the above-mentioned technical problems, which can directly provide the driver with real-time active navigation driving functions using headlights to improve driving safety and driving experience.

[0005] In a first aspect, the present application provides a navigation method based on vehicle light projection, comprising:

[0006] Obtaining navigation information of the target vehicle, the navigation information including global starting and ending locations and real-time positioning information, predicting the vehicle's movement based on the navigation information and historical vehicle status information, and obtaining real-time vehicle movement prediction information;

[0007] Determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0008] generating candidate vehicle light projection control information for navigating each of the candidate local travel routes;

[0009] Determining target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle;

[0010] The target vehicle is controlled in real time to perform headlight projection according to the target headlight projection control information.

[0011] In some exemplary embodiments, the acquiring navigation information of the target vehicle includes:

[0012] Get the global start and end locations from the navigation application for generating navigation routes;

[0013] The real-time positioning information of the target vehicle is obtained from the vehicle-mounted satellite positioning system.

[0014] In some exemplary embodiments, the step of predicting the vehicle movement according to the navigation information and the historical vehicle status information to obtain the real-time vehicle movement prediction information includes:

[0015] Based on the tracking prediction algorithm, the target vehicle's movement is predicted according to the navigation information and historical vehicle status information to obtain real-time vehicle movement prediction information, which includes at least one of lane change prediction information and steering prediction information.

[0016] In some exemplary embodiments, the method further comprises:

[0017] Acquire environmental perception data collected in real time by the target vehicle, wherein the environmental perception data includes a scene image;

[0018] Based on the perception algorithm, real-time local environment perception information of the target vehicle is obtained according to the environment perception data, and the real-time local environment perception information of the target vehicle includes at least one of lane line information, dynamic obstacle information and scene information.

[0019] In some exemplary embodiments, determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time vehicle movement prediction information includes:

[0020] Based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information, generating a real-time local semantic vector map about the target vehicle, wherein the real-time local semantic vector map carries the navigation information;

[0021] According to the real-time local semantic vector map of the target vehicle, a candidate local traveling route of the target vehicle is predicted.

[0022] In some exemplary embodiments, determining the target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle includes:

[0023] Acquire real-time vehicle status information of the target vehicle, wherein the real-time vehicle status information includes at least one of vehicle speed information, vehicle steering wheel angle information, and vehicle posture information;

[0024] The target vehicle light projection control information for self-vehicle navigation is determined from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle.

[0025] In a second aspect, the present application also provides a navigation device based on vehicle light projection, comprising:

[0026] A navigation information acquisition module is used to acquire navigation information of a target vehicle, wherein the navigation information includes global starting and ending locations and real-time positioning information, and predicts the vehicle's movement based on the navigation information and historical vehicle status information to obtain real-time vehicle movement prediction information;

[0027] A fusion module, configured to determine a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0028] A candidate projection information generating module, used to generate candidate vehicle light projection control information for navigating each of the candidate local travel routes;

[0029] A matching module, used to determine the target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle;

[0030] A control module is used to control the target vehicle to perform headlight projection in real time according to the target headlight projection control information.

[0031] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0032] Obtaining navigation information of the target vehicle, the navigation information including global starting and ending locations and real-time positioning information, predicting the vehicle's movement based on the navigation information and historical vehicle status information, and obtaining real-time vehicle movement prediction information;

[0033] Determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0034] generating candidate vehicle light projection control information for navigating each of the candidate local travel routes;

[0035] Determining target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle;

[0036] The target vehicle is controlled in real time to perform headlight projection according to the target headlight projection control information.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0038] Obtaining navigation information of the target vehicle, the navigation information including global starting and ending locations and real-time positioning information, predicting the vehicle's movement based on the navigation information and historical vehicle status information, and obtaining real-time vehicle movement prediction information;

[0039] Determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0040] generating candidate vehicle light projection control information for navigating each of the candidate local travel routes;

[0041] Determining target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle;

[0042] The target vehicle is controlled in real time to perform headlight projection according to the target headlight projection control information.

[0043] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0044] Obtaining navigation information of the target vehicle, the navigation information including global starting and ending locations and real-time positioning information, predicting the vehicle's movement based on the navigation information and historical vehicle status information, and obtaining real-time vehicle movement prediction information;

[0045] Determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0046] generating candidate vehicle light projection control information for navigating each of the candidate local travel routes;

[0047] Determining target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle;

[0048] The target vehicle is controlled in real time to perform headlight projection according to the target headlight projection control information.

[0049] The above-mentioned navigation method, device, computer equipment, computer-readable storage medium and computer program product based on vehicle light projection obtain navigation information of the target vehicle, the navigation information includes global starting and ending locations and real-time positioning information, predicts the vehicle's movement according to the navigation information and historical vehicle status information, and obtains real-time vehicle movement prediction information; determines candidate local travel routes for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time vehicle movement prediction information; generates candidate vehicle light projection control information for navigation of each candidate local travel route; determines target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle status information of the target vehicle; and controls the target vehicle to perform vehicle light projection in real time according to the target vehicle light projection control information. Through the navigation information and real-time local environment perception information of the target vehicle, input data is provided for vehicle light projection, which can realize real-time active navigation of the self-vehicle and provide real-time active navigation services for the vehicle, especially at night, the navigation service provided by the vehicle lights can provide clear instructions to improve driving safety and driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 This is a diagram of an application environment of a navigation method based on vehicle light projection in one embodiment;

[0052] Figure 2 is a schematic flow chart of a navigation method based on vehicle light projection in one embodiment;

[0053] Figure 3 A schematic diagram of a framework of a navigation method based on vehicle light projection in one embodiment;

[0054] Figure 4 It is a schematic diagram of the overall process of a navigation method based on vehicle light projection in one embodiment;

[0055] Figure 5 A schematic diagram of an application scenario of a navigation method based on vehicle light projection in one embodiment;

[0056] Figure 6 A schematic diagram of an application scenario of a navigation method based on vehicle light projection in another embodiment;

[0057] Figure 7This is a schematic diagram of an application scenario of a navigation method based on vehicle light projection in yet another embodiment;

[0058] Figure 8 is a structural block diagram of a navigation device based on vehicle light projection in one embodiment;

[0059] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] The navigation method based on vehicle light projection provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The application environment includes a target vehicle 100, and the target vehicle 100 is equipped with a navigation system 101, an environment perception system 102, a vehicle state information collection system 103, and a headlight control system 104. In some embodiments, the navigation system 101, the environment perception system 102, the vehicle state information collection system 103, and the headlight control system 104 can send or receive messages to each other.

[0062] In some embodiments, the navigation system 101 can obtain the real-time positioning information of the target vehicle through GPS positioning, and the navigation system 101 can also provide navigation guidance based on voice and images, including turn prompts, lane suggestions, etc. By providing the travel information to the navigation system 101, the navigation system can plan and output the navigation route. In some embodiments, the processor on the target vehicle 100 can obtain navigation information from the navigation system 101, including the global starting and ending locations and real-time positioning information.

[0063] In some embodiments, the environmental perception system 102 is used to monitor and analyze the conditions of the road around the vehicle in real time, and obtain environmental perception information around the vehicle. The environmental perception system 102 detects and understands the environment around the vehicle through a variety of sensors and advanced algorithms, and can collect and analyze information such as roads, traffic, pedestrians, obstacles, etc. in real time, providing decision-making basis for automatic driving or driving assistance systems. In some embodiments, the environmental perception system 102 may include a vehicle camera, such as a roof camera, which is usually installed on the top of a car or other vehicle to provide a view of the vehicle's surrounding environment. In some embodiments, the environmental perception system 102 can capture images and / or video data of the road ahead through a vehicle camera, and use computer vision and deep learning and other technologies to identify the collected images and / or video data. In some embodiments, the environmental perception system 102 may also include a laser radar, which can generate a high-precision 3D environmental map using laser scanning to accurately measure the distance and shape of objects. In some embodiments, the environmental perception system 102 may also include an ultrasonic sensor for short-range detection, which is commonly used for parking assistance and low-speed collision avoidance. In some embodiments, the environmental perception system 102 may also include an infrared sensor for detecting pedestrians or animals at night or in low-light environments.

[0064] In some embodiments, the vehicle state information collection system 103 is used to collect the state data of the vehicle in real time, such as attitude, speed and inclination. For example, by using an inertial measurement unit (IMU), including an accelerometer, a gyroscope and a magnetometer, the vehicle attitude can be obtained, including the pitch angle (Pitch), roll angle (Roll) and yaw angle (Yaw) of the vehicle. Based on the sensor fusion algorithm (such as Kalman filter) to process these data, the real-time attitude of the vehicle can be calculated. For example, the real-time speed of the vehicle can be obtained through a wheel speed sensor, a GPS module, an inertial navigation system (INS), or the vehicle speed can be calculated by combining the accelerometer and gyroscope data. For example, the vehicle inclination can be obtained through an inclination sensor or an accelerometer in an IMU. For example, the steering wheel angle sensor can detect the rotation angle of the steering wheel. These vehicle state information can provide key information for path planning and decision-making to ensure safety and performance.

[0065] In some embodiments, the headlight control system 104 is used to control the headlights to perform headlight projection control according to the headlight projection control information generated by the processor. In some embodiments, the headlights are lamp modules installed at the front of the vehicle, independent of the low beam and the high beam, and use a high-definition matrix LED light source.

[0066] The navigation method based on vehicle light projection provided in the embodiment of the present application can be executed by a computer device. The computer device can be an electronic device on the vehicle, such as a terminal. The terminal can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, projection devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. Head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc.

[0067] In some embodiments, the computer device can obtain navigation information of the target vehicle, the navigation information includes global starting and ending locations and real-time positioning information, predict the vehicle's movement according to the navigation information and historical vehicle status information, and obtain real-time self-vehicle movement prediction information; determine candidate local travel routes for the target vehicle based on the real-time local environment perception information and real-time self-vehicle movement prediction information of the target vehicle; generate candidate headlight projection control information for navigating each candidate local travel route; determine the target headlight projection control information for self-vehicle navigation from the candidate headlight projection control information according to the real-time vehicle status information of the target vehicle; and control the target vehicle to perform headlight projection in real time according to the target headlight projection control information. Through the navigation information and real-time local environment perception information of the target vehicle, input data is provided for headlight projection to realize self-vehicle navigation, which can realize real-time active navigation of the self-vehicle and provide active navigation services for the vehicle in real time. In particular, clear instructions can be provided through the navigation service provided by the headlights at night to improve driving safety and driving experience.

[0068] In an exemplary embodiment, Figure 2 As shown, a navigation method based on vehicle light projection is provided, and the method is applied to a computer device on a target vehicle as an example for explanation, including the following steps 202 to 210. Among them:

[0069] Step 202, obtain navigation information of the target vehicle, the navigation information includes global starting and ending locations and real-time positioning information, and predict the vehicle movement based on the navigation information and historical vehicle status information to obtain real-time vehicle movement prediction information.

[0070] Among them, the target vehicle is the self-vehicle, and the navigation information of the target vehicle includes global starting and ending locations and real-time positioning information. The global starting and ending locations are global information required for vehicle navigation, including the starting location and the destination point. The global starting and ending locations can also include the input locations where stops are required. Global refers to data that basically does not change during the global navigation process. In some embodiments, the starting and ending locations for route navigation can be provided to the navigation application through voice commands or manual input, and the navigation application performs route planning based on the starting and ending locations. Therefore, the computer device can obtain the global starting and ending locations for generating the navigation route from the navigation application, which is used for subsequent headlight projection to guide the target vehicle.

[0071] The real-time positioning information of the target vehicle can be obtained from the vehicle-mounted satellite positioning system. The real-time positioning position of the target vehicle can be obtained by using the satellite positioning information and the inertial navigation system. Therefore, the computer device can obtain the global starting and ending locations for generating the navigation route from the navigation application, and obtain the real-time positioning information of the target vehicle from the vehicle-mounted satellite positioning system.

[0072] The vehicle status information is used to describe the basic status of the vehicle, including but not limited to the vehicle timestamp, vehicle speed, vehicle heading angle, vehicle steering wheel angle, vehicle acceleration, vehicle angular velocity, etc. The historical vehicle status information is the status information corresponding to the target vehicle at the previous timestamp(s). For example, the vehicle status information corresponding to each timestamp can be understood. At the current moment, the historical frame of the vehicle status information can be obtained to predict the real-time vehicle movement.

[0073] The vehicle movement prediction information includes the predicted dynamic driving behaviors of the target vehicle, such as turning, changing lanes or going straight. Specifically, the computer device can determine the target vehicle's driving road based on the global starting and ending locations in the navigation information of the target vehicle, and can determine which lane the target vehicle is currently in based on the real-time positioning of the target vehicle on the driving road. Combined with the historical vehicle status information, the vehicle movement prediction is performed to obtain real-time vehicle movement prediction information.

[0074] In some embodiments, the computer device can predict the movement of the target vehicle based on the tracking prediction algorithm, navigation information and historical vehicle status information, and obtain real-time vehicle movement prediction information, which includes at least one of lane change prediction information and turn prediction information. The tracking prediction algorithm can be implemented based on algorithms such as Kalman filtering, local trajectory polynomial / curvature fitting, etc.

[0075] Step 204 : determining a candidate local travel route for the target vehicle based on the real-time local environment perception information and the real-time vehicle movement prediction information of the target vehicle.

[0076] Among them, the real-time local environment perception information is the information of the real-time status around the target vehicle obtained by the sensor. Compared with the global starting and ending points, the local environment perception information changes in real time with the navigation process, so it is called "local". The computer device performs fusion processing based on the real-time local environment perception information of the target vehicle and the real-time vehicle movement prediction information to generate a candidate local route for the target vehicle. The candidate local route is the predicted route that the target vehicle may take at the current positioning position.

[0077] In some embodiments, the method also includes: obtaining environmental perception data collected in real time by the target vehicle, the environmental perception data includes scene images and may also include point cloud data; obtaining real-time local environmental perception information of the target vehicle based on the environmental perception data based on the perception algorithm, the real-time local environmental perception information of the target vehicle includes at least one of lane line information, dynamic obstacle information and scene information.

[0078] In some embodiments, based on the real-time local environment perception information and real-time vehicle movement prediction information of the target vehicle, candidate local travel routes for the target vehicle are determined, including: based on the real-time local environment perception information and real-time vehicle movement prediction information of the target vehicle, a real-time local semantic vector map for the target vehicle is generated, the real-time local semantic vector map carries navigation information; based on the real-time local semantic vector map of the target vehicle, candidate local travel routes for the target vehicle are predicted.

[0079] Step 206 , generating candidate vehicle light projection control information for navigating each candidate local travel route.

[0080] After determining the candidate local travel routes available to the current target vehicle, the computer device may generate candidate headlight projection control information for each candidate local travel route, each candidate headlight projection control information being used to guide the vehicle to travel along the corresponding candidate local travel route at the current position.

[0081] Step 208 : determining target vehicle light projection control information for self-vehicle navigation from candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle.

[0082] In order to accurately determine the possible driving path of the vehicle, the computer device can also combine the real-time vehicle state information of the target vehicle, including posture, steering wheel angle, etc., to determine the most likely travel route from the candidate local travel routes, so as to use the corresponding candidate headlight projection control information as the final target headlight projection control information, and perform headlight control according to the target headlight projection control information, so as to achieve vehicle navigation. For example, there are 3 optional candidate local travel routes A, B, and C. Combined with the real-time vehicle posture, it can be clear that the target vehicle is more likely to travel to the candidate local travel route C. Then the headlight projection control information corresponding to the candidate local travel route C can be used as the final target headlight projection control information, and headlight projection can be performed to guide the vehicle to travel, especially at night. For example, in order to obtain the subjective driving intention of the driver, a candidate local travel route can be selected from multiple candidate local travel routes in combination with the real-time steering wheel angle information, and the corresponding headlight projection control information can be used as the final target headlight projection control information to perform headlight projection.

[0083] In some embodiments, target headlight projection control information for self-vehicle navigation is determined from candidate headlight projection control information based on real-time vehicle status information of the target vehicle, including: acquiring real-time vehicle status information of the target vehicle, the real-time vehicle status information including at least one of vehicle speed information, vehicle steering wheel angle information and vehicle posture information; determining target headlight projection control information for self-vehicle navigation from candidate headlight projection control information based on the real-time vehicle status information of the target vehicle.

[0084] Step 210: Control the target vehicle to perform headlight projection in real time according to the target headlight projection control information.

[0085] It should be noted that the navigation method based on headlight projection provided in the embodiment of the present application provides active navigation services for the vehicle in real time based on constantly changing information. That is to say, in different road environments and different vehicle conditions, the matching headlight projection control information is determined in real time, thereby improving driving safety and driving experience.

[0086] The above-mentioned navigation method based on car light projection provides input data for self-vehicle navigation by car light projection through the navigation information of the target vehicle, the real-time local environment perception information and the real-time vehicle status information. It can realize real-time active navigation of the self-vehicle and provide active navigation services for the vehicle in real time. Especially at night, the navigation service provided by the car lights can provide clear instructions, thereby improving driving safety and driving experience.

[0087] like Figure 3 FIG. 1 is a schematic diagram of a navigation method based on vehicle light projection in an embodiment. Figure 3, the framework includes a navigation system, a perception system, an on-board information detection system, a light control system and a processor (or microprocessor chip).

[0088] Among them, the navigation system is used to generate a global vector map based on the global starting and ending locations and real-time positioning information. The navigation system is mainly composed of a vehicle-mounted satellite positioning module (GPS / GNSS), a combined inertial navigation RTK module, and a vehicle-side navigation module. Using satellite positioning information, the real-time positioning information is obtained by combining inertial navigation information, and then combined with the vehicle navigation software to obtain the global starting and ending points. The main information provided by the navigation system includes: real-time positioning information and historical vehicle status information. The information provided by the above navigation system is input into the processor, and real-time vehicle movement prediction information can be obtained through the tracking prediction algorithm.

[0089] The perception system is used to generate a local semantic map based on real-time local environmental perception information. The perception system can provide environmental perception data collected by the target vehicle in real time. The environmental perception data includes scene images and point cloud data. The data provided by the above perception system is input into the processor, and through relevant perception algorithms, mainly including lane line perception algorithm, dynamic target perception algorithm, scene recognition perception algorithm, etc., real-time perception is completed to obtain lane line information, dynamic obstacle information and scene information.

[0090] The vehicle information detection system is used to provide real-time vehicle status information based on vehicle posture, vehicle speed, steering wheel angle, etc. This type of information is input into the processor, which uses the encoding and decoding algorithm to parse the above data in real time, establish a unified timing, and output the above information with a unique aligned clock timing.

[0091] The processor can fuse the above information to output images that may need to be mapped and projected, such as light blankets and target objects, and then determine the final image that needs to be mapped and projected or dynamically correct the image to be projected in real time based on the input of the on-board information detection system, thereby obtaining the target car light projection control information.

[0092] The headlight control system is used to control the headlight projection of the target vehicle in real time according to the target headlight projection control information.

[0093] Of course, it is understandable that the analysis and processing of the collected real-time data can be deployed on the relevant system for execution, and the processing results can be provided to the processor to determine the final target headlight projection control information. Alternatively, each system can provide the collected real-time data to the processor, which will perform the analysis and processing and determine the final target headlight projection control information based on the processing results.

[0094] like Figure 4 FIG. 1 is a schematic diagram of the overall process of a navigation method based on vehicle light projection in one embodiment. Figure 4The navigation system obtains the global vector map (such as the starting point, destination, and location information) through electronic map applications and GPS positioning, and the perception system obtains the local semantic map by segmenting the surrounding environment through perception units such as cameras. The processor combines the global vector map and the local semantic map through translation and rotation relationships, unifies the module clock, for example, unifies the map data or sensor data in different coordinate systems to the same coordinate system, and then integrates them in the perception coordinate system, and then maps them to the world coordinate system through translation and rotation. A real-time local semantic vector map with navigation information and surrounding environment information can be established, that is, the real-time local semantic vector map carries local navigation information while also reflecting the real-time environmental semantic information around the target vehicle. Based on the real-time local semantic vector map, the candidate local travel routes of the target vehicle can be predicted, thereby generating candidate headlight projection control information for navigating each candidate local travel route. Then, combined with the real-time vehicle status information of the target vehicle (such as steering wheel angle information), the target headlight projection control information for self-vehicle navigation can be determined from the candidate headlight projection control information. Finally, according to the target headlight projection control information, the headlights can be controlled in real time to project the pattern prominently to the front, thereby playing the role of real-time active auxiliary navigation.

[0095] In a specific embodiment, a navigation method based on vehicle light projection is provided, which can be executed by an electronic device and specifically includes the following steps:

[0096] 1. Get the global start and end locations for generating navigation routes from the navigation application.

[0097] 2. Obtain the real-time positioning information of the target vehicle from the vehicle-mounted satellite positioning system.

[0098] 3. Based on the tracking prediction algorithm, the vehicle movement is predicted according to the global starting and ending locations, real-time positioning information and historical vehicle status information to obtain real-time vehicle movement prediction information, which includes at least one of lane change prediction information and turning prediction information.

[0099] 4. Obtain environmental perception data collected by the target vehicle in real time. The environmental perception data includes scene images and point cloud data.

[0100] 5. Based on the perception algorithm, obtain the real-time local environment perception information of the target vehicle according to the environment perception data. The real-time local environment perception information of the target vehicle includes at least one of lane line information, dynamic obstacle information and scene information.

[0101] 6. Based on the real-time local environment perception information of the target vehicle and the real-time vehicle movement prediction information, a real-time local semantic vector map of the target vehicle is generated. The real-time local semantic vector map carries navigation information.

[0102] 7. Based on the real-time local semantic vector map of the target vehicle, predict the candidate local travel routes of the target vehicle.

[0103] 8. Generate candidate vehicle light projection control information for navigating each candidate local travel route.

[0104] 9. Obtain real-time vehicle status information of the target vehicle, where the real-time vehicle status information includes at least one of vehicle speed information, vehicle steering wheel angle information, and vehicle posture information.

[0105] 10. Determine the target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle.

[0106] 11. Control the target vehicle to project lights in real time according to the target vehicle light projection control information.

[0107] The above-mentioned navigation method based on headlight projection provides input data for self-vehicle navigation through the navigation information of the target vehicle and the real-time local environment perception information, which can realize real-time active navigation of the self-vehicle and provide active navigation services for the vehicle. In particular, the navigation service provided by the headlights can provide clear instructions at night to improve driving safety and driving experience. By providing more direct navigation information to the driver during real-time driving, and actively assisting the driver in making decisions through intelligent headlight control, it has significant functional innovation compared to HUD and some smart headlight solutions on the market. The multi-sensor perception data combined with the active real-time perception algorithm provide accurate upstream input for the headlights to achieve the effect of real-time active navigation at night. In particular, the use and fusion of environmental perception information and navigation information to construct a real-time local semantic vector map carrying navigation information provides a reliable basis for accurately generating navigation information.

[0108] The embodiments of the present application also provide some application scenarios based on the navigation method based on vehicle light projection.

[0109] like Figure 5As shown, it is a schematic diagram of an application scenario of a navigation method based on vehicle light projection in an embodiment. The navigation method based on vehicle light projection can be applied to active navigation scenarios of lane line change, including single lane change and continuous lane change. The navigation system provides high-precision real-time positioning information and obtains real-time status information of the vehicle, including orientation, posture, etc., for subsequent decision-making, such as whether it is necessary to change lanes in advance / continuously change lanes to exit; the vehicle information detection system provides steering wheel angle information, vehicle speed, and vehicle posture information for subsequent judgment of whether the vehicle changes lanes or changes lanes continuously, so as to assist in determining active lane change actions and lane change decisions; the perception system realizes perception judgment through dynamic obstacles and scene perception, such as detection of obstacles such as surrounding vehicles, and whether lane change can be performed in the current scene, and inputs light blanket projection control information that fits the lane line projection to the vehicle light control module through real-time perception of lane lines; the vehicle light control system combines the light blanket projection control information of the lane line projection to perform lane-level light blanket projection to guide the vehicle to change lanes, and can also inform other vehicles that the vehicle is about to change lanes or change lanes continuously, taking into account active assistance and interactive prompt functions.

[0110] like Figure 6 The figure shows a schematic diagram of an application scenario of a navigation method based on vehicle light projection in an embodiment. The navigation method based on vehicle light projection can be applied to active navigation scenarios of exit steering, including single exits and continuous exits. The navigation system is used to provide high-precision real-time positioning information and determine the exit location. The vehicle information detection system can provide steering wheel angle information, vehicle speed, and vehicle posture information. The perception system can obtain the relationship between the vehicle position and the surrounding scene modeled in time series, and accurately output lane projection control information based on lane lines, dynamic targets, and scene perception information. For example, the light blanket projection angle is corrected in real time in combination with the steering wheel angle information, obstacle projection is avoided to avoid erroneous indications at night, and high-resolution light blankets are projected in combination with lane lines to provide road section exit navigation services to avoid distraction and miss the exit. At the same time, it can also remind other vehicles of the vehicle's movement.

[0111] like Figure 7 As shown, it is a schematic diagram of the application scenario of the navigation method based on car light projection in one embodiment. The navigation method based on car light projection can be applied to the active navigation scenario of turning at the roundabout exit. The roundabout scene is essentially a multi-exit scene. The navigation system provides high-precision real-time positioning information, combines the vehicle orientation and position information to accurately determine the exit location and output it in real time. The on-board information detection system obtains the vehicle steering wheel angle, vehicle speed, and vehicle posture information to assist in judgment. The perception system judges and corrects the light blanket projection angle in real time when rounding the island, avoids obstacles such as flower strips and vehicles, perceives the accurate lane line through the real-time lane line, and projects at the right time to guide the driver to change lanes and exit. The car light control system combines the lane line light blanket projection control information to provide roundabout exit navigation services, assist in roundabout decisions on unfamiliar roads, and also remind other vehicles of the vehicle's movements.

[0112] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0113] Based on the same inventive concept, the embodiment of the present application also provides a navigation device based on vehicle light projection for implementing the above-mentioned navigation method based on vehicle light projection. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations of one or more embodiments of the navigation device based on vehicle light projection provided below can refer to the limitations of the navigation method based on vehicle light projection above, and will not be repeated here.

[0114] In an exemplary embodiment, Figure 8 As shown, a navigation device 800 based on vehicle light projection is provided, comprising: a navigation information acquisition module 802, a fusion module 804, a candidate projection information generation module 806, a matching module 808 and a control module 810, wherein:

[0115] The navigation information acquisition module 802 is used to acquire the navigation information of the target vehicle, the navigation information includes the global starting and ending locations and real-time positioning information, and predicts the vehicle movement based on the navigation information and historical vehicle status information to obtain real-time vehicle movement prediction information;

[0116] A fusion module 804 is used to determine a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0117] A candidate projection information generating module 806, for generating candidate vehicle light projection control information for navigating each candidate local travel route;

[0118] A matching module 808, for determining target vehicle light projection control information for self-vehicle navigation from candidate vehicle light projection control information according to real-time vehicle state information of the target vehicle;

[0119] The control module 810 is used to control the target vehicle to perform headlight projection in real time according to the target headlight projection control information.

[0120] In some exemplary embodiments, the navigation information acquisition module 802 is further used to acquire the global starting and ending locations for generating the navigation route from the navigation application; and to acquire the real-time positioning information of the target vehicle from the vehicle-mounted satellite positioning system.

[0121] In some exemplary embodiments, the navigation information acquisition module 802 is also used to predict the movement of the target vehicle based on the tracking prediction algorithm, according to the navigation information and historical vehicle status information, to obtain real-time vehicle movement prediction information, and the real-time vehicle movement prediction information includes at least one of lane change prediction information and turning prediction information.

[0122] In some exemplary embodiments, the navigation device 800 based on vehicle light projection also includes an environmental perception information acquisition module, which is used to obtain environmental perception data collected in real time by the target vehicle, and the environmental perception data includes scene images; based on the perception algorithm, the real-time local environmental perception information of the target vehicle is obtained according to the environmental perception data, and the real-time local environmental perception information of the target vehicle includes at least one of lane line information, dynamic obstacle information and scene information.

[0123] In some exemplary embodiments, the fusion module 804 is also used to generate a real-time local semantic vector map about the target vehicle based on the real-time local environment perception information and real-time vehicle movement prediction information of the target vehicle, and the real-time local semantic vector map carries navigation information; based on the real-time local semantic vector map of the target vehicle, predict candidate local travel routes for the target vehicle.

[0124] In some exemplary embodiments, the matching module 808 is also used to obtain real-time vehicle status information of the target vehicle, the real-time vehicle status information including at least one of vehicle speed information, vehicle steering wheel angle information and vehicle posture information; and determine the target headlight projection control information for self-vehicle navigation from the candidate headlight projection control information based on the real-time vehicle status information of the target vehicle.

[0125] The above-mentioned navigation device 800 based on vehicle light projection obtains navigation information of the target vehicle, which includes global starting and ending locations and real-time positioning information, predicts the vehicle's movement according to the navigation information and historical vehicle status information, and obtains real-time vehicle movement prediction information; determines candidate local travel routes for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time vehicle movement prediction information; generates candidate vehicle light projection control information for navigating each candidate local travel route; determines target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle status information of the target vehicle; and controls the target vehicle to perform vehicle light projection in real time according to the target vehicle light projection control information. Through the navigation information and real-time local environment perception information of the target vehicle, input data is provided for vehicle light projection, which can realize real-time active navigation of the self-vehicle and provide active navigation services for the vehicle, especially at night, the navigation service provided by the vehicle lights can provide clear instructions to improve driving safety and driving experience.

[0126] Each module in the above-mentioned navigation device 800 based on vehicle light projection can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0127] In an exemplary embodiment, a computer device is provided, the internal structure of which can be shown as follows: Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a navigation method based on vehicle light projection is implemented.

[0128] Those skilled in the art will understand that Fig. 9The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0129] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0130] Obtaining navigation information of the target vehicle, the navigation information including global starting and ending locations and real-time positioning information, predicting the vehicle's movement based on the navigation information and historical vehicle status information, and obtaining real-time vehicle movement prediction information;

[0131] Determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0132] generating candidate vehicle light projection control information for navigating each of the candidate local travel routes;

[0133] Determining target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle;

[0134] The target vehicle is controlled in real time to perform headlight projection according to the target headlight projection control information.

[0135] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0136] Obtaining navigation information of the target vehicle, the navigation information including global starting and ending locations and real-time positioning information, predicting the vehicle's movement based on the navigation information and historical vehicle status information, and obtaining real-time vehicle movement prediction information;

[0137] Determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0138] generating candidate vehicle light projection control information for navigating each of the candidate local travel routes;

[0139] Determining target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle;

[0140] The target vehicle is controlled in real time to perform headlight projection according to the target headlight projection control information.

[0141] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0142] Obtaining navigation information of the target vehicle, the navigation information including global starting and ending locations and real-time positioning information, predicting the vehicle's movement based on the navigation information and historical vehicle status information, and obtaining real-time vehicle movement prediction information;

[0143] Determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information;

[0144] generating candidate vehicle light projection control information for navigating each of the candidate local travel routes;

[0145] Determining target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle;

[0146] The target vehicle is controlled in real time to perform headlight projection according to the target headlight projection control information.

[0147] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0148] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0149] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0150] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A navigation method based on vehicle light projection, characterized in that: The method comprises: Obtaining navigation information of the target vehicle, the navigation information including global starting and ending locations and real-time positioning information, predicting the vehicle's movement based on the navigation information and historical vehicle status information, and obtaining real-time vehicle movement prediction information; Determining a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information; generating candidate vehicle light projection control information for navigating each of the candidate local travel routes; Determining target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle; The target vehicle is controlled in real time to perform headlight projection according to the target headlight projection control information.

2. The method according to claim 1, characterized in that The step of obtaining navigation information of the target vehicle includes: Get the global start and end locations from the navigation application for generating navigation routes; The real-time positioning information of the target vehicle is obtained from the vehicle-mounted satellite positioning system.

3. The method according to claim 1, characterized in that The vehicle movement prediction is performed according to the navigation information and the historical vehicle status information to obtain real-time vehicle movement prediction information, including: Based on the tracking prediction algorithm, the target vehicle's movement is predicted according to the navigation information and historical vehicle status information to obtain real-time vehicle movement prediction information, which includes at least one of lane change prediction information and steering prediction information.

4. The method according to claim 1, characterized in that: The method further comprises: Acquire environmental perception data collected in real time by the target vehicle, wherein the environmental perception data includes a scene image; Based on the perception algorithm, real-time local environment perception information of the target vehicle is obtained according to the environment perception data, and the real-time local environment perception information of the target vehicle includes at least one of lane line information, dynamic obstacle information and scene information.

5. The method according to claim 1, characterized in that The determining of a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time vehicle movement prediction information includes: Based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information, generating a real-time local semantic vector map about the target vehicle, wherein the real-time local semantic vector map carries the navigation information; According to the real-time local semantic vector map of the target vehicle, a candidate local traveling route of the target vehicle is predicted.

6. The method according to any one of claims 1 to 5, characterized in that The step of determining the target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle comprises: Acquire real-time vehicle status information of the target vehicle, wherein the real-time vehicle status information includes at least one of vehicle speed information, vehicle steering wheel angle information, and vehicle posture information; The target vehicle light projection control information for self-vehicle navigation is determined from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle.

7. A navigation device based on vehicle light projection, characterized in that: The device comprises: A navigation information acquisition module is used to acquire navigation information of a target vehicle, wherein the navigation information includes global starting and ending locations and real-time positioning information, and predicts the vehicle's movement based on the navigation information and historical vehicle status information to obtain real-time vehicle movement prediction information; A fusion module, configured to determine a candidate local travel route for the target vehicle based on the real-time local environment perception information of the target vehicle and the real-time self-vehicle movement prediction information; A candidate projection information generating module, used to generate candidate vehicle light projection control information for navigating each of the candidate local travel routes; A matching module, used to determine the target vehicle light projection control information for self-vehicle navigation from the candidate vehicle light projection control information according to the real-time vehicle state information of the target vehicle; A control module is used to control the target vehicle to perform headlight projection in real time according to the target headlight projection control information.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images