Navigation control method of vehicle, electronic equipment and vehicle

Abstract

The invention provides a navigation control method of a vehicle, electronic equipment and the vehicle, the method is applied to the technical field of vehicle navigation, and the method comprises the following steps: obtaining front road condition information of a road where the vehicle is located according to navigation information of the vehicle; identifying a target road section needing real scene presentation according to the front road condition information, and calculating an actual distance between the vehicle and the target road section; and under the condition that the actual distance is smaller than a preset threshold value, determining target live-action information according to the real-time distance between the vehicle and the target road section, and generating a navigation action based on the target live-action information. According to the method, proper live-action navigation information display can be provided for the driver at different distances, the driver can be better guided to accurately and safely pass through the target road section, and the vehicle driving safety and the user experience are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle navigation, and more particularly, to a navigation control method of a vehicle, an electronic device and a vehicle. BACKGROUND

[0002] Vehicle navigation is to guide a vehicle to safely and efficiently reach a destination by using a GPS (Global Positioning System) in cooperation with an electronic map, which can conveniently and accurately tell a driver the shortest or fastest path to the destination.

[0003] In the related art, a vehicle is represented in the form of an arrow or an icon on an electronic map and points to a forward direction, thereby guiding a driver. However, the navigation guidance effect generated by this method has certain limitations, which reduces user experience. SUMMARY

[0004] The present application provides a navigation control method of a vehicle, an electronic device and a vehicle, which can dynamically adjust target real scene information presented according to a real-time distance between the vehicle and a target section, so as to provide appropriate real scene navigation information display for a driver at different distances, which can guide the driver to accurately and safely pass through the target section, and improve vehicle driving safety and user experience.

[0005] In a first aspect, a navigation control method of a vehicle is provided, which includes: obtaining front road condition information of a road where the vehicle is located according to navigation information of the vehicle; identifying a target section requiring real scene presentation according to the front road condition information, and calculating an actual distance between the vehicle and the target section; in a case where the actual distance is less than a preset threshold, determining target real scene information according to a real-time distance between the vehicle and the target section, and generating a navigation action based on the target real scene information.

[0006] The navigation control method of the vehicle according to the present application first obtains front road condition information of a road where the vehicle is located according to navigation information of the vehicle, and when identifying a target section requiring real scene presentation such as a curved road, an uphill section or a downhill section, calculates an actual distance between the vehicle and the target section, and in a case where the actual distance is less than a preset threshold, determines target real scene information according to a real-time distance between the vehicle and the target section, so as to generate a navigation action based on the target real scene information. Thus, the method dynamically adjusts target real scene information presented according to a real-time distance between the vehicle and the target section, so as to provide appropriate real scene navigation information display for a driver at different distances, which can better guide the driver to accurately and safely pass through the target section, and improve vehicle driving safety and user experience.

[0007] In some possible implementation manners, in combination with the first aspect, the target real scene information is determined according to a real-time distance between the vehicle and the target road section, including: determining a preset distance interval in which the real-time distance is located; determining a target real scene selection rule according to the preset distance interval; and determining the target real scene information according to the target real scene selection rule.

[0008] According to the technical solution, the distance between the vehicle and the target road section is divided into different distance intervals according to driving requirements and visual perception characteristics of different road sections, each distance interval corresponds to a different real scene selection rule, and the real scene selection rule can be adjusted according to user preferences, that is, the user can adjust the distance threshold and the picture selection rule according to the user's driving habits and visual preferences. In the real scene navigation process, the real scene selection rule is determined based on the preset distance interval in which the real-time distance is located, to obtain appropriate target real scene information, and the application cost is controlled under the premise of meeting the driving guidance display requirements under different distances.

[0009] In some possible implementation manners, in combination with the first aspect and the foregoing implementation manners, the target real scene information is determined according to the target real scene selection rule, including: calling a historical real scene image set of the target road section, and determining one real scene image in the real scene image set as the target real scene information according to the target real scene selection rule; or, acquiring a current real scene image corresponding to the target road section, and performing image processing on the current real scene image according to the target real scene selection rule, to take the processed current real scene image as the target real scene information.

[0010] According to the foregoing technical solution, the historical real scene image set corresponding to the target road section can be stored in advance, after the real-time distance between the vehicle and the target road section is calculated, the real scene selection rule corresponding to the preset distance interval in which the distance is located is called, and then the real scene image is directly called from the storage module according to the real scene selection rule, to quickly locate the required picture file. Alternatively, the current real scene image of the target road section is acquired through the vehicle-mounted camera embodiment, and then the current real scene image is processed according to the target real scene selection rule, to take the processed current real scene image as the target real scene information. Thus, the real scene guidance effect is guaranteed.

[0011] In some possible implementation manners, in combination with the first aspect and the foregoing implementation manners, in a case where calling the historical real scene image set corresponding to the target road section fails and / or acquiring the current real scene image corresponding to the target road section fails, the navigation control method of the vehicle further includes: identifying a characteristic parameter of the target road section; matching historical road section information according to the characteristic parameter to obtain a substitute road section, and calling a historical real scene image set of the substitute road section; and determining one real scene image in the historical real scene image set of the substitute road section as the target real scene information according to the target real scene selection rule.

[0012] Based on the technical means, in the case that the above one or two methods cannot successfully obtain the real scene image of the target road section, it is considered that there is picture data missing, at this time, the picture selection strategy is automatically adjusted, specifically, it is tried to use the pictures of the surrounding similar intersections for replacement display, and a prompt information of "data missing, for reference only" is marked on the picture, then the picture is collected through the vehicle machine external view camera in the passing process, and uploaded to the database to construct the historical real scene image set of the target road section for later use. Thus, the problem of real scene image missing is solved, and the real scene guiding effect of the target road section is ensured.

[0013] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the target real scene selection rule includes an image resolution and a field of view range of the real scene image, wherein the image resolution is negatively correlated with the real-time distance, and the field of view range is positively correlated with the real-time distance.

[0014] Based on the above technical means, considering that when the vehicle is far away from the target road section, the driver needs to know the approximate position of the turning intersection and the overall environment around it, so as to plan the driving route in advance; when the vehicle is close to the target road section, the vehicle will enter the target road section, and the driver needs to clearly understand the specific position and angle of the turning. Therefore, in this embodiment, the image resolution in the target real scene selection rule is negatively correlated with the real-time distance, that is, the farther the real-time distance, the lower the image resolution; the closer the real-time distance, the higher the image resolution; the field of view range is positively correlated with the real-time distance, that is, the farther the real-time distance, the larger the field of view range; the closer the real-time distance, the smaller the field of view range. Thus, when the vehicle is far away from the target road section, this method can provide sufficient global information, so that the driver can clearly judge the approximate characteristics and surrounding environment of the target road section based on the real scene image; and when the vehicle gradually approaches the target road section, more detailed information can be provided, so that the driver can obtain accurate guidance when entering the target road section, thereby reducing the driving difficulty and risk of the target road section, and well meeting the needs of users for target road section guidance at different driving stages.

[0015] In combination with the first aspect and the above implementation manners, in some possible implementation manners, in the case that the target real scene information includes the real scene image, the navigation action is generated based on the target real scene information, including: acquiring environment information of an environment where the vehicle is located; performing image preprocessing on the real scene image in the target real scene information according to the environment information, and projecting the preprocessed real scene image to the target area to guide the vehicle.

[0016] Based on the above technical scheme, the obtained real scene image is processed based on the environment information of the vehicle to improve the image display effect of the real scene guidance. For example, when the target real scene information is one of the historical real scene images, the environment information is the environment brightness, which is used to evaluate the environment lighting condition of the vehicle, and the brightness and contrast of the real scene image are automatically adjusted according to the environment brightness.

[0017] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the projecting the preprocessed real scene image to the target region comprises: determining a display size and a display ratio corresponding to the target region; performing cropping and scaling processing on the preprocessed real scene image according to the display size and the display ratio to obtain a target projection image; and projecting the target projection image to the target region.

[0018] Based on the above technical scheme, the real scene image is cropped and scaled according to the display size and the display ratio of the target region, so that the real scene image can be displayed completely and clearly on the target region. Meanwhile, in the scaling process, a high-quality image scaling algorithm can be used to avoid image blurring or distortion.

[0019] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the calculating the actual distance between the vehicle and the target road section comprises: determining a coordinate position of the target road section according to a high-definition map called by the navigation information; obtaining real-time positioning information of the vehicle, and determining an actual position of the vehicle according to the real-time positioning information, or in the case that the real-time positioning information is lost, estimating the actual position of the vehicle based on an inertial navigation system of the vehicle; and determining the actual distance between the vehicle and the target road section according to the actual position of the vehicle and the coordinate position of the target road section.

[0020] Based on the above technical scheme, in a normal case, the actual position of the vehicle is determined based on real-time positioning of a vehicle positioning module, when satellite signals of the vehicle positioning module are lost, the inertial navigation system is automatically switched to, the inertial navigation system continuously measures the acceleration and angular velocity of the vehicle itself, and then calculates the position, speed and attitude of the vehicle through mathematical integral operation, replaces the real-time positioning information of the vehicle, performs temporary positioning, so as to continue to estimate the distance between the vehicle and the target road section, and keep the current appropriate picture display, until the satellite signals are recovered, avoiding the interruption of the real scene guidance process due to the loss of real-time positioning information of the vehicle, and providing a guarantee for driving safety.

[0021] The second aspect provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the method in the first aspect or any one of the possible implementation manners of the first aspect.

[0022] In a third aspect, a vehicle is provided, and the vehicle includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the method in the first aspect or any possible implementation manner of the first aspect when executing the computer program. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a flowchart of a navigation control method of a vehicle provided by an embodiment of the present application; Figure 2 is a real scene navigation display schematic diagram provided by an embodiment of the present application; Figure 3 is a flowchart of a navigation control method of a vehicle provided by a specific embodiment of the present application; Figure 4 is a block schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the present application will be described clearly and exhaustively below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, “ / ” represents or, for example, A / B can represent A or B: “and / or” in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, “multiple” means two or more than two.

[0025] Hereinafter, the terms “first” and “second” are only used for description purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” can explicitly or implicitly include one or more of the features.

[0026] In the vehicle navigation process, when the vehicle drives to a turning intersection, in order to help the driver more accurately understand the turning position and road conditions, a real scene picture of the turning intersection is usually displayed on the navigation interface. However, the real scene picture displayed by the navigation system in the related art is a fixed picture, and no matter how far the vehicle is from the turning intersection, the picture will not change. This real scene display method has obvious limitations.

[0027] To solve the above technical problems, the application provides a navigation control method of a vehicle, which dynamically adjusts target real scene information presented according to a real-time distance between the vehicle and a target road section, such as a curved road section, an uphill road section or a downhill road section, when it is identified that the target road section exists in front of the vehicle, so that the target real scene information can provide appropriate navigation information display for the driver at different distances, thereby better guiding the driver to accurately and safely pass through the target road section and improving vehicle driving safety and user experience.

[0028] The navigation control method of the vehicle of the application will be described in detail below with reference to the accompanying drawings.

[0029] Figure 1 FIG. 1 is a schematic flowchart of a navigation control method of a vehicle provided by an embodiment of the application.

[0030] For example, as shown in FIG. 2, the navigation control method of the vehicle includes the following steps: Figure 1 S1, obtaining front road condition information of a road where the vehicle is located according to navigation information of the vehicle.

[0031] Specifically, the navigation information of the vehicle is a collection of all data and instructions required for determining a position, planning a path and providing guidance in the entire navigation process. The navigation information can include position state information, map environment information and path guidance information. The position state information is usually provided by sensors and positioning systems, such as absolute position, heading, speed, time, etc. of the vehicle. The map environment information can include road network data, point of interest data, background information, etc. The path guidance information can include planned path, turning instruction, lane guidance, trip data, etc.

[0032] The front road condition information of the road where the vehicle is located is obtained according to the navigation information of the vehicle, wherein the front refers to the direction along the driving direction of the vehicle. For example, whether there is a special road section condition such as a turn, an uphill, a downhill or a multi-branch intersection is identified according to the map environment information in the navigation information; whether there is a construction icon or an accident icon is identified to determine whether there is a corresponding road condition; whether there is a congestion road condition is identified according to congestion on the map.

[0033] S2, identifying a target road section requiring real scene presentation according to the front road condition information and calculating an actual distance between the vehicle and the target road section.

[0034] Specifically, the target road section can be set according to actual conditions, and real scene presentation of the target road section is required before the vehicle drives to the target road section to improve the guidance effect. For example, a curved road section with a bend angle exceeding a preset angle; a multi-branch intersection road section with a road intersection number greater than a preset number; a downhill road section with a downhill angle exceeding a preset angle.

[0035] ​When a target road segment is identified based on road condition information ahead, the actual distance between the vehicle and the target road segment is calculated based on the vehicle's current position and the coordinates of the target road segment. The vehicle's current position can be obtained in real-time using the onboard GPS system, while the coordinates of the target road segment, relative to the vehicle's starting position, can be obtained from the map accessed by the navigation system. The actual distance between the vehicle and the target road segment is the distance along the planned navigation path.

[0036] S3, when the actual distance is less than a preset threshold, determines the target real-world information based on the real-time distance between the vehicle and the target road segment, and generates navigation actions based on the target real-world information.

[0037] Specifically, the preset threshold is used to determine whether real-view navigation needs to be turned on. The specific distance can be set according to the actual situation, such as setting it according to different road segment types, or setting it according to the actual vehicle speed. Real-view information needs to be turned on before the vehicle enters the target road segment as an auxiliary navigation guide, so that the driver can accurately and safely pass through the target road segment based on the real-view information.

[0038] If the actual distance between the vehicle and the target road segment is greater than or equal to a preset threshold, navigation guidance will be provided according to normal navigation information. For example, on a high-definition map, the vehicle will be represented by a vehicle icon, and the planned route and direction will be marked by arrows or guide lines.

[0039] If the actual distance between the vehicle and the target road segment is less than a preset threshold, the target real-view information corresponding to that road segment is activated, and navigation guidance is provided based on this information. Specifically, the real-time distance between the vehicle and the target road segment is obtained; the method for obtaining this distance is described in the previous section on real-time distance acquisition and will not be repeated here. Then, the target real-view information corresponding to that distance is determined based on the real-time distance, and navigation actions are generated based on this information. For example, real-view images corresponding to different distances can be pre-set, and the corresponding real-view images can be called according to different real-time distances to serve as the target real-view information for generating navigation actions.

[0040] Taking a turning section as an example, when the vehicle is far from the turning point, the driver needs to clearly judge the approximate turning direction and surrounding environment. At this time, the target real-view information is a real-view image with global information within a preset range. As the vehicle gradually approaches the turning point, the driver needs precise guidance to reduce transition difficulties and risks. At this time, the target real-view information is a real-view image with more detailed information but a relatively narrower field of view, thus well meeting the user's needs for turning guidance at different stages of driving. The actual image can be displayed in the upper half of the navigation interface, such as... Figure 2 As shown, this ensures that the navigation interface still displays navigation information even after the workday ends.

[0041] In addition, the target real scene information can further include other road segment information in addition to the real scene image. For example, when the target road segment is a turning road segment, the target real scene information can further include a turning angle, a distance between the vehicle and an entrance of the turning road segment before entering the turning road segment, a remaining distance of the vehicle from the turning road segment after entering the turning road segment, a traffic rule prompt, and the like.

[0042] For example, when it is determined that the target road segment is a turning road segment, after the target real scene information is determined according to the real-time distance between the vehicle and the target road segment, key information in the real scene image in the target real scene information is marked, such as a direction arrow of the turning, a remaining distance from the turning intersection, a traffic rule prompt, and the like, to help the driver better understand the picture content and obtain a real scene guide picture. Then, the processed real scene guide picture is sent to a display module for display. The display module can select a suitable display mode according to the size and format of the picture, such as full-screen display, split-screen display, and the like. At the same time, in order to improve the viewing experience of the driver, an animation transition effect can be used to achieve smooth transition when the picture is switched, so as to avoid sudden changes in the picture causing visual impact on the driver.

[0043] The embodiment selects appropriate target real scene information according to the real-time distance between the vehicle and the target road segment for the target road segment that needs to be presented in a real scene, so that the target real scene information can provide appropriate real scene guidance for the driver at different distances, so as to meet the driving guidance display requirements at different distances, and better guide the driver to drive the vehicle through the target road segment, thereby improving the driving safety of the vehicle.

[0044] In some embodiments of the present application, in some possible implementation manners, the target real scene information is determined according to the real-time distance between the vehicle and the target road segment, including: determining a preset distance interval in which the real-time distance is located; determining a target real scene selection rule according to the preset distance interval; and determining the target real scene information according to the target real scene selection rule.

[0045] Specifically, according to the driving requirements and visual perception characteristics of different road segments, the distance between the vehicle and the target road segment is divided into a plurality of different distance intervals, and each distance interval corresponds to a different real scene selection rule.

[0046] For example, when the target road segment is a turning road segment, the distance between the vehicle and the turning road segment is divided into the following three distance intervals: 1. Far distance interval (more than 500 meters): At this time, the driver needs to understand the approximate position of the turning intersection and the overall environment around it, so as to plan the driving route in advance. The corresponding real scene selection rule is to select a low-resolution, large-view global real scene picture, the resolution of which is 300x200 pixels, and the field of view range should include the information of the turning intersection and the road and landmark buildings within a range of 500 meters around the turning intersection.

[0047] 2. Medium distance interval (200-500 meters): The driver begins to pay attention to the specific situation near the turning intersection and needs more detailed information. The corresponding real scene selection rule is to select a real scene picture with medium resolution and moderate field of view, select a picture with a resolution of 600x400 pixels, and reduce the field of view range to 200-500 meters around the turning intersection, and focus on displaying the traffic signs, lane division and other information near the intersection.

[0048] 3. Close distance interval (less than 200 meters): The driver is about to reach the turning intersection and needs to clearly understand the specific position and angle of the turning. The corresponding real scene selection rule is to select a high-resolution, locally magnified detail real scene picture with a resolution of 1200x800 pixels, focus on the turning intersection itself, and clearly display the key information such as turning lane lines, turning angles, and traffic signal lights.

[0049] Further, the real scene selection rule can also be adjusted according to user preferences, that is, the user can adjust the distance threshold and picture selection rule according to his own driving habits and visual preferences. For example, some drivers want to see more detailed pictures at a longer distance, or have special preferences for certain types of pictures. The system can make corresponding adjustments according to the user's settings to meet different user personalized needs.

[0050] In actual application, the real scene selection rule corresponding to the preset distance interval in which the real-time distance is located is called, and the target real scene information is acquired according to the real scene selection rule for real scene navigation.

[0051] Continuing to take the target road section as a turning road section as an example, when the real-time distance between the vehicle and the turning road section is determined to be 550 meters, it is determined to be in the long distance interval, and the real scene selection rule of the long distance interval is called: selecting a low-resolution, large-view global real scene picture with a resolution of 300x200 pixels, and the field of view range should include the road, landmark buildings and other information within 500 meters around the turning intersection. According to the real scene selection rule, the corresponding real scene picture is called as the target real scene information for real scene display. Among them, the real scene image corresponding to each distance interval of the turning road section can be pre-stored, so that when the vehicle drives to the turning road section, it can be directly called based on the matched real scene selection rule, or the real-time image can be collected, and then the collected image is processed by the real scene selection rule as the target real scene information.

[0052] This embodiment determines the real scene selection rule based on the preset distance interval in which the real-time distance is located to obtain appropriate target real scene information, which controls the application cost on the premise of meeting the driving guidance display requirements under different distances.

[0053] In some embodiments of the present application, the target real scene information is determined according to the target real scene selection rule, including: calling a historical real scene image set of the target road section, and determining one real scene image in the real scene image set as the target real scene information according to the target real scene selection rule; or, acquiring a current real scene image corresponding to the target road section, and performing image processing on the current real scene image according to the target real scene selection rule, and taking the processed current real scene image as the target real scene information.

[0054] Specifically, a historical real scene image set corresponding to the target road section can be pre-stored in the map data storage module of the vehicle, for example, the historical real scene image set includes a real scene image corresponding to each real scene selection rule.

[0055] Continuing to take the target road section as a turning road section as an example, the picture selection and processing module retrieves a suitable real scene image from the map data storage module based on the real scene selection rule pre-set according to the real-time distance between the vehicle and the turning road section calculated by the distance calculation module and the distance interval in which the distance is located, and through the index information and storage location of the image, the required picture file can be quickly located.

[0056] In addition, the current real scene image of the target road section can also be acquired through the vehicle-mounted camera embodiment, and then the current real scene image is processed according to the target real scene selection rule to determine the parameters such as resolution and field of view, and the processed current real scene image is taken as the target real scene information.

[0057] The above-mentioned method of determining the target real scene information based on the historical real scene image set and the method of determining the target real scene information based on the collected current actual image can be set with priority, for example, when the target road section has a historical real scene image set, the method of determining the target real scene information based on the historical real scene image set is preferred; when the target road section does not have a historical real scene image set, the method of determining the target real scene information based on the collected current actual image is used, and a historical real scene image set of the target road section is constructed according to the collected current actual image, which is used for the real scene calling next time.

[0058] In addition, in order to further improve the accuracy of the target real scene information, when the target road section has a historical real scene image set, the construction time of the historical real scene image set can be judged, if the time from the construction time to the current time is relatively long, it is considered that there may be a real scene deviation, and the method of determining the target real scene information based on the collected current actual image is used; or when it is judged that the time from the construction time to the current time reaches a preset update time length, the method of determining the target real scene information based on the historical real scene image set is used this time to guide the passing through the target road section, and in the process, the real scene image is collected in real time, and the historical real scene image set of the target road section is updated after passing through the road section.

[0059] After obtaining the real scene image, some key information is labeled on the real scene picture, such as the direction arrow of the turn, the remaining distance to the turning intersection, the traffic rule prompt, etc., to help the driver better understand the picture content and get the real scene guide picture, and then the processed real scene guide picture is sent to the display module for display. The display module selects a suitable display mode according to the size and format of the picture, such as full-screen display, split-screen display, etc. At the same time, in order to improve the viewing experience of the driver, an animation transition effect can be used to achieve smooth transition when the picture is switched, avoiding sudden changes in the picture that may cause visual impact on the driver.

[0060] This embodiment selects or processes images according to the target real scene selection rule based on the historical real scene image set of the target road section or the current real scene image collected in real time, to obtain the target real scene information, which provides a guarantee for the real scene guide effect.

[0061] In some embodiments of the present application, in the case that the historical real scene image set corresponding to the target road section fails to be retrieved, and / or the current real scene image corresponding to the target road section fails to be obtained, the navigation control method of the vehicle further comprises: identifying a characteristic parameter of the target road section; obtaining a substitute road section according to the characteristic parameter matching historical road section information, and retrieving a historical real scene image set of the substitute road section; and determining one real scene image in the historical real scene image set of the substitute road section as the target real scene information according to the target real scene selection rule.

[0062] That is, in the case that the real-time distance between the vehicle and the target road section is calculated, and the real scene image of the target road section cannot be successfully obtained by using one or both of the above methods, it is considered that there is a picture data missing.

[0063] Taking the determination of the target real scene information by calling the historical real scene image set as an example, after the real-time distance between the vehicle and the target road section is calculated, a preset distance interval is matched, the real scene selection rule corresponding to the preset distance interval is called, and the appropriate real scene image is retrieved from the map data storage module according to the real scene selection rule. If the real scene picture data of the target road section is missing in the map data storage module, or the picture data is damaged and cannot be normally read, it is considered that there is image data missing, and the picture selection strategy is automatically adjusted at this time. Specifically, an attempt is made to use the pictures of the surrounding similar intersections for alternative display, and a prompt information of “data missing, for reference only” is labeled on the picture, and then the picture is collected by the vehicle machine external view camera during the passing process and uploaded to the database to construct the historical real scene image set of the target road section for later use.

[0064] Specifically, the characteristic parameter is parameter data that can represent the road segment characteristics of the target road segment. Taking a turning road segment as an example, the characteristic parameter of the turning road segment can include an angle parameter and a position parameter of the turning road segment. Similar alternative road segments are matched according to the characteristic parameter. A similar turning road segment that is close to the current turning road segment can be preferentially selected to improve the similarity of matching, and then the historical real scene image set of the alternative road segment is called. According to the target real scene selection rule, one real scene image in the historical real scene image set of the alternative road segment is selected as the target real scene information, which is used to generate the real scene guidance corresponding to the current turning road segment.

[0065] In the case of missing picture data, the embodiment acquires an alternative road segment based on the characteristic parameter of the target road segment, and determines the target real scene information according to the historical real scene image set of the alternative road segment, thereby solving the problem of missing real scene images and ensuring the real scene guidance effect of the target road segment.

[0066] In some embodiments of the present application, the target real scene selection rule includes an image resolution and a field of view range of the real scene image, wherein the image resolution is negatively correlated with the real-time distance, and the field of view range is positively correlated with the real-time distance.

[0067] Specifically, the image resolution is the total number of pixel points in the image, representing the degree of detail of the image. The field of view range is the angle or spatial scale of the observable external world, representing the spatial range of the external world captured by the image.

[0068] When the vehicle is far from the target road segment, the driver needs to know the approximate location of the turning intersection and the overall environment around it in order to plan the driving route in advance. Therefore, a low-resolution, wide-view global real scene picture needs to be selected. When the vehicle is close to the target road segment, the vehicle will enter the target road segment, and the driver needs to clearly understand the specific location and angle of the turning. Therefore, a high-resolution, locally enlarged, i.e., small field of view range, detail picture needs to be selected. Therefore, the image resolution in the target real scene selection rule is negatively correlated with the real-time distance, i.e., the farther the real-time distance, the lower the image resolution; the closer the real-time distance, the higher the image resolution; and the field of view range is positively correlated with the real-time distance, i.e., the farther the real-time distance, the larger the field of view range; the closer the real-time distance, the smaller the field of view range.

[0069] For example, the distance interval of the target road segment is divided into a far distance interval (more than 500 meters), a medium distance interval (200-500 meters), and a near distance interval (less than 200 meters), and the corresponding target real scene selection rules are as follows: 1. The real scene selection rule corresponding to the far distance interval (more than 500 meters): a low-resolution, wide-view global real scene picture is selected, the resolution is 300x200 pixels, and the field of view range of the picture should include the information of the turning intersection and the roads and landmark buildings within a range of 500 meters around the turning intersection.

[0070] 2. The middle distance interval (200-500 meters) corresponds to the real scene selection rule: select a picture with medium resolution and field of view. The field of view range of a 600x400 pixel picture is reduced to 200-500 meters around the turning intersection. The key information such as traffic signs and lane division near the intersection is displayed.

[0071] 3. The near distance interval (less than 200 meters) corresponds to the real scene selection rule: select a high-resolution, locally enlarged detail picture with a resolution of 1200x800 pixels. Focus on the turning intersection itself, and clearly display the key information such as turning lane lines, turning angles, and traffic signal lights.

[0072] The setting of the real scene selection rule in this embodiment can provide sufficient global information when the vehicle is far from the target road section, so that the driver can clearly judge the general characteristics and surrounding environment of the target road section based on the real scene image. When the vehicle gradually approaches the target road section, more detailed information can be provided, so that the driver can obtain accurate guidance when entering the target road section, thereby reducing the driving difficulty and risk of the target road section, and the needs of users for guidance of the target road section in different driving stages can be well met.

[0073] In some embodiments of the present application, when the target real scene information includes a real scene image, generating a navigation action based on the target real scene information includes: obtaining environmental information of an environment in which the vehicle is located; performing image preprocessing on the real scene image in the target real scene information according to the environmental information, and projecting the preprocessed real scene image to the target area to guide the vehicle.

[0074] Specifically, the environmental information is used to represent the environmental conditions in which the current vehicle is located, and can be determined according to the source of the target real scene information. For example, when the target real scene information is one of the historical real scene images, the environmental information is the environmental brightness, which is used to evaluate the environmental lighting conditions of the vehicle, and the brightness and contrast of the real scene image are automatically adjusted according to the environmental brightness. For example, in strong sunlight during the day, the brightness and contrast of the real scene image are increased to make the real scene image clearer; in the night or low-light environment, the brightness of the real scene image is appropriately reduced to avoid visual interference on the driver caused by the over-bright picture. When the target real scene information is a current real scene image obtained by sampling, the environmental information can include environmental brightness, environmental humidity, and visibility, so that the influence of the current environment on the sampled image is determined based on the environmental information, and reverse image processing is performed to meet the image requirements of real scene navigation.

[0075] This embodiment performs image processing on the obtained real scene image based on the environmental information in which the vehicle is located, to improve the image display effect of the real scene guidance.

[0076] In some embodiments of the present application, projecting the pre-processed real scene image to the target area comprises: determining a display size and a display ratio corresponding to the target area; performing cropping and scaling processing on the pre-processed real scene image according to the display size and the display ratio to obtain a target projection image; and projecting the target projection image to the target area.

[0077] Specifically, the display size of the target area is used to represent the physical size of the target area, which can be represented by the diagonal length of the target area. The display ratio of the target area represents the proportional relationship between the horizontal pixel number and the vertical pixel number of the screen of the target area, which can be represented by the aspect ratio. The display size and the display ratio of the target area can be pre-set, and can be displayed according to the type of the target road section. For example, for a turning road section with relatively heavy traffic (e.g., a large number of intersections, obstructions, and densely populated areas), it is considered that the turning road section has a relatively large traffic difficulty and a relatively high risk coefficient, and therefore a larger target area is allocated to provide more detailed navigation guidance for the driver. For a turning road section with relatively simple traffic (e.g., no other intersections and no obstructions), it is considered that the turning road section has relatively low traffic difficulty and risk coefficient, and therefore a normal target area is allocated to ensure the normal display of other navigation information while providing real scene guidance for the driver.

[0078] After obtaining the display size and the display ratio corresponding to the target area, the real scene image is cropped and scaled according to the display size and the display ratio of the target area to ensure that the real scene image can be displayed completely and clearly on the target area. At the same time, in the scaling process, a high-quality image scaling algorithm can be used to avoid image blurring or distortion.

[0079] Further, after the real scene image is cropped and scaled according to the display size and the display ratio of the target area, an information labeling step is performed: some key information is labeled on the real scene image, such as a turning direction arrow, a remaining distance to the turning intersection, a traffic rule prompt, and the like, to help the driver better understand the picture content and obtain a real scene guidance picture. Then, a picture display operation is performed: the processed real scene guidance picture is sent to a display module for display. The display module selects an appropriate display mode according to the size and format of the picture, such as full-screen display, split-screen display, and the like. At the same time, in order to improve the viewing experience of the driver, an animation transition effect can be used to achieve smooth transition when the pictures are switched, avoiding sudden changes in the picture that may cause visual impact on the driver.

[0080] In some embodiments of the present application, the actual distance between the vehicle and the target section is calculated by: determining the coordinate position of the target section according to the high-definition map called by the navigation information; obtaining the real-time positioning information of the vehicle, determining the actual position of the vehicle according to the real-time positioning information, or estimating the actual position of the vehicle based on the inertial navigation system of the vehicle in the case of loss of real-time positioning information; and determining the actual distance between the vehicle and the target section according to the actual position of the vehicle and the coordinate position of the target section.

[0081] Specifically, the real-time positioning information of the vehicle is obtained by receiving GPS satellite signals through a vehicle positioning module to obtain the actual coordinate position of the vehicle. In normal cases, the actual position of the vehicle is obtained based on real-time positioning by the vehicle positioning module, and when the satellite signals of the vehicle positioning module are lost, the inertial navigation system is automatically switched to, which estimates the position, speed and attitude of the vehicle by continuously measuring the acceleration and angular velocity of the vehicle itself and then by mathematical integral operation, to replace the real-time positioning information of the vehicle for temporary positioning. At the same time, the vehicle prompts the driver with a signal loss alarm and prompts the driver to drive carefully.

[0082] That is, in the case of a positioning signal loss device, the distance between the vehicle and the target section is continuously estimated based on the information provided by the inertial navigation system, and the current appropriate picture display is maintained until the satellite signals are restored, thereby avoiding the interruption of the real scene guiding process due to the loss of real-time positioning information of the vehicle, and providing a guarantee for driving safety.

[0083] As a specific embodiment of the present application, as shown in Figure 3 the navigation control method of the vehicle can include the following steps: S101, obtaining the road condition information in front of the road where the vehicle is located according to the navigation information of the vehicle.

[0084] S102, identifying the target section requiring real scene presentation according to the road condition information in front.

[0085] S103, calculating the actual distance between the vehicle and the target section.

[0086] Wherein, when the GPS satellite signals are not lost, the current position of the vehicle can be determined in real time based on the GPS positioning system to calculate the actual distance between the vehicle and the target section; when the GPS satellite signals are lost, the actual position of the vehicle is estimated based on the inertial navigation system of the vehicle for calculating the actual distance between the vehicle and the target section. The actual distance between the vehicle and the target section is the distance between the vehicle and the entrance of the target section.

[0087] S104, judging whether the actual distance is less than a preset threshold. If yes, step S105 is executed; if no, step S103 is executed.

[0088] The preset threshold value can be determined according to actual conditions, and is used to determine whether to open the real scene guidance.

[0089] S105, obtaining a real-time distance between the vehicle and the target road section.

[0090] The real-time distance between the vehicle and the target road section is a real-time actual distance between the vehicle and the target road section. Based on the above-mentioned obtaining method of the actual distance, when the GPS satellite signal is not lost, the current position of the vehicle can be determined in real time based on the GPS positioning system to calculate the real-time distance between the vehicle and the target road section; when the GPS satellite signal is lost, the actual position of the vehicle is estimated based on the inertial navigation system of the vehicle, which is used to calculate the real-time distance between the vehicle and the target road section.

[0091] S106, determining a preset distance interval in which the real-time distance is located.

[0092] S107, determining a target real scene selection rule according to the preset distance interval.

[0093] For example, the distance interval of the target road section is divided into a long distance interval (more than 500 meters), a medium distance interval (200-500 meters) and a short distance interval (less than 200 meters), and the corresponding target real scene selection rules are respectively: 1. The real scene selection rule corresponding to the long distance interval (more than 500 meters): select a low-resolution and wide-view global real scene picture, the resolution is 300x200 pixels, and the view range of the picture should contain the road, landmark building and other information within 500 meters around the turning intersection.

[0094] 2. The real scene selection rule corresponding to the medium distance interval (200-500 meters): select a medium-resolution and moderate-view picture, the resolution is 600x400 pixels, and the view range of the picture is reduced to 200-500 meters around the turning intersection, and the picture focuses on displaying the traffic signs, lane division and other information near the intersection.

[0095] 3. The real scene selection rule corresponding to the short distance interval (less than 200 meters): select a high-resolution and locally enlarged detail picture, the resolution is 1200x800 pixels, and the picture focuses on the turning intersection itself, clearly showing the key information such as turning lane line, turning angle and traffic signal.

[0096] Thus, when the vehicle is far away from the target road section, the real scene image determined based on the real scene selection rule can provide sufficient global information, so that the driver can clearly judge the general characteristics and surrounding environment of the target road section based on the real scene image; and when the vehicle gradually approaches the target road section, the real scene image determined based on the real scene selection rule can provide more detailed information, so that the driver can obtain accurate guidance when entering the target road section, thereby reducing the driving difficulty and risk of the target road section, and the demand of the user for the target road section guidance in different driving stages can be well met.

[0097] S108, retrieve a historical real scene image set of the target road section.

[0098] S109, determine one real scene image in the real scene image set as target real scene information according to a target real scene selection rule.

[0099] In addition, if the real scene picture data of the target road section is missing in the map data storage module, or the picture data is damaged and cannot be normally read, it is considered that the image data is missing, at this time, the picture selection strategy is automatically adjusted, the pictures of the similar intersections in the surrounding are tried to be used for replacement display, and the prompt information of "data missing, for reference only" is marked on the pictures, then the picture collection is performed through the external view camera of the vehicle machine in the passing process, and uploaded to the database to construct the historical real scene image set of the target road section for later use.

[0100] S110, obtain environmental information of an environment where the vehicle is located, and perform image preprocessing on the target real scene image in the target real scene information according to the environmental information.

[0101] For example, when the sunlight is strong in the daytime, the brightness and contrast of the target real scene image are increased, so that the real scene image is clearer; in the night or low light environment, the brightness of the target real scene image is appropriately reduced to avoid the visual interference of the too bright picture on the driver.

[0102] S111, determine the display size and display ratio corresponding to the target area.

[0103] S112, crop and scale the preprocessed real scene image according to the display size and display ratio to obtain a real scene guidance picture, so as to ensure that the target real scene image can be completely and clearly displayed on the target area. At the same time, in the scaling process, a high-quality image scaling algorithm can be used to avoid the blurring or distortion of the image.

[0104] S113, mark information on the real scene guidance picture, and send the marked real scene guidance picture to the target area for display, which is used for real scene guidance.

[0105] The annotation information can include a direction arrow of the turn, a remaining distance to the turning intersection, a traffic rule prompt, and the like, to help the driver better understand the picture content.

[0106] In the display process of the real scene guide picture, the display module can select a suitable display mode according to the size and format of the picture, such as full-screen display, split-screen display, and the like. Meanwhile, in order to improve the viewing experience of the driver, an animation transition effect can be used to realize smooth transition when the picture is switched, so as to avoid the sudden change of the picture causing visual impact on the driver.

[0107] In step S114, it is judged whether the vehicle has driven out of the target road section. If yes, step S115 is executed; if no, step S105 is executed.

[0108] In step S115, the real scene guide is controlled to be exited.

[0109] Therefore, the method dynamically adjusts the real scene guide picture according to the real-time distance between the vehicle and the target road section, so that the real scene guide picture can provide suitable information display under different distances, and the picture can be enlarged or more details can be displayed, so as to better guide the user to accurately and safely pass through the target road section. Meanwhile, in the picture processing, the method is also closer to the normal user demand.

[0110] In summary, the navigation control method of the vehicle provided in the embodiments of the present application first acquires the front road condition information of the road where the vehicle is located according to the navigation information of the vehicle, identifies the target road section that needs real scene presentation, such as a curve, an uphill road section, or a downhill road section, calculates the actual distance between the vehicle and the target road section, and determines the target real scene information according to the real-time distance between the vehicle and the target road section in the case that the actual distance is less than a preset threshold, to generate a navigation action based on the target real scene information. Therefore, the method dynamically adjusts the presented target real scene information according to the real-time distance between the vehicle and the target road section, so that the target real scene information can provide suitable real scene navigation information display for the driver under different distances, thereby better guiding the driver to accurately and safely pass through the target road section, and improving the driving safety of the vehicle and the user experience.

[0111] The embodiments of the present application also provide an electronic device, which includes a memory for storing a computer program, and a processor for executing the computer program to implement the steps of the navigation control method of the vehicle.

[0112] Figure 4 A structural schematic diagram of the vehicle provided in the embodiments of the present application is shown in FIG. 1. The vehicle can include: a memory 301, a processor 302, and a computer program stored in the memory 301 and executable on the processor 302.

[0113] The processor 302 executes the program to implement the navigation control method of the vehicle provided in the above embodiments.

[0114] Further, the vehicle further comprises: a communication interface 303 for communication between the memory 301 and the processor 302.

[0115] a memory 301 for storing computer programs executable on the processor 302.

[0116] The memory 301 can include a high-speed RAM (Random Access Memory) memory, and can also include a non-volatile memory, such as at least one disk memory.

[0117] If the memory 301, the processor 302 and the communication interface 303 are implemented independently, the communication interface 303, the memory 301 and the processor 302 can be connected to each other through a bus and complete communication between each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 4 only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0118] Optionally, in a specific implementation, if the memory 301, the processor 302 and the communication interface 303 are integrated on a chip, the memory 301, the processor 302 and the communication interface 303 can complete communication between each other through an internal interface.

[0119] The processor 302 can be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement one or more embodiments of the present application.

[0120] In addition, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited.

[0121] In the description of the specification, the description using the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the description herein of certain embodiments or examples does not necessarily exclude these embodiments or examples from the scope of the application, and these are not necessarily mutually exclusive.

[0122] Although the embodiments of the present application have been shown and described above, it is understood that the above-mentioned embodiments are exemplary, and should not be understood as limiting the present application, and those of ordinary skill in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A navigation control method of a vehicle, characterized by, The method comprises: obtaining road condition information in front of a road where a vehicle is located according to navigation information of the vehicle; identifying a target road section requiring real scene presentation according to the road condition information in front of the road, and calculating an actual distance between the vehicle and the target road section; in a case where the actual distance is less than a preset threshold, determining target real scene information according to a real-time distance between the vehicle and the target road section, and generating a navigation action based on the target real scene information.

2. The navigation control method according to claim 1, characterized by, The determination of the target real scene information according to the real-time distance between the vehicle and the target road section comprises: determining a preset distance interval in which the real-time distance is located; determining a target real scene selection rule according to the preset distance interval; determining the target real scene information according to the target real scene selection rule.

3. The navigation control method according to claim 2, characterized by, The determination of the target real scene information according to the target real scene selection rule comprises: calling a historical real scene image set of the target road section, and determining one real scene image in the real scene image set as the target real scene information according to the target real scene selection rule; or obtaining a current real scene image corresponding to the target road section, and performing image processing on the current real scene image according to the target real scene selection rule, so as to take the processed current real scene image as the target real scene information.

4. The navigation control method according to claim 3, characterized by, In a case where calling the historical real scene image set corresponding to the target road section fails and / or obtaining the current real scene image corresponding to the target road section fails, the method further comprises: identifying a characteristic parameter of the target road section; matching historical road section information according to the characteristic parameter to obtain a substitute road section, and calling a historical real scene image set of the substitute road section; determining one real scene image in the historical real scene image set of the substitute road section as the target real scene information according to the target real scene selection rule.

5. The navigation control method according to any one of claims 2 to 4, characterized by, The target real scene selection rule comprises an image resolution and a field of view range of a real scene image, wherein the image resolution is negatively correlated with the real-time distance, and the field of view range is positively correlated with the real-time distance.

6. The navigation control method of claim 1, wherein, In a case where the target real scene information comprises a real scene image, the generation of the navigation action based on the target real scene information comprises: obtaining environmental information of an environment where the vehicle is located; performing image preprocessing on the real scene image in the target real scene information according to the environmental information, and projecting the preprocessed real scene image to a target region to guide the vehicle.

7. The navigation control method according to claim 6, characterized by, The projection of the preprocessed real scene image to the target region comprises: determining a display size and a display ratio corresponding to the target region; performing cropping and scaling processing on the preprocessed real scene image according to the display size and the display ratio to obtain a target projection image; projecting the target projection image to the target region.

8. The navigation control method of claim 1, wherein, The calculation of the actual distance between the vehicle and the target road section comprises: determining a coordinate position of the target road section according to a high-definition map called by the navigation information; obtaining real-time positioning information of the vehicle, determining an actual position of the vehicle according to the real-time positioning information, or estimating the actual position of the vehicle based on an inertial navigation system of the vehicle in a case where the real-time positioning information is lost; The actual distance between the vehicle and the target road section is determined according to the actual position of the vehicle and the coordinate position of the target road section.

9. An electronic device, comprising: The navigation control method of a vehicle comprises the steps of: a memory for storing a computer program; a processor for implementing the steps of the navigation control method of a vehicle as claimed in any one of claims 1-8 when executing the computer program.

10. A vehicle characterized by comprising: The vehicle comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the steps of the navigation control method of a vehicle as claimed in any one of claims 1-8.

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