CN110304057A - Automobile collision warning, navigation method, electronic device, system, and automobile - Google Patents

Abstract

It includes: the anti-collision warning prompt information of acquisition and front truck that the present invention, which discloses a kind of car crass early warning, air navigation aid, electronic equipment, system and automobile, anti-collision warning method,；The anti-collision warning prompt information is shown on the front windshield of automobile by augmented reality.Air navigation aid includes: acquisition navigation data；The navigation data is shown on the front windshield of automobile by augmented reality.The present invention will show on front windshield that driver can be immediately seen risk of collision degree by eyes by augmented reality with the anti-collision warning prompt information of front truck.Meanwhile the present invention shows the navigation data on the front windshield of automobile by augmented reality, so that driver does not have to divert attention specially to pay close attention to navigation data and can normally drive a vehicle according to navigation circuit yet.

Description

Automobile collision warning, navigation method, electronic device, system, and automobile

technical field

The invention relates to the technical field related to automobiles, in particular to an automobile collision warning, a navigation method, electronic equipment, a system and an automobile.

Background technique

The collision warning system requires dangerous predictions while driving, and must issue an alert to the driver 2.7 seconds before the collision. When the collision risk reaches a certain level, the vehicle will take over control to avoid the danger. According to years of research in Europe, America and Israel, 90% of car accidents can be avoided through this collision warning system.

However, the existing car collision warning methods are not intuitive enough, especially for novice drivers, who are not sensitive to sound or vibration reminders. When these warning events occur, they do not know the specific meaning of the specific warning events.

On the other hand, the existing navigation systems are all based on GPS. After calculation by the inertial measurement unit (IMU) data, the position is displayed on a pre-established map in 2D or 3D forms. The display navigation form has the following disadvantages: 1. The display form of multi-lane roads is only a single-lane or double-lane form (because the planning of a long road section is to be displayed, so it can only be displayed in abbreviated form); Forked roads, there is a problem that the navigation route cannot be judged intuitively; 3. When the road is complicated, such as when there are many forks, elevated roads, and many underground passages, there are errors in covering navigation; 4. When viewing the central control, instrument or mobile phone, bow your head or There is a situation where the line of sight is distracted from the driving lane on the side of the head; 5. When viewing the details of the navigation map, there will be a situation of inattention when driving. The existence of these situations brings inconvenience for traveling by car, also buryes hidden danger for traffic accident.

Contents of the invention

Based on this, it is necessary to provide an automobile collision early warning, navigation method, electronic equipment, system and automobile aiming at the technical problems that the prior art automobile collision early warning method and navigation method are not intuitive enough, inconvenient to view and easily increase traffic hazards.

The invention provides a car collision early warning method, comprising:

Obtain the warning prompt information of the collision with the vehicle in front;

The collision warning prompt information is displayed on the front windshield of the car through augmented reality technology.

In the present invention, the warning prompt information of collision with the vehicle in front is displayed on the front windshield through augmented reality technology, and the driver can directly see the degree of collision danger through both eyes, and the collision system prompted by augmented reality technology (Augmented Reality, AR) is also more vivid Image and visual prompts make the driver more likely to pay attention to the possibility of danger even in a state of distraction. The present invention provides great convenience especially for novice drivers when they cannot effectively judge the distance of the vehicle speed and distance. Undoubtedly, the present invention greatly enhances the interactivity and safety of the collision warning system.

Further, the acquisition of the warning prompt information of the collision with the vehicle in front specifically includes:

Obtain the possible collision time with the vehicle in front;

The possible collision time is used as the warning prompt information of the collision with the vehicle in front.

In this embodiment, the possible collision time of the preceding vehicle is displayed on the front windshield as the collision warning prompt information, so that the driver can judge the possibility of collision with the preceding vehicle according to the collision time.

Further, the said possible collision time as the warning prompt information of the collision with the vehicle in front specifically includes:

calculating the collision risk level according to the possible collision time;

The collision risk level is used as the warning prompt information of the collision with the vehicle in front.

In this embodiment, the collision risk level of the vehicle in front is displayed on the front windshield as the collision warning prompt information, so that the driver can judge the possibility of collision with the vehicle in front more quickly.

Further, the displaying the collision warning prompt information on the front windshield of the car through augmented reality technology specifically includes:

Obtain the actual coordinates of the vehicle in front, and convert the actual coordinates of the vehicle in front to the coordinates on the front windshield of the car as the windshield coordinates of the front vehicle;

Within the preset projection range based on the windshield coordinates of the front vehicle, the information to be displayed is displayed in the projection range of the front windshield by augmented reality technology.

In this embodiment, the collision warning prompt information is displayed within a preset projection range based on the coordinates of the windshield of the front vehicle, so that the driver can more intuitively understand the vehicles that may collide.

Still further, before the acquisition of the warning prompt information of the collision with the vehicle in front, the method further includes:

Obtain the possible collision time with the vehicle in front;

If the possible collision time is less than the first time threshold, the acquisition of the warning prompt information of the collision with the preceding vehicle is triggered.

In this embodiment, the collision warning prompt information is filtered and displayed according to the possible collision time, so as to avoid excessive collision warning prompt information from interfering with the driver's sight.

Still further, the method also includes:

If the possible collision time is less than a second time threshold, a vibration warning operation and/or an audio warning operation is started, and the second time threshold is less than the first time threshold.

In this embodiment, more warning operations are added to further remind the driver when the danger is more serious.

The invention provides an electronic device for automobile collision warning, comprising:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the one processor, the instructions being executed by the at least one processor, to enable the at least one processor to:

Obtain the warning prompt information of the collision with the vehicle in front;

The collision warning prompt information is displayed on the front windshield of the car through augmented reality technology.

In the present invention, the warning prompt information of collision with the vehicle in front is displayed on the front windshield through augmented reality technology, and the driver can directly see the degree of collision danger through both eyes, and the collision system prompted by augmented reality technology (Augmented Reality, AR) is also more vivid Image and visual prompts make the driver more likely to pay attention to the possibility of danger even in a state of distraction. The present invention provides great convenience especially for novice drivers when they cannot effectively judge the distance of the vehicle speed and distance. Undoubtedly, the present invention greatly enhances the interactivity and safety of the collision warning system.

Further, the acquisition of the warning prompt information of the collision with the vehicle in front specifically includes:

Obtain the possible collision time with the vehicle in front;

The possible collision time is used as the warning prompt information of the collision with the vehicle in front.

In this embodiment, the possible collision time of the preceding vehicle is displayed on the front windshield as the collision warning prompt information, so that the driver can judge the possibility of collision with the preceding vehicle according to the collision time.

Further, the said possible collision time as the warning prompt information of the collision with the vehicle in front specifically includes:

calculating the collision risk level according to the possible collision time;

The collision risk level is used as the warning prompt information of the collision with the vehicle in front.

In this embodiment, the collision risk level of the vehicle in front is displayed on the front windshield as the collision warning prompt information, so that the driver can judge the possibility of collision with the vehicle in front more quickly.

Further, the displaying the collision warning prompt information on the front windshield of the car through augmented reality technology specifically includes:

Obtain the actual coordinates of the vehicle in front, and convert the actual coordinates of the vehicle in front to the coordinates on the front windshield of the car as the windshield coordinates of the front vehicle;

Within the preset projection range based on the windshield coordinates of the front vehicle, the information to be displayed is displayed in the projection range of the front windshield by augmented reality technology.

In this embodiment, the collision warning prompt information is displayed within a preset projection range based on the coordinates of the windshield of the front vehicle, so that the driver can more intuitively understand the vehicles that may collide.

Still further, before the acquisition of the warning prompt information of the collision with the vehicle in front, the processor can also:

Obtain the possible collision time with the vehicle in front;

If the possible collision time is less than the first time threshold, the acquisition of the warning prompt information of the collision with the preceding vehicle is triggered.

In this embodiment, the collision warning prompt information is filtered and displayed according to the possible collision time, so as to avoid excessive collision warning prompt information from interfering with the driver's sight.

Still further, the processor can also:

If the possible collision time is less than a second time threshold, a vibration warning operation and/or an audio warning operation is started, and the second time threshold is less than the first time threshold.

In this embodiment, more warning operations are added to further remind the driver when the danger is more serious.

The present invention provides an automobile collision warning system, comprising: a front vehicle distance acquisition module, a camera module, a vehicle speed acquisition module, control processing electronic equipment, and an augmented reality display module;

The input end of the control processing electronic device is connected to the vehicle distance acquisition module, the camera module, and the vehicle speed acquisition module respectively, and the output end of the control processing electronic device is connected to the enhanced The reality display module is connected in communication, and the display area of the enhanced display module is the front windshield of the car.

In the embodiment of the present invention, the collision warning prompt information of the vehicle in front is determined through the vehicle distance acquisition module, the camera module, and the vehicle speed acquisition module, and is displayed on the front windshield through the enhanced display module through augmented reality technology. The degree of collision risk can be directly seen through the eyes, and the collision system prompted by augmented reality technology (Augmented Reality, AR) is also more vivid. The visual prompt makes the driver have a higher probability of paying attention to the danger even in a state of distraction possibility of existence. The present invention provides great convenience especially for novice drivers when they cannot effectively judge the distance of the vehicle speed and distance. Undoubtedly, the present invention greatly enhances the interactivity and safety of the collision warning system.

The invention provides a car navigation method, comprising:

Get navigation data;

The navigation data is displayed on the front windshield of the car through augmented reality technology.

In the present invention, the navigation data is displayed on the front windshield of the car through augmented reality technology, so that the navigation data can be displayed in combination with the actual scene, and the navigation data is drawn as navigation data and superimposed on the real road within the driver's driving line of sight , AR real-scene navigation with real-time effects, so that the driver can drive normally according to the navigation route without paying attention to the navigation data.

Further, the navigation data includes follow-up navigation data, and the display of the navigation data on the front windshield of the car through augmented reality technology specifically includes:

Obtaining the current location information of the vehicle and reference road information corresponding to the location information;

determining the navigation display target corresponding to the following navigation data in the reference road information;

Within the preset projection range based on the navigation display target, the follow-up navigation data is displayed on the front windshield through augmented reality technology.

In this embodiment, the navigation display target corresponding to the following navigation data in the reference road information is determined, so that the following navigation data is displayed within the preset projection range based on the navigation display target, so that the driver can intuitively understand the following navigation Data pre-navigation shows the relationship of goals, thereby improving navigation intuitiveness.

Furthermore, the reference road information corresponding to the positioning information specifically includes: road information collected in advance at the reference position starting from the current positioning information of the vehicle to a preset distance ahead.

The reference road information in this embodiment adopts the road information collected in advance at the reference position starting from the current location information of the vehicle to a preset distance ahead to realize the association between the reference road information and the current location information of the vehicle.

Furthermore, within the preset projection range based on the navigation display target, displaying the follow-up navigation data on the front windshield through augmented reality technology specifically includes:

Obtaining the actual coordinates of the navigation display target, converting the actual coordinates of the navigation display target into coordinates on the front windshield of the car as the navigation display target windshield coordinates;

Within the preset projection range based on the windshield coordinates of the navigation display target, the follow-up navigation data is displayed in the projection range of the front windshield through augmented reality technology.

In this embodiment, the follow-up navigation data is accurately displayed on the front windshield through coordinate transformation.

Still further, the acquiring the actual coordinates of the navigation display target specifically includes:

Obtain the current road information ahead of the car;

extracting the navigation display target from the road ahead information;

The actual coordinates of the navigation display target are determined.

In this embodiment, a comparison is made between the road ahead information and the reference road information, so as to accurately analyze and extract the navigation display target.

Still further, the navigation data includes: fixed navigation data;

The displaying the navigation data on the front windshield of the car through the augmented reality technology specifically includes: displaying the fixed navigation data on the preset fixed navigation data display position on the front windshield through the augmented reality technology.

This embodiment provides fixed navigation data displayed at a fixed location, which is convenient for the driver to obtain navigation information at a fixed location.

The invention provides a car navigation electronic device, comprising:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the one processor, the instructions being executed by the at least one processor, to enable the at least one processor to:

Get navigation data;

The navigation data is displayed on the front windshield of the car through augmented reality technology.

In the present invention, the navigation data is displayed on the front windshield of the car through augmented reality technology, so that the navigation data can be displayed in combination with the actual scene, and the navigation data is drawn as navigation data and superimposed on the real road within the driver's driving line of sight , AR real-scene navigation with real-time effects, so that the driver can drive normally according to the navigation route without paying attention to the navigation data.

Further, the navigation data includes follow-up navigation data, and the display of the navigation data on the front windshield of the car through augmented reality technology specifically includes:

Obtaining the current location information of the vehicle and reference road information corresponding to the location information;

determining the navigation display target corresponding to the following navigation data in the reference road information;

Within the preset projection range based on the navigation display target, the follow-up navigation data is displayed on the front windshield through augmented reality technology.

In this embodiment, the navigation display target corresponding to the following navigation data in the reference road information is determined, so that the following navigation data is displayed within the preset projection range based on the navigation display target, so that the driver can intuitively understand the following navigation Data pre-navigation shows the relationship of goals, thereby improving navigation intuitiveness.

Furthermore, the reference road information corresponding to the positioning information specifically includes: road information collected in advance at the reference position starting from the current positioning information of the vehicle to a preset distance ahead.

The reference road information in this embodiment adopts the road information collected in advance at the reference position starting from the current location information of the vehicle to a preset distance ahead to realize the association between the reference road information and the current location information of the vehicle.

Furthermore, within the preset projection range based on the navigation display target, displaying the follow-up navigation data on the front windshield through augmented reality technology specifically includes:

Obtaining the actual coordinates of the navigation display target, converting the actual coordinates of the navigation display target into coordinates on the front windshield of the car as the navigation display target windshield coordinates;

Within the preset projection range based on the windshield coordinates of the navigation display target, the follow-up navigation data is displayed on the projection range of the front windshield through augmented reality technology.

In this embodiment, the follow-up navigation data is accurately displayed on the front windshield through coordinate transformation.

Still further, the acquiring the actual coordinates of the navigation display target specifically includes:

Obtain the current road information ahead of the car;

extracting the navigation display target from the road ahead information;

The actual coordinates of the navigation display target are determined.

In this embodiment, a comparison is made between the road ahead information and the reference road information, so as to accurately analyze and extract the navigation display target.

Still further, the navigation data includes: fixed navigation data;

The displaying the navigation data on the front windshield of the car through the augmented reality technology specifically includes: displaying the fixed navigation data on the preset fixed navigation data display position on the front windshield through the augmented reality technology.

This embodiment provides fixed navigation data displayed at a fixed location, which is convenient for the driver to obtain navigation information at a fixed location.

The present invention provides a car navigation system, comprising: a front road information acquisition module, a navigation module, a control processing electronic device, and an augmented reality display module;

The input end of the control processing electronic device is connected to the front road information acquisition module and the navigation module respectively, and the output end of the control processing electronic device is connected to the augmented reality display module. The display area of the enhanced display module is the front windshield of the car.

In the present invention, the navigation data is displayed on the front windshield of the car through augmented reality technology, so that the navigation data can be displayed in combination with the actual scene, and the navigation data is drawn as navigation data and superimposed on the real road within the driver's driving line of sight , AR real-scene navigation with real-time effects, so that the driver can drive normally according to the navigation route without paying attention to the navigation data.

The present invention provides a car, which includes a car body and the aforementioned electronic equipment, where the electronic device displays navigation data on the front windshield of the car body.

The present invention provides a car, which includes a car body and the above-mentioned electronic device, and the electronic device displays collision warning prompt information on the front windshield of the car body.

In the present invention, the warning prompt information of collision with the vehicle in front is displayed on the front windshield through augmented reality technology, and the driver can directly see the degree of collision danger through both eyes, and the collision system prompted by augmented reality technology (Augmented Reality, AR) is also more vivid Image and visual prompts make the driver more likely to pay attention to the possibility of danger even in a state of distraction. The present invention provides great convenience especially for novice drivers when they cannot effectively judge the distance of the vehicle speed and the distance between vehicles. Undoubtedly, the present invention greatly enhances the interactivity and safety of the collision warning system.

In the present invention, the navigation data is displayed on the front windshield of the car through augmented reality technology, so that the navigation data can be displayed in combination with the actual scene, and the navigation data is drawn as navigation data and superimposed on the real road within the driver's driving line of sight , AR real-scene navigation with real-time effects, so that the driver can drive normally according to the navigation route without paying attention to the navigation data.

Description of drawings

Fig. 1 is the working flow diagram of a kind of automobile collision early warning method of the present invention;

Fig. 2 is the work flowchart of a kind of automobile collision early warning method of preferred embodiment of the present invention;

3 is a schematic diagram of the hardware structure of an electronic device for automobile collision early warning according to the present invention;

Fig. 4 is the system schematic diagram of a kind of automobile collision warning system of the present invention;

Fig. 5 is the hardware structure that the preferred embodiment of the present invention depends on;

Fig. 6 is a structural diagram of the internal software of the control processing electronic equipment in the preferred embodiment of the present invention;

Fig. 7 is a schematic diagram of a collision warning generated between a driving vehicle equipped with the system and a vehicle in front;

Fig. 8 is the collision warning prompt information with AR effect actually seen by the driver of the vehicle;

Fig. 9 is a schematic diagram of the process of realizing AR collision warning in the best embodiment of the present invention;

Fig. 10 is a schematic diagram of a vehicle reference coordinate system in the preferred embodiment of the present invention;

Fig. 11 is a top view of the vehicle reference coordinate system in the preferred embodiment of the present invention;

Fig. 12 is a schematic diagram of the coordinate system on the front windshield of the preferred embodiment of the present invention;

Fig. 13 is the rendering of the preferred embodiment of the present invention;

Fig. 14 is one of the renderings of the best embodiment of the present invention;

Fig. 15 is another rendering of the best embodiment of the present invention;

Fig. 16 is a working flow diagram of a car navigation method of the present invention;

Fig. 17 is a system schematic diagram of a car navigation system of the present invention;

Fig. 18 is the hardware structure on which the car navigation system of the preferred embodiment of the present invention depends;

Fig. 19 is a working flow diagram of a car navigation method in the preferred embodiment of the present invention;

Fig. 20 is a schematic diagram of the process of realizing AR real scene navigation in the best embodiment of the present invention;

Fig. 21 is a schematic diagram of the reference coordinate system of the vehicle in the preferred embodiment of the present invention;

Fig. 22 is a top view of the vehicle reference coordinate system in the preferred embodiment of the present invention;

Fig. 23 is a schematic diagram of the coordinate system on the front windshield of the preferred embodiment of the present invention;

Fig. 24 is the rendering of the best embodiment of the present invention;

Fig. 25 is another rendering of the best embodiment of the present invention;

Fig. 26 is a schematic diagram of the hardware structure of a car navigation electronic device according to the present invention.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, it is a work flow diagram of a kind of automobile collision early warning method of the present invention, comprising:

Step S101, obtaining the prompt information of collision warning with the vehicle in front;

In step S102, the collision warning prompt information is displayed on the front windshield of the car through augmented reality technology.

Specifically, step S101 acquires the collision warning prompt information, and then the collision warning prompt information is displayed on the front windshield of the car through augmented reality technology in step S102. Augmented Reality (AR) superimposes the collision warning prompt information on the real scene of the front windshield. The collision warning prompt information can be superimposed on the front windshield by means of AR images, AR animations, and the like. Therefore, while observing the real scene, the driver can also observe the collision warning prompt information displayed on the front windshield through AR technology. Specifically, the collision warning prompt information can be displayed on the front windshield through the enhanced head-up display technology (Augmented Reality Head Up Display, ARHUD).

Figure 7 shows a schematic diagram of a collision warning generated between a driving vehicle 71 equipped with this system and a vehicle 72 in front, and Figure 8 shows the collision warning prompt information 81 actually seen by the driver of the driving vehicle with an AR effect.

In the present invention, the warning prompt information of collision with the vehicle in front is displayed on the front windshield through augmented reality technology, and the driver can directly see the degree of collision danger through both eyes, and the collision system prompted by augmented reality technology (Augmented Reality, AR) is also more vivid Image and visual prompts make the driver more likely to pay attention to the possibility of danger even in a state of distraction. The present invention provides great convenience especially for novice drivers when they cannot effectively judge the distance of the vehicle speed and distance. Undoubtedly, the present invention greatly enhances the interactivity and safety of the collision warning system.

In one of the embodiments, the acquisition of the warning prompt information of the collision with the vehicle in front specifically includes:

Obtain the possible collision time with the vehicle in front;

The possible collision time is used as the warning prompt information of the collision with the vehicle in front.

Specifically, the possible collision time with the vehicle in front can be determined by using the speed and distance of the vehicle in front measured by the advanced driving assistance system (Advanced Driving Assistant System, ADAS) module, and by using the controller area network (Controller Area Network, CAN) bus module. The group obtains the driving speed of the own vehicle, and calculates the time difference between the two vehicles that may collide.

In this embodiment, the possible collision time of the preceding vehicle is displayed on the front windshield as the collision warning prompt information, so that the driver can judge the possibility of collision with the preceding vehicle according to the collision time.

In one of the embodiments, the use of the possible collision time as the warning prompt information of the collision with the vehicle in front specifically includes:

calculating the collision risk level according to the possible collision time;

The collision risk level is used as the warning prompt information of the collision with the vehicle in front.

Specifically, the possible collision time may be converted into a collision risk level, for example, the possible collision time less than or equal to A1 may be converted into a collision risk level L1, and the possible collision time greater than A1 and less than or equal to A2 may be converted into a collision risk level L2.

In this embodiment, the collision risk level of the vehicle in front is displayed on the front windshield as the collision warning prompt information, so that the driver can judge the possibility of collision with the vehicle in front more quickly.

In one of the embodiments, the displaying the collision warning prompt information on the front windshield of the car through augmented reality technology specifically includes:

Obtain the actual coordinates of the vehicle in front, and convert the actual coordinates of the vehicle in front to the coordinates on the front windshield of the car as the windshield coordinates of the front vehicle;

Within the preset projection range based on the windshield coordinates of the front vehicle, the information to be displayed is displayed in the projection range of the front windshield by augmented reality technology.

Specifically, the external camera in the camera module can be used to extract features and calculate the relative position of the preceding vehicle. Then transform the camera's exterior camera coordinate system to the coordinates of the coordinate system on the car's front windshield.

It is also possible to collect the driver's eyes according to the camera in the car, so as to correct the converted coordinate system.

Wherein, the preset projection range may be above or below the coordinates of the windshield of the front vehicle, or within a circle centered on the coordinates of the windshield of the front vehicle. As shown in FIG. 8 , the collision warning prompt information 81 with AR effect actually seen by the driver of the driving vehicle will be displayed on the top of the preceding vehicle 72 .

Figure 9 shows how this system realizes the process of AR collision warning. In this embodiment, the ARHUD module 1 is used to project the AR image onto the windshield 2 of the car, so the ARHUD coordinate system is the windshield coordinate system. Those skilled in the art can understand that other methods can be used to project onto the front windshield 2 of the automobile, and the coordinate system projected on the front windshield 2 remains unchanged. The control processing electronic equipment converts the data of ADAS, camera and other modules into vehicle reference coordinate system information after processing. Then convert the reference coordinate system data to the ARHUD coordinate system, and output it to ARHUD module 1, so that ARHUD module 1 projects the image 4 onto the front windshield 2, and the driver 3 sees the road through the front windshield 2 Therefore, an AR effect is formed, so it is visually formed as if the collision warning time is actually indicated above the vehicle. This process forms the basis of the AR collision warning system. The ARHUD coordinate system is the coordinate system of the coordinates on the front windshield 2 of the car, and the coordinates of the front vehicle in the vehicle reference coordinate system after conversion to the ARHUD coordinate system are the windshield coordinates of the front vehicle.

Figure 10 and Figure 11 show the vehicle reference coordinate system designed by this patent. A certain point on the vehicle is selected as a fixed origin, and a three-dimensional space coordinate system is established as the vehicle reference coordinate system. Therefore, the external camera of the camera module recognizes the vehicle in front Afterwards, the distance information is converted and mapped to the vehicle reference coordinate system, and the vehicle reference coordinate system is defined as F _b (x, y, z). Preferably, the camera outside the vehicle of the camera module is used as the origin of the reference coordinate system. In this coordinate system, y is the abscissa, z is the ordinate, and x is the coordinate in the forward direction of the vehicle.

In FIG. 12 , the ARHUD coordinate system composed of Xa and Ya is displayed on the front windshield 2 , which belongs to a two-dimensional coordinate system, and this coordinate system is defined as F _a (Xa, Ya). To establish the mapping relationship between the ARHUD coordinate system and the vehicle reference coordinate system, first assume that the human eye observes the real world through the ARHUD at a fixed position of the vehicle, and establish the corresponding vehicle reference coordinate system mapping through mathematical affine transformation, such as homogeneous coordinate transformation The model of the ARHUD coordinate system expresses this process as F _b -> F _a . Specifically, the transformation rule of F _b -> F _a can be determined by obtaining the coordinates of multiple targets to be displayed in the vehicle reference coordinate system, the corresponding ARHUD coordinates, and the projection range, and by means of calibration.

Due to the movement of the vehicle driver, the position of the human eye will change, so the superimposition of the ARHUD image in the real world will be deviated. Specifically, the in-vehicle camera 5 of the camera module can be used to identify the coordinates of the human eyes, and calculate the deviation from the fixed position of the human eyes set when the ARHUD coordinate mapping reference coordinate system is established. For the convenience of representation, assume that the human eye coordinate system is F _p (Xp, Yp, Zp), where Yp is the abscissa, Zp is the ordinate, Xp is the coordinate in the direction of the vehicle, and a preset position in the vehicle is used as origin. According to the principle of object imaging, the offset of the Y axis and the Z axis of F _p affects the position of the origin of the coordinate system of F _a . For example, when the human eye of the driver is different from the origin of the human eye system, the position of the image 4 observed by the driver is different from the position of the image 4 observed at the origin of the human eye system. Therefore, by determining the coordinates of the human eye, thereby Determine the deviation of the driver's human eyes relative to the origin of the human eye system on the Y-axis and the Z-axis, thereby correcting the origin of the front windshield coordinate system, so that the position of the image 4 is also corrected accordingly. The offset on the X-axis of F _p affects the scaling of the F _a coordinate system, that is, the scaling of the projection range. Denote this process as F _p ->F _a . Therefore, the position of F _a can be corrected by obtaining the deviation between the coordinates of the human eye and the fixed position of the human eye set when the ARHUD coordinate mapping reference coordinate system is established. The specific transformation rules of F _p -> F _a can be obtained by placing the camera at the experimental human eye coordinates of the experimental human body, and obtaining the coordinates of the experimental human eyes in the human eye coordinate system and the corresponding coordinates of the ARHUD coordinate system for multiple experimental human bodies. and the projection range, so as to establish the transformation rule of F _p -> F _a and the scaling rule of the projection range.

Therefore, the overall two steps to complete the dynamic output of ARHUD effects are the mapping of F _b -> F _a to solve the projection output of the external real world on ARHUD, and the mapping of F _p -> F _a to solve the correction of the ARHUD image due to the change of human eye position.

Figure 13 shows the effect diagram of the AR collision of this system. The control and processing electronic equipment generates corresponding collision warning data after calculation and correction, and converts the collision warning data into corresponding collision warning prompt information, and finally passes through the ARHUD module 1 device , the collision warning prompt information 4 is projected on the windshield 2 in the form of an AR icon. Since the control processing electronic device has used the AR algorithm for correction, the prompt sign is well displayed directly above the target vehicle 4 in front.

Figure 14 and Figure 15 show the driving effect of using this system. Among them, Figure 14 reflects the prompt method of the system's warning level effect (only the display time in the AR icon is less than 2.7s), and Figure 15 reflects the prompt of the warning level effect Method (the display time in the AR icon is less than 1s, and there is a warning sign below), these two pictures very intuitively reflect how convenient this system is, and vividly provide the driver with the driving experience of AR collision warning.

In this embodiment, the collision warning prompt information is displayed within a preset projection range based on the coordinates of the windshield of the front vehicle, so that the driver can more intuitively understand the vehicles that may collide.

In one of the embodiments, before the acquisition of the warning prompt information of the collision with the vehicle in front, the method further includes:

Obtain the possible collision time with the vehicle in front;

If the possible collision time is less than the first time threshold, the acquisition of the warning prompt information of the collision with the preceding vehicle is triggered.

In this embodiment, the collision warning prompt information is filtered and displayed according to the possible collision time, so as to avoid excessive collision warning prompt information from interfering with the driver's sight.

In one embodiment, the method also includes:

If the possible collision time is less than a second time threshold, a vibration warning operation and/or an audio warning operation is started, and the second time threshold is less than the first time threshold.

In this embodiment, more warning operations are added to further remind the driver when the danger is more serious.

As shown in the following table, it is the early warning level and corresponding early warning form of the best embodiment of the present invention

As shown in Figure 2, it is a work flow diagram of a kind of automobile collision early warning method in the preferred embodiment of the present invention, including:

Step S201, the ADAS detects the distance to the vehicle ahead;

Step S202, the CAN bus acquires the driving speed;

Step S203, calculate whether there is a collision warning risk, if yes, execute step S204, otherwise execute step S201;

Step S204, judging whether the collision time is less than or equal to 1 second, if yes, execute step S205, otherwise execute step S206;

Step S205, motor vibration, voice prompt;

Step S206, the exterior camera of the camera module obtains the vehicle information of the vehicle in front;

Step S207, the in-vehicle camera of the camera module acquires the position information of the driver's eyes;

Step S208, calculating the vehicle coordinates, generating an AR image and converting the vehicle coordinates into ARHUD coordinates;

Step S209, calculating the coordinates of human eyes, and correcting the ARHUD coordinates of the AR image;

In step S210, the ARHUD module outputs the AR image at the ARHUD coordinates.

As shown in Figure 3, it is a schematic diagram of the hardware structure of an electronic device for automobile collision warning according to the present invention, including:

at least one processor 301; and,

A memory 302 communicatively connected to the at least one processor 301; wherein,

The memory 302 stores instructions executable by the one processor, the instructions are executed by the at least one processor, so that the at least one processor can:

Obtain the warning prompt information of the collision with the vehicle in front;

The collision warning prompt information is displayed on the front windshield of the car through augmented reality technology.

The electronic device is preferably an Electronic Control Unit (ECU). One processor 302 is taken as an example in FIG. 3 .

The electronic device may further include: an input device 303 and an output device 304 .

The processor 301, the memory 302, the input device 303, and the display device 304 may be connected through a bus or in other ways. In the figure, connection through a bus is taken as an example.

The memory 302, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as the program corresponding to the automobile collision warning method in the embodiment of the present application Instructions/modules, for example, the method flow shown in FIG. 1 . The processor 301 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 302, that is, realizes the vehicle collision warning method in the above-mentioned embodiments.

The memory 302 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the vehicle collision warning method, and the like. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 302 may optionally include a memory that is remotely located relative to the processor 301, and these remote memories may be connected to a device that executes the vehicle collision warning method through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 303 can receive user clicks for input, and generate signal input related to user settings and function control of the vehicle collision warning method. The display device 304 may include a display device such as a display screen.

The one or more modules are stored in the memory 302 , and when executed by the one or more processors 301 , execute the vehicle collision warning method in any method embodiment above.

In the present invention, the warning prompt information of collision with the vehicle in front is displayed on the front windshield through augmented reality technology, and the driver can directly see the degree of collision danger through both eyes, and the collision system prompted by augmented reality technology (Augmented Reality, AR) is also more vivid Image and visual prompts make the driver more likely to pay attention to the possibility of danger even in a state of distraction. The present invention provides great convenience especially for novice drivers when they cannot effectively judge the distance of the vehicle speed and distance. Undoubtedly, the present invention greatly enhances the interactivity and safety of the collision warning system.

In one of the embodiments, the acquisition of the warning prompt information of the collision with the vehicle in front specifically includes:

Obtain the possible collision time with the vehicle in front;

The possible collision time is used as the warning prompt information of the collision with the vehicle in front.

In this embodiment, the possible collision time of the preceding vehicle is displayed on the front windshield as the collision warning prompt information, so that the driver can judge the possibility of collision with the preceding vehicle according to the collision time.

In one of the embodiments, the use of the possible collision time as the warning prompt information of the collision with the vehicle in front specifically includes:

calculating the collision risk level according to the possible collision time;

The collision risk level is used as the warning prompt information of the collision with the vehicle in front.

In this embodiment, the collision risk level of the vehicle in front is displayed on the front windshield as the collision warning prompt information, so that the driver can judge the possibility of collision with the vehicle in front more quickly.

In one of the embodiments, the displaying the collision warning prompt information on the front windshield of the car through augmented reality technology specifically includes:

Obtain the actual coordinates of the vehicle in front, and convert the actual coordinates of the vehicle in front to the coordinates on the front windshield of the car as the windshield coordinates of the front vehicle;

Within the preset projection range based on the windshield coordinates of the front vehicle, the information to be displayed is displayed in the projection range of the front windshield by augmented reality technology.

In this embodiment, the collision warning prompt information is displayed within a preset projection range based on the coordinates of the windshield of the front vehicle, so that the driver can more intuitively understand the vehicles that may collide.

In one of the embodiments, before the acquisition of the warning prompt information of the collision with the vehicle in front, the processor can further:

Obtain the possible collision time with the vehicle in front;

If the possible collision time is less than the first time threshold, the acquisition of the warning prompt information of the collision with the preceding vehicle is triggered.

In this embodiment, the collision warning prompt information is filtered and displayed according to the possible collision time, so as to avoid excessive collision warning prompt information from interfering with the driver's sight.

In one of the embodiments, the processor can also:

If the possible collision time is less than a second time threshold, a vibration warning operation and/or an audio warning operation is started, and the second time threshold is less than the first time threshold.

In this embodiment, more warning operations are added to further remind the driver when the danger is more serious.

As shown in Figure 4, it is a system schematic diagram of a vehicle collision warning system of the present invention, including: a front vehicle distance acquisition module 401, a camera module 402, a vehicle speed acquisition module 403, a control processing electronic device 404, and augmented reality Display module 405;

The input end of the control processing electronic device 404 is respectively connected to the vehicle distance acquisition module 401, the camera module 402, and the vehicle speed acquisition module 403 in communication connection, and the output of the control processing electronic device 404 The terminal communicates with the augmented reality display module 405, and the display area of the augmented reality display module 405 is the front windshield of the car.

Specifically, the main functions of each module and unit are as follows:

The front vehicle distance acquisition module 401, preferably an ADAS module, is used to obtain the front vehicle distance;

The camera module 402 preferably includes two parts, the camera outside the car and the camera inside the car. The camera outside the car is used to obtain the actual coordinates of the front car, and the camera inside the car is used to obtain the position of the driver's eyes;

An augmented reality display module 405, preferably an ARHUD display module, is a display module that superimposes navigation data on the front windshield and displays it in the real world;

Vehicle speed obtaining module 403, preferably controller area network (Controller Area Network, CAN) bus module, obtains vehicle speed;

Control and process electronic equipment 404, integrate various module data, process system logic, algorithm operation platform, and control output ARHUD images.

In the embodiment of the present invention, the collision warning prompt information of the vehicle in front is determined through the vehicle distance acquisition module, the camera module, and the vehicle speed acquisition module, and is displayed on the front windshield through the enhanced display module through augmented reality technology. The degree of collision risk can be directly seen through the eyes, and the collision system prompted by augmented reality technology (Augmented Reality, AR) is also more vivid. The visual prompt makes the driver have a higher probability of paying attention to the danger even in a state of distraction Possibility exists. The present invention provides great convenience especially for novice drivers when they cannot effectively judge the distance of the vehicle speed and distance. Undoubtedly, the present invention greatly enhances the interactivity and safety of the collision warning system.

In one of the embodiments, it further includes a vibration module 406 and/or a sound module 407 communicatively connected to the output end of the control processing electronic device.

The vibration module 40, preferably a vibration motor module, has a control processing electronic device to control the vibration of the motor, and its main function is to match the vehicle components and provide the vibration feeling in the collision warning system;

The sound module 407, preferably a voice module, broadcasts collision warning information.

In this embodiment, more warning operations are added to further remind the driver when the danger is more serious.

Fig. 5 has shown the hardware structure that uses this system to depend on, bridges through IO interface between each module, wherein, control processing electronic device 404 is an embedded computing platform with operating system, all algorithms involved in this system Both run in the control processing electronics.

Figure 6 is a diagram of the internal software structure of the control processing electronic device, showing the internal software module structure of the control processing electronic device, including: collision time calculation module 601, coordinate conversion module 602, image processing module 603, AR correction module 604, logic processing module 605 , control the output module 606 , and the image output module 607 . The software module will process the data sent by each external module, and output it uniformly after completing the corresponding processing.

An embodiment of the present invention is a car, including a car body, and the electronic device as mentioned above, and the electronic device controls the car body.

As shown in Figure 16, it is a work flow diagram of a car navigation method of the present invention, including:

Step S1601, obtaining navigation data;

Step S1602, displaying the navigation data on the front windshield of the car through augmented reality technology.

Specifically, step S1601 acquires navigation data. Navigation data can be obtained from navigation lines according to the driver's navigation needs. Then the navigation data is displayed on the front windshield of the car through augmented reality technology in step S1602. Augmented Reality (AR) superimposes navigation data on the real scene of the front windshield. The navigation data can be superimposed on the front windshield by means of AR images, AR animations, etc. Therefore, the driver can observe the navigation data displayed on the front windshield through AR technology while observing the real scene. Specifically, the display of navigation data on the front windshield can be realized through Augmented Reality Head Up Display (ARHUD) technology. Through the ARHUD system and high-precision map information, the navigation information is drawn into a virtual image and superimposed on the real road in the driver's driving line of sight to form a real-time AR real-scene navigation, so that the driver does not need to pay attention to the navigation information and can work normally. Follow the navigation route

Fig. 24 and Fig. 25 show the navigation data 241 and 242 with AR effect actually seen by the driver of the vehicle.

In the present invention, the navigation data is displayed on the front windshield of the car through augmented reality technology, so that the navigation data can be displayed in combination with the actual scene, and the navigation data is drawn as navigation data and superimposed on the real road within the driver's driving line of sight , AR real-scene navigation with real-time effects, so that the driver can drive normally according to the navigation route without paying attention to the navigation data.

In one of the embodiments, the navigation data includes follow-up navigation data, and the display of the navigation data on the front windshield of the car through augmented reality technology specifically includes:

Obtaining the current location information of the vehicle and reference road information corresponding to the location information;

determining the navigation display target corresponding to the following navigation data in the reference road information;

Within the preset projection range based on the navigation display target, the follow-up navigation data is displayed on the front windshield through augmented reality technology.

As shown in FIG. 24 and FIG. 25 , following the navigation data is displayed according to the corresponding navigation display target according to different road scenes. Wherein, the navigation display target includes but not limited to road surface information such as lane lines. Taking the lane line as an example, the projection range can be the middle of the lane line. For example, as shown in FIG. 24 , when the driver is prompted to go straight, the projection range of the follow-up navigation data 241 indicating going straight is between the two lane lines 243 in the middle. In FIG. 25 , the projection range of the follow-up navigation data 241 indicating a lane change is between the lane line 243 of the current lane and the lane line 243 of the lane to be changed. Existing navigation systems have corresponding navigation display targets for different following navigation data. However, in the existing navigation system, the following navigation data is displayed on the map, and the navigation display targets are lane lines and other targets on the map. Therefore, the following navigation data and navigation display objects of the present invention can be obtained from the navigation system, and the navigation display objects on the map are transformed into real scenes.

In this embodiment, the navigation display target corresponding to the following navigation data in the reference road information is determined, so that the following navigation data is displayed within the preset projection range based on the navigation display target, so that the driver can intuitively understand the following navigation Data pre-navigation shows the relationship of goals, thereby improving navigation intuitiveness.

In one embodiment, the reference road information corresponding to the positioning information specifically includes: road information collected in advance at the reference position starting from the current positioning information of the vehicle to a preset distance ahead.

Specifically, the reference road information is pre-collected, for example, high-precision map data obtained by pre-collected road photography.

The reference road information in this embodiment adopts the road information collected in advance at the reference position starting from the current location information of the vehicle to a preset distance ahead to realize the association between the reference road information and the current location information of the vehicle.

In one of the embodiments, within the preset projection range based on the navigation display target, displaying the follow-up navigation data on the front windshield through augmented reality technology specifically includes:

Obtaining the actual coordinates of the navigation display target, converting the actual coordinates of the navigation display target into coordinates on the front windshield of the car as the navigation display target windshield coordinates;

Within the preset projection range based on the windshield coordinates of the navigation display target, the follow-up navigation data is displayed in the projection range of the front windshield through augmented reality technology.

Figure 20 shows how this system realizes the process of AR real scene navigation. In this embodiment, the ARHUD module 1 is used to project the AR image onto the windshield 2 of the car, so the ARHUD coordinate system is the windshield coordinate system. Those skilled in the art can understand that other methods can be used to project onto the front windshield 2 of the automobile, and the coordinate system projected on the front windshield 2 remains unchanged. The control processing electronic equipment converts the navigation data into vehicle reference coordinate system information after processing. Then convert the reference coordinate system data to the ARHUD coordinate system, and output it to ARHUD module 1, so that ARHUD module 1 projects the image 4 onto the front windshield 2, and the driver 3 sees the road through the front windshield 2 Therefore, it forms the AR effect, and thus forms a visual feeling as if the navigation icons exist in the real world. Such a process forms the basis of AR real-scene navigation. The ARHUD coordinate system is the coordinate system of the coordinates on the front windshield 2 of the car, and the coordinates of the navigation display target in the vehicle reference coordinate system are converted to the coordinates of the ARHUD coordinate system, which are the windshield coordinates of the front car.

Figure 21 and Figure 22 show the vehicle reference coordinate system designed by this patent. A certain point on the vehicle is selected as a fixed origin, and a three-dimensional space coordinate system is established as the vehicle reference coordinate system. Therefore, the external camera of the camera module recognizes the vehicle in front Afterwards, the distance information is converted and mapped to the vehicle reference coordinate system, and the vehicle reference coordinate system is defined as F _b (x, y, z). Preferably, the camera outside the vehicle of the camera module is used as the origin of the reference coordinate system. In this coordinate system, y is the abscissa, z is the ordinate, and x is the coordinate in the forward direction of the vehicle.

In Fig. 23, the ARHUD coordinate system composed of Xa and Ya is shown on the front windshield 2, which belongs to the two-dimensional coordinate system, and this coordinate system is defined as F _a (Xa, Ya). To establish the mapping relationship between the ARHUD coordinate system and the vehicle reference coordinate system, first assume that the human eye observes the real world through the ARHUD at a fixed position of the vehicle, and establish the corresponding vehicle reference coordinate system mapping through mathematical affine transformation, such as homogeneous coordinate transformation The model of the ARHUD coordinate system expresses this process as F _b -> F _a . Specifically, the transformation rule of F _b -> F _a can be determined by obtaining the coordinates of multiple targets to be displayed in the vehicle reference coordinate system, the corresponding ARHUD coordinates, and the projection range, and by means of calibration.

Figure 24 shows the renderings of the AR real-scene navigation of this system. The calculation module generates corresponding navigation indication data after calculation and correction, and finally projects the image on the windshield through the ARHUD module equipment. Since the calculation unit has been used Therefore, as the navigation indicator icon following the navigation data 241, it can be well pasted on the ground, and the indicator icon falls on the corresponding driving lane strictly according to the fused high-precision navigation information, rather than simply indicating Forward direction.

Figure 24 and Figure 25 show the driving effect of using this system, wherein Figure 24 reflects how this system solves the problem of choosing a difficult intersection for navigation (here demonstrates an AR real-scene navigation behavior for the intersection ahead that includes an elevated fork), The present invention uses an algorithm to directly project the result into the AR real scene through the ARHUD, so that the user can clearly understand how to choose the driving route, without thinking about the selection problems such as "go straight on the road ahead" brought about by traditional navigation.

In this embodiment, the follow-up navigation data is accurately displayed on the front windshield through coordinate transformation.

In one of the embodiments, the obtaining the actual coordinates of the navigation display target specifically includes:

Obtain the current road information ahead of the car;

extracting the navigation display target from the road ahead information;

The actual coordinates of the navigation display target are determined.

Specifically, the current road information ahead of the car can be captured by the camera outside the car. The reference road information is preferably high-precision navigation information.

Therefore, the ARHUD module contained in this system draws the data image calculated by the calculation module, including the following steps:

1) Take the selected fixed position on the vehicle as the origin, the driving direction is the X-axis, the vertical driving direction is the Y-axis, and the vertical and horizontal ground is the Z-axis (as shown in Figure 21);

2) The calculation module judges the content of the navigation icon to be output according to the high-precision navigation information;

3) The front image captured by the camera is detected by the calculation module, and the navigation display target (such as lane lines, road surface information, etc.) in the corresponding image is calculated relative to the reference coordinates of a certain point on the vehicle F _b : F _{(x, y,z)} ;

4) The calculation module generates the coordinate information of the navigation icon in the real world according to the detected target information;

5) The calculation module converts the coordinates of the navigation icon into the coordinates F _b -> F _a : F _{(x, y)} required by the imaging of the ARHUD module;

6) The ARHUD module outputs the navigation sign image according to the coordinate information of the calculation module.

In this embodiment, a comparison is made between the road ahead information and the reference road information, so as to accurately analyze and extract the navigation display target.

In one of the embodiments, the navigation data includes: fixed navigation data;

The displaying the navigation data on the front windshield of the car through the augmented reality technology specifically includes: displaying the fixed navigation data on the preset fixed navigation data display position on the front windshield through the augmented reality technology.

As shown in Figure 24 and Figure 25, preferably, on the windshield in the lower left corner, the ARHUD device projects a 2D navigation mini-map with a transparent top-view effect, that is, fixed navigation data 242, which is used as a reference for the driver driving.

This embodiment provides fixed navigation data displayed at a fixed location, which is convenient for the driver to obtain navigation information at a fixed location.

As shown in Figure 26, it is a schematic diagram of the hardware structure of a car navigation electronic device of the present invention, including:

at least one processor 2601; and,

A memory 2602 connected in communication with the at least one processor 2601; wherein,

The memory 2602 stores instructions executable by the one processor, the instructions are executed by the at least one processor, so that the at least one processor can:

Get navigation data;

The navigation data is displayed on the front windshield of the car through augmented reality technology.

The electronic device is preferably an Electronic Control Unit (ECU). In FIG. 26, a processor 2602 is taken as an example.

The electronic device may further include: an input device 2603 and an output device 2604 .

The processor 2601, the memory 2602, the input device 2603, and the display device 2604 may be connected through a bus or in other ways. In the figure, connection through a bus is taken as an example.

Memory 2602, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as program instructions corresponding to the car navigation method in the embodiment of the present application /module, for example, the method flow shown in FIG. 16 . The processor 2601 executes various functional applications and data processing by running non-volatile software programs, instructions and modules stored in the memory 2602, that is, realizes the car navigation method in the above-mentioned embodiments.

The memory 2602 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the car navigation method, and the like. In addition, the memory 2602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 2602 may optionally include a memory that is remotely located relative to the processor 2601, and these remote memories may be connected to a device that executes the car navigation method through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 2603 may receive an input user's click, and generate a signal input related to user setting and function control of the car navigation method. The display device 2604 may include a display device such as a display screen.

The one or more modules are stored in the memory 2602, and when executed by the one or more processors 2601, the car navigation method in any of the above method embodiments is executed.

In the present invention, the navigation data is displayed on the front windshield of the car through augmented reality technology, so that the navigation data can be displayed in combination with the actual scene, and the navigation data is drawn as navigation data and superimposed on the real road within the driver's driving line of sight , AR real-scene navigation with real-time effects, so that the driver can drive normally according to the navigation route without paying attention to the navigation data.

In one of the embodiments, the navigation data includes follow-up navigation data, and the display of the navigation data on the front windshield of the car through augmented reality technology specifically includes:

Obtaining the current location information of the vehicle and reference road information corresponding to the location information;

determining the navigation display target corresponding to the following navigation data in the reference road information;

Within the preset projection range based on the navigation display target, the follow-up navigation data is displayed on the front windshield through augmented reality technology.

In this embodiment, the navigation display target corresponding to the following navigation data in the reference road information is determined, so that the following navigation data is displayed within the preset projection range based on the navigation display target, so that the driver can intuitively understand the following navigation Data pre-navigation shows the relationship of goals, thereby improving navigation intuitiveness.

In one embodiment, the reference road information corresponding to the positioning information specifically includes: road information collected in advance at the reference position starting from the current positioning information of the vehicle to a preset distance ahead.

The reference road information in this embodiment adopts the road information collected in advance at the reference position starting from the current location information of the vehicle to a preset distance ahead to realize the association between the reference road information and the current location information of the vehicle.

In one of the embodiments, within the preset projection range based on the navigation display target, displaying the follow-up navigation data on the front windshield through augmented reality technology specifically includes:

Obtaining the actual coordinates of the navigation display target, converting the actual coordinates of the navigation display target into coordinates on the front windshield of the car as the navigation display target windshield coordinates;

Within the preset projection range based on the windshield coordinates of the navigation display target, the follow-up navigation data is displayed in the projection range of the front windshield through augmented reality technology.

In this embodiment, the follow-up navigation data is accurately displayed on the front windshield through coordinate transformation.

In one of the embodiments, the obtaining the actual coordinates of the navigation display target specifically includes:

Obtain the current road information ahead of the car;

extracting the navigation display target from the road ahead information;

The actual coordinates of the navigation display target are determined.

In this embodiment, a comparison is made between the road ahead information and the reference road information, so as to accurately analyze and extract the navigation display target.

In one of the embodiments, the navigation data includes: fixed navigation data;

The displaying the navigation data on the front windshield of the car through the augmented reality technology specifically includes: displaying the fixed navigation data on the preset fixed navigation data display position on the front windshield through the augmented reality technology.

This embodiment provides fixed navigation data displayed at a fixed location, which is convenient for the driver to obtain navigation information at a fixed location.

As shown in Figure 17, it is a system schematic diagram of a car navigation system of the present invention, including: a front road information acquisition module 1701, a navigation module 1702, a control processing electronic device 1703, and an augmented reality display module 1704;

The input end of the control processing electronic device 1703 is connected to the front road information acquisition module 1701 and the navigation module 1702 respectively, and the output end of the control processing electronic device 1703 is connected to the augmented reality display module 1704 Communication connection, the display area of the enhanced display module is the front windshield of the car.

In the present invention, the navigation data is displayed on the front windshield of the car through augmented reality technology, so that the navigation data can be displayed in combination with the actual scene, and the navigation data is drawn as navigation data and superimposed on the real road within the driver's driving line of sight , AR real-scene navigation with real-time effects, so that the driver can drive normally according to the navigation route without paying attention to the navigation data.

Specifically:

The front road information acquisition module 1701 preferably includes: a front-view camera module, which captures the road conditions ahead (including side fronts) in real time and transmits them to the calculation module;

Augmented reality display module 1704, preferably an ARHUD display module, a display module that superimposes virtual images on the front windshield and displays them in the real world;

The navigation module 1702 preferably includes: a positioning unit 17021, a map navigation data unit 17022 and a high-precision map data unit 17023, wherein:

The positioning unit 17021 provides positioning information for the map navigation data unit and the high-precision map data unit;

The map navigation data unit 17022 acquires the driver's starting point and destination end point, plans the driving route, and updates the navigation route information according to the real-time information of the positioning unit;

According to the real-time information of the positioning unit, the high-precision map data unit 17023 acquires and updates in real time the specific road information (such as the number of lanes, the number of lane lines, and the characteristics of lane lines) to a certain distance (such as 200 meters) ahead starting from the current road position of the vehicle. , road traffic signs, road surface markings, toll booth locations and features, etc.), combined with map navigation data units, fused into high-precision navigation information;

The control processing electronic device 1703, preferably a calculation module, calculates the input data of each module and unit, and outputs the calculation result to the ARHUD module.

Preferably, it also includes a voice module 1705: broadcasting road traffic and navigation information during driving navigation.

As shown in Fig. 18, it is the hardware structure that the car navigation system of the preferred embodiment of the present invention depends on, each module is bridged by an IO interface, wherein, the computing module 1703 is an embedded computing platform with an operating system, the present invention Both the map navigation data unit 17022 and the high-precision map unit 17023 mentioned in the system run in the computing module in the form of software.

As shown in Figure 19, it is a work flow diagram of a car navigation method in the preferred embodiment of the present invention, including:

Step S1901, the navigation module obtains the planned route according to the current location and the destination;

Step S1902, the positioning unit provides real-time positioning data;

Step S1903, the navigation route information is updated in real time;

Step S1904, obtaining vehicle positioning and high-precision map information of the road ahead;

Step S1905, fusing navigation data and high-precision map data to generate high-precision navigation information data;

Step S1906, the camera captures the road information ahead;

Step S1907, the calculation unit processes road information through image algorithms, extracts information such as lanes, road surfaces, signs, etc., and compares them with high-precision map data;

Step S1908, outputting the calculation result image to the ARHUD module;

Step S1909, the ARHUD superimposes the AR navigation effect on the front windshield;

Step S1910, the voice module broadcasts navigation information;

Step S1911, if the navigation is over, exit, otherwise execute step S1902.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (28)

1. A car collision warning method, characterized in that, comprising: Obtain the warning prompt information of the collision with the vehicle in front; The collision warning prompt information is displayed on the front windshield of the car through augmented reality technology. 2. The vehicle collision warning method according to claim 1, wherein said acquisition of the collision warning prompt information with the vehicle in front specifically includes: Obtain the possible collision time with the vehicle in front; The possible collision time is used as the warning prompt information of the collision with the vehicle in front. 3. The automobile collision early warning method according to claim 2, wherein said using said possible collision time as the collision early warning prompt information with the vehicle in front specifically includes: calculating the collision risk level according to the possible collision time; The collision risk level is used as the warning prompt information of the collision with the vehicle in front. 4. The automobile collision warning method according to claim 1, wherein the said collision warning prompt information is displayed on the front windshield of the automobile through augmented reality technology, specifically comprising: Obtain the actual coordinates of the vehicle in front, and convert the actual coordinates of the vehicle in front to the coordinates on the front windshield of the car as the windshield coordinates of the front vehicle; Within the preset projection range based on the windshield coordinates of the front vehicle, the information to be displayed is displayed in the projection range of the front windshield by augmented reality technology. 5. The automobile collision warning method according to any one of claims 1 to 4, characterized in that, before the acquisition of the collision warning prompt information with the vehicle in front, the method further comprises: Obtain the possible collision time with the vehicle in front; If the possible collision time is less than the first time threshold, the acquisition of the warning prompt information of the collision with the preceding vehicle is triggered. 6. The automobile collision warning method according to claim 5, wherein the method further comprises: If the possible collision time is less than a second time threshold, a vibration warning operation and/or an audio warning operation is started, and the second time threshold is less than the first time threshold. 7. An electronic device for automobile collision warning, characterized in that it comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; wherein, The memory stores instructions executable by the one processor, the instructions being executed by the at least one processor, to enable the at least one processor to: Obtain the warning prompt information of the collision with the vehicle in front; The collision warning prompt information is displayed on the front windshield of the car through augmented reality technology. 8. The automobile collision warning electronic device according to claim 7, characterized in that, said acquisition of the collision warning prompt information with the vehicle in front specifically includes: Obtain the possible collision time with the vehicle in front; The possible collision time is used as the warning prompt information of the collision with the vehicle in front. 9. The automobile collision warning electronic device according to claim 8, characterized in that, the said possible collision time as the collision warning prompt information with the vehicle in front specifically includes: calculating the collision risk level according to the possible collision time; The collision risk level is used as the warning prompt information of the collision with the vehicle in front. 10. The automobile collision warning electronic device according to claim 7, characterized in that, the said collision warning prompt information is displayed on the front windshield of the automobile through augmented reality technology, specifically comprising: Obtain the actual coordinates of the vehicle in front, and convert the actual coordinates of the vehicle in front to the coordinates on the front windshield of the car as the windshield coordinates of the front vehicle; Within the preset projection range based on the windshield coordinates of the front vehicle, the information to be displayed is displayed in the projection range of the front windshield by augmented reality technology. 11. The automobile collision warning electronic device according to any one of claims 7 to 10, characterized in that, before the acquisition of the collision warning prompt information with the vehicle in front, the processor can further: Obtain the possible collision time with the vehicle in front; If the possible collision time is less than the first time threshold, the acquisition of the warning prompt information of the collision with the preceding vehicle is triggered. 12. The automobile collision warning electronic device according to claim 11, wherein the processor can also: If the possible collision time is less than a second time threshold, a vibration warning operation and/or an audio warning operation is started, and the second time threshold is less than the first time threshold. 13. A vehicle collision warning system, characterized in that it comprises: a vehicle distance acquisition module, a camera module, a vehicle speed acquisition module, control processing electronic equipment, and an augmented reality display module; The input end of the control processing electronic device is connected to the vehicle distance acquisition module, the camera module, and the vehicle speed acquisition module respectively, and the output end of the control processing electronic device is connected to the enhanced The reality display module is connected in communication, and the display area of the enhanced display module is the front windshield of the car. 14. A car navigation method, characterized in that, comprising: Get navigation data; The navigation data is displayed on the front windshield of the car through augmented reality technology. 15. The car navigation method according to claim 14, wherein the navigation data includes follow-up navigation data, and the navigation data is displayed on the front windshield of the car through augmented reality technology, specifically comprising: Obtaining the current location information of the vehicle and reference road information corresponding to the location information; determining the navigation display target corresponding to the following navigation data in the reference road information; Within the preset projection range based on the navigation display target, the follow-up navigation data is displayed on the front windshield through augmented reality technology. 16. The car navigation method according to claim 15, wherein the reference road information corresponding to the positioning information specifically includes: starting from the current positioning information of the vehicle collected at the reference position in advance, and going to the preset road ahead. Road information with set distance. 17. The car navigation method according to claim 15, characterized in that within the preset projection range based on the navigation display target, the follow-up navigation data is displayed on the front panel through augmented reality technology. On the windshield, specifically: Obtaining the actual coordinates of the navigation display target, converting the actual coordinates of the navigation display target into coordinates on the front windshield of the car as the navigation display target windshield coordinates; Within the preset projection range based on the windshield coordinates of the navigation display target, the follow-up navigation data is displayed in the projection range of the front windshield through augmented reality technology. 18. The car navigation method according to claim 17, wherein said acquiring the actual coordinates of said navigation display purpose specifically comprises: Obtain the current road information ahead of the car; extracting the navigation display target from the road ahead information; The actual coordinates of the navigation display target are determined. 19. The car navigation method according to any one of claims 14 to 18, wherein the navigation data comprises: fixed navigation data; The displaying the navigation data on the front windshield of the car through the augmented reality technology specifically includes: displaying the fixed navigation data on the preset fixed navigation data display position on the front windshield through the augmented reality technology. 20. A car navigation electronic device, characterized in that it comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; wherein, The memory stores instructions executable by the one processor, the instructions being executed by the at least one processor, to enable the at least one processor to: Get navigation data; The navigation data is displayed on the front windshield of the car through augmented reality technology. 21. The car navigation electronic device according to claim 20, wherein the navigation data includes follow-up navigation data, and the display of the navigation data on the front windshield of the car through augmented reality technology specifically includes : Obtaining the current location information of the vehicle and reference road information corresponding to the location information; determining the navigation display target corresponding to the following navigation data in the reference road information; Within the preset projection range based on the navigation display target, the follow-up navigation data is displayed on the front windshield through augmented reality technology. 22. The car navigation electronic device according to claim 21, wherein the reference road information corresponding to the positioning information specifically includes: starting from the current positioning information of the vehicle collected at the reference position in advance, to the front Road information for preset distances. 23. The car navigation electronic device according to claim 21, characterized in that, within the preset projection range based on the navigation display target, the follow-up navigation data is displayed on the On the front windshield, specifically including: Obtaining the actual coordinates of the navigation display target, converting the actual coordinates of the navigation display target into coordinates on the front windshield of the car as the navigation display target windshield coordinates; Within the preset projection range based on the windshield coordinates of the navigation display target, the follow-up navigation data is displayed in the projection range of the front windshield through augmented reality technology. 24. The car navigation electronic device according to claim 23, wherein said acquiring the actual coordinates of said navigation display purpose specifically comprises: Obtain the current road information ahead of the car; extracting the navigation display target from the road ahead information; The actual coordinates of the navigation display target are determined. 25. The car navigation electronic device according to any one of claims 20 to 24, wherein the navigation data comprises: fixed navigation data; The displaying the navigation data on the front windshield of the car through the augmented reality technology specifically includes: displaying the fixed navigation data on the preset fixed navigation data display position on the front windshield through the augmented reality technology. 26. A car navigation system, characterized in that it includes: a front road information acquisition module, a navigation module, control processing electronic equipment, and an augmented reality display module; The input end of the control processing electronic device is connected to the front road information acquisition module and the navigation module respectively, and the output end of the control processing electronic device is connected to the augmented reality display module. The display area of the enhanced display module is the front windshield of the car. 27. An automobile, characterized by comprising a vehicle body and the electronic device according to any one of claims 7 to 12, wherein the electronic device displays collision warning prompt information on the front windshield of the vehicle body. 28. An automobile, characterized by comprising a vehicle body and the electronic device according to any one of claims 20 to 25, wherein the electronic device displays navigation data on the front windshield of the vehicle body.