CN111174801B

CN111174801B - Method and device for generating guide wire and electronic equipment

Info

Publication number: CN111174801B
Application number: CN201811332354.0A
Authority: CN
Inventors: 章启鹏; 陈华盛; 朱振龙
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2018-11-09
Filing date: 2018-11-09
Publication date: 2023-08-22
Anticipated expiration: 2038-11-09
Also published as: CN111174801A

Abstract

The embodiment of the application provides a method and a device for generating a guide wire and electronic equipment. The method comprises the following steps: acquiring a real-time position of a vehicle; judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route or not based on the real-time position of the vehicle; when the vehicle is judged to reach the intersection, fitting a default guide line based on a preset entry point, a preset exit point and a preset center point of the intersection; and generating a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and corresponding course angle of the vehicle at the intersection, the center point and the exit point of the intersection. According to the embodiment of the application, the navigation guide line close to the actual running track of the vehicle can be obtained through the real-time position, the direction and the default navigation guide line of the vehicle, so that a user can obtain more real navigation guide experience.

Description

Method and device for generating guide wire and electronic equipment

Technical Field

The present application relates to the field of navigation technologies, and in particular, to a method and an apparatus for generating a guide wire, and an electronic device.

Background

With the popularization and wide application of intelligent devices, the frequency of using map navigation application software installed on the intelligent devices is higher and higher when people go out, and people can search corresponding destination points and smoothly arrive by means of services provided by the map navigation application software.

Existing map navigation application software can generally provide various navigation guidance modes, and is more common, such as voice-based navigation guidance, navigation guidance based on navigation indication identification and the like. However, with the improvement of hardware performance of intelligent devices, navigation guidance functions based on augmented reality (Augmented Reality; abbreviated as AR) are becoming popular. AR-based navigation guidance refers to that navigation guidance information (such as a navigation indication mark or a navigation guide line) is overlaid on an actual road acquired by a camera of the intelligent device in real time for display, as shown in FIG. 1. For the situation that the guide lines are overlapped on the actual road acquired by the camera of the intelligent device in real time and displayed, the guide lines need to be close to the actual running track of the vehicle, so that the guide lines seen by a user from the screen of the intelligent terminal are ensured to be consistent with the actual running situation of the user, and the user experience is improved.

Disclosure of Invention

The embodiment of the application provides a method and a device for generating a guide wire and electronic equipment, so that the guide wire is close to an actual running track of a vehicle.

To achieve the above object, an embodiment of the present application provides a method for generating a guide wire, including:

acquiring a real-time position of a vehicle;

judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route based on the real-time position of the vehicle, wherein the navigation route is a navigation route from the starting point to the end point planned in advance according to the starting point and the end point of the vehicle;

when the vehicle is judged to reach the intersection, fitting a default guide line based on a preset entry point, a preset exit point and a preset center point of the intersection;

and generating a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and corresponding course angle of the vehicle at the intersection, the center point and the exit point of the intersection.

The embodiment of the application also provides a device for generating the guide wire, which comprises the following steps:

the acquisition module is used for acquiring the real-time position of the vehicle;

the judging module is used for judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route or not based on the real-time position of the vehicle, wherein the navigation route is a navigation route which is planned in advance according to the starting point and the ending point of the vehicle and is from the starting point to the ending point;

the fitting module is used for fitting a default guide line based on a preset entry point, a preset exit point and a preset center point of the intersection when the vehicle is judged to reach the intersection;

the generating module is used for generating the guiding lines of the vehicles at the intersection based on the default guiding lines, the real-time positions and corresponding course angles of the vehicles at the intersection, the center point and the exit point of the intersection.

The embodiment of the application also provides electronic equipment, which comprises:

a memory for storing a program;

and the processor is used for running the program stored in the memory, and executing the method for generating the guide wire provided by the embodiment of the application when the program runs.

According to the method and the device for generating the navigation guide line and the electronic device, the navigation guide line is generated according to the real-time position, the course angle and the default navigation guide line of the vehicle, and the navigation guide line is generated based on the real-time position and the real-time course angle of the vehicle, so that the navigation guide line can be close to the actual running track of the vehicle, and a user can obtain more real navigation guide experience.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic view of an AR-based guide wire;

fig. 2a is a system block diagram of a service system according to an embodiment of the present application;

FIG. 2b is a flow chart of one embodiment of a method for generating a guide wire in accordance with the present application;

FIG. 3a is a flowchart of another embodiment of a method for generating a guide wire in accordance with the present application;

FIG. 3b is a schematic illustration of a route in an embodiment of a method of generating a guide wire according to the present application;

FIG. 4 is a flowchart of yet another embodiment of a method of generating a guide wire in accordance with the present application;

FIG. 5 is a schematic view of an embodiment of a guide wire generating device according to the present application;

FIG. 6 is a schematic view of another embodiment of a guide wire generating device according to the present application;

fig. 7 is a schematic structural diagram of an embodiment of an electronic device according to the present application.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The AR navigation scene shown in fig. 1 photographs real-time conditions of a road through a camera of a device (such as a smart phone, a vehicle rearview mirror, etc.) and displays the real-time conditions of the road on a screen of the device, and at the same time, in order to implement AR navigation, it is necessary to generate navigation guidance information (such as a navigation guide line) related to the road displayed in the screen in real time and render the generated navigation guidance information on the road displayed in the screen. Among them, for a guide line at an intersection, the related art generally fits the guide line based on three points of an entrance point of the intersection, an exit point of the intersection, and a center point of the intersection, and renders the guide line on a road displayed in a screen. If the guide line fitted in this way is to be close to the actual travel track of the user, the real-time travel track of the user is required to pass through three points, namely the entry point of the intersection, the exit point of the intersection and the center point of the intersection, and once the actual travel track of the user deviates from any one of the three points, the discrepancy between the guide line finally rendered on the screen and the actual travel track of the user results in a deterioration of the user experience. Because the current map navigation application cannot accurately control the driving behavior of a user, in order to solve the problems existing in the prior art, the application provides a generation scheme of a navigation guide line, and the main principle is as follows: when the vehicle reaches an intersection closest to the vehicle in the navigation route, a (new) navigation guide line is generated according to the real-time position of the vehicle and the fitted default navigation guide line, and the navigation guide line is generated based on the real-time position and the real-time course angle of the vehicle, so that the vehicle can approach the actual running track of the vehicle, and a user can obtain a more real navigation guide experience.

The method provided by the embodiment of the application can be applied to any business system with a navigation function. Fig. 2a is a system block diagram of a service system provided by an embodiment of the present application, and the structure shown in fig. 2a is only one example of a service system to which the technical solution of the present application may be applied. As shown in fig. 2a, the traffic system comprises a guide wire generating device. The guide wire generating device includes: the acquisition module, the judgment module, the fitting module and the generation module may be used to execute the process flows shown in fig. 2b, fig. 3a and fig. 4 described below. The service system acquires the real-time position of the vehicle and judges whether the vehicle reaches an intersection closest to the vehicle in the navigation route based on the real-time position of the vehicle; when a vehicle reaches the intersection, fitting a default guide line based on a preset entry point, a preset exit point and a preset center point of the intersection; finally, based on the default guiding line, the real-time position and the course angle of the vehicle at the intersection, the central point and the exit point of the intersection, the guiding line of the vehicle at the intersection is generated, and the guiding line is generated based on the real-time position and the real-time course angle of the vehicle, so that the guiding line can be close to the actual running track of the vehicle, and a user can obtain more real guiding experience.

The foregoing embodiments are illustrative of the technical principles and exemplary application frameworks of embodiments of the present application, and the detailed description of specific technical solutions of the embodiments of the present application will be further described below by means of a plurality of embodiments.

Example 1

Fig. 2b is a flowchart of an embodiment of a method for generating a guide wire according to the present application, where the main execution body of the method may be the service system, or may be various terminal devices with a navigation function, for example, devices such as an on-vehicle navigation terminal and a smart phone, or may be devices or chips integrated on these terminal devices. As shown in fig. 2b, the method for generating a guide wire comprises the steps of:

s201, acquiring the real-time position of the vehicle.

The embodiment of the application is applied to a navigation system, so that the real-time position information of the vehicle can be acquired.

S202, judging whether the vehicle reaches an intersection closest to the vehicle in the navigation route based on the real-time position of the vehicle.

In the embodiment of the application, the navigation route of the vehicle is a navigation route from the starting point to the ending point, which is planned in advance according to the starting point and the ending point of the vehicle. Those skilled in the art know that, through navigation route planning, roads, intersections, related guidance information and the like included in the navigation route can be obtained.

And S203, when the vehicle is judged to reach the intersection, fitting a default guide line based on a preset entry point, a preset exit point and a preset center point of the intersection.

S204, generating a guiding line of the vehicle at the intersection based on the default guiding line, the real-time position and corresponding course angle of the vehicle at the intersection, the center point and the exit point of the intersection.

In the embodiment of the application, since the real-time position information of the vehicle can be obtained, whether the vehicle reaches the intersection can be judged by judging the distance between the real-time position of the vehicle and the preset center point of the intersection closest to the vehicle. Specifically, a preset distance threshold may be set, when the distance from the real-time position of the vehicle to the center point of the intersection is less than the preset distance threshold, it is determined that the vehicle arrives at the intersection, and then, a default guide line is fitted based on the preset entry point, exit point, and center point of the intersection. Because the entry point, the exit point and the center point of the intersection are made in the electronic map data production process, the default guide line can be fitted by using the three points of the entry point, the exit point and the center point of the intersection. Secondly, because the actual running track of the user does not necessarily pass through three points, namely an entry point, an exit point and a center point, preset at the intersection, the embodiment of the application generates the guide line according to the real-time position and the course angle of the vehicle, the center point and the exit point of the intersection and the default guide line, so as to ensure that the generated guide line is close to the actual running track of the vehicle.

The method for generating the guide line according to the embodiment of the application generates the guide line according to the real-time position, the course angle and the default guide line of the vehicle, and the guide line is generated based on the real-time position and the real-time course angle of the vehicle, so that the generated guide line is ensured to be close to the actual running track of the vehicle, and a user can obtain more real guide experience.

Example two

FIG. 3a is a flowchart of another embodiment of a method for generating a guide wire according to the present application. As shown in fig. 3a, on the basis of the embodiment shown in fig. 2b, the method for generating a guide wire according to this embodiment may further include the following steps:

s301, acquiring the real-time position of the vehicle.

S302, judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route based on the real-time position of the vehicle.

S303, when the vehicle is judged to reach the intersection, fitting a default guide line based on a preset entry point, a preset exit point and a preset center point of the intersection.

FIG. 3b is a schematic illustration of a route in an embodiment of a method of generating a guide wire according to the present application. As shown in FIG. 3b, wherein A ₁ The point is the entry point of the intersection closest to the vehicle, B ₁ The point is the exit point, O of the intersection ₁ The point is the center point of the intersection. Then A ₁ Point to O ₁ At a point ofThe distance is equal to a preset distance threshold value, B ₁ Point to O ₁ The distance of the points is equal to a preset distance threshold. When the vehicle arrives at the intersection, based on A ₁ Point, B ₁ Point and O ₁ Points, a default guide wire is fitted. The default guide wire may be according to A ₁ Point, O ₁ Point and B ₁ And (3) generating a Bezier curve by points.

Further, for each real-time position of the vehicle at the intersection, the following steps are performed:

s304, making a vertical line from the real-time position of the vehicle at the intersection to the default navigation guide line, and obtaining the foot drop point on the default navigation guide line.

S305, taking the foot drop point as an end point to make a ray along the direction pointed by the course angle of the vehicle, and obtaining an intersection point of the ray and a line segment formed by the central point of the intersection and the exit point.

S306, fitting a guide line from the real-time position of the intersection to the exit point of the intersection based on the drop foot point, the intersection and the exit point of the intersection.

In the embodiment of the application, as shown in fig. 3b, a perpendicular line is drawn from a real-time position C of a vehicle at an intersection to a default guide line, a foot drop point is C ', a ray C' D 'is drawn along a direction pointed by a course angle of the vehicle by taking the foot drop point C' as an end point, and a line segment O formed by the ray C 'D' and a center point and an exit point of the intersection is obtained ₁ B ₁ Intersection point O of intersection ₁ 'dot'. Then, based on the drop foot point C' and the intersection point O ₁ ' Point and exit Point B of intersection ₁ And (3) fitting a guide line from the real-time position of the intersection to the exit point of the intersection.

Specifically, the foot drop of the vehicle on the default navigation route may be regarded as a tangent point corresponding to a tangent line having the smallest angle with the vehicle advancing direction on the default navigation route. In fig. 3b, the current real-time position of the vehicle is point C, the forward direction of the vehicle is the direction of the ray CD, the foot drop point of the vehicle on the default navigation guidance line is point C ', and the included angle between the tangent line C' D 'passing through point C' and the CD on the default navigation guidance line is the smallest. In addition, the tangent line C 'D' and the direction of the exit (O ₁ B ₁ Direction) is O ₁ 'dot'. According to C' point, O ₁ ' Point and B ₁ And (3) points, and generating a Bezier curve. And translating the newly generated Bezier curve along the direction of C 'C, wherein the translation distance is the distance between the C' point and C, and obtaining the guide line.

S307, rendering the guide line on the road displayed in the screen according to the real-time position of the vehicle.

According to the method for generating the navigation guide line, the navigation guide line passing through the real-time position of the vehicle is re-fitted once every time the real-time position and the real-time course angle of the vehicle are obtained, so that a user can obtain a more real deduced route navigation guide experience.

Example III

FIG. 4 is a flowchart of another embodiment of a method for generating a guide wire according to the present application. As shown in fig. 4, on the basis of the embodiment shown in fig. 2b, the method for generating a guide wire according to the embodiment of the present application may further include the following steps:

s401, acquiring the real-time position of the vehicle.

S402, when the vehicle reaches the nearest intersection, determining a guide line of the vehicle at the intersection according to the real-time position and the heading angle of the vehicle, the center point and the exit point of the intersection and a preset default guide line.

In the embodiment of the present application, the method for generating the guide wire may refer to a specific flow in the embodiment shown in fig. 3a, and will not be described herein. The embodiment of the application can generate the guide line based on the corrected course angle, and concretely can see the following steps:

s403, acquiring image information of the front of the vehicle.

S404, identifying a lane line vanishing point in front of the vehicle from the image information.

S405, correcting the course angle of the vehicle based on the lane line vanishing point, wherein the corrected course angle points to the lane line vanishing point.

In the embodiment of the application, the real-time position of the vehicle is acquired, and meanwhile, the image information in front of the vehicle is also acquired. And then, according to the image information, identifying lane line vanishing points on the road in front of the vehicle, and correcting the course angle of the vehicle according to the identified lane line vanishing points so that the course angle points to the lane line vanishing points.

S406, generating a guide line based on the corrected course angle.

In the embodiment of the application, when the vehicle exits the exit point of the intersection (i.e. exits B ₁ Point or with B ₁ The position where the points are parallel) indicates that the intersection turn has been completed, and thus the generation and display of the guide line is ended.

On the other hand, when the yaw angle of the vehicle body when the vehicle turns (i.e., the steering angle from the start of steering to the current time) is greater than the preset angle threshold value, the confidence of the lane recognition line may also be obtained; and ending the calculation of the navigation guide line when the confidence coefficient of the lane recognition line is continuously larger than a preset confidence coefficient threshold value.

In the embodiment of the present application, preferably, the preset angle threshold may be set to 80 °, and the preset confidence threshold may be set to 70 °. When the deflection angle of the vehicle is larger than 80 degrees, the vehicle basically finishes steering, at the moment, the system recognizes the lane recognition line with higher confidence, and when the confidence of the lane recognition line is continuously larger than 70 (or the confidence obtained twice continuously is larger than 70), the vehicle body of the vehicle is indicated to be normal (parallel to the road), and the vehicle finishes steering, so that the generation and display of the navigation route can be finished.

According to the method for generating the navigation guide line, the course angle of the vehicle is corrected through the identified lane line vanishing points, the navigation guide line of the vehicle is re-fitted according to the corrected course angle, and a user is further enabled to obtain more real deduced route navigation guide experience.

Example IV

FIG. 5 is a schematic diagram illustrating the construction of one embodiment of a guide wire generating device according to the present application, which may be used to perform the method steps shown in FIG. 2 b. As shown in fig. 5, the apparatus may include: an acquisition module 51, a judgment module 52, a fitting module 53 and a generation module 54.

Wherein, the acquisition module 51 is used for acquiring the real-time position of the vehicle; the judging module 52 is configured to judge, based on the real-time position of the vehicle, whether the vehicle reaches an intersection closest to the vehicle in a navigation route, where the navigation route is a navigation route from the start point to the end point planned in advance according to the start point and the end point of the vehicle; the fitting module 53 is configured to fit a default guide line based on an entry point, an exit point, and a center point of a preset intersection when it is determined that the vehicle arrives at the intersection; the generation module 54 is configured to generate a guide wire for the vehicle at the intersection based on the default guide wire, the real-time location and corresponding heading angle of the vehicle at the intersection, the center point and the exit point of the intersection.

The embodiment of the application is applied to a navigation system, so that the acquisition module 51 can acquire real-time position information of a vehicle. Since the acquiring module 51 can acquire the real-time position information of the vehicle, the judging module 52 can judge whether the vehicle arrives at the intersection by judging the distance between the real-time position of the vehicle and the preset center point of the intersection closest to the vehicle. Specifically, a preset distance threshold may be set, and the determination module 52 determines that the vehicle has arrived at the intersection when the distance from the real-time location of the vehicle to the center point of the intersection is less than the preset distance threshold. Then, the fitting module 53 first fits a default guide line based on the preset entry point, exit point, and center point of the intersection. Because the entry point, the exit point and the center point of the intersection are made in the electronic map data production process, the default guide line can be fitted by using the three points of the entry point, the exit point and the center point of the intersection. Second, since the actual driving track of the user does not necessarily pass through three points, i.e., an entry point, an exit point, and a center point preset at the intersection, the generating module 54 generates a guide line according to the real-time position and heading angle of the vehicle, the center point and exit point of the intersection, and the default guide line, so as to ensure that the generated guide line is close to the actual driving track of the vehicle.

The device for generating the guide line provided by the embodiment of the application generates the guide line according to the real-time position, the course angle and the default guide line of the vehicle, and the guide line is generated based on the real-time position and the real-time course angle of the vehicle, so that the generated guide line can be ensured to be close to the actual running track of the vehicle, and a user can obtain more real guide experience.

Example five

FIG. 6 is a schematic diagram of another embodiment of a guide wire generating device according to the present application, which may be used to perform the method steps shown in FIGS. 3a and 4. As shown in fig. 6, in the apparatus for generating a guide wire according to the embodiment of the present application, as shown in fig. 5, the generating module 54 may be specifically configured to perform a generating operation of a guide wire for each real-time position of a vehicle at an intersection, and specifically, the generating module 54 may include: a first acquisition unit 541, a second acquisition unit 542, and a fitting unit 543.

The first obtaining unit 541 is configured to make a perpendicular to a default guiding line from a real-time position of the vehicle at the intersection, so as to obtain a foot drop point on the default guiding line; the second obtaining unit 542 is configured to take the foot drop point as an endpoint and make a ray along a direction pointed by a heading angle of the vehicle, so as to obtain an intersection point where the ray intersects a line segment formed by a center point of the intersection and an exit point; the fitting unit 543 is configured to fit a guide line from the real-time position of the intersection to the exit point of the intersection based on the drop foot point, the intersection, and the exit point of the intersection.

In the embodiment of the present application, when the vehicle arrives at the intersection, the first obtaining unit 541 makes a perpendicular line from the real-time position of the vehicle to the default navigation guide line, resulting in a foot drop on the default navigation guide line. Then, the second acquisition unit 542 makes a ray in a direction pointed by the heading angle of the vehicle with the foot drop point as an end point, and obtains an intersection point where the ray intersects with a line segment constituted by the center point of the intersection and the exit point. Finally, the fitting unit 543 fits a guide line from the real-time position of the intersection to the exit point of the intersection based on the drop point, the intersection, and the exit point of the intersection.

Further, the generating device of the guide wire provided by the embodiment of the application may further include: the deviation rectifying module 61 may be configured to obtain image information of a front side of the vehicle, identify a lane line vanishing point of the front side of the vehicle from the image information, rectify a heading angle of the vehicle based on the lane line vanishing point, and direct the heading angle after the rectification to the lane line vanishing point.

Still further, the device for generating a guide wire according to the embodiment of the present application may further include: a first termination module which can be used when the vehicle exits the exit point of the intersection (i.e., exits B ₁ Point or with B ₁ The position of the parallel points) to complete the intersection turn, the first termination module ends the generation and display of the guide wire.

In addition, the generating device of the guide wire provided by the embodiment of the application may further include: and a second termination module that may be configured to acquire a confidence level of the lane recognition line when a yaw angle of the vehicle body (i.e., a steering angle from a start of steering to a current time) is greater than a preset angle threshold value when the vehicle turns, and end calculation of the guide wire when the confidence level of the lane recognition line continues to be greater than the preset confidence threshold value. Preferably, the preset angle threshold may be set to 80 °, and the preset confidence threshold may be set to 70 °. When the deflection angle of the vehicle is larger than 80 degrees, the vehicle basically completes steering, at the moment, the system recognizes the lane recognition line with higher confidence, when the confidence of the lane recognition line is continuously larger than 70 (or the confidence obtained twice continuously is larger than 70), the vehicle body of the vehicle is indicated to be already (parallel to the road), and the vehicle completes steering, so that the second termination module ends the generation and display of the guide line.

According to the device for generating the guide line, provided by the embodiment of the application, the course angle of the vehicle is further corrected through the identified lane line vanishing points, and the guide line of the vehicle is re-fitted according to the corrected course angle, so that a user can obtain more real guide experience.

Example six

The internal functions and structures of the generating means of the guide wire are described above, which means can be implemented as an electronic device. Fig. 7 is a schematic structural diagram of an embodiment of an electronic device according to the present application. As shown in fig. 7, the electronic device includes a memory 71 and a processor 72.

A memory 71 for storing a program. In addition to the programs described above, the memory 71 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and the like.

The memory 71 may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

A processor 72 coupled to the memory 71, executing a program stored in the memory 71 for:

acquiring a real-time position of a vehicle;

the navigation guide line of the vehicle at the intersection is generated based on the default navigation guide line, the real-time position and corresponding course angle of the vehicle at the intersection, the center point and the exit point of the intersection.

In the embodiment of the present application, the program stored in the memory 71 may execute any one of the above-described methods of generating the guide wire at the time of execution.

Further, as shown in fig. 7, the electronic device may further include: communication component 73, power component 74, audio component 75, display 76, and the like. Only some of the components are schematically shown in fig. 7, which does not mean that the electronic device only comprises the components shown in fig. 7.

The communication component 73 is configured to facilitate communication between the electronic device and other devices, either wired or wireless. The electronic device may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 73 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 73 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

A power supply assembly 74 provides power to the various components of the electronic device. The power components 74 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for electronic devices.

The audio component 75 is configured to output and/or input audio signals. For example, the audio component 75 includes a Microphone (MIC) configured to receive external audio signals when the electronic device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 71 or transmitted via the communication component 73. In some embodiments, the audio component 75 further comprises a speaker for outputting audio signals.

The display 76 includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

1. A method of generating a guide wire, comprising:

acquiring a real-time position of a vehicle;

generating a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and corresponding course angle of the vehicle at the intersection, the center point and the exit point of the intersection;

the generating the guiding line of the vehicle at the intersection based on the default guiding line, the real-time position and the corresponding course angle of the vehicle at the intersection, the center point and the exit point of the intersection specifically comprises:

for each real-time position of the vehicle at the intersection, the following steps are performed:

making a vertical line from the real-time position of the vehicle at the intersection to the default navigation guide line to obtain a foot drop point on the default navigation guide line;

taking the foot drop point as an end point to make a ray along the direction pointed by the course angle of the vehicle, and obtaining an intersection point of the ray and a line segment formed by the central point of the intersection and the exit point;

fitting a corresponding Bezier curve based on the drop foot point, the intersection point and the exit point of the intersection, and translating the Bezier curve along the direction that the drop foot point points to the real-time position of the intersection to obtain a guide line from the real-time position of the intersection to the exit point of the intersection; the distance of the Bezier curve translation is the distance between the drop foot point and the real-time position of the intersection.

2. The method of generating a guide wire according to claim 1, further comprising:

acquiring image information in front of a vehicle while acquiring the real-time position of the vehicle;

identifying a lane line vanishing point in front of the vehicle from the image information;

correcting the course angle of the vehicle based on the lane line vanishing point, wherein the corrected course angle points to the lane line vanishing point.

3. The method of generating a guide wire according to claim 1, further comprising:

rendering the guide wire on a road displayed in a screen according to the real-time position of the vehicle.

4. A guide wire generating device, comprising:

the generating module is used for generating a guide line of the vehicle at the intersection based on the default guide line, the real-time position and the corresponding course angle of the vehicle at the intersection, the center point and the exit point of the intersection;

the generation module is specifically configured to perform a generation operation of a guide wire for each real-time position of a vehicle at the intersection, and includes:

the first acquisition unit is used for making a vertical line to the default navigation guide line from the real-time position of the vehicle at the intersection to obtain a foot drop point on the default navigation guide line;

the second acquisition unit is used for taking the foot drop point as an end point to make a ray along the direction pointed by the course angle of the vehicle, so as to obtain an intersection point of the ray intersecting with a line segment formed by the central point of the intersection and the exit point;

the fitting unit is used for fitting a corresponding Bezier curve based on the foot drop point, the intersection point and the exit point of the intersection, and translating the Bezier curve along the direction that the foot drop point points to the real-time position of the intersection to obtain a guide line from the real-time position of the intersection to the exit point of the intersection; the distance of the Bezier curve translation is the distance between the drop foot point and the real-time position of the intersection.

5. The guide wire generating device according to claim 4, further comprising:

the deviation rectifying module is used for acquiring the real-time position of the vehicle and simultaneously acquiring the image information in front of the vehicle; identifying a lane line vanishing point in front of the vehicle from the image information; correcting the course angle of the vehicle based on the lane line vanishing point, wherein the corrected course angle points to the lane line vanishing point.

6. An electronic device, comprising:

a memory for storing a program;

a processor for executing the program stored in the memory, the program executing the method for generating a guide wire according to any one of claims 1 to 3.