PASSAGE DETERMINATION METHOD AND DEVICE

• US 20200130681A1
• Filed: 10/21/2019
• Published: 04/30/2020
• Est. Priority Date: 10/30/2018
• Status: Active Grant

• Current Assignee: Beijing Xiaomi Mobile Software Co., Ltd. (Xiaomi Corp.)
• Original Assignee: Beijing Xiaomi Mobile Software Co., Ltd. (Xiaomi Corp.)
• Inventors: FU, Wenjun
• Granted Patent: US 11,351,994 B2
• Time in Patent Office: Days
• CPC Class Codes: B60K 2360/177 Augmented reality
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/23 Head-up displays [HUD] optical aspects of head-up displays G02B27/01
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06V 20/20 in augmented reality scenes
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights

Abstract

A passage determination method includes: determining a target space region corresponding to a vehicle in a driving direction based on a real-time road image of the driving direction in a real scene; determining an actual size of the target space region; and determining whether the vehicle is able to pass through the target space region according to a magnitude relationship of the actual size and a safe size of the vehicle.

Claims

1. A passage determination method comprising:

determining a target space region corresponding to a vehicle in a driving direction based on a real-time road image of the driving direction in a real scene;

determining an actual size of the target space region; and

determining whether the vehicle is able to pass through the target space region according to a magnitude relationship of the actual size and a safe size of the vehicle.

2. The passage determination method according to claim 1, wherein the method further comprises pre-determining the safe size of the vehicle;

and the determining the actual size of the target space region comprises;

displaying indication information for instructing a user to adjust a coverage of the real scene by the real-time road image until the coverage at least includes the vehicle; and

responding to the vehicle being detected, determining the safe size of the vehicle.

3. The passage determination method according to claim 1, wherein the determining a target space region corresponding to a vehicle in a driving direction based on a real-time road image of the driving direction in a real scene comprises:

determining, based on the real-time road image of the driving direction in the real scene, a boundary of a target object on a side of a road to be passed in the real-time road image; and

determining the target space region based on the boundary of the target object.

4. The passage determination method according to claim 3, wherein the determining the target space region based on the boundary of the target object comprises:

determining a preset key position point on the boundary of the target object;

generating a vertical line segment that is perpendicular to ground based on the preset key position point;

connecting vertical line segments at two sides of a road in the driving direction and at a same depth, to generate a cross section at the same depth in the driving direction; and

connecting cross sections at a plurality of depths to generate the target space region.

5. The passage determination method according to claim 1, wherein the determining a target space region corresponding to a vehicle in a driving direction based on a real-time road image of the driving direction in a real scene comprises:

determining a width that the vehicle is able to pass through;

extending the width in the driving direction to form a target road surface region; and

forming vertical surfaces vertical to a road surface based on a left boundary and a right boundary of the target road surface region to form the target space region;

determining whether there is an obstacle object in the target space region based on the real-time road image of the driving direction in the real scene; and

determining the formed target space region as the target space region corresponding to the driving direction of the vehicle, if there is no obstacle object in the target space region.

6. The passage determination method according to claim 1, wherein the method further comprises:

generating a reminder message based on a determination result of whether the vehicle is able to pass through the target space region; and

displaying a virtual image of the reminder message in the real scene.

7. The passage determination method according to claim 1, wherein the method further comprises:

determining a travel route for driving to the target space region, if the vehicle is able to pass through the target space region; and

displaying the travel route in the real scene.

8. The passage determination method according to claim 1, wherein the method further comprises:

sending a control command to the vehicle to cause the vehicle to adjust a driving speed according to the control command, if the vehicle is unable to pass through the target space region.

9. A passage determination device comprising:

a processor; and

a memory storing instructions executable by the processor;

wherein the processor is configured to;

determine a target space region corresponding to a vehicle in a driving direction based on a real-time road image of the driving direction in a real scene;

determine an actual size of the target space region; and

determine whether the vehicle is able to pass through the target space region according to a magnitude relationship of the actual size and a safe size of the vehicle.

10. The passage determination device according to claim 9, wherein the processor is further configured to:

display indication information for instructing a user to adjust a coverage of the real scene by the real-time road image until the coverage at least includes the vehicle; and

determine the safe size of the vehicle in response to the vehicle being detected.

11. The passage determination device according to claim 9, wherein the processor is further configured to:

determine, based on the real-time road image of the driving direction in the real scene, a boundary of a target object on a side of a road to be passed in the real-time road image; and

determine the target space region based on the boundary of the target object.

12. The passage determination device according to claim 11, wherein the processor is further configured to:

determine a preset key position point on the boundary of the target object;

generate a vertical line segment that is perpendicular to ground based on the preset key position point;

connect vertical line segments at two sides of the road in the driving direction and at a same depth to generate a section at the same depth in the driving direction; and

connect cross sections at a plurality of depths to generate the target space region.

13. The passage determination device according to claim 9, wherein the processor is further configured to:

determine a width that the vehicle is able to pass through;

extend the width in the driving direction to form a target road surface region;

form vertical surfaces vertical to a road surface based on a left boundary and a right boundary of the target road surface region to form the target space region;

determine whether there is an obstacle object in the target space region based on the real-time road image of the driving direction in the real scene; and

when there is no obstacle object in the target space region, determine the formed target space region as the target space region corresponding to the driving direction of the vehicle.

14. The passage determination device according to claim 9, wherein the processor is further configured to:

generate a reminder message based on a determination result of whether the vehicle is able to pass through the target space region; and

display a virtual image of the reminder message in the real scene.

15. The passage determination device according to claim 9, wherein the processor is further configured to:

determine a travel route for driving to the target space region when the vehicle is able to pass through the target space region; and

to display the travel route in the real scene.

16. The passage determination device according to claim 9, wherein the processor is further configured to:

when the vehicle is unable to pass through the target space region, send a control command to the vehicle to cause the vehicle to adjust a driving speed according to the control command

17. A non-transitory computer readable storage medium having instructions stored thereon that, when executed by a processor of a device, cause the device to perform a passage determination method comprising:

determining a target space region corresponding to a vehicle in a driving direction based on a real-time road image of the driving direction in a real scene;

determining an actual size of the target space region; and

determining whether the vehicle is able to pass through the target space region according to a magnitude relationship of the actual size and a safe size of the vehicle.