Vehicle navigation image synthesis method and device, and storage medium

A vehicle navigation image synthesis device applied to a vehicle navigation image synthesis system, comprising:

• a communication interface;
• a processor coupled to the communication interface and configured to execute a computer program or instructions to implement:
• acquiring M sampling images, wherein the M sampling images include a preset sampling image for establishing a reference coordinate system, the preset sampling image is a sampling image in which a stop line or a zebra crossing is acquired for a first time, and M is a positive integer;
• storing N sampling images, wherein N is a positive integer less than or equal to M, the N sampling images are incomplete images, a value of N is determined according to a speed of a target vehicle, a position of the target vehicle, and a following distance of the target vehicle;
• determining a plurality of sampling points of each sampling image of the N sampling images;
• determining first coordinates of each sampling point of the plurality of sampling points of each sampling image, wherein the first coordinates include a first Y-coordinate and a first X-coordinate;
• the first Y-coordinate is determined according to parameters of an image acquisition device and a position of each sampling point in a sampling image where each sampling point is located;
• the first X-coordinate is determined according to projections, on an intermediate coordinate system, of border lines of the sampling image where each sampling point is located;
• and the intermediate coordinate system is a coordinate system established according to a current position of the target vehicle and a current driving direction of the target vehicle;
• mapping the first coordinates of each sampling point to the reference coordinate system to determine second coordinates of each sampling point;
• and
• synthesizing sampling points of the N sampling images according to second coordinates of the sampling points of the N sampling images to determine a target image, wherein the target image is a complete image;
• and
• determining, by the vehicle navigation image synthesis system, image information of an entire junction according to the target image.