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US 12,560,449 B2Granted
Navigation method, apparatus, and system
AssigneeShenzhen Yinwang Intelligent Technologies Co., Ltd.
InventorsFang Yuan, Jinbo Li, Jinan Leng, Nan Zhong
Life of this patent
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Abstract
A navigation method in the field of intelligent driving technologies includes obtaining images shot by a plurality of cameras; obtaining location information of a target vehicle based on the images shot by the plurality of cameras; after a target parking space for parking the target vehicle is determined, generating a navigation route based on the location information of the target vehicle and location information of the target parking space; and sending the navigation route to a terminal device such that a safety condition in the parking lot can be predicted to assist in safe driving of the target vehicle.
Claims20
A navigation method, comprising:
- obtaining images from a plurality of cameras that are disposed in a parking lot;
- obtaining first location information of a target vehicle based on the images;
- obtaining second location information of a first target parking space in the parking lot, wherein the first target parking space is a vacant parking space;
- setting a state of the first target parking space from a vacant state to a non-vacant state;
- generating a first navigation route based on the first location information and the second location information, wherein the first navigation route is a navigation route for the target vehicle to reach the first target parking space;
- sending the first navigation route to a terminal device to permit the terminal device to send the first navigation route to the target vehicle for automatically performing navigation to the first target parking space, wherein the terminal device is a navigation device of a user of the target vehicle;
- receiving an image from a first camera of the cameras, wherein the first camera is a camera in the first navigation route and is mounted on a center line of a road to continuously shoot at a fixed angle to obtain a continuously fixed image;
- detecting, using a disparity depth-of-field, whether the road in the image contains an object by:
- controlling the first camera to continuously shoot at the fixed angle to obtain the continuously fixed image;
- performing rasterization on the continuously fixed image to obtain a rasterized image;
- converting the rasterized image into a rasterized image depth;
- calculating disparity data for an area of the rasterized image depth, wherein the disparity data comprises depth information of pixel-level difference between two stereo images;
- and
- detecting, for the area of the rasterized image depth and based on the disparity data, whether the road in the image contains the object.
11 more elements
A navigation apparatus, comprising:
- a memory configured to store executable instructions;
- and
- at least one processor coupled to the memory and configured to execute the executable instructions to cause the navigation apparatus to:
- obtain images from a plurality of cameras that are disposed in a parking lot;
- obtain first location information of a target vehicle based on the images;
- obtain second location information of a first target parking space in the parking lot, wherein the first target parking space is a vacant parking space;
- set a state of the first target parking space from a vacant state to a non-vacant state;
- generate a first navigation route based on the first location information and the second location information, wherein the first navigation route is a navigation route for the target vehicle to reach the first target parking space;
- send the first navigation route to a terminal device to permit the terminal device to send the first navigation route to the target vehicle for automatically performing navigation of the target vehicle to the first target parking space, wherein the terminal device is a navigation device of a user of the target vehicle;
- receive an image from a first camera of the cameras, wherein the first camera is a camera in the first navigation route and is mounted on a center line of a road to continuously shoot at a fixed angle to obtain a continuously fixed image;
- and
- detect, using a disparity depth-of-field, whether the road in the image contains an object by:
- control the first camera to continuously shoot at the fixed angle to obtain a continuously fixed image;
- perform rasterization on the continuously fixed image to obtain a rasterized image;
- convert the rasterized image into a rasterized image depth;
- calculate disparity data for an area of the rasterized image depth, wherein the disparity data comprises depth information of pixel-level difference between two stereo images;
- and
- detect, for the area of the rasterized image depth and based on the disparity data, whether the road in the image contains the object.
15 more elements
A computer program product comprising computer-executable instructions that are stored on a non-transitory computer-readable storage medium and that, when executed by a processor, cause a navigation apparatus to:
- obtain images from a plurality of cameras that are disposed in a parking lot;
- obtain first location information of a target vehicle based on the images;
- obtain second location information of a first target parking space in the parking lot, wherein the first target parking space is a vacant parking space;
- set a state of the first target parking space from a vacant state to a non-vacant state;
- generate a first navigation route based on the first location information and the second location information, wherein the first navigation route is a navigation route for the target vehicle to reach the first target parking space;
- send the first navigation route to a terminal device to permit the terminal device to send the first navigation route to the target vehicle for automatically performing navigation of the target vehicle to the first target parking space, wherein the terminal device is a navigation device of a user of the target vehicle;
- receive an image from a first camera of the cameras, wherein the first camera is a camera in the first navigation route and is mounted on a center line of a road to continuously shoot at a fixed angle to obtain a continuously fixed image;
- and
- detect, using a disparity depth-of-field, whether the road in the image contains an object by:
- control the first camera to continuously shoot at the fixed angle to obtain a continuously fixed image;
- perform rasterization on the continuously fixed image to obtain a rasterized image;
- convert the rasterized image into a rasterized image depth;
- calculate disparity data for an area of the rasterized image depth, wherein the disparity data comprises depth information of pixel-level difference between two stereo images;
- and
- detect, for the area of the rasterized image depth and based on a sudden change in the disparity data, whether the road in the image contains the object.
12 more elements
Dependencies are inferred from the claim text.