Drawing method of AR image, storage medium

Abstract

The present invention provides a method for drawing an AR image and a storage medium. The method includes: calculating and obtaining the optimal angle θ between the AR image and the driver's horizontal line of sight according to the GPS positioning information of the vehicle and the map data; calculating the proportionality coefficient Q between the height of the AR image to be drawn and the height of the AR image according to the height of the driver's eyes from the ground, the imaging distance of the AR image, and the optimal angle θ. The present invention can not only optimize the AR image, make the AR image display more conform to the road surface, and obtain a better AR effect; but also the calculation process is convenient, with high accuracy and easy to implement; further, it can also be applicable to multiple terminals at the same time, having high practicability.

Description

Technical Field

[0001] The present invention relates to the field of AR imaging, and specifically to a method for rendering AR images and a storage medium. Background Art

[0002] In order to achieve a more realistic effect of AR images (i.e., virtual images, hereinafter collectively referred to as AR images) superimposed on the road surface and a better experience effect, the existing methods are generally as follows:

[0003] 1. Use a high-definition wide-angle camera to shoot the road, identify the feature points of the road, and then superimpose the rendered AR image.

[0004] 2. Obtain the curvature of the road through a road curvature detection device, and adjust the left and right deflection of the rendered AR image in combination with map data, so that the image can better fall in the middle position of the lane.

[0005] However, to achieve a better AR effect, it is necessary to make the human eye truly feel that the AR image fits the road surface or the target object in all three dimensions. And the above two methods cannot well solve this problem. Therefore, it is necessary to provide a method that can solve the problem of how to make the AR image display more closely fit the road surface in the longitudinal direction (i.e., the direction perpendicular to the ground), so that the rendered AR image can have a better AR effect. Summary of the Invention

[0006] The technical problem to be solved by the present invention is: to provide a method for rendering AR images and a storage medium, which can make the AR image display more closely fit the road surface and obtain a better AR effect.

[0007] To solve the above technical problem, the technical solution adopted by the present invention is:

[0008] A method for rendering an AR image, comprising:

[0009] Calculating and obtaining the optimal angle θ between the AR image and the driver's horizontal line of sight according to the vehicle's GPS positioning information and map data;

[0010] Calculating a proportionality coefficient Q between the height of the AR image to be rendered and the height of the AR image according to the height of the driver's eyes from the ground, the imaging distance of the AR image, and the optimal angle θ.

[0011] Another technical solution provided by the present invention is:

[0012] A computer-readable storage medium, on which a computer program is stored, and when the program is read by a processor, it can implement the steps included in the above method for rendering an AR image.

[0013] The beneficial effects of the present invention are as follows: By adjusting the original AR image based on the proportionality coefficient Q between the height of the AR image to be drawn calculated according to the present invention and the height of the AR image, the driver can feel that the AR image is more conforming to the road surface or the target object in three dimensions, thereby obtaining a more realistic AR image effect, optimizing the user experience, and enhancing the product competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic flowchart of a method for drawing an AR image according to an embodiment of the present invention;

[0015] Figure 2a It is a schematic diagram of the front uphill AR image imaging according to Embodiment 1 of the present invention;

[0016] Figure 2b It is a schematic diagram of the front flat road AR image imaging according to Embodiment 1 of the present invention;

[0017] Figure 2c It is a schematic diagram of the front downhill AR image imaging according to Embodiment 1 of the present invention;

[0018] Figure 3a It is a visual experience diagram of the AR image when going uphill according to Embodiment 1 of the present invention;

[0019] Figure 3b It is a visual experience diagram of the AR image when on a flat road according to Embodiment 1 of the present invention;

[0020] Figure 3c It is a visual experience diagram of the AR image when going downhill according to Embodiment 1 of the present invention;

[0021] Figure 4 It is a schematic diagram of the AR image drawing transformation according to Embodiment 1 of the present invention;

[0022] Figure 5 It is an analysis diagram of the AR image seen directly from the driver's perspective according to Embodiment 1 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] To describe in detail the technical content, the achieved objectives, and the effects of the present invention, the following is described in conjunction with the embodiments and with reference to the accompanying drawings.

[0024] The most crucial concept of the present invention lies in: Through theoretical derivation, calculating the proportionality coefficient Q between the height of the AR image to be drawn and the height of the AR image, and accordingly optimizing the original AR image to improve the realism of the AR image presentation.

[0025] Explanation of technical terms involved in the present invention:

[0026]

[0027]

[0028] Please refer to Figure 1 , the present invention provides a method for drawing an AR image, including:

[0029] According to the GPS positioning information and map data of the vehicle, calculate and obtain the optimal angle θ between the AR image and the driver's horizontal line of sight;

[0030] According to the height of the driver's eyes from the ground, the imaging distance of the AR image, and the optimal angle θ, calculate the proportionality coefficient Q between the height of the AR image to be drawn and the height of the AR image.

[0031] As can be seen from the above description, the beneficial effect of the present invention is that: the proportionality coefficient Q obtained based on the above technical solution is used to adjust the original AR image, so that the AR image drawn in the actual AR scene is closer to the road surface, thereby obtaining a more realistic AR effect.

[0032] Further, the calculating and obtaining the optimal angle θ between the AR image and the driver's horizontal line of sight according to the GPS positioning information and map data of the vehicle is specifically:

[0033] According to the GPS positioning information and map data of the vehicle, obtain the slope value K of the current position of the vehicle car ;

[0034] According to the distance between the AR image and the vehicle and the map data, obtain the slope value K of the AR image img ;

[0035] According to the slope value K of the current position of the vehicle car and the slope value K of the AR image img , calculate and obtain the optimal angle θ between the AR image and the driver's horizontal line of sight.

[0036] As can be seen from the above description, a calculation method for calculating the included angle between the AR image and the horizontal line of the driver's line of sight by using the slope value is provided. The calculation process is simple and the result accuracy is high; it can be used to limit that the drawing angle of the AR image should be the same as the angle of the slope of the vehicle's location in the subsequent calculation, so that from the driver's perspective, it can be more realistically felt that the AR image overlaps with the road.

[0037] Further, the calculating and obtaining the optimal angle θ between the AR image and the driver's horizontal line of sight according to the GPS positioning information and map data of the vehicle is specifically:

[0038] According to the GPS positioning information and map data of the vehicle, obtain the altitude value O of the current position of the vehicle car ;

[0039] According to the distance between the AR image and the vehicle and the map data, the altitude value of the AR image is obtained. img ;

[0040] According to the altitude value O of the current position of the vehicle car , the altitude value O of the AR image img The optimal angle θ between the AR image and the driver's horizontal sight line is calculated based on the distance between the AR image and the vehicle.

[0041] As can be seen from the above description, a method for calculating the optimal angle θ using the relationship between the altitude value of the vehicle's location and the altitude value of the AR image is also provided, which also has the characteristics of high accuracy and simple calculation process.

[0042] Furthermore, the ratio coefficient Q of the height of the to-be-drawn AR image to the height of the AR image is calculated based on the height of the driver's eyes from the ground, the imaging distance of the AR image, and the optimal angle θ, specifically:

[0043] Calculating the height shown by the driver's eyes based on the height of the driver's eyes from the ground, the imaging distance of the AR image, the optimal angle θ, and the actual height of the side view of the AR image;

[0044] Obtaining a relationship formula between the height of the AR image to be drawn, the height of the AR image, the angle to be drawn, and the drawing distance based on the angular relationship between the height of the driver's eyes from the ground and the imaging distance of the AR image, and the height indicated by the driver's eyes;

[0045] The relationship formula is converted to obtain a proportional coefficient Q between the height of the AR image to be drawn and the height of the AR image.

[0046] From the above description, it can be seen that according to theoretical derivation, the ratio coefficient Q between the height of the AR image to be drawn and the actual (original) AR image height is calculated, which not only ensures that the setting of the drawing parameters is well-founded but also more accurate.

[0047] Furthermore, the method is applied to a HUD, and the method further includes:

[0048] Preset the driver's eye height from the ground based on the vehicle model and driver's height;

[0049] Based on the scale factor Q, the vehicle's GPS positioning information and map data, the drawn AR image is projected onto the road ahead of the driver's sight.

[0050] From the above description, it can be seen that it is preferably used on projection equipment such as AR-HUD to obtain the best display effect; at the same time, the height of the driver's eyes from the ground can be set according to actual conditions, thereby improving the accuracy of the calculation results.

[0051] Further, if the method is applied to a mobile intelligent terminal, the method further includes:

[0052] Set the height of the driver's eyes from the ground to the height of the mobile intelligent terminal from the ground;

[0053] Display an AR image drawn based on the proportionality coefficient Q, the GPS positioning information of the vehicle, and the map data on the display interface of the intelligent mobile terminal.

[0054] As can be seen from the above description, the present invention can also be applied to a mobile intelligent terminal, such as a camera application of a mobile phone, and adaptively adjust the calculation parameters, which not only improves the scope of application of the solution, but also can have an optimized display effect based on accurate calculation results.

[0055] Another technical solution provided by the present invention is:

[0056] A computer-readable storage medium, on which a computer program is stored, and when the program is read by a processor, it can implement the steps included in the above-mentioned method for drawing an AR image.

[0057] As can be seen from the above description, for those of ordinary skill in the art, it can be understood that all or part of the processes in the above technical solutions can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the above-mentioned various methods. After the program is executed, it can also obtain the beneficial effects corresponding to the various methods.

[0058] Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory (ROM), or a random access memory (RAM), etc.

[0059] Embodiment 1

[0060] This embodiment provides a method for drawing an AR image. By calculating the proportionality coefficient Q between the height of the AR image to be drawn and the height of the original AR image, and adjusting the original AR image accordingly, it is possible to obtain a more realistic feeling of the AR image fitting with the road from the driver's perspective, thereby obtaining a more realistic AR experience.

[0061] The key points of this embodiment lie in the calculations of two parts:

[0062] (1) According to the GPS positioning information of the vehicle and the map data, calculate and obtain the optimal angle θ between the AR image and the driver's horizontal line of sight, that is, the slope difference between the AR image and the driver's position;

[0063] (2) Based on the optimal angle θ calculated in (1), combined with the height of the driver's eyes from the ground and the imaging distance of the AR image, calculate a ratio coefficient Q between the height of the to-be-rendered AR image and the height of the original AR image. The to-be-rendered AR image is the AR image actually seen by the driver in this embodiment, while the original AR image is an AR image obtained using conventional techniques. By optimizing the original AR image based on the ratio coefficient Q calculated in this embodiment, an image with a more enhanced AR effect can be drawn.

[0064] Specifically, the calculation process of the first part (I) above includes:

[0065] 1.1 Analytical process of the optimal angle θ for drawing AR images:

[0066] When the vehicle is facing an uphill slope, Figure 2a As shown in the figure: a is the position of the vehicle; b is the position of the driver's eyes; bb' is the driver's line of sight; de, fg, hi are the side views of the AR image.

[0067] Optimal angle θ: This refers to the angle between the AR image and the driver's eye level. For example, if hi is translated upward (or downward) parallel to the horizon, the angle θ formed by h′i′ and bb′ is the optimal angle for drawing the AR image. Similarly, d'e' and f'g' in the figure correspond to the positions of de and fg translated to the driver's eye level, respectively.

[0068] Significance: To ensure that the AR image overlaps with the road more realistically from the driver's perspective, the AR image should be drawn at the same angle as the slope of the location.

[0069] The same analysis is used for the uphill situation. The θ angle of the AR image can be calculated in the same way for downhill or flat roads. Figure 2b and Figure 2c Schematic diagrams of AR image formation corresponding to a flat road and a downhill slope respectively.

[0070] According to the attached Figures 2a - 2c It can be seen that:

[0071] The visual experience of AR images at different angles to the driver's horizontal line of sight at the same distance is as follows: Figures 3a to 3c As shown:

[0072] Case 1:

[0073] When the altitude of the location where the AR image is imaged is higher than the altitude of the vehicle, it is uphill, and θ>0°.

[0074] Case 2:

[0075] When the altitude of the location where the AR image is formed is the same as the altitude of the vehicle, it is a flat road, and then θ = 0°.

[0076] Case 3:

[0077] When the altitude of the location where the AR image is formed is lower than the altitude of the vehicle, it is a downhill, and then θ < 0°.

[0078] 1.2 Calculation process of the optimal angle θ;

[0079] The following settings are made for convenience of explanation:

[0080] Θ is the angle formed by the direction of the AR image and the driver's horizontal line of sight;

[0081] O car is the altitude of the vehicle's location;

[0082] K car is the slope value of the vehicle's location;

[0083] K img is the slope value of the location where the AR image is drawn;

[0084] O img is the altitude value of the location where the AR image is drawn;

[0085] L is the horizontal distance between the vehicle and the AR image, with the unit of L meters;

[0086] T is the farthest display distance of the AR-HUD, with the unit of meters.

[0087] Next, two methods for obtaining the optimal angle θ are provided:

[0088] The first calculation method:

[0089] 1. Obtain the current GPS positioning information of the vehicle according to the GPS module and pass it to the map to obtain the slope value K of the vehicle's current location car ;

[0090] 2. According to the current driving direction of the vehicle, search forward T meters in the map, take N points and obtain the slope value K of this point img , N depends on how many AR images are drawn, and one point corresponds to one AR image; taking the AR image corresponding to one point as an example, the position of the AR image corresponding to this point, its distance relative to the vehicle is L;

[0091] 3. The angle θ of the AR image is the difference between the slope value K of the location where it is located img and the slope value K of the vehicle's location, then there is:

[0092] Formula ①: θ = Kimg -K car ;

[0093] The second calculation method:

[0094] 1. Obtain the current GPS positioning information of the vehicle according to the GPS module and transmit it to the map to obtain the altitude value O of the current vehicle location car ;

[0095] 2. Search forward T meters in the map according to the current traveling direction of the vehicle, take N points and obtain the altitude value O of this point img , similarly, N depends on how many AR images are drawn, and one point is one AR image;

[0096] 3. The relative height between the vehicle altitude and the AR image altitude can be calculated. The horizontal distance L between the two can be set independently during the search. For each AR image drawn, the horizontal distance of this AR image relative to the vehicle is L.

[0097] According to the slope calculation formula, we can get:

[0098] Formula ②:

[0099] The specific calculation process of the second part (2) above includes:

[0100] In order to make the drawn AR image have a better AR effect, the original AR image will be transformed, specifically as Figure 4 shown

[0101] This is because the height of the driver's eyes is higher than the ground. In order to reflect that the AR image is drawn on the road surface, from the driver's perspective, the AR graphic should be in a top-down view and the top of the AR image should be visible.

[0102] However, what is the specific transformation ratio? This is the content to be calculated in the second part, that is, the calculation and acquisition of the proportionality coefficient Q.

[0103] Figure 4 The relationship between the height h' of the AR image to be drawn and the height h of the original AR image in

[0104] 1. The horizontal distance between the AR image and the driver's eyes, that is, L.

[0105] 2. It is related to the best angle θ formed by the AR image calculated according to the relative height, and the result can be obtained from the calculation in the first part.

[0106] Specifically, the calculation and acquisition process of the relationship between the height h' of the AR image to be drawn and the height h of the original image is as follows. Please also refer to Figure 5, which is an analysis diagram of the AR image seen directly from the driver's perspective.

[0107] Variable description:

[0108] a is the location of the vehicle;

[0109] e is the position of the driver's eyes;

[0110] H is the height of ae, that is, the height of the driver's eyes from the ground;

[0111] L is the distance between the current position of the vehicle and the position where the AR image is drawn;

[0112] bc is the side view of the AR image;

[0113] θ is the angle between bc and the horizontal line of sight of the driver's eyes;

[0114] ee′ is the direction of the driver's direct vision and passes through point b. Since the angular error caused by looking directly at the center position of bc and the bottom position b of bc is negligible, it is assumed here that the eyes look directly at point b;

[0115] t is the plane perpendicular to the driver's direct vision direction ee′, and t′ is the plane parallel to t;

[0116] h is the actual height of the AR image bc;

[0117] h′ is the projection of the AR image bc on the t plane, that is, the height shown by the driver's eyes;

[0118] γ is the angle formed by points a, b, and e, that is, ∠abe.

[0119] Among them, since ae is perpendicular to the ground, it can be obtained that:

[0120] Formula ③:

[0121] According to the principle of equal vertical angles of a triangle, it can be obtained that:

[0122] ∠cbe′ = γ + θ;

[0123] Among them, θ may be a positive number, 0, or a negative number.

[0124] In addition, according to the principle of equal opposite sides of a parallelogram, it can be obtained that:

[0125] e′c = h′;

[0126] Then it can be obtained that:

[0127] Formula ④: h′ = hsin(θ + γ);

[0128] Substituting the calculation result into Equation ③, the relationship equation for the height of the AR image to be drawn with respect to the height of the original image, the drawing angle, and the display distance can be obtained:

[0129] Equation ⑤:

[0130] After transformation, we can get:

[0131] Equation ⑥

[0132] Among them, θ is calculated by the method in the first part and is a known variable; H is the height of the driver's eyes from the ground, and an empirical value can be substituted, generally about 1.1 meters, or it can be pre-configured (specifically obtained based on the analysis of the preset vehicle model and driver height). The calculation result of the latter will be more accurate, but there is no obvious difference; L is the distance between the vehicle's location and the AR image drawing location, which is obtained by calculating the horizontal distance from the coordinates of the GPS of the vehicle's location and the GPS point of the AR image to be drawn, and this is a known variable.

[0133] Finally, the proportionality coefficient Q of the AR image height to the true AR image height can be calculated.

[0134] The above specific derivation process provided in this embodiment takes AR-HUD as an example, but this method is also applicable to other AR products and AR devices.

[0135] Embodiment 2

[0136] This embodiment corresponds to Embodiment 1 and illustrates the differences in applying the method to a mobile intelligent terminal. Other identical or similar parts will not be repeated here.

[0137] Specifically, when the method is applied to a mobile intelligent terminal, such as a mobile phone, a tablet, a vehicle-mounted terminal, etc., which are terminals with camera applications, the height of the driver's eyes from the ground in Embodiment 1 needs to be set to the height of the mobile intelligent terminal from the ground; finally, a suitable proportion of the AR image is drawn in the camera screen in combination with the GPS and the map. In addition, it is completely consistent with the analysis and calculation process of Embodiment 1.

[0138] Embodiment 3

[0139] This embodiment corresponds to Embodiment 1 and provides a specific application scenario:

[0140] Taking the AR image drawing of AR-HUD as an example, in this embodiment, AR-HUDs need to be projected on the road 5 meters, 10 meters, and 18 meters in front of the AR-HUD respectively.

[0141] The following devices need to be installed on the vehicle: a GPS positioning device, a map device, and an AR-HUD device. Among them, the GPS positioning device and the map device are existing technologies.

[0142] Application steps:

[0143] 1. The GPS device obtains data such as the longitude, latitude coordinates, and direction of the current vehicle location;

[0144] 2. Transmit the longitude, latitude, direction and other data obtained by the GPS to the map device, and the slope value (used in the first calculation method of the first part of Embodiment 1) and altitude value (used in the second calculation method) data at the current position in the map can be obtained.

[0145] 3. Combine the current position of the map and the direction information of the GPS to determine the trend of the current road, and search for slope value (used in the first calculation method of the first part) and altitude value (used in the second calculation method) data at distances of 5 meters, 10 meters, and 18 meters in this direction from the current position;

[0146] 4. Use the first calculation method or the second calculation method in the first part of Embodiment 1 to calculate the angles between the road surfaces at positions of 5 meters, 10 meters, and 18 meters and the current road surface (i.e., the optimal angle θ between the image and the horizontal direction of the driver). Here, it is assumed that θ at 5 meters is 10°, θ at 10 meters is 8°, and θ at 18 meters is 6°.

[0147] 5. When the driver is sitting in the cab, the height H of the driver's eyes from the ground can be measured. Here, it is assumed to be 1.1 meters;

[0148] 6. Substitute H, θ, and L into Formula ⑥ of Embodiment 1, and the proportionality coefficients Q at positions of 5 meters, 10 meters, and 18 meters are approximately equal to 0.381, 0.247, and 0.165 respectively;

[0149] 7. Through the calculated proportionality coefficient Q, it can be known how to draw the image at the specified position to fit the road surface better vertically.

[0150] Next, simulation data for fixing the imaging distance and changing the angle and fixing the angle and changing the imaging distance are provided simultaneously:

[0151] I. Simulation data for fixing the imaging distance and changing the angle:

[0152]

[0153]

[0154] Table 1

[0155] Table 1 shows the results obtained by substituting the values of the optimal angle θ from -30° to 30° into Formula 6 with the height of the human eye from the ground fixed at 1.1 meters and the distance L between the AR image and the vehicle fixed at 10 meters.

[0156]

[0157]

[0158] Table 2

[0159] Table 2 shows the results obtained by substituting the values of the optimal angle θ from -30° to 30° into Formula 6, with the height of the human eye from the ground fixed at 1.1 meters and the distance L between the AR image and the vehicle fixed at 1 meter.

[0160] Eye height H (m) from the ground Distance L (m) between the AR image and the vehicle position Optimal angle θ Scaling factor Q 1.1 0.1 10 0.996 1.1 2 10 0.627 1.1 4 10 0.429 1.1 6 10 0.348 1.1 8 10 0.306 1.1 10 10 0.280 1.1 12 10 0.263 1.1 14 10 0.250 1.1 16 10 0.241 1.1 18 10 0.233 1.1 20 10 0.227 1.1 22 10 0.223 1.1 24 10 0.219 1.1 26 10 0.215 1.1 28 10 0.212 1.1 30 10 0.210

[0161] Table 3

[0162] Table 3 shows the results obtained by substituting the values of the distance L between the AR image and the vehicle from 0.1 meter to 30 meters into Formula 6, with the height of the human eye from the ground fixed at 1.1 meters and the optimal angle θ fixed at 10°.

[0163] Eye height H (m) from the ground Distance L (m) between the AR image and the vehicle position Optimal angle θ Scaling factor Q 1.1 0.1 0 0.996 1.1 2 0 0.482 1.1 4 0 0.265 1.1 6 0 0.180 1.1 8 0 0.136 1.1 10 0 0.109 1.1 12 0 0.091 1.1 14 0 0.078 1.1 16 0 0.069 1.1 18 0 0.061 1.1 20 0 0.055 1.1 22 0 0.050 1.1 24 0 0.046 1.1 26 0 0.042 1.1 28 0 0.039 1.1 30 0 0.037

[0164] Table 4

[0165] Table 4 shows the results obtained by substituting the values of the distance L between the AR image and the vehicle from 0.1 meter to 30 meters into Formula 6, with the height of the human eye from the ground fixed at 1.1 meters and the optimal angle θ fixed at 0°.

[0166]

[0167]

[0168] Table 5

[0169] Table 5 shows the results obtained by substituting the values of the distance L between the AR image and the vehicle from 0.1 meter to 30 meters into Formula 6, with the height of the human eye from the ground fixed at 1.1 meters and the optimal angle θ fixed at -10°.

[0170] Example 4

[0171] Corresponding to Examples 1 to 3, this example provides a computer-readable storage medium storing a computer program, which when read by a processor, can implement the steps included in the method for drawing an AR image described in any one of Examples 1 to 3. The specific step content is not repeated here. For details, please refer to the descriptions of Examples 1 to 3.

[0172] In summary, the AR image drawing method and storage medium provided by the present invention can not only optimize the AR image, make the AR image display more conform to the road surface, and obtain a better AR effect; but also the calculation process is convenient, with high accuracy and easy to implement; furthermore, it can also be applicable to multiple terminals at the same time, with high practicability.

[0173] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A method for rendering an AR image, characterized in that, Including: Calculate and obtain the optimal angle between the AR image and the driver's horizontal line of sight based on the vehicle's GPS positioning information and map data , the optimal angle is the included angle between the AR image and the driver's line of sight horizontal line; According to the height of the driver's eyes from the ground, the imaging distance of the AR image, and the optimal angle , the proportionality coefficient Q between the height of the AR image to be drawn and the height of the AR image is calculated; Calculating and obtaining the optimal angle between the AR image and the driver's horizontal line of sight based on the vehicle's GPS positioning information and map data , specifically as follows: Obtain the slope value of the current vehicle position based on the vehicle's GPS positioning information and map data ; Obtain the slope value of the AR image based on the distance between the AR image and the vehicle and the map data Based on the slope value of the current position of the vehicle and the slope value of the AR image , the optimal angle between the AR image and the driver's horizontal line of sight is calculated ; Among them, the optimal angle The calculation formula is as follows: =K img -K car ; The calculation formula for the proportionality coefficient Q is as follows: , where h’ represents the height of the AR image to be drawn, h represents the height of the AR image, H represents the height of the driver's eyes from the ground, and L represents the distance between the vehicle's location and the AR image drawing location.

2. The method for rendering an AR image according to claim 1, wherein Calculating and obtaining the optimal angle between the AR image and the driver's horizontal line of sight based on the vehicle's GPS positioning information and map data , specifically as follows: Obtain the altitude value of the current vehicle position based on the vehicle's GPS positioning information and map data ; Obtain the altitude value of the AR image based on the distance between the AR image and the vehicle and the map data Based on the altitude value of the current position of the vehicle , the altitude value of the AR image and the distance of the AR image relative to the vehicle, calculate the optimal angle between the AR image and the driver's horizontal line of sight .

3. The method for rendering an AR image according to claim 1, wherein The method is applied to the HUD, and the method further includes: Presetting the height of the driver's eyes from the ground according to the vehicle model and the driver's height; According to the proportionality coefficient Q, the GPS positioning information of the vehicle and the map data, projecting the drawn AR image onto the road surface in front of the driver's line of sight.

4. The drawing method of an AR image according to claim 1, wherein If the method is applied to a mobile intelligent terminal, the method further includes: Setting the height of the driver's eyes from the ground as the height of the mobile intelligent terminal from the ground; Displaying the AR image drawn according to the proportionality coefficient Q, the GPS positioning information of the vehicle and the map data on the display interface of the intelligent mobile terminal.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is read by the processor, it can implement the steps included in the method for drawing an AR image according to any one of claims 1-4 above.

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