Vehicle driving environment display device and control method thereof

Abstract

This invention discloses a vehicle driving environment display device and its control method. A driving environment information display method includes: acquiring environmental information; selecting, based on the acquired environmental information, a first seed image corresponding to the curvature of the road on which driving is currently taking place from a plurality of lane dividing line seed images with different curvatures; setting two of the selected first seed images at a display origin corresponding to the vehicle's origin; distorting one of the two first seed images based on a first lateral distance to the left lane dividing line of the lane on which the main vehicle is traveling; distorting the other of the two first seed images based on a second lateral distance to the right lane dividing line of the lane; and outputting each of the two distorted first seed images through a display unit.

Description

Technical Field

[0001] This disclosure relates to a vehicle driving environment display device and its control method capable of providing various driving environment information based on a limited two-dimensional seed image. Background Technology

[0002] With the development of Advanced Driver Assistance Systems (ADAS) and autonomous driving technologies, the types of information displayed on the system's operating status and the complexity of its configuration have increased.

[0003] Figure 1A An example of configuring driving environment information provided via the cluster during autonomous driving is shown. Figure 1B An example of a 3D rendering configuration for providing driving environment information is shown.

[0004] Reference Figure 1A Lane markings 112 around the main vehicle 111, the position of nearby vehicles 113, and the target distance 114 to the vehicle ahead identified by sensors can be displayed in part 110 of the instrument cluster 100, the entire part of which is configured as a display.

[0005] like Figure 1B As shown, driving environment information is typically achieved through 3D rendering because it needs to vary based on the relative distance and orientation between the main vehicle and nearby vehicles, as well as the width and curvature of the road.

[0006] However, for 3D rendering, in order to run a 3D engine capable of processing 3D graphics, a high-end processor is essentially required in a display device such as a combination instrument panel. Without a high-end processor, separate image resources need to be set up for each distance and angle to achieve, for example... Figure 1A The same driving environment information is shown without the need for a 3D engine. Since the amount of resources required increases geometrically depending on the target resolution at distance or angle, it is practically impossible to pre-prepare image resources for all combinations in terms of image preparation and storage capacity.

[0007] For example, assuming the longitudinal distance in front of the main vehicle is divided into 1500 steps, the lateral distance on both sides of the main vehicle is divided into 140 steps, and the curvature of the lane is divided into 30 steps including the left and right curvatures, then the required number of image resources is 6,300,000.

[0008] Therefore, there is a need for a method to effectively display driving environment information in a display device based on a 2D graphics engine rather than an engine designed for processing 3D graphics. Summary of the Invention

[0009] Therefore, this disclosure relates to a driving environment display device for a vehicle and a control method thereof, which substantially avoids one or more problems arising from the limitations and disadvantages of the prior art.

[0010] The purpose of this disclosure is to provide a vehicle driving environment display device that can more effectively display driving environment information. Another purpose is to provide a method for controlling it.

[0011] Another object of this disclosure is to provide a driving environment display device for a vehicle, which is capable of displaying various driving environment information based on limited resource images using a 2D graphics engine. Another object is to provide a method for controlling it.

[0012] The purposes of this disclosure, designed to solve these problems, are not limited to those described above. Other unmentioned purposes will be clearly understood by those skilled in the art based on the following detailed description of this disclosure.

[0013] To achieve these and other advantages, and in accordance with the purposes of this disclosure, as embodied and broadly described herein, the driving environment information display method may include acquiring nearby environmental information. The method may further include selecting a first seed image from a plurality of lane marking seed images having different curvatures, corresponding to the curvature of the road on which driving is currently performed (which is the acquired environmental information). The method may further include placing two of the selected first seed images at a display origin corresponding to the vehicle's origin. The method may further include distorting one of the two first seed images based on a first lateral distance to the left lane marking of the lane on which the main vehicle is traveling, and distorting the other of the two first seed images based on a second lateral distance to the right lane marking of the lane. The method may further include outputting each of the two distorted first seed images via a display unit.

[0014] In another aspect of this disclosure, the vehicle may include a sensor unit and a navigation system configured to acquire nearby environmental information, and may include a driving environment display device configured to output driving environment information based on the acquired nearby environmental information. The driving environment display device may include a controller configured to select a first seed image from a plurality of lane marking seed images having different curvatures, corresponding to the curvature of the road on which driving is currently taking place (which is the acquired environmental information). The controller may also be configured to set two of the selected first seed images at a display origin corresponding to the vehicle's origin. The controller may also be configured to distort one of the two first seed images based on a first lateral distance from the left lane marking of the lane on which the main vehicle is traveling. The controller may also be configured to distort the other of the two first seed images based on a second lateral distance from the right lane marking of the lane. The driving environment display device may also include a display unit configured to output each of the two distorted first seed images.

[0015] It should be understood that the foregoing general description and the following detailed description of this disclosure are exemplary and illustrative, and are intended to provide a further explanation of the claimed inventive concept. Attached Figure Description

[0016] The accompanying drawings are included to provide a further understanding of this disclosure, and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the disclosure. In the drawings:

[0017] Figure 1 shows an example of the configuration of known driving environment information provided by the instrument cluster during autonomous driving;

[0018] Figure 1B An example of a known 3D rendering configuration for providing driving environment information is shown;

[0019] Figure 2 This is a block diagram illustrating an example of the construction of a vehicle according to an embodiment;

[0020] Figure 3 A component for outputting driving environment information according to an embodiment is shown;

[0021] Figure 4 This is a flowchart illustrating an example of a driving environment information display process according to an embodiment;

[0022] Figure 5 An example of a display of reference information and resolution for nearby vehicles, according to an embodiment, is shown;

[0023] Figure 6 An example of a construction for displaying a seed image of a nearby vehicle, according to an embodiment, is shown;

[0024] Figures 7A to 7D An example of an image processing procedure for displaying nearby vehicles, according to an embodiment, is shown;

[0025] Figure 8 An example of reference information and resolution for displaying distances between target vehicles, according to an embodiment, is shown;

[0026] Figures 9A to 9C An example of an image processing procedure for displaying the distance between target vehicles, according to an embodiment, is shown;

[0027] Figure 10 An example of reference information and resolution for displaying lane marking lines, according to an embodiment, is shown;

[0028] Figure 11 An example of a construction for displaying a seed image of lane marking lines according to an embodiment is shown; and

[0029] Figures 12A to 12D An example of an image processing procedure for displaying lane marking lines according to an embodiment is shown. Detailed Implementation

[0030] Reference will now be made in detail to embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. The following embodiments are given by way of example to enable those skilled in the art to fully understand the spirit of the present disclosure. Therefore, the present disclosure is not limited to the following embodiments and may be implemented in various other forms. For clarity of description, portions unrelated to the description of the present disclosure have been omitted from the drawings. Wherever possible, the same reference numerals are used throughout the specification to denote the same or similar components.

[0031] Unless otherwise stated, the terms "comprising" or "including" as used herein should be interpreted as not excluding other elements, but further including such other elements. Furthermore, throughout the specification, the same reference numerals denote the same or equivalent constituent elements. Additionally, when components, devices, elements, etc., of this disclosure are described as having a purpose or performing an operation, function, etc., they should be considered as "configured to" satisfy that purpose or perform that operation or function. This disclosure describes various components of an object tracking device as units, such as: a display unit; a communication unit; a sensor unit; and an input unit. Each of these units may individually embody or include a processor and memory, such as a non-transitory computer-readable medium, as part of the device.

[0032] Before describing the driving environment information display method according to embodiments of the present disclosure, reference is first made to... Figure 2 Describe the structure of the apparatus configured to perform the method.

[0033] Figure 2 This is a block diagram illustrating an example of the construction of a vehicle according to an embodiment.

[0034] Reference Figure 2 The vehicle used in the embodiments may include a driving environment display device 210 for the vehicle, a sensor unit 220, a navigation system 230, and an input unit 240. Figure 2 The structure mainly includes components related to the embodiments of this disclosure, so the actual vehicle may include more or fewer components.

[0035] The driving environment display device 210 may include a display unit 211, a communication unit 212, a memory 213, and a controller 214.

[0036] Display unit 211 may be a display constituting a combination instrument; however, this disclosure is not limited thereto. For example, display unit 211 may be a head-up display (HHUD) or a display of an audio / video / navigation (AVN) system.

[0037] The communication unit 212 can exchange data with the sensor unit 220, the navigation system 230, and the input unit 240 via a vehicle communication network (e.g., CAN, CAN-FD, LIN, or Ethernet).

[0038] The memory 213 can store various input / output information, and specifically can store seed images for each component of driving environment information and various reference tables for image processing, as described above.

[0039] According to an embodiment, the controller 214 can perform overall control of components 211, 212 and 213, and specifically can perform various image processing for outputting driving environment information.

[0040] The sensor unit 220 and the navigation system 230 can acquire the surrounding environment information required to constitute driving environment information.

[0041] Sensor unit 220 can acquire information about the position, relative speed, and distance of objects around the vehicle (especially nearby vehicles). Furthermore, sensor unit 220 can acquire information about the lateral distance between the lane markings and the main vehicle, as well as information about the curvature of the lane markings, through lane marking detection. Sensor unit 220 may include at least one of radar, lidar, a vision sensor, an ultrasonic sensor, or an infrared sensor. However, these elements are illustrative, and the type of sensor unit is not limited, as long as it can acquire information about the driving environment around the main vehicle.

[0042] The navigation system 230 may be installed in an AVN system or a head unit; however, this disclosure is not limited thereto. The navigation system 230 may acquire curvature information of the road ahead based on the current location determined via GPS. According to an embodiment, the navigation system 230 may provide road width information for each lane marking based on lane links based on a precise map.

[0043] The input unit 240 can allow the user to input commands for entering the mode of displaying the driving environment (e.g., autonomous driving enable) and input commands for setting the distance between target vehicles.

[0044] Figure 3 A portion of the driving environment information output according to an embodiment is shown.

[0045] Reference Figure 3 According to the embodiments, the driving environment information may include three main parts, such as nearby vehicles 310, distance between target vehicles 320, and lane markings 330.

[0046] Nearby vehicles 310 can include not only vehicles in front of the main vehicle in its current driving lane, but also vehicles in the left / right lanes of the driving lane. Multiple nearby vehicles 310 can be displayed as long as the vehicles are within the sensing range of sensor unit 220 or the surrounding area indicated by driving environment information.

[0047] The target vehicle distance of 320 (which is the target distance to the vehicle ahead maintained by the operation of the longitudinal autonomous driving system) can be changed based on the set distance in the main vehicle's driving lane.

[0048] Lane markings 330 include left and right lane markings that define the road width for the main vehicle lanes. The shape of the lane markings may vary based on road curvature.

[0049] Figure 4 This is a flowchart illustrating an example of a driving environment information display process according to an embodiment.

[0050] Reference Figure 4 According to this embodiment, the driving environment information display processing can be mainly divided into information acquisition processing (S410) and image processing. The image processing can be divided into image processing for nearby vehicles (S420A to S460A), image processing for distance between target vehicles (S430B to S460B), and image processing for lane marking lines (S420C to S470C).

[0051] First, the information acquisition process (S410) may be the process by which the controller 214 acquires information needed to display nearby environmental information from the sensor unit 220, the navigation system 230, and the input unit 240 via the communication unit 212. The types of information acquired are the same as described above, so a repeated description is omitted.

[0052] When acquiring the information required to display nearby environmental information, the controller 214 can perform image processing on each component of the nearby environmental information.

[0053] Reference Figures 5 to 7D Describe the image processing procedure for nearby vehicles (S420A to S460A).

[0054] Figure 5 An example of a display of reference information and resolution for nearby vehicles, according to an embodiment, is shown. Figure 6 An example of a construction for displaying seed images of nearby vehicles, according to an embodiment, is shown. Figures 7A to 7D An example of an image processing procedure for displaying nearby vehicles, according to an embodiment, is shown.

[0055] First refer to Figure 5 The reference information used to display nearby vehicles includes the lateral and longitudinal distances between nearby vehicles and the main vehicle. The origin (0, 0) of the coordinate system can be set at the center of the main vehicle's front shock absorber. The position of the nearby vehicle is determined based on the distance between the center of the nearby vehicle's rear bumper and the origin. This is because the sensor unit 220 is positioned around the main vehicle's front shock absorber, and the sensor unit 220 senses the distance to the rear bumper of the vehicle in front; however, it should be clear to those skilled in the art that this standard is variable. To distinguish it from the origin of the area on display unit 211 that displays nearby environmental information, the origin representing the positional relationship between the actual vehicle and nearby objects (lane markings, nearby vehicles, etc.) can be called the "vehicle origin." Furthermore, the position of the area on display unit 211 that displays nearby environmental information corresponding to the vehicle origin can be called the "display origin."

[0056] Furthermore, the longitudinal distance can extend from the main vehicle to a maximum range of 150 meters in front. As the display range for nearby environmental information, the lateral distance can extend from the main vehicle to the left and right, each 7 meters. The step size, based on the motion / deformation caused during image processing, can be set to 0.1 meters. In this case, the longitudinal distance can be divided into 1500 steps, and the lateral distance into 70 steps (141 steps including the middle "0"). Of course, the maximum distance and step size divisions in each direction are illustrative, and various variations are possible.

[0057] For example, the actual longitudinal distance based on the longitudinal signal value sent from sensor unit 220 can be defined, as shown in Table 1, and the actual lateral distance based on the left lateral signal value sent from sensor unit 220 can be defined, as shown in Table 2. Here, either a signal corresponding to the left lateral distance or a signal corresponding to the right lateral distance can be input for nearby vehicles.

[0058] [Table 1]

[0059]

[0060]

[0061] [Table 2]

[0062]

[0063] Next refer to Figure 6 This shows a set of seed images used to display nearby vehicles located within the relative lateral and longitudinal distances to the main vehicle traveling on a road with a specific curvature.

[0064] The seed image set can include a total of 31 images, including a seed image C of a vehicle facing forward without any left or right offset (i.e., having a lateral distance of 0), seed images L01 to L15 of a vehicle representing the left surface of the vehicle based on road curvature and the vehicle's lateral distance, and seed images R01 to R15 of a vehicle representing the right surface of the vehicle based on road curvature and the vehicle's lateral distance. Figure 6 In this embodiment, the directional seed image is divided into 15 steps in each direction; however, this is illustrative and the present disclosure is not limited thereto. Based on this implementation, a seed image showing one of the right or left surfaces of the vehicle can be prepared, and the seed image can be reversed between left and right when a seed image in the opposite direction is needed.

[0065] For image processing of nearby vehicles, a seed image can be selected first (S420A). For example, the controller 214 can consider the curvature of the lane, the lateral distance, and the longitudinal distance, and select one of a number of pre-prepared seed images of nearby vehicles. To this end, the controller 214 can refer to a pre-defined table that defines seed images corresponding to combinations of lane curvature, lateral distance, and longitudinal distance.

[0066] When a seed image for displaying nearby vehicles is selected, the controller 214 can position the image 310 at the origin (i.e., the display origin), such as... Figure 7A As shown in (S430A).

[0067] Subsequently, the controller 214 can transform the lateral coordinates of image 310 based on the lateral distance between nearby vehicles and the main vehicle, such as... Figure 7B As shown in (S440A). For example, assuming that the display unit 211 has a resolution of 1280×720, the horizontal coordinate of the image 310 can move 7 pixels in a horizontal distance of 0.1m (i.e., one step).

[0068] Furthermore, the controller 214 can use the lane vanishing point 710 as an anchor point to proportionally resize the image 310 according to the longitudinal distance to nearby vehicles, such as... Figure 7C As shown in (S450A). Here, the vanishing point can be the point where the relative lane markings around the main vehicle connect to each other in front of the main vehicle on a straight road without curvature. Furthermore, when the longitudinal distance is determined based on the front of the main vehicle, a dimensional transformation can be performed to shrink, and when the longitudinal distance is determined based on the rear of the main vehicle, a dimensional transformation can be performed to expand. During the dimensional transformation, the coordinates can be moved in the longitudinal and lateral directions by following a reference point. Additionally, for the dimensional transformation rate, a table prepared for each longitudinal distance can be consulted.

[0069] Subsequently, the controller 214 can compensate for the lateral coordinates of the vehicle image generated based on the lane curvature, such as Figure 7D As shown in (S460A). The amount of compensation for the lateral coordinates, i.e., the amount of movement of image 310 in the lateral direction, can be determined by referring to a table with movement amounts defined based on lane curvature and longitudinal distance.

[0070] Next, refer to Figures 8 to 9C Image processing procedure describing the distance between target vehicles (S430B to S460B).

[0071] Figure 8 An example of reference information and resolution for displaying distances between target vehicles, according to an embodiment, is shown. Additionally, Figures 9A to 9C An example of an image processing procedure for displaying the distance between target vehicles, according to an embodiment, is shown.

[0072] First refer to Figure 8 The reference information used to display the distance between target vehicles can be defined as the longitudinal distance based on the origin of the main vehicle (which is the set distance between target vehicles). The longitudinal distance can range from the main vehicle to a maximum of 150 meters in front, and the step size can be set to 0.1 meters based on the deformation it causes during image processing. In this case, the longitudinal distance may be divided into 1500 steps. Of course, the maximum distance and step size division are illustrative, and various variations are possible.

[0073] For example, the target vehicle distance and signal values ​​can be provided, as shown in Table 1 above.

[0074] In order to perform image processing on the distance between target vehicles, controller 214 can position image 320 at the origin (i.e., display origin), such as Figure 9A As shown in (S430B). At this time, the distance between target vehicles is not directional, and therefore a single seed image is used.

[0075] Furthermore, the controller 214 can use the lane vanishing point 910 as an anchor point to proportionally transform the size of the image 320 to the set distance between target vehicles, such as... Figure 9B As shown in (S450B). At this point, for the size conversion rate, you can refer to the table prepared for each longitudinal distance.

[0076] Subsequently, the controller 214 can compensate for the lateral coordinates of the target vehicle distance image generated based on lane curvature, such as... Figure 9C As shown in (S460B). The amount of compensation for the lateral coordinates, i.e., the amount of movement of image 320 in the lateral direction, can be determined by referring to a table with movement amounts defined based on lane curvature and longitudinal distance.

[0077] Reference Figures 10 to 12D Describe the image processing procedure for lane marking lines (S420C to S470C).

[0078] Figure 10 An example of reference information and resolution for displaying lane marking lines, according to an embodiment, is shown. Figure 11 An example of a construction for displaying a seed image of lane marking lines according to an embodiment is shown. Additionally, Figures 12A to 12D An example of an image processing procedure for displaying lane marking lines according to an embodiment is shown.

[0079] First refer to Figure 10 The reference information used to display lane markings includes the lateral distance between the main vehicle and the left lane marking, and the lateral distance between the main vehicle and the right lane marking. The lateral distance can be displayed within a range of 4.5 meters to the left and right of the main vehicle. The step size for determining the deformation caused during image processing can be set to 0.1 meters. Of course, the maximum distance and step size in each direction are illustrative, and various variations are possible.

[0080] Next refer to Figure 11 This shows a set of seed images for displaying the left and right lane markings for the current lane of the main vehicle.

[0081] The seed image set may include a total of 31 images, including seed image C for displaying a straight road without curvature, seed images L01 to L15 for displaying lane markings for a road with curvature to the left, and seed images R01 to R15 for displaying lane markings for a road with curvature to the right. Figure 11 In this embodiment, the directional seed image is divided into 15 steps in each direction; however, this is illustrative and the present disclosure is not limited thereto. Depending on the implementation, a seed image with either a right curvature or a left curvature can be prepared, and when a seed image in the opposite direction is needed, the seed image can be reversed between left and right.

[0082] For image processing of lane markings, a seed image can be selected first (S420C). For example, the controller 214 can consider the curvature of the lane to select one of a plurality of pre-prepared seed images for lane markings. To do this, the controller 214 can refer to a predetermined table that defines seed images corresponding to the lane curvature.

[0083] When a seed image for displaying lane markings is selected, controller 214 can position the two images 331 and 332 at the origin (i.e., display the origin), such as... Figure 12A As shown (S430C).

[0084] Subsequently, the controller 214 can use the lane vanishing point 1210 as an anchor point to perform a distortion function transform proportional to the lateral distance on each of the lane dividing line images 331 and 332, such as... Figure 12B As shown in (S470C). Here, the distortion function transformation can include a horizontal skew transformation. For example, for an 8-inch display with a resolution of 1280×720, a horizontal skew transformation of +1.29° can be performed for every 0.1m of lateral distance. The lateral distance is positive (+) to the right and negative (-) to the left. In other words, as... Figure 12B As shown, when the lateral distance of the left lane dividing line is 2m, a horizontal skew transformation of -25.8° corresponding to -2m can be performed. When the lateral distance of the right lane dividing line is 1m, a horizontal skew transformation of +12.9° corresponding to 1m can be performed.

[0085] Figure 12C The result is shown after applying a -25.8° skew transformation to the left lane dividing line 331 located at the display origin. Figure 12D The result is shown after applying a +12.9° skew transformation to the right lane dividing line 333 located at the display origin.

[0086] In the above embodiments, for clarity, the processes for transforming each seed image (e.g., origin placement, horizontal coordinate shifting, size transformation, and skew) have been described as separate processes with reference to the accompanying drawings. However, the images during transformation may not be output through display unit 211, and in fact, the final transformed image for each display element can be output through display unit 211. For example, in Figure 4 After step S460A, the image corresponding to the nearby vehicle is finally displayed, and... Figure 4 After step S460B, the final image corresponding to the distance between the target vehicles is displayed.

[0087] By deforming a limited set of seed images using the method described above, various driving situations can be displayed. This method can be executed even on relatively low-end processors without a 3D engine.

[0088] The present disclosure described above can be implemented as a computer-readable program stored in a computer-readable recording medium. A computer-readable medium can be any type of recording device in which data is stored in a computer-readable manner. Computer-readable media can include, for example, hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROM), random access memory (RAM), optical disc read-only memory (CD-ROM), magnetic tape, floppy disks, and optical data storage devices.

[0089] As can be seen from the above description, the vehicle driving environment display device involving at least one embodiment of the present disclosure can effectively display driving environment information.

[0090] Specifically, similar to the application of a 3D engine, various driving environment information can be displayed by performing distance-based parallel translation, vanishing point-based size adjustment, and road curvature-based position compensation and bending processing on a pre-prepared 2D seed image.

[0091] Those skilled in the art will understand that the effects achievable through this disclosure are not limited to those specifically described above. Other effects of this disclosure should be more clearly understood from the foregoing detailed description.

[0092] The detailed description above should not be construed as limiting this disclosure in any way, but should be considered as an example. The scope of this disclosure should be determined by a reasonable interpretation of the appended claims, and all equivalent modifications made without departing from the scope of this disclosure should be understood to be included in the following claims.

Claims

1. A method for displaying driving environment information, the method comprising the following steps: Obtain environmental information; Based on the acquired environmental information, a first seed image corresponding to the curvature of the road on which driving is currently being performed is selected from multiple lane dividing line seed images with different curvatures; Arrange the two first seed images from the selected first seed images at the display origin corresponding to the vehicle origin; Based on the first lateral distance from the left lane dividing line of the lane on which the main vehicle is traveling, one of the two first seed images is distorted; Based on a second lateral distance from the right lane dividing line of the lane, distort the other of the two first seed images; as well as Each of the two distorted first seed images is output through the display unit.

2. The method of claim 1, wherein, The vehicle origin is located at the center of the main vehicle in the lateral direction.

3. The method according to claim 2, wherein The first lateral distance corresponds to the distance from the vehicle's origin to the right lane dividing line, and The second lateral distance corresponds to the distance from the vehicle origin to the left lane dividing line.

4. The method of claim 1, wherein, The distortion includes using the vanishing point of the lane with zero curvature as an anchor point, and transforming it with a skew function applied horizontally at an angle corresponding to the first lateral distance or the second lateral distance.

5. The method of claim 1, further comprising: Based on the acquired environmental information, a second seed image is selected from multiple vehicle seed images having shapes viewed from different angles, corresponding to the third lateral distance between nearby vehicles and the vehicle origin, the first longitudinal distance between nearby vehicles and the vehicle origin, and the curvature of the road; and The selected second seed image is transformed based on the third lateral distance, the first longitudinal distance, and the curvature of the road.

6. The method of claim 5, wherein, The steps for converting the selected second seed image include: Arrange the selected second seed image at the display origin; In response to the third lateral distance, the coordinates of the selected second seed image arranged at the origin are moved horizontally; Using the vanishing point of the lane with zero curvature as the anchor point, the size of the second seed image with the moved coordinates is transformed based on the first longitudinal distance; and In response to the curvature of the road, the lateral coordinates of the second seed image with the transformed size are compensated.

7. The method of claim 5, wherein, The plurality of vehicle seed images includes at least one of the following: a first set of seed images showing one side of the vehicle, a second set of seed images showing the other side of the vehicle, and a seed image facing forward.

8. The method of claim 7, wherein, When the plurality of vehicle seed images include either the first seed image set or the second seed image set, the step of converting the selected second seed image includes: reversing the selected second seed image between left and right based on the direction of the third lateral distance.

9. The method of claim 1, further comprising: A third seed image indicating the distance between target vehicles is placed at the display origin; Using the vanishing point of the lane with zero curvature as the anchor point, the size of the third seed image arranged at the origin is transformed based on a first longitudinal distance corresponding to the distance between the target vehicles; as well as In response to the curvature of the road, the lateral coordinates of the third seed image with the transformed dimensions are compensated.

10. A non-volatile computer-readable recording medium comprising a program for performing the driving environment information display method according to claim 1.

11. A vehicle comprising: The sensor unit and navigation system are configured to acquire environmental information; as well as A driving environment display device is configured to output driving environment information based on acquired environmental information, wherein the driving environment display device includes... The controller is configured to, based on acquired environmental information, select a first seed image from a plurality of lane marking seed images with different curvatures that corresponds to the curvature of the road on which driving is currently taking place; arrange two of the selected first seed images at a display origin corresponding to the vehicle's origin; distort one of the two first seed images based on a first lateral distance to the left lane marking of the lane on which the main vehicle is traveling; and distort the other of the two first seed images based on a second lateral distance to the right lane marking of the lane. The display unit is configured to output each of the two distorted first seed images.

12. The vehicle of claim 11, wherein, The vehicle origin is located at the center of the main vehicle in the lateral direction.

13. The vehicle according to claim 12, wherein The first lateral distance corresponds to the distance from the vehicle's origin to the right lane dividing line, and The second lateral distance corresponds to the distance from the vehicle origin to the left lane dividing line.

14. The vehicle of claim 11, wherein, The distortion includes using the vanishing point of the lane with zero curvature as an anchor point, and applying a skew function transformation by an angle level corresponding to the first lateral distance or the second lateral distance.

15. The vehicle according to claim 11, wherein Based on acquired environmental information, the controller selects a second seed image from multiple vehicle seed images having shapes viewed from different angles. This second seed image corresponds to a third lateral distance between nearby vehicles and the vehicle origin, a first longitudinal distance between nearby vehicles and the vehicle origin, and the curvature of the road. The controller then transforms the selected second seed image based on the third lateral distance, the first longitudinal distance, and the curvature of the road. The display unit outputs the converted second seed image.

16. The vehicle of claim 15, wherein, The controller places the selected second seed image at the display origin; in response to the third lateral distance, it moves the coordinates of the selected second seed image placed at the origin horizontally; using the vanishing point of the lane with zero curvature as the anchor point, it transforms the size of the second seed image with the moved coordinates based on the first longitudinal distance. And in response to the curvature of the road, the lateral coordinates of the second seed image having the transformed size are compensated.

17. The vehicle of claim 15, wherein, The plurality of vehicle seed images includes at least one of the following: a first set of seed images showing one side of the vehicle, a second set of seed images showing the other side of the vehicle, and a seed image facing forward.

18. The vehicle of claim 17, wherein, When the plurality of vehicle seed images include either the first seed image set or the second seed image set, the controller reverses the selected second seed image between left and right based on the direction of the third lateral distance.

19. The vehicle according to claim 11, wherein, The controller arranges a third seed image indicating the distance between target vehicles at the display origin; using the vanishing point of the lane with zero curvature as the anchor point, the size of the third seed image arranged at the origin is transformed based on a first longitudinal distance corresponding to the distance between the target vehicles. And in response to the curvature of the road, the lateral coordinates of the third seed image with the transformed dimensions are compensated.

Images