Display method, computer-readable recording medium, and vehicle

Abstract

The present disclosure relates to a display method, a computer-readable recording medium, and a vehicle. A driving environment information display method is disclosed, including: acquiring environment information, selecting a first seed image corresponding to the curvature of a road on which driving is performed from among a plurality of lane surface seed images having different curvatures, based on the acquired environment information; setting the selected first seed image at a display origin corresponding to an origin of the vehicle, first distorting the first seed image in a direction toward a target lane surface (which becomes a display target based on the host vehicle) in response to a first lateral distance of an adjacent lane division line located in the direction toward the target lane surface, second distorting the image in the direction toward the target lane surface in response to half of a lane width of a travel lane of the host vehicle, and outputting the image after the second distortion through a display unit.

Description

Technical Field

[0001] This invention relates to a vehicle driving environment display device and its control method that can provide various driving environment information. Background Technology

[0002] The statements in this section are provided only as background information in relation to this disclosure and may not constitute prior art.

[0003] With the development of Advanced Driver Assistance Systems (ADAS) and autonomous driving technology, the types and configuration complexity of display system operating status information have increased.

[0004] Figure 1A An example of configuring driving environment information provided via the instrument panel during autonomous driving is shown, and Figure 1B An example of a 3D rendering configuration for providing driving environment information is shown.

[0005] 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 100, the entire part of which is configured as a display.

[0006] like Figure 1B As shown, driving environment information is typically achieved through 3D rendering because it is desirable to vary the driving environment information in different ways based on the relative distance and orientation between the main vehicle and nearby vehicles, as well as the width and curvature of the road.

[0007] The display (e.g., the display of an instrument) can have a high-end processor for 3D rendering in order to execute a 3D engine capable of processing 3D graphics. If a high-end processor is not used, it is desirable to set up separate image resources 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. Because the amount of resources required increases geometrically with the target resolution of distance or angle, it is difficult to prepare image resources in advance for all combinations in terms of image preparation and storage capacity.

[0008] 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 lane curvature is divided into 30 steps including left and right curvature, then the required number of image resources is 6,300,000.

[0009] We have discovered a method that is desirable for efficiently displaying driving environment information on display devices based on 2D graphics engines (rather than engines used to process 3D graphics). Summary of the Invention

[0010] This disclosure provides a driving environment display device for a vehicle and a method for controlling the device, which substantially avoids one or more problems arising from the limitations and disadvantages of the prior art.

[0011] The purpose of this invention is to provide a vehicle driving environment display device and its control method that can more effectively display driving environment information.

[0012] Another object of the present invention is to provide a driving environment display device and control method for a vehicle, which can display various driving environment information based on limited resource images using a 2D graphics engine.

[0013] The present invention, designed to solve these problems, is not limited to the objectives described above, and other unmentioned objectives will be clearly understood by those skilled in the art based on the following detailed description of the invention.

[0014] To achieve these objectives and other advantages and in accordance with the purposes of this disclosure, as embodied and broadly described herein, a method for displaying driving environment information may include: acquiring nearby environmental information; selecting a first seed image (which is a piece of acquired environmental information) corresponding to the curvature of the currently driving road from a plurality of lane surface seed images with different curvatures; setting the selected first seed image at a display origin corresponding to the vehicle origin; in response to a first lateral distance of adjacent lane dividing lines located in a direction toward the target lane surface, performing a first distortion on the first seed image set at the origin in a direction toward the target lane surface (becoming a display target based on the main vehicle); in response to half the lane width of the driving lane of the main vehicle, performing a second distortion on the first distorted first seed image in a direction toward the target lane surface; and outputting the second distorted first seed image through a display unit.

[0015] In another aspect of this disclosure, the vehicle may include a sensor unit and a navigation system configured to acquire nearby environmental information, and 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 (which is a piece of acquired environmental information) corresponding to the curvature of the currently driving road from a plurality of lane surface seed images with different curvatures; set the selected first seed image at a display origin corresponding to the vehicle's origin; in response to a first lateral distance between adjacent lane dividing lines in a direction toward the target lane surface, perform a first distortion on the first seed image set at the origin in a direction toward the target lane surface (becoming the display target based on the main vehicle); in response to half the lane width of the main vehicle's driving lane, perform a second distortion on the first distorted first seed image in a direction toward the target lane surface; and a display unit configured to output the second distorted first seed image.

[0016] It should be understood that the foregoing general description and the following detailed description of this disclosure are exemplary and explanatory, and are intended to provide further explanation of this disclosure. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this disclosure and are incorporated in and constitute a part of this application, illustrate embodiments of the disclosure and, together with the description, serve to explain the principles of the disclosure. In the drawings:

[0018] Figure 1A An example of configuring driving environment information provided via the instrument panel during autonomous driving is shown;

[0019] Figure 1B An example of a 3D rendering configuration for providing driving environment information is shown;

[0020] Figure 2 This is a block diagram illustrating an example of the construction of a vehicle according to an embodiment;

[0021] Figure 3A and Figure 3B A component for outputting driving environment information according to an embodiment is shown;

[0022] Figure 4 This is a flowchart illustrating an example of a driving environment information display process according to an embodiment;

[0023] Figure 5 An example of a display of reference information and resolution for nearby vehicles, according to an embodiment, is shown;

[0024] Figure 6An example of a construction for displaying a seed image of a nearby vehicle, according to an embodiment, is shown;

[0025] Figures 7A to 7D An example of an image processing procedure for displaying nearby vehicles, according to an embodiment, is shown;

[0026] Figure 8 An example of reference information and resolution for displaying distances between target vehicles, according to an embodiment, is shown;

[0027] Figures 9A to 9C An example of an image processing procedure for displaying the distance between target vehicles, according to an embodiment, is shown;

[0028] Figure 10 An example of reference information and resolution for displaying lane marking lines, according to an embodiment, is shown;

[0029] Figure 11 An example of a construction for displaying a seed image of lane marking lines according to an embodiment is shown; and

[0030] Figures 12A to 12D An example of an image processing procedure for displaying lane marking lines according to an embodiment is shown;

[0031] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way. Detailed Implementation

[0032] 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 can 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 will be used throughout the specification to denote the same or similar parts.

[0033] 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 constituent elements.

[0034] When components, devices, elements, etc. of this disclosure are described as having a purpose or performing an operation or function, the components, devices, or elements shall be regarded as "configured to" satisfy that purpose or perform that operation or function.

[0035] Furthermore, terms such as “unit” or “module” should be understood as a unit that processes at least one function or operation and can be implemented in hardware (e.g., a processor), software, or a combination of hardware and software.

[0036] Before describing the driving environment information display method according to embodiments of the present disclosure, reference will first be made to... Figure 2 Describe the structure of the apparatus configured to perform the method.

[0037] Figure 2 This is a block diagram illustrating an example of the construction of a vehicle according to an embodiment of the present disclosure.

[0038] 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 main components shown are those associated with embodiments of this disclosure, and therefore a real vehicle may include more or fewer components.

[0039] The driving environment display device 210 may include a display unit 211, a communication unit 212, a memory 213, and a controller 214.

[0040] Display unit 211 may be a display constituting an 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.

[0041] 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).

[0042] The memory 213 can store various input / output information, and in particular, it can store seed images for each component of driving environment information and various reference tables for image processing, which will be described below.

[0043] According to an embodiment, the controller 214 can perform overall control of components 211, 212 and 213, and in particular, can perform various image processing for outputting driving environment information.

[0044] The sensor unit 220 and the navigation system 230 can acquire the surrounding environment information required to constitute driving environment information.

[0045] Sensor unit 220 can acquire information about the position, relative speed, and distance of objects around the vehicle, particularly around nearby vehicles. Furthermore, sensor unit 220 can acquire information about the lateral distance between lane markings and the main vehicle, and the curvature of the lane markings, through lane marking detection. Sensor unit 220 may include at least one of radar, lidar, vision sensors, ultrasonic sensors, and infrared sensors; however, these 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.

[0046] 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 by GPS. According to an embodiment, the navigation system 230 may provide road width information for each lane marking based on lane connections based on a precise map.

[0047] The input unit 240 can allow users to input commands for entering the mode of the displayed driving environment (e.g., an autonomous driving enabled mode) and commands for setting the distance between target vehicles.

[0048] Figure 3A and Figure 3B A component for outputting driving environment information according to an embodiment is shown.

[0049] Reference Figure 3A and Figure 3B According to the embodiments, the driving environment information may include three main components, such as information on nearby vehicles 310, distance between target vehicles 320, and information on the lane surface 330.

[0050] Nearby vehicles 310 are a concept that includes not only vehicles in front of the main vehicle traveling in the current lane, but also vehicles traveling in the lanes to the left / right of the current lane. Multiple nearby vehicles 310 can be displayed as long as the vehicles are within the sensing range of the sensor unit 220 or the surrounding area represented by the driving environment information.

[0051] The target vehicle distance of 320 (which is the target distance to the vehicle ahead maintained by the operation of the longitudinal automatic driving system) can be changed according to the set distance in the driving lane of the master vehicle.

[0052] The information on lane surface 330 provides the shape of the lane surface of the driving lane, left lane, or right lane based on the curvature of the driving lane of the main vehicle. The information on lane surface 330 can be used to indicate the target lane that the vehicle wishes to move to via lane change in the driving lane during autonomous driving; however, this disclosure is not limited thereto. For example, the information on lane surface 330 can be used to inform the driver of recommended lanes during route guidance.

[0053] Figure 4 This is a flowchart illustrating an example of a driving environment information display process according to an embodiment of the present disclosure.

[0054] Reference Figure 4 According to this embodiment, the driving environment information display processing can be mainly divided into an information acquisition process (S410) and an image processing process. The image processing process can be divided into a first image processing process (S420A to S460A) for nearby vehicles, a second image processing process (S430B to S460B) for the distance between target vehicles, and a third image processing process (S420C to S470C) for the lane surface.

[0055] First, the information acquisition process (S410) may be a process in 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, and repeated descriptions will be omitted.

[0056] Once the information required to display the surrounding environment information has been acquired, the controller 214 can perform image processing on each component of the surrounding environment information.

[0057] Reference Figures 5 to 7D The first image processing procedure (S420A to S460A) for nearby vehicles is described.

[0058] 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.

[0059] First refer to Figure 5The reference information used to display nearby vehicles includes the lateral and longitudinal distances between the nearby vehicles and the main vehicle. The origin (0, 0) of the coordinate system can be located at the center of the main vehicle's front bumper, and the position of the nearby vehicles is based on the distance between the origin and the center of the nearby vehicle's rear bumper. This is because the sensor unit 220 is positioned around the main vehicle's front bumper, and the sensor unit 220 senses the distance to the rear bumper of the vehicle in front; however, it will be apparent 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, as described below, the origin indicating the positional relationship between the actual vehicle and nearby objects (lane markings, nearby vehicles, etc.) can be referred to as 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 referred to as the "display origin."

[0060] Furthermore, as the display range for nearby environmental information, the longitudinal distance can be a maximum of 150m from the main vehicle in front, and the lateral distance can be a range of 7m to the left and right of the main vehicle. The step size, based on the motion / deformation caused during image processing, can be set to 0.1m. In this case, the longitudinal distance can be divided into 1500 steps, and the lateral distance into 70 steps (i.e., a total of 141 steps including "0", where "0" is the middle). Of course, the maximum distance and step size in each direction are illustrative, and various variations are possible.

[0061] 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-side signal value sent from sensor unit 220 can be defined, as shown in Table 2. Here, it is desirable to input either the signal corresponding to the left-side lateral distance or the signal corresponding to the right-side lateral distance to the nearby vehicle.

[0062] [Table 1]

[0063]

[0064] [Table 2]

[0065]

[0066] Reference 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.

[0067] The seed image set may include a total of 31 images, including a seed image C of a vehicle facing forward without being offset to the left or right (i.e., having a lateral distance of 0), seed images L01 to L15 of a vehicle representing the left side surface of the vehicle according to road curvature and the vehicle's lateral distance, and seed images R01 to R15 of a vehicle representing the right side surface of the vehicle according to 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. According to this implementation, a seed image showing one of the right and 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.

[0068] 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.

[0069] 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 Figure S430A.

[0070] 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 (i.e., one step) every 0.1m horizontal distance.

[0071] 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 before the middle of the main vehicle on a straight road without curvature. Furthermore, when the longitudinal distance depends on the front of the main vehicle, a sizing transformation can be performed to shrink, and when the longitudinal distance depends on the rear of the main vehicle, a sizing transformation can be performed to expand. During the sizing transformation, the coordinates can be moved in the longitudinal and lateral directions by following a reference point. Additionally, for the sizing transformation rate, a table prepared for each longitudinal distance can be consulted.

[0072] Subsequently, the controller 214 can compensate for the lateral coordinates of the vehicle image generated based on the lane curvature, such as Figure 7DAs 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.

[0073] Next, refer to Figures 8 to 9C Image processing procedure describing the distance between target vehicles (S430B~S460B).

[0074] 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.

[0075] 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 150m in front, and the step size based on the deformation it causes during image processing can be set to 0.1m. 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.

[0076] For example, the target vehicle distance and signal values ​​can be provided, as shown in Table 1 above.

[0077] 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) (S430A), such as Figure 9A As shown. At this point, the distance between the target vehicles is not directional, and therefore a single seed image is used.

[0078] 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 (S450B), such as... Figure 9B As shown. At this point, for the size conversion rate, you can refer to the table prepared for each longitudinal distance.

[0079] 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.

[0080] Reference Figures 10 to 12D The image processing procedure for describing the lane surface (S420C~S470C) is described.

[0081] 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 markings according to an embodiment is shown. It is assumed that an image located at [location] has been obtained using a predetermined method. Figures 12A to 12D The lane markings on the left and right sides of the main vehicle image are shown to have a shape that corresponds to the actual lane markings.

[0082] 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 4.5m to the left and right of the main vehicle, and the step size for determining the deformation caused during image processing can be set to 0.1m. Of course, the maximum distance and step size in each direction are illustrative, and various variations are possible.

[0083] 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.

[0084] The seed image set may include a total of 31 images, including seed image C for displaying a straight lane surface without curvature, seed images L01 to L15 for displaying lane dividing lines on a lane surface with curvature to the left, and seed images R01 to R15 for displaying lane dividing lines on a lane surface 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. According to the embodiment, a seed image with one of right curvature and 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.

[0085] For image processing of the lane surface, a seed image can be selected first (S420C). For example, the controller 214 can consider the curvature of the road to select one of a plurality of pre-prepared seed images of the lane surface. To do this, the controller 214 can refer to a predetermined table that defines seed images corresponding to the road curvature.

[0086] When a seed image is selected for displaying the lane surface, the controller 214 can position the image 330 at the origin (i.e., the display origin), such as... Figure 12A As shown (S430C).

[0087] Subsequently, the controller 214 can perform a two-stage conversion (S470C) of the lane surface image 330 set at the origin according to the lane to be displayed.

[0088] For example, suppose Figures 12B to 12D The lane surface shown in the diagram is the lane located to the left of the main vehicle's driving lane. The lateral distance between the lane dividing line on the left side of the main vehicle and the vehicle's origin is 1m, and the lateral distance between the lane dividing line on the right side of the main vehicle and the vehicle's origin is 2m, that is, the lane width is 3m.

[0089] In this case, to make the lane surface seed image 330 correspond to the position corresponding to the left lane, the controller 214 can perform a conversion so that the lower right edge position P of the seed image 330 is displayed at the position P' of the left lane dividing line, such as... Figure 12A As shown. Since the proportional distance to be converted is the lateral distance of the left lane dividing line (a) plus half the lateral width of the lane surface (b), the controller 214 must perform distortion function transformations corresponding to a and b. Under the above assumptions, a is 1m and b is 1.5m, which is half the lane width (i.e., 3m).

[0090] Of course, when displaying the right lane surface, the proportional distance to be converted needs to be transformed using a distortion function based on the lateral distance of the right lane dividing line plus half of the lateral width of the lane surface.

[0091] When performing a left transition first, controller 214 can use the lane vanishing point as an anchor point to perform a distortion function transition proportional to the lateral distance of the left lane dividing line, such as... Figure 12B As shown. Here, the distortion function transformation can include a horizontal skew transform. For example, for an 8-inch monitor with a resolution of 1280×720, a horizontal skew transform of +1.29° is performed for every 0.1m horizontal movement. The horizontal distance to the right is positive (+), and to the left is negative (-). That is, as... Figure 12B As shown, when the lateral distance of the left lane dividing line is 1m, a horizontal skew transformation of -12.9° corresponding to -1m is performed.

[0092] Next, as Figure 12C As shown, controller 214 can perform a skew transformation on a seed image that has been transformed once by shifting to the left by a distance corresponding to half the lane width using the same anchor point. That is, controller 214 can perform a horizontal skew transformation of -19.35° corresponding to -1.5m.

[0093] In short, as a two-stage transformation for displaying the lane surface, i) in response to the lateral distance of adjacent lane dividers in the direction of the target lane surface, a transformation is performed in the direction toward the target lane surface (which becomes the display target based on the main vehicle); and ii) in response to half of the lane width of the driving lane (i.e., the lateral distance of the left lane divider of the main vehicle's driving lane plus the lateral distance of its right lane divider), a transformation is performed in the direction toward the target lane surface.

[0094] Two-level conversion such as Figure 12D As shown, and as can be seen, through this transformation, the right edge of the left lane surface is transformed to adjoin the left lane of the main vehicle.

[0095] In the above embodiments, for clarity, the process of transforming each seed image (e.g., origin configuration, horizontal coordinate movement, size transformation, and tilting) has been described as a separate process with reference to the accompanying drawings. However, the image during the transformation may not be output through display unit 211, and in fact, only 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.

[0096] 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.

[0097] 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.

[0098] As can be clearly 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.

[0099] 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.

[0100] Those skilled in the art will understand that the effects achievable through this disclosure are not limited to those specifically described above, and that other effects of this disclosure should be more clearly understood from the above detailed description.

[0101] The detailed description above should not be construed as limiting this disclosure in any way, but is considered as an example. The scope of this disclosure should be construed as including all equivalent modifications made without departing from the scope of this disclosure.

Claims

1. A display method for displaying driving environment information using a driving environment display device, the display method comprising: Obtain environmental information; Based on the acquired environmental information, the first seed image corresponding to the curvature of the road on which the currently executing vehicle is traveling is selected from multiple lane surface seed images with different curvatures. Set the selected first seed image at the display origin corresponding to the vehicle origin; In response to a first lateral distance between adjacent lane dividing lines in a direction toward the target lane surface, the first seed image located at the display origin is distorted for the first time in a direction toward the target lane surface that becomes the display target based on the main vehicle. In response to half the lane width of the driving lane of the main vehicle, a second distortion is performed on the first seed image after the first distortion in the direction toward the target lane surface; as well as The first seed image, after a second distortion, is output through the display unit.

2. The display method according to claim 1, wherein, The vehicle origin is the position corresponding to the middle of the main vehicle in the lateral direction.

3. The display method according to claim 2, wherein: The first lateral distance corresponds to the distance from the vehicle origin to the adjacent lane dividing line, and The lane width is a value obtained by adding the first lateral distance to a second lateral distance from the vehicle origin to a lane dividing line located in the opposite direction to the adjacent lane dividing line.

4. The display method according to claim 1, wherein, The distortion includes using the vanishing point of the lane with zero curvature as an anchor point, and applying a skew function transformation at an angle corresponding to the first lateral distance or half the width of the lane.

5. The display method according to 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. This second seed image corresponds 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. 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 display method according to claim 5, wherein, The selected second seed image for conversion includes: Set the selected second seed image at the display origin; In response to the third lateral distance, the coordinates of the selected second seed image set at the display 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 display method according to claim 5, wherein, The plurality of vehicle seed images include at least one of a first seed image set showing a first side of the vehicle and a second seed image set showing a second side of the vehicle, as well as a forward-facing seed image.

8. The display method according to claim 7, wherein: When the plurality of vehicle seed images include any one of the first seed image set and the second seed image set, Transforming the selected second seed image involves reversing the selected second seed image between left and right according to the direction of the third lateral distance.

9. The display method according to claim 1, further comprising: A third seed image indicating the distance between target vehicles is set 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 set at the display origin is converted 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 a third seed image with the transformed size are compensated.

10. A non-transitory computer-readable recording medium containing a program recorded thereon, the program being used to instruct a processor to perform the following actions: Obtain environmental information; Based on the acquired environmental information, the first seed image corresponding to the curvature of the road on which the currently executing vehicle is traveling is selected from multiple lane surface seed images with different curvatures. Set the selected first seed image at the display origin corresponding to the vehicle origin; In response to a first lateral distance between adjacent lane dividing lines in a direction toward the target lane surface, the first seed image located at the display origin is distorted for the first time in a direction toward the target lane surface that becomes the display target based on the main vehicle. In response to half the lane width of the driving lane of the main vehicle, a second distortion is performed on the first seed image after the first distortion in the direction toward the target lane surface; as well as The first seed image, after a second distortion, is output through the display unit.

11. A vehicle comprising: The sensor unit and navigation system are configured to acquire environmental information; as well as The driving environment display device is configured to output driving environment information based on the acquired environmental information. in The driving environment display device includes: The controller is configured as follows: Based on the acquired environmental information, a first seed image corresponding to the curvature of the road on which the currently executing vehicle is traveling is selected from multiple lane surface seed images with different curvatures, and the selected first seed image is set at the display origin corresponding to the vehicle origin. In response to a first lateral distance between adjacent lane dividing lines in a direction toward the target lane surface, the first seed image located at the display origin is distorted for the first time in a direction toward the target lane surface that becomes the display target based on the main vehicle. In response to half the lane width of the main vehicle's driving lane, a second distortion is performed on the first seed image, which has undergone the first distortion, in the direction toward the target lane surface; and The display unit is configured to output the first seed image after a second distortion.

12. The vehicle according to claim 11, wherein, The vehicle origin is the position corresponding to the middle 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 origin to the adjacent lane dividing line, and The lane width is a value obtained by adding the first lateral distance to a second lateral distance from the vehicle origin to a lane dividing line located in the opposite direction to the adjacent lane dividing line.

14. The vehicle according to 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 at an angle corresponding to the first lateral distance or half the width of the lane.

15. The vehicle according to claim 11, wherein: The controller is also configured to: Based on the acquired environmental information, a second seed image is selected from multiple vehicle seed images with shapes viewed from different angles. The second seed image corresponds to the third lateral distance between the nearby vehicle and the vehicle origin, the first longitudinal distance between the nearby vehicle and the vehicle origin, and the curvature of the road. as well as The selected second seed image is transformed based on the third lateral distance, the first longitudinal distance, and the curvature of the road. The display unit is configured to output the converted second seed image.

16. The vehicle according to claim 15, wherein, The controller is also configured to: Set the selected second seed image at the display origin. In response to the third lateral distance, the coordinates of the selected second seed image set at the display 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; as well as In response to the curvature of the road, the lateral coordinates of the second seed image with the transformed size are compensated.

17. The vehicle according to claim 15, wherein, The plurality of vehicle seed images include at least one of a first seed image set showing a first side of the vehicle and a second seed image set showing a second side of the vehicle, as well as a forward-facing seed image.

18. The vehicle according to claim 17, wherein: When the plurality of vehicle seed images include any one of the first seed image set and the second seed image set, The controller is configured to invert the selected second seed image between left and right according to the direction of the third lateral distance.

19. The vehicle according to claim 11, wherein, The controller is configured to: A third seed image indicating the distance between target vehicles is set 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 set at the display origin is converted 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 a third seed image with the transformed size are compensated.

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