Vehicle driving status display method, device, electronic device and storage medium

Abstract

The embodiment of the present application discloses a vehicle driving status display method, device, electronic device and storage medium, which can be applied to the field of autonomous driving; the method may include: obtaining the current position and control instructions of the target vehicle; based on the current position, determining the road data of the road where the target vehicle is currently located, and drawing an initial map; determining the planned path of the target vehicle under the control instructions; determining the key obstacles on the target lane in the planned path; displaying a driving status map including the initial map, the target lane, the planned path and the image identification of the key obstacles. The embodiment of the present application can not only display the planned path of the target vehicle under the control of the control instructions, so that the user can understand the driving status of the target vehicle, but also display the key obstacles during the driving process, so that the user can understand the driving environment of the target vehicle, thereby improving the safety of autonomous driving.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, device, electronic device and storage medium for displaying vehicle driving status. Background Art

[0002] With the rapid development of the Internet and artificial intelligence, products in all walks of life have undergone reforms again and again. As one of the essential tools for people's daily travel, transportation vehicles are also constantly developing in the direction of artificial intelligence in order to provide greater travel convenience.

[0003] Existing means of transport, such as vehicles, usually have an automatic driving function, which senses the vehicle's surroundings through an onboard sensor system, and controls the vehicle's steering and speed based on the road information, other vehicle position information, and obstacle information obtained through the perception, so that the vehicle can travel safely and reliably on the road. However, when a vehicle is driving under the control of automatic driving, it is usually difficult for the driver to understand the vehicle's driving conditions, resulting in low safety of automatic driving. Summary of the invention

[0004] The embodiments of the present application provide a vehicle driving status display method, device, electronic device and storage medium, which can improve the safety of autonomous driving.

[0005] The present application provides a method for displaying a vehicle driving status, including:

[0006] Get the current position and control instructions of the target vehicle;

[0007] Based on the current position, determining road data of a road where the target vehicle is currently located, and drawing an initial map based on the road data and the target vehicle;

[0008] Determining a planned path of the target vehicle under the control instruction, the planned path including a target lane that the target vehicle is about to enter;

[0009] determining key obstacles in the target lane;

[0010] A driving state diagram is displayed, wherein the driving state diagram includes the initial diagram, the target lane, the planned path, and image identifications of the key obstacles.

[0011] The embodiment of the present application also provides a vehicle driving status display device, including:

[0012] An acquisition module is used to obtain the current position and control instructions of the target vehicle;

[0013] An initial map drawing module, used to determine the road data of the road where the target vehicle is currently located based on the current position, and draw an initial map based on the road data and the target vehicle;

[0014] A first determination module is used to determine a planned path of the target vehicle under the control instruction, wherein the planned path includes a target lane that the target vehicle is about to enter;

[0015] A second determination module, used for determining a key obstacle in the target lane as a key obstacle;

[0016] A display module is used to display a driving state diagram, wherein the driving state diagram includes the initial diagram, the target lane, the planned path, and image identifications of the key obstacles.

[0017] In some embodiments, the initial graph drawing module further includes:

[0018] A lane group determination unit, configured to determine a current road and a current lane to which the target vehicle belongs based on the current position, wherein the current lane is located in the current road;

[0019] An identification acquisition unit, used to acquire a lane identification corresponding to each lane in the current road;

[0020] A data acquisition unit, configured to acquire lane data corresponding to each lane based on a lane identifier corresponding to each lane, wherein the lane data includes a lane centerline and a lane boundary line;

[0021] A drawing unit is used to draw the initial map according to the target vehicle, all the lane center lines and lane boundary lines.

[0022] In some embodiments, the data acquisition unit is further configured to:

[0023] Based on the lane identifier, querying lane data from a specified cache;

[0024] If the lane data is not found in the designated cache, the lane data is queried from an original database based on the lane identifier, and the lane data is written into the designated cache.

[0025] In some embodiments, the first determining module further includes:

[0026] An element determination unit, configured to determine a target element and a target lane according to the control instruction, wherein the target element is an element for drawing the planned path;

[0027] A path drawing unit is used to draw the target element on the target lane using the drawing parameters corresponding to the control instruction to obtain the planned path.

[0028] In some embodiments, the element determination unit is further configured to:

[0029] If the control instruction instructs the target vehicle to change lanes, the target lane is determined from adjacent lanes of the current lane, and the current lane is the lane to which the target vehicle currently belongs;

[0030] Calculating a target drop point on the target lane based on the current position, the lane centerline of the target lane, the travel speed of the target vehicle, and the lane change time of the target vehicle;

[0031] The target drop-off point is determined as the target element.

[0032] In some embodiments, the element determination unit is further configured to:

[0033] If the control instruction instructs the target vehicle to drive in the center of the current lane, the current lane is determined as the target lane, and the current lane is the lane to which the target vehicle currently belongs;

[0034] A lane centerline of the target lane is determined as the target element.

[0035] In some embodiments, the element determination unit is further configured to:

[0036] If the control instruction instructs the target vehicle to perform adaptive cruising, the current lane is determined as the target lane, and the current lane is the lane to which the target vehicle currently belongs;

[0037] A lane boundary line of the target lane is determined as the target element.

[0038] In some embodiments, the second determining module further includes:

[0039] an identification unit, configured to determine a target area according to the current position, and identify obstacles in the target area;

[0040] A search determination unit, configured to determine a target search range and a target search direction on the target lane based on the control instruction;

[0041] a starting point determination unit, configured to determine a search starting point on the target lane according to the current position;

[0042] A control unit, used for controlling the search window to start from the search starting point and move within the target search range according to the target search direction;

[0043] The key obstacle determination unit is used to determine the obstacle falling within the search window as the key obstacle.

[0044] In some implementations, the control unit is further configured to:

[0045] At the search starting point, generating a plurality of the search windows according to a preset frequency;

[0046] Setting the moving speed of each of the search windows to a specified speed;

[0047] Control each of the search windows to move at the specified speed in the target search direction;

[0048] If there is a search window that reaches the boundary of the target search range, the movement of the search window that reaches the boundary of the target search range is terminated.

[0049] In some embodiments, the control unit is further configured to:

[0050] generating the search window at the search starting point;

[0051] Setting the moving step size of the search window to a specified step size;

[0052] Controlling the search window to start from the search starting point and move in the target search direction with the specified step length;

[0053] If the search window reaches the boundary of the target search range, the search window is reset so that the search window continues to move from the search starting point.

[0054] In some embodiments, after determining the target area according to the current position and identifying obstacles in the target area, the second determination module is further configured to:

[0055] Predicting a movement trajectory of the obstacle based on the movement information of the obstacle;

[0056] Determining the driving trajectory of the target vehicle according to the control instruction;

[0057] A collision obstacle is determined from the obstacles based on the movement trajectory of the obstacle and the driving trajectory of the target vehicle.

[0058] In some embodiments, the second determining module is further configured to:

[0059] Determine an obstacle at an intersection between the motion trajectory and the driving trajectory as a candidate obstacle;

[0060] Calculating a first time when the target vehicle arrives at the intersection, and a second time when the candidate obstacle arrives at the intersection;

[0061] According to the difference between the first time and the second time, a collision obstacle is determined from the candidate obstacles. In some embodiments, the second determination module is further configured to:

[0062] Preset processing is performed on the image identification of the collision obstacle to obtain a collision mark corresponding to the collision obstacle;

[0063] Obtaining the motion trajectory of the collision obstacle and the driving trajectory of the target vehicle;

[0064] The collision mark, the motion track and the driving track are superimposed and displayed on the driving state diagram.

[0065] In some embodiments, the display module is further used to:

[0066] Detecting a state change of the automatic driving function of the target vehicle;

[0067] Generate a prompt mark based on the state change;

[0068] The prompt mark is displayed superimposed on the driving status diagram.

[0069] An embodiment of the present application also provides an electronic device, including a memory storing multiple instructions; the processor loads instructions from the memory to execute the steps in any vehicle driving status display method provided in the embodiment of the present application.

[0070] An embodiment of the present application also provides a computer-readable storage medium, which stores multiple instructions, and the instructions are suitable for a processor to load to execute the steps in any vehicle driving status display method provided in the embodiment of the present application.

[0071] An embodiment of the present application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps in any one of the vehicle driving status display methods provided in the embodiments of the present application.

[0072] The embodiment of the present application can obtain the current position and control instructions of the target vehicle; based on the current position, determine the road data of the road where the target vehicle is currently located, and draw an initial map based on the road data and the target vehicle; then determine the planned path of the target vehicle under the control instruction, wherein the planned path may include the target lane that the target vehicle is about to enter; then continue to determine the key obstacles in the target lane, and then display the driving state map including the initial map, the target lane, the planned path, and the image identification of the key obstacles. This method can not only display the planned path of the target vehicle under the control of the control instruction, so that the user can understand the driving status of the target vehicle, but also display the key obstacles during the driving process, so that the user can understand the driving environment of the target vehicle, thereby improving the safety of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0074] Figure 1a is a scene schematic diagram of a vehicle driving status display method provided in an embodiment of the present application;

[0075] Figure 1b It is a flow chart of a method for displaying a vehicle driving status provided in an embodiment of the present application;

[0076] Figure 1c is a schematic diagram of switching between autonomous driving functions provided in an embodiment of the present application;

[0077] Figure 1d is a schematic diagram of high-precision map data provided by an embodiment of the present application;

[0078] Figure 1e is a schematic diagram of the organizational structure of lane data provided in an embodiment of the present application;

[0079] Figure 1f is a schematic diagram of querying lane data provided by an embodiment of the present application;

[0080] Figure 1g is a schematic diagram of an initial diagram provided in an embodiment of the present application;

[0081] Figure 1h is a schematic diagram of calculating a target drop-off point provided in an embodiment of the present application;

[0082] Figure 1i is a schematic diagram of searching for key obstacles provided in an embodiment of the present application;

[0083] Figure 1j It is a schematic diagram of a driving state diagram provided in an embodiment of the present application;

[0084] Figure 1k is a schematic diagram of the change of the state of the automatic driving function provided by an embodiment of the present application;

[0085] Figure 1l is a schematic diagram of the corresponding relationship between the change of the automatic driving function and the prompt content provided in the embodiment of the present application;

[0086] Figure 2a is a schematic diagram of a vehicle driving status display method provided by another embodiment of the present application;

[0087] Figure 2b is a schematic diagram showing the driving status of a vehicle provided in an embodiment of the present application;

[0088] Figure 2c is a schematic diagram of an interface provided by an embodiment of the present application showing when ACC can be turned on;

[0089] Figure 2d is a schematic diagram of an interface provided by an embodiment of the present application showing that ACC and LCC are turned on;

[0090] Figure 2e is a schematic diagram of an interface when NOA is turned on, provided in an embodiment of the present application;

[0091] Figure 2f is a schematic diagram of an interface for changing lanes to the right provided in an embodiment of the present application;

[0092] Figure 3 is a structural schematic diagram of a vehicle driving status display device provided in an embodiment of the present application;

[0093] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0094] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0095] Embodiments of the present application provide a vehicle driving status display method, device, electronic device and storage medium.

[0096] The vehicle driving status display device can be integrated into an electronic device, which can be a terminal, a server, etc. The terminal can be a mobile phone, a tablet computer, a smart Bluetooth device, a laptop, or a personal computer (PC), etc. The server can be a single server or a server cluster composed of multiple servers.

[0097] In some embodiments, the vehicle driving status display device can also be integrated into multiple electronic devices. For example, the vehicle driving status display device can be integrated into multiple servers, and the vehicle driving status display method of the present application can be implemented by multiple servers.

[0098] In some embodiments, the server may also be implemented in the form of a terminal.

[0099] For example, refer to Figure 1a , showing a schematic diagram of an application scenario of the vehicle driving status display method provided in an embodiment of the present application.

[0100] like Figure 1a As shown in , the target vehicle 101 and the server 102 are located in a wireless network or a wired network, and the target vehicle 101 and the server 102 perform data exchange. The server 102 can be a separate server or a server cluster, a local server or a cloud server.

[0101] For example, the target vehicle 101 may refer to a vehicle with an automatic driving function, which may be equipped with an automatic pilot, which may be connected to the server 102 based on network communication, and obtain the driving information of the vehicle itself and surrounding vehicles through the sensors carried by the target vehicle 101. For example, the current position of the target vehicle 101 and the received control instructions may be obtained through the network, and the driving information of other surrounding vehicles (such as the driving speed, vehicle type, distance between the vehicle and the vehicle, driving direction, etc.) may be obtained through the vehicle's sensor system; then, the target vehicle 101 may determine the road data of the road where the target vehicle is currently located based on the current position, and draw an initial map based on the road data and the target vehicle; determine the planned path of the target vehicle under the control instruction, the planned path includes the target lane that the target vehicle is about to enter; determine the key obstacles in the target lane; display a driving state map, the driving state map includes the initial map, the target lane, the planned path and the image identification of the key obstacles.

[0102] It should be noted that the vehicle driving state display method can be executed by the target vehicle 101, and output to the human-computer interaction interface of the target vehicle 101 for display. It can also be that the target vehicle 101 transmits the acquired data to the server 102, and the server 102 executes the above method to obtain the driving state diagram, and then transmits it to the target vehicle 101 for display. Optionally, it can also be that the target vehicle 101 and the server 102 perform some steps respectively, for example, after the server 102 determines the initial diagram, the planned path, the target lane, and the key obstacles, it is sent to the target vehicle 101, so that the target vehicle 101 synthesizes the driving state diagram and displays it. It can all be set according to actual needs, and is not specifically limited here.

[0103] The following will take the target vehicle executing the above steps as an example for detailed description.

[0104] Artificial Intelligence (AI) is a technology that uses digital computers to simulate human perception of the environment, acquire knowledge, and use knowledge. This technology can enable machines to have functions similar to human perception, reasoning, and decision-making. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics, and other technologies. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, as well as machine learning / deep learning, autonomous driving, smart transportation, and other major directions.

[0105] Computer Vision (CV) is a technology that uses computers to replace human eyes to identify, measure and further process target images. Computer vision technology usually includes image processing, image recognition, image semantic understanding, image retrieval, virtual reality, augmented reality, simultaneous positioning and map construction, autonomous driving, smart transportation and other technologies, as well as common biometric recognition technologies such as face recognition and fingerprint recognition. For example, image processing technologies such as image coloring and image stroke extraction.

[0106] The key technologies of speech technology include automatic speech recognition technology, speech synthesis technology and voiceprint recognition technology. Enabling computers to listen, see, speak and feel is the development direction of human-computer interaction in the future, among which speech has become one of the most promising human-computer interaction methods in the future.

[0107] Autonomous driving technology usually includes high-precision maps, environmental perception, behavioral decision-making, path planning, motion control and other technologies. Autonomous driving technology has broad application prospects.

[0108] With the research and advancement of artificial intelligence technology, artificial intelligence technology has been studied and applied in many fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, drones, robots, smart medical care, smart customer service, Internet of Vehicles, automatic driving, smart transportation, etc. I believe that with the development of technology, artificial intelligence technology will be applied in more fields and play an increasingly important role.

[0109] In this embodiment, a method for displaying the driving status of a vehicle based on the automatic driving technology is provided. Figure 1b As shown, the specific process of the method can be as follows:

[0110] S110, obtaining the current position and control instructions of the target vehicle.

[0111] The target vehicle refers to a vehicle equipped with an automatic driving system, or it can be the vehicle itself. That is, when the automatic driving function is turned on, the automatic driving system will control the target vehicle. When the automatic driving function is turned off, the target vehicle can be controlled by the driver.

[0112] The current position refers to the current position of the target vehicle, wherein a positioning device may be installed on the target vehicle, and the current position of the target vehicle may be acquired based on the positioning device.

[0113] Control instructions refer to instructions issued by the autonomous driving system to control the target vehicle. The autonomous driving system can realize a variety of autonomous driving functions, such as Adaptive Cruise Control (ACC), Lane Center Control (LCC) and Navigate on Autopilot (NOA). Under different autonomous driving functions, the autonomous driving system can issue corresponding control instructions to control the target vehicle.

[0114] Among them, ACC refers to the automatic driving system that dynamically adjusts the speed of the vehicle according to the cruising speed set by the user and the safe distance from the vehicle in front. If the vehicle in front accelerates, the vehicle will also accelerate to the set speed. If the vehicle in front decelerates, the vehicle will slow down to maintain a safe distance from the vehicle in front.

[0115] LCC refers to the function provided by autonomous driving to assist the driver in controlling the steering wheel, which can continuously keep the vehicle centered in the current lane.

[0116] NOA refers to the automatic driving system that can guide the vehicle to drive automatically by setting the destination, and can complete lane change, overtaking, automatic entry and exit ramps under the observation of the driver. NOA's driving behaviors include cruising, following, avoiding, giving way, single-rule lane change behavior planning (such as merging into the fast lane, expected exit), and multi-condition decision-making lane change behavior (changing lanes during cruising).

[0117] The autonomous driving system can support switching from manual driving to autonomous driving, as well as switching between a variety of different autonomous driving functions. The level of the autonomous driving function can be divided according to the intelligence of the autonomous driving function. The higher the intelligence, the higher the level of the autonomous driving function. Therefore, from manual driving, ACC, LCC, NOA, the level increases in sequence. Switching from a low-level autonomous driving function to a high-level autonomous driving function can be considered a function upgrade, and vice versa, it can be considered a function reduction. For example, see Figure 1c , showing a schematic diagram of switching between autonomous driving functions. Figure 1c In the figure, function upgrade may include the switching contents indicated by 1-3, where 1 indicates entering the NOA function, 2 indicates entering the LCC function, and 3 indicates entering the ACC function. Function downgrade may include the switching indicated by 4-6, where 4 indicates exiting the LCC function, 5 indicates exiting the ACC function, and 6 indicates exiting the manual driving.

[0118] S120. Based on the current position, determine the road data of the road where the target vehicle is currently located, and draw an initial map based on the road data and the target vehicle.

[0119] After the current position of the target vehicle is acquired, in order to facilitate the personnel in the target vehicle to understand the environment in which the target vehicle is located, the road data of the road where the target vehicle is currently located can be determined, and an initial map can be drawn based on the road data and the target vehicle.

[0120] Road data can be organized in high-precision map data. High-precision map data is an abstraction of road information in the real world, which contains accurate three-dimensional road representation information with centimeter-level accuracy, such as road geometry, road signs, lane attributes and other data. Among them, lane attributes can include data such as slope, curvature, heading, elevation, etc., and road geometry can include lane boundaries and lane centerlines of each lane in the road, that is, road data. Based on the current position, a query can be made in the high-precision map data to determine the road data of the road where the target vehicle is currently located.

[0121] In some embodiments, based on the current position, road data of the road where the target vehicle is currently located is determined, and an initial map is drawn based on the road data and the target vehicle, which may include: based on the current position, determining the current road and current lane to which the target vehicle belongs, the current lane being in the current road; obtaining lane identification corresponding to each lane in the current road; based on the lane identification corresponding to each lane, obtaining lane data corresponding to each lane, the lane data including lane center lines and lane boundary lines; generating the initial map based on the target vehicle, all lane center lines and lane boundary lines.

[0122] HD map data can include roads (Link), lanes (Lane), lane boundaries and lane centerlines. Among them, roads refer to the geometric form abstracted from the entire road surface, mainly referring to road-level data; lanes refer to multiple lanes included in the road surface; lane boundaries refer to the collective expression of lanes, and each lane has boundaries on both sides; the lane centerline is located at the center of the two lane boundaries. For example, you can refer to Figure 1d , showing a schematic diagram of high-precision map data. Among them, 121 and 123 refer to the lane boundary lines of conventional lane 1, 122 refers to the lane center line of conventional lane 1; 123 and 125 refer to the lane boundary lines of conventional lane 2, 124 refers to the lane center line of conventional lane 2; 125 and 127 refer to the lane boundary lines of conventional lane 3, 126 refers to the lane center line of conventional lane 3; 127 and 128 refer to the lane boundary lines of the emergency lane. Among them, 124 can also refer to the abstract expression of the entire road, namely Link.

[0123] Lane data can be organized based on environment areas (Tile), roads (Link), and lanes (Lane). For example, see Figure 1e , showing a schematic diagram of the organization structure of lane data. Among them, it can be divided according to environmental areas, each environmental area can include multiple roads, and then each road can include multiple lanes, that is, a lane group, and multiple lanes can include at least one lane. The lane data of each lane can be a lane boundary line, that is, a lane left boundary line and a lane right boundary line. The lane center line can be determined based on the lane left boundary line and the lane right boundary line. Each lane data can be stored in a form of association with the lane identifier (Lane ID) and the identifier (Tile ID) of the environmental area to which the road belongs.

[0124] Thus, based on the current position of the target vehicle, the environment area where the target vehicle is located can be determined, wherein one environment area can include data of multiple roads in the environment area; then, based on the current position, the road where the target vehicle is currently located, i.e., the current road, can be determined from the multiple roads in the environment area, wherein each road is composed of multiple lane data. The current lane includes the lane where the target vehicle is currently located, and the current lane of the target vehicle can be further determined based on the current position, and then the lane boundary line and lane center line corresponding to the required lane can be extracted. The remaining lanes in the lane group are lanes that belong to the same road as the current lane.

[0125] After determining the lane group, the lane identification of each lane in the current road can be obtained. The lane identification can be a unique identification that refers to the lane. As an implementation method, the lane identification can include an identification of the environment area (TileID) and an identification of the lane (Lane ID). As another implementation method, the lane identification can be composed of unique characters that can uniquely refer to a lane.

[0126] Since the current road includes multiple lanes, the lane data corresponding to each lane can be obtained based on the lane identification corresponding to each lane. For example, the lane data can be queried from a designated cache based on the lane identification; if the lane data is not found in the designated cache, the lane data is queried from a high-precision map database based on the lane identification, and the lane data is written into the designated cache.

[0127] For details, please refer to Figure 1f , showing a schematic diagram of querying lane data. The designated cache can be used to cache high-precision map data that has been queried from the high-precision map database. After obtaining the lane identification corresponding to each lane, for example, the lane identification includes the identification of the environmental area (Tile ID) and the identification of the lane (Lane ID), the corresponding road data can be first searched in the designated cache according to the Tile ID and Lane ID; if found, the queried high-precision map data can be determined as road data; if not found, it is necessary to query the corresponding high-precision map data in the high-precision map database according to the Tile ID and Lane ID, determine the queried high-precision map data as road data, and associate the queried high-precision map data with the identification of the environmental area and the identification of the lane and store them in the designated cache.

[0128] In some embodiments, in order to avoid excessive data in the designated cache, which would cause greater storage pressure, the expired lane data may be calculated based on the current position and transferred to the secondary cache. If the lane data in the secondary cache is not queried within a preset time period, the lane data in the secondary cache will be completely discarded.

[0129] Among them, the expired lane data calculated based on the current position may refer to the distance between the lane data and the current position of the target vehicle exceeding the preset distance threshold, that is, the current position of the target vehicle changes at any time during driving, and it may happen that the target vehicle is not currently in the area indicated by the lane data. The lane data will be discarded so that the designated cache can be cleared in time to store the lane data corresponding to each road in the new environment area that the target vehicle enters.

[0130] Among them, the lane data may include the lane center line and lane boundary line of the lane. After obtaining the lane center line and lane boundary line corresponding to each lane in the road where the target vehicle is currently located, the initial map can be generated according to the target vehicle and all the acquired lane center lines and lane boundary lines.

[0131] It should be noted that the target vehicle and the current lane can be determined based on the current position. When generating the initial map, each lane can be drawn based on the lane center line and lane boundary line corresponding to each lane, and then the image mark corresponding to the target vehicle is drawn on the current lane to obtain the initial map. For example, you can refer to Figure 1g , shows a schematic diagram of the initial figure, wherein the lane where the target vehicle 101 is located is the current lane, and the dotted line indicated by 129 is the lane boundary line.

[0132] S130: Determine a planned path of the target vehicle under the control instruction, where the planned path includes a target lane that the target vehicle is about to enter.

[0133] The target vehicle can travel normally under the control of the control command. After each control command is issued, the target vehicle will execute the control command. In order to know the driving status of the target vehicle under the control command, the planned path of the target vehicle under the control command can be determined. Among them, the planned path refers to the path that the target vehicle will travel under the control of the control command. For example, the control command instructs the target vehicle to go straight, and the planned path is the straight path. For another example, the control command instructs the target lane to change lanes to the left, and the planned path is the path to change lanes to the left. The target lane refers to the lane that the target vehicle is about to enter. It can refer to the lane where the target vehicle is currently located, or it can refer to other lanes. It can be determined according to the control command.

[0134] In some embodiments, determining a planned path of a target vehicle under a control instruction may include: determining a target element and a target lane according to the control instruction, wherein the target element is an element for drawing the planned path; and drawing the target element on the target lane using a drawing parameter corresponding to the control instruction to obtain the planned path.

[0135] Under different control instructions, the planned path of the target vehicle is different, and the display method of its planned path can also be different. Therefore, the target element and the target lane can be determined according to the control instruction, wherein the target element refers to the element used to draw the planned path, so that the planned path can be presented in a visual way.

[0136] In some embodiments, a control instruction may instruct the target vehicle to change lanes. When determining the target element and the target lane according to the control instruction, the target lane may be determined from adjacent lanes of the current lane, where the current lane is the lane to which the target vehicle currently belongs; based on the current position, the lane centerline of the target lane, the driving speed of the target vehicle, and the lane change time of the target vehicle, the target landing point on the target lane is calculated; and the target landing point is determined as the target element.

[0137] The current lane refers to the lane where the target vehicle is currently traveling, and the adjacent lane refers to the lane that belongs to the same road as the current lane. If the control instruction instructs the target vehicle to change lanes, it indicates that the target vehicle needs to enter the target lane from the current lane. It is understandable that changing lanes can be changing lanes to the left or to the right, wherein both left and right are determined based on the current driving direction of the target vehicle. If the control instruction instructs the target vehicle to change lanes to the left, the target lane is determined from the adjacent lanes on the left side of the current lane. For example, from the adjacent lanes on the left side of the current lane, the adjacent lane closest to the current lane is determined as the target lane. If the control instruction instructs the target vehicle to change lanes to the right, the target lane is determined from the adjacent lanes on the right side of the current lane. For example, from the adjacent lanes on the right side of the current lane, the adjacent lane closest to the current lane is determined as the target lane.

[0138] After obtaining the target lane, the center line of the target lane can be obtained, and then the target drop point on the target lane is calculated based on the current position, the center line of the target lane, the target vehicle's speed, and the target vehicle's lane change time. The target drop point refers to the drop point calculated based on the lane change time and the vehicle speed during the lane change, that is, the drop point when the target vehicle changes lanes to the target lane.

[0139] For example, see Figure 1h , shows a schematic diagram of calculating the target drop-off point. Figure 1g In the figure, point A indicates the current position of the target vehicle; line segment CD refers to the center line of the target lane; a perpendicular line is drawn from point A to line segment CD, and the foot of the perpendicular is point B, which indicates the normal landing point; and point B' indicates the target landing point.

[0140] If the target vehicle's speed is v m / s, the target vehicle's lane change time is t seconds, and the steering angle is angle B'AB, i.e., θ, then the position of point B' on the target lane is the position of point B plus the distance BB' traveled when changing lanes. From this, the calculation formula for BB' can be derived as follows:

[0141] BB'=AB'*sin(∠B'AB)=v*t*sin(θ).

[0142] Thus, the target drop-off point can be calculated, and then the target drop-off point can be determined as the target element.

[0143] In some embodiments, the control instruction may instruct the target vehicle to drive in the center of the current lane, and the current lane may be determined as the target lane, where the current lane is the lane to which the target vehicle currently belongs; and the center line of the target lane is determined as the target element.

[0144] When the control instruction instructs the target vehicle to drive in the center of the current lane, the vehicle can be continuously controlled to drive in the center of the current lane. Therefore, it can be known that under this control instruction, the target lane that the target vehicle is about to enter is the current lane. Then the lane centerline of the target lane is determined as the target element.

[0145] In some embodiments, the control instruction may instruct the target vehicle to perform adaptive cruise control. When determining the target element and the target lane, the current lane may be determined as the target lane, where the current lane is the lane to which the target vehicle currently belongs; and the lane boundary line of the target lane may be determined as the target element.

[0146] Adaptive cruise control refers to dynamically adjusting the speed of the target vehicle based on the user-set cruising speed and the safe distance from the vehicle in front. In other words, during adaptive cruise control, the vehicle speed can be adjusted to maintain a safe distance from the vehicle in front, and lane changes will not occur. Therefore, the current lane can be directly determined as the target lane, and the lane boundary line of the target lane can be determined as the target element.

[0147] After the target element and the target lane are determined, the target element can be drawn on the target lane based on the drawing parameters corresponding to the control instruction to obtain a planned path.

[0148] The drawing parameters refer to the parameters used when drawing the target element, for example, the color and style used to draw the target element. The planned paths under different control instructions may have different display effects, and thus, the target element may be drawn based on the drawing parameters corresponding to the control instructions.

[0149] As an implementation method, a mapping relationship table of preset control instructions and preset drawing parameters is pre-stored, wherein the preset control instructions may include all control instructions that may be issued by the autonomous driving system. When obtaining the planned path, the drawing parameters corresponding to the control instructions may be determined based on the mapping relationship table and the control instructions.

[0150] For example, see Table 1, which shows part of the mapping relationship:

[0151] Table 1

[0152] Preset control instructions Control instruction 1 Control Instructions 2 Control Instructions 3 Preset drawing parameters Drawing parameters 1 Drawing parameters 2 Drawing parameters 3

[0153] In Table 1, control instruction 1 corresponds to drawing parameter 1, control instruction 2 corresponds to drawing parameter 2, and control instruction 3 corresponds to drawing parameter 3. Thus, according to the mapping table, the drawing parameters corresponding to the control instructions can be determined. If control instruction 1 instructs the target vehicle to change lanes, control instruction 2 instructs the target vehicle to drive in the center of the current lane, and control instruction 3 instructs the target vehicle to perform adaptive cruise control.

[0154] The corresponding drawing parameter 1 may be drawing the road surface of the target lane in blue and drawing the target landing point, and the drawing parameter 2 may be drawing the lane boundary line of the target lane in blue; the drawing parameter may be drawing a blue radar wave on the target lane.

[0155] As can be seen from the above, if the control instruction instructs the target vehicle to change lanes to the right, the target element may be a target drop-off point, and the drawing parameter may be to draw the road surface of the target lane in blue and draw the target drop-off point to show the path of the lane change.

[0156] If the control instruction instructs the target vehicle to drive in the center of the current lane, the target element may be the lane boundary line of the target lane, and the drawing parameter may be to draw the lane boundary line in blue. By highlighting the lane boundary line of the target lane, the lane locking effect when driving in the center is displayed, and the planned path of the target vehicle in the target lane can also be reflected, that is, driving in the center of the target lane.

[0157] If the control instruction instructs the target vehicle to perform adaptive cruise control, the target element may be a lane centerline of the target lane, and the drawing parameter may be drawing a radar wave on the target lane. For example, the radar wave is drawn according to the lane centerline of the target lane, and the radar wave is drawn on the target lane to indicate the planned path of the target vehicle under adaptive cruise control, that is, to follow the target vehicle searched by the radar wave.

[0158] It should be noted that the display method of the above-mentioned planned path can be changed according to actual needs and is not specifically limited here.

[0159] S140: Determine key obstacles in the target lane.

[0160] An obstacle refers to any object that can move, such as a person, vehicle, animal, etc. A key obstacle refers to an obstacle that may affect the driving of the target vehicle. For example, in adaptive cruise control, a key obstacle may refer to the target that the target vehicle follows; when changing lanes, a key obstacle may refer to an obstacle that may collide with the target vehicle.

[0161] Determine the key obstacles in the target lane and display them, which can remind the driver to pay attention and ensure driving safety under automatic driving. Therefore, when determining the key obstacles in the target lane, it can be to determine the target area according to the current position and identify the obstacles in the target area; determine the target search range and target search direction on the target lane based on the control instruction; determine the search starting point on the target lane according to the current position; control the search window to start from the search starting point and move within the target search range according to the target search direction; and determine the obstacles falling into the search window as the key obstacles.

[0162] The target area refers to the recognition range of the target vehicle, which can change with the current position of the target vehicle. Any object in the target area can be recognized by the target vehicle. When identifying obstacles, the image in the target area can be collected, and then the image is input into the pre-trained neural network model to obtain the corresponding recognition result.

[0163] After identifying obstacles in the target area, the target search range and target search direction can be determined on the target lane based on the control instruction. Since different control instructions can produce different control effects, the corresponding search range and search direction can also be different under different control instructions. For example, the corresponding relationship between the preset control instruction and the search range, and the preset control instruction and the search direction can be pre-stored. For example, the corresponding relationship can refer to Table 2.

[0164] Table 2

[0165] Preset control instructions Control instruction 1 Control Instructions 2 Control Instructions 3 Search Scope S1 S2 S3 Search Direction Z1 Z2 Z3

[0166] In Table 2, control instruction 2 corresponds to S1 and Z1, control instruction 2 corresponds to S2 and Z2, and control instruction 3 corresponds to S3 and Z3. Therefore, according to the corresponding relationship, the target search range and target search direction corresponding to the control instruction can be determined.

[0167] If control instruction 1 instructs the target vehicle to change lanes, S1 may mean starting from the search starting point, with the maximum forward search distance being maxForward meters and the maximum backward search distance being maxBackward meters. Z1 may mean starting from the search starting point, with a forward and backward bidirectional search.

[0168] If the control instruction 2 instructs the target vehicle to drive in the center of the current lane, S2 may refer to a maximum forward search distance of max meters starting from the search starting point, and Z2 may refer to a one-way search starting from the search starting point and forward.

[0169] If the control instruction 3 instructs the target vehicle to perform adaptive cruise control, S3 may mean starting from the search starting point, and the maximum forward search distance is max meters, and Z3 may mean starting from the search starting point, and performing a one-way search forward.

[0170] After determining the target search range and target search direction, the search starting point can be determined according to the current position of the target vehicle. For example, the search starting point can be determined according to the positional relationship between the target lane and the current position. For example, if the current position is on the target lane, the current position is directly determined as the search starting point; if the current position is not on the target lane, the current position is translated to the target lane to obtain the search starting point.

[0171] After determining the target search range and the target search direction, the search window can be controlled to start from the search starting point and move within the target search range according to the target search direction.

[0172] As an implementation method, the search window may be generated at the search starting point; the moving step of the search window may be set to a specified step; the search window may be controlled to move in the target search direction at the specified step starting from the search starting point; if the search window reaches the boundary of the target search range, the search window may be reset so that the search window continues to move from the search starting point. For ease of description, this search method is referred to as the first search method below. The key obstacle search may be performed by moving the search window to ensure the accuracy of the key obstacle search.

[0173] The search window can be used to search for key obstacles. The search window can be a rectangular box generated based on the size of the target vehicle. The specified step size refers to the distance the search window moves each time, which can be set as needed. When controlling the movement of the search window, the search window can be controlled to start from the search starting point and move in the target search direction with a specified step size. When the search window reaches the boundary of the target search range, the search window is controlled to continue to appear at the search starting point and continue to move until the key obstacle is found and the search stops.

[0174] For example, see Figure 1i , shows a schematic diagram of searching for key obstacles, where Figure 1i (1), if the control instructs the target vehicle to drive in the center of the current lane, or instructs the target vehicle 101 to perform adaptive cruising, it is possible to search for a following target during driving, that is, a key obstacle under the control instruction. When searching for a key obstacle under the control instruction, the current position can be used as the search starting point 141, that is, the position of the target vehicle 101, and then the search window 142 is controlled to move in the target search direction 143 until it moves to the boundary 144 of the target search range, completing a search. Specifically, when the search window is controlled to move in the target search direction, the moving step 145 can be x1 meters.

[0175] For another example, if the control command instructs the target vehicle to change lanes, in order to ensure the safety of the lane change, key obstacles during the lane change can be searched, such as vehicles that may collide with the target vehicle when changing lanes. Figure 1i (2) As can be seen from the figure, when searching, the search starting point is the area on the target lane translated from the current position of the target vehicle 101, that is, the position indicated by 141. Starting from this position, the search window 142 is moved forward and backward respectively. When the forward search reaches the boundary 144 of the forward range, the search window can be controlled to return to the search starting point and continue the subsequent search. Similarly, the forward and backward searches also follow this rule.

[0176] In some implementations, if the forward and backward search ranges are the same size, it can be considered that one search is complete after one forward search and one backward search. The moving step 145 of the search window can be x2 meters.

[0177] As another implementation, the search window is controlled to start from the search starting point and move within the target search range in the target search direction. It can be that at the search starting point, multiple search windows are generated according to a preset frequency; the moving speed of each search window is set to a specified speed; each search window is controlled to move within the target search range at the specified speed in the target search direction; if there is a search window that reaches the boundary of the target search range, the movement of the search window that reaches the boundary of the target search range is terminated. For ease of description, this search method is referred to as the second search method below. By generating multiple search windows to search for key obstacles, the comprehensiveness of the search can be ensured, thereby improving the accuracy of determining key obstacles.

[0178] Among them, the preset frequency is a pre-set frequency. During the search, multiple search windows are generated according to the preset frequency, and each search window moves in the target search direction at a specified speed. If the search window reaches the boundary of the target search range, the search window is stopped from moving. For example, a search window is generated every one second at the search starting point. If the search windows generated in sequence at this time are search window A and search window B, each generated search window moves in the target search direction at a specified speed v1. If search window A reaches the boundary of the target search range at this time, the control of the movement of search window A is stopped, and search window B continues to move. If a key obstacle is found, the search is stopped, that is, the generation of search windows is stopped and the control of the movement of all search windows is stopped.

[0179] It should be noted that if the target search direction is bidirectional, no matter the first search method or the second search method, a search window will be generated at the search starting point for each direction, so that key obstacles can be identified in each direction. Figure 1i The target search direction shown in (2) includes forward and backward. At the search starting point, search windows moving in the forward and backward directions are generated to search for key obstacles.

[0180] In some embodiments, a corresponding search method may be used according to the target search direction. For example, if the target search direction is unidirectional, a first search method may be used to search for key obstacles; if the target search direction is bidirectional, a second search method may be used to search for key obstacles. For another example, if the target search direction is consistent with the driving direction of the target vehicle, a first search method may be used to search for key obstacles in the target search direction; if the target search direction is inconsistent with the driving direction of the target vehicle, a second search method may be used to search for key obstacles in the target search direction.

[0181] For example, the target search direction includes four directions, namely, searching in the forward direction, the backward direction, the left direction and the right direction of the target vehicle. Then, the forward direction can adopt the first search mode, and the backward direction, the left direction and the right direction can adopt the second search mode.

[0182] Then, obstacles falling into the search window are determined as key obstacles. It should be noted that during the above search, if a key obstacle is found, the search can be stopped, and if no key obstacle is found, the search can be continued.

[0183] In some implementations, if during the search process, all obstacles fall within the search window, the obstacle can be considered to fall within the search window. In other implementations, if part of the obstacles fall within the search window, the obstacle can also be considered to fall within the search window. In order to improve the accuracy of the key obstacle search, obstacles that fall partially or completely within the search window can be determined as key obstacles.

[0184] In some embodiments, when searching for key obstacles by generating multiple search windows at a preset frequency, there may be multiple obstacles falling into the search windows in the same target search direction. All obstacles falling into the search windows can be determined as key obstacles, or the obstacle closest to the target vehicle among the obstacles falling into the search window can be determined as the key obstacle.

[0185] It should be noted that when searching for key obstacles, it is not limited to the target lane, but can also be other lanes, for example, a lane adjacent to the target lane, or an oncoming lane. It can be adjusted according to actual needs and is not specifically limited here.

[0186] In some embodiments, in order to improve the driving safety of autonomous driving, after identifying obstacles in the target area, the motion trajectory of the obstacle can be predicted based on the motion information of the obstacle; the driving trajectory of the target vehicle can be determined according to the control instruction; and the collision obstacle can be determined from the obstacles based on the motion trajectory of the obstacle and the driving trajectory of the target vehicle.

[0187] After identifying the obstacles in the target area, the movement information of the obstacles can be obtained. The movement information may refer to information such as speed and direction, and the movement trajectory of the obstacles can be predicted based on the movement information to obtain the movement trajectory of the obstacles. Based on the control instructions, the driving trajectory of the target vehicle can be determined, wherein the length of the planned path is shorter than the driving trajectory. The planned path is a short driving path under the control instructions. If the control instructions change, the planned path will also change immediately. The driving trajectory refers to the driving path in the future. When the control instructions change, the driving path may not necessarily change, but based on the control instructions, the driving path of the target vehicle can be predicted.

[0188] In some embodiments, when predicting the motion trajectory of an obstacle, the motion information of the obstacle may be input into a pre-trained prediction model to obtain the corresponding motion trajectory. Similarly, the driving trajectory of the target vehicle may be obtained through the prediction model.

[0189] As an implementation manner, based on the motion trajectory of the obstacle and the driving trajectory of the target vehicle, determining a collision obstacle from the obstacles may include: determining an obstacle at which the motion trajectory and the driving trajectory have an intersection as a candidate obstacle; calculating a first time when the target vehicle arrives at the intersection and a second time when the candidate obstacle arrives at the intersection; and determining a collision obstacle from the candidate obstacles based on the difference between the first time and the second time.

[0190] The movement trajectory and driving trajectory of the candidate obstacle have an intersection, indicating that the candidate obstacle may collide with the target vehicle. In order to further determine whether there is a greater risk of collision between the target vehicle and the candidate obstacle, the time of each arriving at the intersection can be further calculated, and whether there is a greater probability of collision based on the time difference. In some embodiments, the time difference between the first time and the second time can be calculated. If the time difference between the first time and the second time is less than a preset time threshold, it can be considered that the target vehicle and the candidate obstacle may arrive at the intersection at the same time, and there is a greater risk of collision, so the candidate obstacle can be determined as a collision obstacle. In some embodiments, the warning level of the candidate obstacle can also be determined based on the time difference between the first time and the second time, and the candidate obstacle with a specified warning level can be determined as a collision obstacle.

[0191] As an implementation mode, when determining the warning level of a candidate obstacle, if the time difference between the first time and the second time is not greater than a first preset threshold, the risk level of the candidate obstacle is determined as a first warning level; if the time difference between the first time and the second time is greater than the first preset threshold and not greater than the second preset threshold, the risk level of the candidate obstacle is determined as a second warning level; if the time difference between the first time and the second time is greater than the second preset threshold, the risk level of the candidate obstacle is determined as a third warning level.

[0192] The first preset threshold is less than the second preset threshold, and the second preset threshold is less than the third preset threshold. The first warning level is higher than the second warning level, and the second warning level is higher than the third warning level. In other words, the smaller the time difference between the target vehicle and the candidate obstacle arriving at the intersection, the greater the probability of the candidate obstacle and the target vehicle colliding, and the higher the warning level of the candidate obstacle.

[0193] As another implementation, when determining the warning level of a candidate obstacle, the warning level of the candidate obstacle can also be determined comprehensively based on the distance between the intersection and the current position, and the time difference between the first time and the second time. For example, if the distance between the intersection and the current position is not greater than the first preset distance, and the time difference between the first time and the second time is not greater than the first preset threshold, the warning level of the corresponding candidate obstacle can be determined as the first warning level; if the distance between the intersection and the current position is greater than the first preset distance and not greater than the second preset distance, and the time difference between the first time and the second time is not greater than the first preset threshold, the warning level of the corresponding candidate obstacle can be determined as the second warning level; the warning levels of the remaining candidate obstacles are determined as the third warning level.

[0194] Wherein, the first preset distance is smaller than the second preset distance, if the intersection is closer to the current position, and the candidate obstacle and the target vehicle arrive at the intersection at a similar time, it indicates that the possibility of a collision is high. If the intersection is farther from the current position, and the candidate obstacle and the target vehicle arrive at the intersection at a similar time, it indicates that the possibility of a collision is low.

[0195] The designated warning level is a pre-set warning level. For example, only candidate obstacles with a first warning level may be determined as collision obstacles, or both candidate obstacles with the first warning level and candidate obstacles with a second warning level may be determined as collision obstacles. The specific setting may be made according to actual needs and is not specifically limited here.

[0196] In some embodiments, in order to further improve driving safety, after a collision obstacle is determined, the image identification of the collision obstacle can be preset to obtain a collision mark corresponding to the collision obstacle; the motion trajectory of the collision obstacle and the driving trajectory of the target vehicle are obtained; and the collision mark, the motion trajectory and the driving trajectory are superimposed and displayed on the driving status diagram.

[0197] Presetting the collision obstacle may refer to highlighting the image mark of the collision obstacle, for example, rendering it with bright colors, etc., so as to obtain a corresponding collision mark; then the collision mark, the driving trajectory of the target vehicle, and the motion trajectory are displayed together on the driving state diagram, so that the driver can know the current driving environment and potential risks. For example, see Figure 1j , showing a schematic diagram of a driving state diagram, the intersection point of the target vehicle 101 and the vehicle 105 is 152, and the intersection point of the target vehicle 101 and the pedestrian 153 is 154. If both are collision obstacles, the driving trajectory of the target vehicle 101 can be displayed, that is, the path indicated by 155, the movement trajectory of the pedestrian 153 can be displayed, that is, the path indicated by 156, and the movement trajectory of the vehicle 151 can be displayed, that is, the path indicated by 157.

[0198] In some implementations, different displays may be performed according to the warning levels of the collision obstacles. For example, collision obstacles of the first warning level may be displayed in red, obstacles of the second warning level may be displayed in orange, and so on.

[0199] S150: Display a driving status diagram, wherein the driving status diagram includes the initial diagram, the target lane, the planned path, and image identifications of the key obstacles.

[0200] The driving state diagram may reflect the driving state of the target vehicle, wherein the driving state diagram may include an initial diagram, a target lane, a planned path, and image identifications of key obstacles.

[0201] In some embodiments, if a collision obstacle is detected, a collision mark, the target vehicle's driving trajectory, and the motion trajectory may be superimposed on the driving state diagram. Figure 1j The content shown.

[0202] In some embodiments, the autonomous driving system has multiple autonomous driving functions, and can detect changes in the state of the autonomous driving function of the target vehicle; generate prompt marks based on the changes; and superimpose the prompt marks on the driving status diagram.

[0203] As mentioned above, the autonomous driving system can have ACC, LCC and NOA functions. When switching between the autonomous driving functions, the system first enters the ACC function, then the LCC function, and finally the NOA function. Each autonomous driving function can have three states: unavailable, enabled, and enabled. The state of each autonomous driving function constitutes the autonomous driving state of the entire autonomous driving system. Figure 1k , showing a schematic diagram of the change in the state of the autonomous driving function.

[0204] exist Figure 1k In the figure, the status of the automatic driving system function may include: automatic driving is not turned on; ACC can be turned on; ACC / LCC can be turned on; ACC / NOA can be turned on; ACC is turned on; ACC is turned on and LCC can be turned on; ACC is turned on and NOA can be turned on; ACC is turned on and LCC is turned on; ACC is turned on, LCC is turned on, and NOA can be turned on; ACC is turned on and NOA is turned on.

[0205] As the target vehicle is running, the state of the autonomous driving system function will also change, that is, it will switch between the states shown above. Therefore, after detecting the state change of the autonomous driving function, a prompt mark can be generated based on the change. When generating the prompt mark, voice and text reminders can also be given. For details, please refer to Figure 1l , showing the corresponding relationship between the changes in the automatic driving function and the prompt content. The vertical direction represents the original state, and the horizontal direction represents the current state.

[0206] That is, the displayed prompts may include Figure 1lThe corresponding text reminder can also be output by voice to prompt the user. When the text reminder is output by voice, it can be through the text to speech (Text To Speech, TTS) technology in voice technology. TTS is a kind of speech synthesis application that can convert text content stored in the computer into natural speech output.

[0207] In some embodiments, maneuvering point information may also be displayed in the driving state diagram, wherein a maneuvering point refers to a position where the driver is guided to make maneuvers such as turning, decelerating, merging, and exiting, and is usually a position of intersection turning, intersection diverging, intersection merging, etc. The maneuvering point information may include the maneuvering point type, maneuvering point distance, maneuvering point name, etc.

[0208] In some implementations, in order to make the driving state diagram more rich and realistic, real-time weather can also be displayed in the driving state diagram. For example, when it rains, a rain effect can be added to the driving state diagram. Real-time traffic lights, rivers, buildings and other information can also be added to facilitate users to understand the real driving environment, so as to further improve the safety of autonomous driving.

[0209] The vehicle driving status display scheme provided in the embodiment of the present application can be applied in various autonomous driving scenarios. For example, taking the control of the target vehicle by the autonomous driving system as an example. The scheme provided in the embodiment of the present application can display the driving status of the target vehicle, making it easier for users to understand the status of the target vehicle and the surrounding environment, thereby improving the safety of autonomous driving.

[0210] The method provided by the embodiment of the present application can obtain the current position and control instructions of the target vehicle; based on the current position, determine the road data of the road where the target vehicle is currently located, and draw an initial map based on the road data and the target vehicle; then determine the planned path of the target vehicle under the control instruction, wherein the planned path may include the target lane that the target vehicle is about to enter; then continue to determine the key obstacles in the target lane, and then display the driving state diagram including the initial map, the target lane, the planned path, and the image identification of the key obstacles. This method can not only display the planned path of the target vehicle under the control of the control instruction, so that the user can understand the driving status of the target vehicle, but also display the key obstacles during the driving process, so that the user can understand the driving environment of the target vehicle, thereby improving the safety of autonomous driving.

[0211] The method described in the above embodiment will be further described in detail below.

[0212] In this embodiment, the method of the embodiment of the present application will be described in detail by taking the target vehicle turning on the automatic driving function as an example.

[0213] like Figure 2a As shown, a specific process of a vehicle driving status display method is as follows:

[0214] S210: Obtain the current position of the target vehicle.

[0215] S220. Based on the current position, determine the road data of the road where the target vehicle is currently located, and draw an initial map based on the road data and the target vehicle.

[0216] S230, when the state of the automatic driving function changes, display a corresponding prompt mark;

[0217] S240, in response to a control instruction issued by the automatic driving system, determining a planned path of the target vehicle under the control instruction, wherein the planned path includes a target lane that the target vehicle is about to enter;

[0218] S250, determining a key obstacle in the target lane;

[0219] S260: Display a driving status diagram, wherein the driving status diagram includes the initial diagram, the prompt mark, the target lane, the planned path, and image identifications of the key obstacles.

[0220] During the driving process of the target vehicle, the corresponding automatic driving function can be turned on, so that the state of the automatic driving function may change, and the corresponding prompt mark can be displayed on the human-computer interaction interface of the target vehicle. When the state of the automatic driving function changes, different driving states may also appear, so that the corresponding planned path, key obstacles and other information can be displayed according to the received control instructions.

[0221] For example, see Figure 2b , showing a schematic diagram showing the driving status of a vehicle, wherein the area indicated by 201 can display maneuvering point information, the area indicated by 202 can display the turned-on automatic driving function, the area indicated by 203 can display a prompt mark to indicate the state change of the automatic driving function, and the area indicated by 204 can display the aforementioned driving status diagram.

[0222] The following will be described in detail according to specific situations. For example, when the driving parameters of the target vehicle meet the preset conditions, the ACC function can be turned on, and the state of the automatic driving function of the target vehicle changes, so that a prompt mark that ACC can be turned on can be displayed on the human-machine interaction interface of the target vehicle. For example, see Figure 2c , showing a schematic diagram of the interface when ACC can be turned on, which can display a prompt mark of "ACC can be turned on" and a driving status diagram when ACC can be turned on. Figure 2cWhen ACC is enabled, the road surface of the current lane of the target vehicle 101 may be displayed in a color different from that of other lanes, such as green.

[0223] In some embodiments, when ACC is turned on, it can be considered that the target vehicle receives a control instruction from the automatic driving system to instruct the target vehicle to perform adaptive cruise control, and the planned path of the target vehicle under the control instruction can be determined based on the adaptive cruise control instruction, and key obstacles can be determined on the target lane. Among them, a prompt mark "ACC is turned on" can be displayed, and at the same time, a driving state diagram when ACC is turned on can be displayed, for example, with the target vehicle as the starting point, a radar wave is drawn in the driving direction to indicate the planned path of the target vehicle under adaptive cruise control, and the corresponding key obstacles, i.e., the following vehicle target, are highlighted.

[0224] In some embodiments, when LCC is turned on, a corresponding prompt mark may be displayed, and it may be considered that the target vehicle has received a control instruction from the automatic driving system to instruct the target vehicle to drive in the center of the current lane. Based on the control instruction, the planned path and key obstacles may be determined and displayed. For example, see Figure 2d , showing a schematic diagram of the interface when ACC and LCC are turned on. In the area indicated by 203, a prompt mark "LCC is turned on" is displayed, and at the same time, a corresponding driving status diagram can be displayed. Please continue to refer to Figure 2d When LCC is turned on, the lane boundary line of the current lane of the target vehicle 101 can be displayed in blue in the area indicated by 204 to indicate the planned path of the target vehicle under adaptive cruise control. The radar wave can be considered as the display effect after ACC is turned on, and the vehicle 205 is a key obstacle under the ACC function and can be displayed in blue.

[0225] In some embodiments, when NOA is turned on, a prompt mark corresponding to NOA being turned on may be displayed, for example, Figure 2e , showing a schematic diagram of the interface when NOA is turned on. Among them, a prompt mark of "NOA is turned on" can be displayed, and at the same time, a driving status diagram when NOA is turned on can be displayed. Please continue to refer to Figure 2e When NOA is turned on and the target vehicle 101 is traveling along the current lane, the road surface of the current lane of the target vehicle 101 may be displayed in blue in the area indicated by 204 to indicate the planned path of the target vehicle under adaptive cruise control.

[0226] In some embodiments, when NOA is turned on, the vehicle can be automatically controlled to change lanes. Therefore, if a control instruction instructing the target vehicle to change lanes is received, the corresponding planned path and key obstacles can be determined and displayed based on the control instruction. If no key obstacles are found, only the planned path is displayed. For example, see Figure 2f , showing a schematic diagram of the interface when changing lanes to the right. Among them, a prompt mark of "changing lanes to the right" can be displayed, and at the same time, a driving status diagram of changing lanes to the right with NOA turned on can be displayed. Please continue to refer to Figure 2f When changing lanes to the right, the current lane of the target vehicle 101 and the road surface of the target lane to be entered can be displayed in blue, and a planned path can be drawn according to the current position and the target drop-off point 206 to indicate the planned path when the target vehicle changes lanes to the right.

[0227] Similarly, when other autonomous driving functions can be turned on or off, it can be considered that the status of the autonomous driving function has changed. For example, LCC can be turned on, NOA can be turned on, ACC has been exited, etc., and the corresponding prompt marks can be displayed for prompting.

[0228] In some embodiments, if a collision obstacle is detected during the driving of the target vehicle, the collision obstacle, the movement trajectory of the collision obstacle, and the driving trajectory of the target vehicle may also be displayed to alert people in the target vehicle.

[0229] In some implementations, in order to enrich the displayed content, real-time weather changes, buildings, rivers and other information may be added to make the displayed interface more realistic and further enhance the safety of autonomous driving.

[0230] As can be seen from the above, the embodiment of the present application can be displayed differently under different autonomous driving functions, and the state of the autonomous driving function can be reminded by voice and prompt marks, and the corresponding driving state can be rendered on the virtual map, so that users can quickly know the driving state of the vehicle. In addition, key obstacles and collision obstacles can be determined, the displayed content is richer, and necessary prompts for safe driving are provided, which can further improve the safety of autonomous driving.

[0231] In order to better implement the above method, the embodiment of the present application also provides a vehicle driving status display device, which can be integrated in an electronic device, and the electronic device can be a terminal, a server, etc. Among them, the terminal can be a mobile phone, a tablet computer, a smart Bluetooth device, a laptop, a personal computer, etc.; the server can be a single server or a server cluster composed of multiple servers.

[0232] For example, in this embodiment, the method of the embodiment of the present application will be described in detail by taking the vehicle driving status display device being specifically integrated into the vehicle as an example.

[0233] For example, Figure 3 As shown, the vehicle driving status display device 300 may include:

[0234] An acquisition module 310 is used to acquire the current position and control instructions of the target vehicle;

[0235] An initial map drawing module 320 is used to determine the road data of the road where the target vehicle is currently located based on the current position, and draw an initial map based on the road data and the target vehicle;

[0236] A first determination module 330 is used to determine a planned path of the target vehicle under the control instruction, wherein the planned path includes a target lane that the target vehicle is about to enter;

[0237] A second determination module 340, for determining a key obstacle in the target lane as a key obstacle;

[0238] The display module 350 is used to display a driving state diagram, wherein the driving state diagram includes the initial diagram, the target lane, the planned path, and image identifications of the key obstacles.

[0239] In some embodiments, the initial graph drawing module 320 further includes:

[0240] A lane group determination unit, configured to determine a current road and a current lane to which the target vehicle belongs based on the current position, wherein the current lane is located in the current road;

[0241] An identification acquisition unit, used to acquire a lane identification corresponding to each lane in the current road;

[0242] A data acquisition unit, configured to acquire lane data corresponding to each lane based on a lane identifier corresponding to each lane, wherein the lane data includes a lane centerline and a lane boundary line;

[0243] A drawing unit is used to draw the initial map according to the target vehicle, all the lane center lines and lane boundary lines.

[0244] In some embodiments, the data acquisition unit is further configured to:

[0245] Based on the lane identifier, querying lane data from a specified cache;

[0246] If the lane data is not found in the designated cache, the lane data is queried from an original database based on the lane identifier, and the lane data is written into the designated cache.

[0247] In some embodiments, the first determination module 330 further includes:

[0248] An element determination unit, configured to determine a target element and a target lane according to the control instruction, wherein the target element is an element for drawing the planned path;

[0249] A path drawing unit is used to draw the target element on the target lane using the drawing parameters corresponding to the control instruction to obtain the planned path.

[0250] In some embodiments, the element determination unit is further configured to:

[0251] If the control instruction instructs the target vehicle to change lanes, the target lane is determined from adjacent lanes of the current lane, and the current lane is the lane to which the target vehicle currently belongs;

[0252] Calculating a target drop point on the target lane based on the current position, the lane centerline of the target lane, the travel speed of the target vehicle, and the lane change time of the target vehicle;

[0253] The target drop-off point is determined as the target element.

[0254] In some embodiments, the element determination unit is further configured to:

[0255] If the control instruction instructs the target vehicle to drive in the center of the current lane, the current lane is determined as the target lane, and the current lane is the lane to which the target vehicle currently belongs;

[0256] A lane centerline of the target lane is determined as the target element.

[0257] In some embodiments, the element determination unit is further configured to:

[0258] If the control instruction instructs the target vehicle to perform adaptive cruising, the current lane is determined as the target lane, and the current lane is the lane to which the target vehicle currently belongs;

[0259] A lane boundary line of the target lane is determined as the target element.

[0260] In some embodiments, the second determination module 340 further includes:

[0261] an identification unit, configured to determine a target area according to the current position, and identify obstacles in the target area;

[0262] A search determination unit, configured to determine a target search range and a target search direction on the target lane based on the control instruction;

[0263] a starting point determination unit, configured to determine a search starting point on the target lane according to the current position; and a control unit, configured to control a search window to start from the search starting point and move within the target search range according to the target search direction.

[0264] The key obstacle determination unit is used to determine the obstacle falling within the search window as the key obstacle.

[0265] In some implementations, the control unit is further configured to:

[0266] At the search starting point, generating a plurality of the search windows according to a preset frequency;

[0267] Setting the moving speed of each of the search windows to a specified speed;

[0268] Control each of the search windows to move at the specified speed in the target search direction;

[0269] If there is a search window that reaches the boundary of the target search range, the movement of the search window that reaches the boundary of the target search range is terminated.

[0270] In some embodiments, the control unit is further configured to:

[0271] generating the search window at the search starting point;

[0272] Setting the moving step size of the search window to a specified step size;

[0273] Controlling the search window to start from the search starting point and move in the target search direction with the specified step length;

[0274] If the search window reaches the boundary of the target search range, the search window is reset so that the search window continues to move from the search starting point.

[0275] In some embodiments, after determining the target area according to the current position and identifying obstacles in the target area, the second determination module 340 is further configured to:

[0276] Predicting a movement trajectory of the obstacle based on the movement information of the obstacle;

[0277] Determining the driving trajectory of the target vehicle according to the control instruction;

[0278] A collision obstacle is determined from the obstacles based on the movement trajectory of the obstacle and the driving trajectory of the target vehicle.

[0279] In some embodiments, the second determination module 340 is further configured to:

[0280] Determine an obstacle at an intersection between the motion trajectory and the driving trajectory as a candidate obstacle;

[0281] Calculating a first time when the target vehicle arrives at the intersection, and a second time when the candidate obstacle arrives at the intersection;

[0282] A collision obstacle is determined from the candidate obstacles according to a difference between the first time and the second time.

[0283] In some embodiments, the second determination module 340 is further configured to:

[0284] Preset processing is performed on the image identification of the collision obstacle to obtain a collision mark corresponding to the collision obstacle;

[0285] Obtaining the motion trajectory of the collision obstacle and the driving trajectory of the target vehicle;

[0286] The collision mark, the motion track and the driving track are superimposed and displayed on the driving state diagram.

[0287] In some embodiments, the display module 350 is further used to:

[0288] Detecting a state change of the automatic driving function of the target vehicle;

[0289] Generate a prompt mark based on the state change;

[0290] The prompt mark is displayed superimposed on the driving status diagram.

[0291] In specific implementation, the above modules and units can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above modules and units can refer to the previous method embodiments, which will not be repeated here.

[0292] As can be seen from the above, the vehicle driving status display device of this embodiment can obtain the current position and control instructions of the target vehicle; based on the current position, determine the road data of the road where the target vehicle is currently located, and draw an initial map based on the road data and the target vehicle; then determine the planned path of the target vehicle under the control instruction, wherein the planned path may include the target lane that the target vehicle is about to enter; then continue to determine the key obstacles in the target lane, and then display the driving status map including the initial map, the target lane, the planned path, and the image identification of the key obstacles. This method can not only display the planned path of the target vehicle under the control of the control instruction, so that the user can understand the driving status of the target vehicle, but also display the key obstacles during the driving process, so that the user can understand the driving environment of the target vehicle, thereby improving the safety of automatic driving.

[0293] The embodiment of the present application also provides an electronic device, which can be a terminal, a server, etc. The terminal can be a mobile phone, a tablet computer, a smart Bluetooth device, a laptop, a personal computer, etc. The server can be a single server or a server cluster composed of multiple servers, etc.

[0294] In some embodiments, the vehicle driving status display device can also be integrated into multiple electronic devices. For example, the vehicle driving status display device can be integrated into multiple servers, and the vehicle driving status display method of the present application is implemented by multiple servers.

[0295] In this embodiment, the electronic device of this embodiment is a vehicle as an example for detailed description, for example, Figure 4 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0296] The electronic device may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, an input module 404, and a communication module 405. Those skilled in the art will appreciate that Figure 4 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0297] The processor 401 is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device. It executes various functions of the electronic device and processes data by running or executing software programs and / or modules stored in the memory 402, and calling data stored in the memory 402. In some embodiments, the processor 401 may include one or more processing cores; in some embodiments, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 401.

[0298] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 402 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0299] The electronic device also includes a power supply 403 for supplying power to various components. In some embodiments, the power supply 403 can be logically connected to the processor 401 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 403 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0300] The electronic device may further include an input module 404, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0301] The electronic device may further include a communication module 405. In some embodiments, the communication module 405 may include a wireless module. The electronic device may perform short-range wireless transmission through the wireless module of the communication module 405, thereby providing the user with wireless broadband Internet access. For example, the communication module 405 may be used to help the user send and receive emails, browse web pages, and access streaming media.

[0302] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 401 in the electronic device will load the executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 will run the application programs stored in the memory 402, thereby realizing various functions, as follows:

[0303] Get the current position and control instructions of the target vehicle;

[0304] Based on the current position, determining road data of a road where the target vehicle is currently located, and drawing an initial map based on the road data and the target vehicle;

[0305] Determining a planned path of the target vehicle under the control instruction, the planned path including a target lane that the target vehicle is about to enter;

[0306] determining key obstacles in the target lane;

[0307] A driving state diagram is displayed, wherein the driving state diagram includes the initial diagram, the target lane, the planned path, and image identifications of the key obstacles.

[0308] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0309] As can be seen from the above, the present application can obtain the current position and control instructions of the target vehicle; based on the current position, determine the road data of the road where the target vehicle is currently located, and draw an initial map based on the road data and the target vehicle; then determine the planned path of the target vehicle under the control instruction, wherein the planned path may include the target lane that the target vehicle is about to enter; then continue to determine the key obstacles in the target lane, and then display the driving state map including the initial map, the target lane, the planned path, and the image identification of the key obstacles. This method can not only display the planned path of the target vehicle under the control of the control instruction, so that the user can understand the driving status of the target vehicle, but also display the key obstacles during the driving process, so that the user can understand the driving environment of the target vehicle, thereby improving the safety of autonomous driving.

[0310] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0311] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in any of the vehicle driving status display methods provided in the embodiments of the present application. For example, the instructions can execute the following steps:

[0312] Get the current position and control instructions of the target vehicle;

[0313] Based on the current position, determining road data of a road where the target vehicle is currently located, and drawing an initial map based on the road data and the target vehicle;

[0314] Determining a planned path of the target vehicle under the control instruction, the planned path including a target lane that the target vehicle is about to enter;

[0315] determining key obstacles in the target lane;

[0316] A driving state diagram is displayed, wherein the driving state diagram includes the initial diagram, the target lane, the planned path, and image identifications of the key obstacles.

[0317] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0318] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in the optional implementation of the vehicle driving state display provided in the above embodiment.

[0319] Since the instructions stored in the storage medium can execute the steps in any one of the vehicle driving status display methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the vehicle driving status display methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0320] The above is a detailed introduction to a vehicle driving status display method, device, electronic device and computer-readable storage medium provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for displaying a vehicle driving state, characterized in that: The method comprises: Get the current position and control instructions of the target vehicle; Based on the current position, determining road data of a road where the target vehicle is currently located, and drawing an initial map based on the road data and the target vehicle; Determining a planned path of the target vehicle under the control instruction, the planned path including a target lane that the target vehicle is about to enter; According to the control instruction, a target element and a target lane are determined, wherein the target element is an element for drawing the planned path, and different control instructions correspond to different target elements; Using the drawing parameters corresponding to the control instruction, drawing the target element on the target lane to obtain the planned path; Determining the key obstacle in the target lane includes: determining a target area according to the current position, and identifying obstacles in the target area; determining a target search range and a target search direction corresponding to a control instruction according to a pre-stored correspondence between a control instruction and a search range, and a control instruction and a search direction; determining a search starting point on the target lane according to the current position; controlling a search window to start from the search starting point and move within the target search range according to the target search direction; determining the obstacle falling into the search window as the key obstacle; wherein different control instructions correspond to different search ranges and search directions; A driving state diagram is displayed, wherein the driving state diagram includes the initial diagram, the target lane, the planned path, and image identifications of the key obstacles.

2. The method according to claim 1, characterized in that The method of determining the road data of the road where the target vehicle is currently located based on the current position, and drawing an initial map based on the road data and the target vehicle, comprises: Based on the current position, determining a current road and a current lane to which the target vehicle belongs, wherein the current lane is in the current road; Obtaining a lane identifier corresponding to each lane in the current road; Based on the lane identification corresponding to each lane, acquiring lane data corresponding to each lane, the lane data including a lane centerline and a lane boundary line; The initial graph is drawn according to the target vehicle, all the lane center lines and lane boundary lines.

3. The method according to claim 2, characterized in that The acquiring lane data corresponding to each lane based on the lane identification corresponding to each lane includes: Based on the lane identifier, querying lane data from a specified cache; If the lane data is not found in the designated cache, the lane data is queried from an original database based on the lane identifier, and the lane data is written into the designated cache.

4. The method according to claim 1, characterized in that Determining the target element and the target lane according to the control instruction includes: If the control instruction instructs the target vehicle to change lanes, the target lane is determined from adjacent lanes of the current lane, and the current lane is the lane to which the target vehicle belongs; Calculating a target drop point on the target lane based on the current position, the lane centerline of the target lane, the travel speed of the target vehicle, and the lane change time of the target vehicle; The target drop-off point is determined as the target element.

5. The method according to claim 1, characterized in that Determining the target element and the target lane according to the control instruction includes: If the control instruction instructs the target vehicle to drive in the center of the current lane, the current lane is determined as the target lane, and the current lane is the lane to which the target vehicle currently belongs; A lane centerline of the target lane is determined as the target element.

6. The method according to claim 1, characterized in that Determining the target element and the target lane according to the control instruction includes: If the control instruction instructs the target vehicle to perform adaptive cruising, the current lane is determined as the target lane, and the current lane is the lane to which the target vehicle currently belongs; A lane boundary line of the target lane is determined as the target element.

7. The method according to claim 1, characterized in that The controlling the search window to move from the search starting point to the target search direction within the target search range includes: At the search starting point, generating a plurality of the search windows according to a preset frequency; Setting the moving speed of each of the search windows to a specified speed; Control each of the search windows to move at the specified speed in the target search direction; If there is a search window that reaches the boundary of the target search range, the movement of the search window that reaches the boundary of the target search range is terminated.

8. The method according to claim 1, characterized in that The controlling the search window to move from the search starting point to the target search direction within the target search range includes: generating the search window at the search starting point; Setting the moving step size of the search window to a specified step size; Controlling the search window to start from the search starting point and move in the target search direction with the specified step length; If the search window reaches the boundary of the target search range, the search window is reset so that the search window continues to move from the search starting point.

9. The method according to claim 1, characterized in that: After determining the target area according to the current position and identifying obstacles in the target area, the method further includes: Predicting a movement trajectory of the obstacle based on the movement information of the obstacle; Determining the driving trajectory of the target vehicle according to the control instruction; A collision obstacle is determined from the obstacles based on the movement trajectory of the obstacle and the driving trajectory of the target vehicle.

10. The method according to claim 9, characterized in that The determining of the collision obstacle from the obstacles based on the motion trajectory of the obstacle and the driving trajectory of the target vehicle comprises: Determine an obstacle at an intersection between the motion trajectory and the driving trajectory as a candidate obstacle; Calculating a first time when the target vehicle arrives at the intersection, and a second time when the candidate obstacle arrives at the intersection; A collision obstacle is determined from the candidate obstacles according to a difference between the first time and the second time.

11. The method according to claim 9, characterized in that After displaying the driving state diagram, the method further includes: Preset processing is performed on the image identification of the collision obstacle to obtain a collision mark corresponding to the collision obstacle; Obtaining the motion trajectory of the collision obstacle and the driving trajectory of the target vehicle; The collision mark, the motion track and the driving track are superimposed and displayed on the driving state diagram.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: Detecting a state change of the automatic driving function of the target vehicle; Generate a prompt mark based on the state change; The prompt mark is displayed superimposed on the driving status diagram.

13. A vehicle driving status display device, characterized in that: The device comprises: An acquisition module is used to obtain the current position and control instructions of the target vehicle; An initial map drawing module, used to determine the road data of the road where the target vehicle is currently located based on the current position, and draw an initial map based on the road data and the target vehicle; A first determination module is used to determine a planned path of the target vehicle under the control instruction, wherein the planned path includes a target lane that the target vehicle is about to enter; An element determination unit, used to determine a target element and a target lane according to the control instruction, wherein the target element is an element for drawing the planned path, and different control instructions correspond to different target elements; A path drawing unit, used to draw the target element on the target lane using the drawing parameters corresponding to the control instruction to obtain the planned path; The second determination module is used to determine the key obstacle in the target lane, including: determining the target area according to the current position, and identifying the obstacles in the target area; determining the target search range and target search direction corresponding to the control instruction according to the pre-stored correspondence between the control instruction and the search range, and the control instruction and the search direction; determining the search starting point on the target lane according to the current position; controlling the search window to start from the search starting point and move within the target search range according to the target search direction; determining the obstacle falling into the search window as the key obstacle; wherein different control instructions correspond to different search ranges and search directions; A display module is used to display a driving state diagram, wherein the driving state diagram includes the initial diagram, the target lane, the planned path, and image identifications of the key obstacles.

14. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps in the vehicle driving status display method as claimed in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps in the vehicle driving status display method according to any one of claims 1 to 12.

16. A computer program product, characterized in that The method comprises a computer program / instruction, which, when executed by a processor, implements the steps in the vehicle driving status display method according to any one of claims 1 to 12.

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