Trajectory line display method and device, vehicle machine, and storage medium

Abstract

This application discloses a trajectory display method, device, vehicle-mounted system, and storage medium, relating to the field of intelligent driving. The method includes: acquiring road condition information and vehicle body status information; generating predicted driving trajectory data for the vehicle based on the road condition information and vehicle body status information, wherein the predicted driving trajectory data includes at least two predicted coordinate point data; determining a set of driving trajectory equations that fits the predicted driving trajectory data; and sending the driving trajectory equations and the two predicted coordinate point data to the instrument panel, so that the instrument panel generates and displays the vehicle's driving trajectory line based on the driving trajectory equations and the two predicted coordinate point data. The vehicle trajectory line displayed on the instrument panel in this application has higher accuracy.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and in particular to a trajectory line display method, device, vehicle system, and storage medium. Background Technology

[0002] In related technologies, when traditional intelligent driving vehicles display driving trajectory lines on the instrument panel, they combine the current vehicle body status information (vehicle speed, steering wheel angle, and acceleration information) and the current surrounding road conditions to obtain the curvature information of the current vehicle trajectory line. The intelligent driving system sends the curvature information of the vehicle trajectory line to the instrument panel, which then divides the curvature into levels and displays the vehicle trajectory line as a fixed texture.

[0003] However, after the instrument panel categorizes the curvature information of the vehicle trajectory line, there is an error compared to the original vehicle trajectory line. Furthermore, the instrument panel displays the vehicle trajectory line with a fixed texture, which fails to accurately display the vehicle trajectory line. Summary of the Invention

[0004] The main purpose of this application is to provide a trajectory line display method, device, vehicle-mounted system, and storage medium, aiming to solve the technical problem that the vehicle instrument panel cannot accurately display the vehicle trajectory line.

[0005] Firstly, to achieve the above objectives, this application provides a trajectory line display method, the method comprising:

[0006] Obtain vehicle road condition information and vehicle status information;

[0007] Based on road condition information and vehicle status information, predictive driving trajectory data of the vehicle is generated, wherein the predictive driving trajectory data includes at least two predictive coordinate point data.

[0008] Determine the system of equations for the vehicle trajectory lines that fit the predicted vehicle trajectory data;

[0009] The vehicle trajectory equation set and two predicted coordinate point data are sent to the instrument panel so that the instrument panel can generate and display the vehicle's trajectory line based on the vehicle trajectory equation set and two predicted coordinate point data.

[0010] Optionally, based on road condition information and vehicle status information, predictive driving trajectory data for the vehicle is generated, including:

[0011] Based on road condition information and vehicle status information, predictive driving trajectory data for the vehicle is generated for a future preset time period, where the future preset time period is the first preset duration after the current time.

[0012] Optionally, the first pre-time may be less than or equal to 5 seconds.

[0013] Optionally, the starting point and ending point of the predicted driving trajectory line of the driving trajectory line equation set are determined;

[0014] The vehicle trajectory equation set and the two predicted coordinate point data are sent to the instrument panel, so that the instrument panel generates and displays the vehicle's trajectory line based on the vehicle trajectory equation set and the two predicted coordinate point data, including:

[0015] The predicted driving trajectory start point, the driving trajectory equation set, and the predicted driving trajectory end point are sent to the instrument panel, so that the instrument panel can generate and display the vehicle's driving trajectory line based on the predicted driving trajectory start point, the driving trajectory equation set, and the predicted driving trajectory end point.

[0016] Optionally, the endpoint of the driving trajectory line is determined, including:

[0017] Determine the error value between each of the predicted coordinate point data and the corresponding point in the driving trajectory line equation set;

[0018] Determine at least one target coordinate point from at least two predicted coordinate point data points whose error values ​​satisfy a preset error condition;

[0019] The target coordinate point with the largest time interval from the current time is used as the endpoint of the driving trajectory line.

[0020] Optionally, after determining the set of trajectory equations that fit the predicted trajectory data, the method further includes:

[0021] Based on the equation set of the driving trajectory lines, obtain the parameter information of the equation set of the driving trajectory lines;

[0022] The parameter information of the driving trajectory equation set and the two predicted coordinate point data are sent to the instrument panel, so that the instrument panel can generate and display the vehicle's driving trajectory line based on the parameter information of the driving trajectory equation set and the two predicted coordinate point data.

[0023] Optionally, the driving trajectory equation set is sent to the instrument panel, including:

[0024] The vehicle trajectory equations are sent to the instrument panel via the controller local area network bus.

[0025] Secondly, this application also provides a trajectory line display device, the trajectory line display device comprising:

[0026] The acquisition module is used to acquire road condition information and vehicle status information.

[0027] The generation module is used to generate predicted driving trajectory data of the vehicle based on road condition information and vehicle status information. The predicted driving trajectory data includes at least two predicted coordinate point data.

[0028] The determination module is used to determine the set of vehicle trajectory line equations that fit the predicted vehicle trajectory data;

[0029] The sending module is used to send the vehicle trajectory equation set and two predicted coordinate point data to the instrument panel, so that the instrument panel can generate and display the vehicle's driving trajectory line based on the vehicle trajectory equation set and two predicted coordinate point data.

[0030] Thirdly, this application also provides a vehicle infotainment system, including: a processor, a memory, and a trajectory display program stored in the memory, wherein the trajectory display program is executed by the processor to implement the steps of the trajectory display method of the first aspect of this application.

[0031] Fourthly, this application also provides a computer-readable storage medium storing a trajectory line display program, which, when executed by a processor, implements the trajectory line display method as described in the first aspect of this application.

[0032] This application proposes a trajectory display method that acquires road condition information and vehicle body status information of a vehicle; generates predicted driving trajectory data of the vehicle based on the road condition information and vehicle body status information, wherein the predicted driving trajectory data includes at least two predicted coordinate point data; determines a set of driving trajectory equations that fits the predicted driving trajectory data; and sends the set of driving trajectory equations and the two predicted coordinate point data to the instrument panel, so that the instrument panel generates and displays the vehicle's driving trajectory line based on the set of driving trajectory equations and the two predicted coordinate point data.

[0033] Therefore, the vehicle system directly sends a set of vehicle trajectory equations that fit the predicted driving trajectory and two predicted coordinate point data to the instrument panel. The instrument panel can accurately reconstruct the predicted driving trajectory based on the set of vehicle trajectory equations and the two predicted coordinate point data. Thus, compared with the existing instrument panel that displays the vehicle trajectory as a fixed texture after classifying the curvature of the predicted driving trajectory, the accuracy of the vehicle trajectory displayed by the instrument panel in this application is higher. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the trajectory line display system, which is the hardware operating environment for the trajectory line display method of this application;

[0035] Figure 2 This is a schematic diagram of the hardware operating environment of the vehicle's infotainment system in this application;

[0036] Figure 3This is a flowchart illustrating the first embodiment of the trajectory line display method of this application;

[0037] Figure 4 This is a flowchart illustrating the second embodiment of the trajectory line display method of this application;

[0038] Figure 5 This is a flowchart illustrating the third embodiment of the trajectory line display method of this application;

[0039] Figure 6 This is a schematic diagram of the modules of the trajectory line display method device of this application;

[0040] Figure 7 This is a schematic diagram of the driving trajectory line display method of this application.

[0041] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0042] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0043] In related technologies, when traditional intelligent driving vehicles display driving trajectory lines on the instrument panel, they combine the current vehicle body status information (vehicle speed, steering wheel angle, and acceleration information) and the current surrounding road conditions to obtain the curvature information of the current vehicle trajectory line. The intelligent driving system sends the curvature information of the vehicle trajectory line to the instrument panel. After receiving the curvature information, the instrument panel divides driving trajectory lines with curvature within a certain range into the same level, draws them using a fixed driving trajectory line model, displays the driving trajectory line on the instrument panel, and finally displays the vehicle trajectory line with a fixed texture.

[0044] However, after the instrument panel categorizes the curvature information of the vehicle trajectory line, there is an error compared to the original vehicle trajectory line. Furthermore, the instrument panel displays the vehicle trajectory line with a fixed texture, which fails to accurately display the vehicle trajectory line.

[0045] This application provides a solution in which the vehicle's infotainment system directly sends a set of vehicle trajectory equations that fit the predicted driving trajectory and two predicted coordinate point data to the instrument panel. The instrument panel can accurately reconstruct the predicted driving trajectory based on the set of vehicle trajectory equations and the two predicted coordinate point data. Therefore, compared with the existing instrument panel that displays the vehicle trajectory as a fixed texture after classifying the curvature of the predicted driving trajectory, the accuracy of the vehicle trajectory displayed by the instrument panel in this application is higher.

[0046] The trajectory line display system used in the technical implementation of this application will be described below according to the embodiments of this application:

[0047] Reference Figure 1 , Figure 1 This is a schematic diagram of the architecture of a trajectory line display system provided in an exemplary embodiment. For example... Figure 1 As shown, the trajectory line display system may include a server 11, a network 12, and a vehicle-mounted system 13.

[0048] Server 11 can be a physical server containing an independent host, or it can be a virtual server hosted in a host cluster. During operation, server 11 can run server-side programs for a specific application to implement the relevant business functions of that application. For example, when the vehicle infotainment system 13 obtains road condition information and vehicle status information, server 11 can act as the server for that application to obtain road condition information and vehicle status information, supporting the vehicle infotainment system 13 in completing the task of obtaining the vehicle's road condition information and vehicle status information.

[0049] Network 12 may include various types of wired or wireless networks. In one embodiment, network 12 may include the Public Switched Telephone Network (PSTN) and the Internet. The vehicle-mounted unit 13 can interact with server 11 through network 12.

[0050] The vehicle-mounted system 13 may include electronic vehicle-mounted systems such as vehicle-mounted workstations, smartphones, tablet-mounted systems, laptops, and PDAs (Personal Digital Assistants), etc., and one or more embodiments in this specification are not intended to limit this. During operation, the vehicle-mounted system 13 can run vehicle-side programs to implement the relevant business functions of the application. It is also understood that in some embodiments, the vehicle-mounted system 13 can run applications that include display and modification functions. For example, when the vehicle-mounted system 13 runs a recommended treatment plan retrieval program, it can act as a client for the vehicle-mounted system display.

[0051] Reference Figure 2 , Figure 2 This is a schematic diagram of the vehicle system structure of the hardware operating environment involved in the embodiments of this application.

[0052] like Figure 2As shown, the vehicle infotainment system may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0053] Those skilled in the art will understand that Figure 2 The structure shown does not constitute a limitation on the vehicle's infotainment system and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0054] like Figure 2 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a trajectory display program.

[0055] exist Figure 2 In the vehicle infotainment system shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the vehicle infotainment system of this application can be set in the vehicle infotainment system. The vehicle infotainment system calls the trajectory display program stored in the memory 1005 through the processor 1001 and executes the trajectory display method provided in the embodiment of this application.

[0056] Based on, but not limited to, the hardware structure of the vehicle infotainment system described above, this application provides a first embodiment of a trajectory line display method. (Refer to...) Figure 3 , Figure 3 A flowchart illustrating the first embodiment of the trajectory line display method of this application is shown.

[0057] It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0058] In this embodiment, the trajectory line display method includes:

[0059] Step S10: Obtain road condition information and vehicle status information;

[0060] It should be understood that in this embodiment, the vehicle's system is responsible for executing the trajectory line display method. The vehicle's road condition information refers to the road surface information in front of the vehicle at its current driving position, such as curve information, lane marking information, or road obstacle information. The vehicle's system can acquire the vehicle's road condition information through a device that acquires image information; no restrictions are placed on the device for acquiring image information here.

[0061] Vehicle status information includes vehicle speed and wheel orientation. The vehicle's infotainment system obtains this information through sensors installed within the vehicle; for example, it obtains vehicle speed information through a speed sensor.

[0062] Step S20: Based on road condition information and vehicle status information, generate predicted driving trajectory data for the vehicle, wherein the predicted driving trajectory data includes at least two predicted coordinate point data.

[0063] It's important to understand that the vehicle's infotainment system can predict the vehicle's trajectory over a short period based on road conditions and vehicle status information. Since predicting a vehicle's trajectory over a short period is technically feasible, it will not be elaborated upon here.

[0064] Understandably, since the predicted driving trajectory can be represented by a curve, the predicted driving trajectory includes at least two predicted coordinate point data.

[0065] Step S30: Determine the set of vehicle trajectory line equations that fit the predicted vehicle trajectory data;

[0066] It is important to understand that a coordinate system is established with the center point of the rear axle of the vehicle as the origin. The X-axis represents the distance from the front of the vehicle, which is the longitudinal distance, and the Y-axis represents the lateral distance from the vehicle body. The units of the X-axis and Y-axis can be meters.

[0067] It should be noted that for the intelligent driving system in the vehicle's infotainment system, the planned predicted driving trajectory data can include multiple sequentially connected curves. For any curve segment, there is a system of cubic equations that fit it in the coordinate system. Different curve segments differ in the parameters a, b, c, and d of the cubic equation system. For any specific driving trajectory equation system, the parameters a, b, c, and d of its cubic equation system can be determined based on the predicted coordinate point data on that curve segment. After obtaining the parameters a, b, c, and d, the driving trajectory equation system that fits the predicted driving trajectory data can be determined.

[0068] Understandably, since the length of the driving trajectory line displayed on the instrument panel is limited, in this step, we can only determine the set of driving trajectory line equations that fit the curve segment closest to the current position.

[0069] In one example, the intelligent driving system detects a U-shaped curve ahead based on pre-stored map data and ground markings. The predicted driving trajectory is also constructed in a U-shape. This U-shaped trajectory includes a turning portion comprising two semicircular curve segments, and each of these semicircular curve segments has at least one fitted cubic equation system. .

[0070] Step S40: Send the driving trajectory equation set and two predicted coordinate point data to the instrument panel so that the instrument panel can generate and display the vehicle's driving trajectory line based on the driving trajectory equation set and the two predicted coordinate point data.

[0071] It is important to understand that the vehicle's infotainment system can send the vehicle trajectory equation set and two predicted coordinate point data to the instrument panel. After receiving the vehicle trajectory equation set and the two predicted coordinate point data, the instrument panel will input the two predicted coordinate point data into the vehicle trajectory equation set to obtain a series of coordinate points, and generate a curve based on this series of coordinate points. This curve is the vehicle trajectory line.

[0072] In this embodiment, the vehicle system directly sends a set of vehicle trajectory equations that fit the predicted driving trajectory and two predicted coordinate point data to the instrument panel. The instrument panel can accurately reconstruct the predicted driving trajectory based on the set of vehicle trajectory equations and the two predicted coordinate point data. Therefore, compared with the existing instrument panel that displays the vehicle trajectory as a fixed texture after classifying the curvature of the predicted driving trajectory, the accuracy of the vehicle trajectory displayed by the instrument panel in this application is higher.

[0073] As a specific implementation, in this embodiment, step S20, generating predicted driving trajectory data for the vehicle based on road condition information and vehicle body status information, includes:

[0074] Step S201: Based on road condition information and vehicle status information, generate predicted driving trajectory data for the vehicle in a future preset time period, wherein the future preset time period is the first preset duration after the current time.

[0075] As one specific implementation, the first preset duration is less than or equal to 5 seconds.

[0076] It is important to understand that the future preset time period refers to the preset time period adjacent to the current time. Since road conditions and vehicle status information are constantly changing, the predicted time period can only be within the first preset duration after the current time. In one specific implementation, this first preset duration is 5 seconds; within 5 seconds, the accuracy of the predicted driving trajectory is relatively high.

[0077] This application provides a second embodiment of a trajectory line display method. (Refer to...) Figure 4 , Figure 4 This is a flowchart illustrating a second embodiment of the trajectory line display method of this application. In this embodiment, after step S30, which determines the set of vehicle trajectory line equations that fit the predicted vehicle trajectory data, the method further includes:

[0078] Step S50: Determine the starting point and ending point of the predicted driving trajectory line of the driving trajectory line equation set;

[0079] It's important to understand that a coordinate system is established with the center point of the vehicle's rear axle as the origin. The X-axis represents the distance from the front of the vehicle, which is the longitudinal distance, and the Y-axis represents the lateral distance from the vehicle body. The unit for both the X and Y axes is meters. The starting point of the driving trajectory line refers to the starting point when the vehicle begins to move, which is also the origin of the coordinate system.

[0080] The endpoint of the driving trajectory line includes the point on the predicted driving trajectory line that completely overlaps with the driving trajectory line displayed by the instrument segment based on the driving trajectory line equation set.

[0081] The vehicle trajectory equation set and the two predicted coordinate point data are sent to the instrument panel, so that the instrument panel generates and displays the vehicle's trajectory line based on the vehicle trajectory equation set and the two predicted coordinate point data, including:

[0082] Step S60: The predicted driving trajectory start point, the driving trajectory equation set, and the predicted driving trajectory end point are sent to the instrument terminal, so that the instrument terminal can generate and display the vehicle's driving trajectory line based on the predicted driving trajectory start point, the driving trajectory equation set, and the predicted driving trajectory end point.

[0083] The vehicle's infotainment system sends the starting point, equation set, and ending point of the driving trajectory line to the instrument cluster. The instrument cluster then generates and displays the vehicle's driving trajectory line based on these parameters.

[0084] It's important to understand that due to the limited computing power of the instrument cluster, upon receiving the driving trajectory equations, it can first generate a finite number of coordinate points, and then generate the driving trajectory based on these points. However, in this embodiment, after receiving the starting point, equations, and ending point of the driving trajectory sent by the vehicle's infotainment system, the instrument cluster reconstructs the driving trajectory using the two endpoints. Compared to other points on the trajectory, reconstructing the driving trajectory using the two endpoints provides a more accurate display of the vehicle's driving trajectory.

[0085] Furthermore, in this embodiment, only the parameter information of the vehicle trajectory equation set and the data of two predicted coordinate points are sent to the instrument, thereby reducing the amount of data transmitted.

[0086] In one specific implementation, step S50, determining the starting point and ending point of the predicted driving trajectory line of the driving trajectory line equation set, includes:

[0087] Step S501: Determine the error value between each predicted coordinate point data and the corresponding point in the vehicle trajectory line equation set;

[0088] Step S502: Determine at least one target coordinate point from at least two predicted coordinate point data whose error value satisfies a preset error condition;

[0089] Step S503: Take the target coordinate point data with the largest time interval from the current time as the endpoint of the driving trajectory line.

[0090] The preset error condition is the error threshold range on the X-axis between the predicted coordinate point data and the corresponding points in the driving trajectory equation set, which is pre-set in the vehicle's infotainment system. The cloud system can calculate the error value of the corresponding point based on the predicted coordinate point data and the original driving trajectory data, and use the predicted coordinate point data that meets the preset error condition as the target coordinate point data.

[0091] refer to Figure 7 , Figure 7This diagram illustrates the relationship between the vehicle trajectory equation set and the predicted vehicle trajectory data. Line a represents the curve corresponding to the predicted vehicle trajectory data; line b represents the vehicle trajectory line corresponding to the vehicle trajectory equation set; the origin O is the starting point of the predicted vehicle trajectory line; and point c is the ending point of the predicted vehicle trajectory line. In this case, the vehicle trajectory equation set is fitted to a portion of the curve segments in the predicted vehicle trajectory data. Therefore, it may have errors compared to some of the predicted coordinate points, especially for points within the curve formed by the vehicle trajectory equation set and points within the non-fitted curve segments. The errors between the predicted coordinate points and their corresponding points in the vehicle trajectory equation set are larger, i.e., the deviation on the X-axis is greater. When these points that do not meet the preset error conditions are output to the instrument panel, the vehicle trajectory line generated by the instrument panel may deviate significantly from the actual driving path, thus misleading the driver.

[0092] Therefore, the vehicle's infotainment system uses the target coordinate point with the longest time interval from the current point as the endpoint of the driving trajectory line. At this point, the error between the actual driving trajectory line and the predicted driving trajectory data is within an acceptable range, allowing the driving trajectory line generated by the instrument panel to accurately reflect the actual driving path and avoid misleading the driver.

[0093] This application provides a third embodiment of a trajectory line display method. (Refer to...) Figure 5 , Figure 5 This is a flowchart illustrating the third embodiment of the trajectory line display method of this application. In this embodiment, after step S30, which determines the set of vehicle trajectory line equations that fit the predicted vehicle trajectory data, the method further includes:

[0094] Step S80: Obtain the parameter information of the vehicle trajectory equation set based on the vehicle trajectory equation set;

[0095] Step S90: Send the parameter information of the driving trajectory equation set and the two predicted coordinate point data to the instrument terminal, so that the instrument terminal can generate and display the vehicle's driving trajectory line based on the parameter information of the driving trajectory equation set and the two predicted coordinate point data.

[0096] It is important to understand that the vehicle's infotainment system obtains the parameter information of the driving trajectory equation set based on the equation set. After sending the parameter information and two predicted coordinate point data to the instrument panel, the instrument panel generates and displays the vehicle's driving trajectory based on the parameter information and the two predicted coordinate point data.

[0097] In this embodiment, only the parameter information of the vehicle trajectory equation set and the data of two predicted coordinate points are sent to the instrument, thereby reducing the amount of data transmitted.

[0098] In one specific implementation, step S40, sending the driving trajectory equation set to the instrument panel, includes:

[0099] In step S401, the driving trajectory equation set is sent to the instrument panel via the controller local area network bus.

[0100] It's important to understand that the Controller Area Network (CNN) bus is a bus-based serial communication network. Due to the adoption of many new technologies and unique design concepts, the CNN bus offers advantages in data communication such as reliability, real-time performance, and flexibility compared to similar products. The vehicle's infotainment system transmits the vehicle trajectory equations to the instrument cluster via the CNN bus.

[0101] Based on the same concept, this application also provides a trajectory line display device. See [reference needed]. Figure 6 , Figure 6 This application provides a schematic diagram of the structure of a trajectory line display device, which specifically includes:

[0102] The acquisition module 600 is used to acquire road condition information and vehicle body status information.

[0103] The generation module 700 is used to generate predicted driving trajectory data of the vehicle based on road condition information and vehicle status information. The predicted driving trajectory data includes at least two predicted coordinate point data.

[0104] The determination module 800 is used to determine the set of vehicle trajectory line equations that fit the predicted vehicle trajectory data;

[0105] The sending module 900 is used to send the driving trajectory equation set and two predicted coordinate point data to the instrument terminal, so that the instrument terminal can generate and display the vehicle's driving trajectory line based on the driving trajectory equation set and two predicted coordinate point data.

[0106] The technical solution in this embodiment, through the cooperation between various functional modules, proposes a trajectory line display device. The trajectory line display device directly sends a set of vehicle trajectory line equations that fit the predicted driving trajectory line and two predicted coordinate point data to the instrument terminal. The instrument terminal can accurately reconstruct the predicted driving trajectory line based on the set of vehicle trajectory line equations and the two predicted coordinate point data. Therefore, compared with the existing instrument terminal that displays the vehicle trajectory line as a fixed texture after classifying the curvature of the predicted driving trajectory line, the accuracy of the vehicle trajectory line displayed by the instrument terminal of this application is higher.

[0107] Furthermore, this application also proposes a computer storage medium storing a trajectory line display program. When the trajectory line display program is executed by a processor, it implements the steps of the trajectory line display method described above. Therefore, it will not be repeated here. Additionally, the beneficial effects of using the same method will not be repeated here either. For technical details not disclosed in the computer-readable storage medium embodiments of this application, please refer to the description of the method embodiments of this application. As an example, program instructions can be deployed to execute on a single vehicle-mounted computer, or on multiple vehicle-mounted computers located at one location, or on multiple vehicle-mounted computers distributed across multiple locations and interconnected via a communication network.

[0108] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0109] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided in this application, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0110] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special hardware including application-specific integrated circuits, special CPUs, special memory, special components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., including several instructions to cause a computer vehicle system (which can be a personal computer, server, or network vehicle system, etc.) to execute the methods of the various embodiments of this application.

[0111] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for displaying trajectory lines, characterized in that, Applied to in-vehicle infotainment systems, the method includes: Obtain vehicle road condition information and vehicle status information; Based on the road condition information and the vehicle status information, predictive driving trajectory data of the vehicle is generated, wherein the predictive driving trajectory data includes at least two predictive coordinate point data; Determine a set of vehicle trajectory equations that fit the predicted vehicle trajectory data; The driving trajectory equation set and the two predicted coordinate point data are sent to the instrument terminal, so that the instrument terminal can generate and display the driving trajectory line of the vehicle based on the driving trajectory equation set and the two predicted coordinate point data. After determining the set of vehicle trajectory equations that fit the predicted driving trajectory data, the method further includes: Determine the starting point and ending point of the predicted driving trajectory line of the driving trajectory line equation set; The vehicle trajectory equation set and the two predicted coordinate point data are sent to the instrument panel, so that the instrument panel generates and displays the vehicle's trajectory line based on the vehicle trajectory equation set and the two predicted coordinate point data, including: The predicted driving trajectory start point, the driving trajectory equation set, and the predicted driving trajectory end point are sent to the instrument terminal, so that the instrument terminal can generate and display the vehicle's driving trajectory line based on the predicted driving trajectory start point, the driving trajectory equation set, and the predicted driving trajectory end point; Determining the endpoint of the driving trajectory line includes: Determine the error value between each of the predicted coordinate point data and the corresponding point in the driving trajectory line equation set; Determine at least one target coordinate point from at least two predicted coordinate point data whose error value satisfies a preset error condition; The target coordinate point with the largest time interval from the current time is used as the endpoint of the driving trajectory line.

2. The trajectory line display method according to claim 1, characterized by, The step of generating predicted driving trajectory data for the vehicle based on the road condition information and the vehicle body status information includes: Based on the road condition information and the vehicle status information, the predicted driving trajectory data of the vehicle in the future preset time period is generated, wherein the future preset time period is a time period of the first preset duration after the current time.

3. The trajectory line display method according to claim 2, characterized by, The first preset duration is less than or equal to 5 seconds.

4. The trajectory line display method according to claim 1, characterized by, After determining the set of vehicle trajectory equations that fit the predicted driving trajectory data, the method further includes: Based on the set of driving trajectory equations, the parameter information of the set of driving trajectory equations is obtained; The parameter information of the driving trajectory equation set and the two predicted coordinate point data are sent to the instrument terminal, so that the instrument terminal can generate and display the driving trajectory of the vehicle based on the parameter information of the driving trajectory equation set and the two predicted coordinate point data.

5. The trajectory line display method according to claim 1, wherein Sending the driving trajectory equation set to the instrument panel includes: The driving trajectory equation set is sent to the instrument panel via the controller local area network bus.

6. A trajectory line display device characterized by comprising: The trajectory line display device, used in in-vehicle infotainment systems, includes: The acquisition module is used to acquire road condition information and vehicle status information. The generation module is used to generate predicted driving trajectory data of the vehicle based on the road condition information and the vehicle body status information, wherein the predicted driving trajectory data includes at least two predicted coordinate point data. The determination module is used to determine a set of driving trajectory line equations that fit the predicted driving trajectory data; The sending module is used to send the driving trajectory equation set and the two predicted coordinate point data to the instrument terminal, so that the instrument terminal can generate and display the driving trajectory line of the vehicle based on the driving trajectory equation set and the two predicted coordinate point data. The determining module is also used to determine the starting point and the ending point of the predicted driving trajectory line of the driving trajectory line equation set; The sending module is further configured to send the predicted driving trajectory line start point, the driving trajectory line equation set, and the predicted driving trajectory line end point to the instrument terminal, so that the instrument terminal can generate and display the vehicle's driving trajectory line based on the predicted driving trajectory line start point, the driving trajectory line equation set, and the predicted driving trajectory line end point; The determining module is also used to determine the error value between each of the predicted coordinate point data and the corresponding point in the driving trajectory line equation set; Determine at least one target coordinate point from at least two predicted coordinate point data whose error value satisfies a preset error condition; The target coordinate point with the largest time interval from the current time is used as the endpoint of the driving trajectory line.

7. A car machine characterized by, include: A processor, a memory, and a trajectory display program stored in the memory, the trajectory display program being executed by the processor to implement the steps of the trajectory display method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a trajectory line display program, which, when executed by a processor, implements the trajectory line display method as described in any one of claims 1 to 5.

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