Display Method for Collision Warning Information, Head-Up Display Device, Vehicle, and Medium

Abstract

The present invention discloses a method for displaying collision warning information, a head-up display device, a vehicle, and a medium. The method includes: whenever an obstacle to be prompted appears in the surrounding environment of the vehicle, obtaining first position description information of a target AR collision warning element matching the obstacle in the real world; determining second position description information of the target AR collision warning element in a head-up display coordinate system on a virtual image plane according to the first position description information of the target AR collision warning element in the real world; determining a target layout position of the target AR collision warning element in a target projection image formed by a head-up display device in the vehicle according to the second position description information, and projecting the target projection image displayed by the head-up display device onto an imaging element of the vehicle. By adopting the above technical solution, it is possible to integrate the AR collision warning element displayed on the imaging element of the vehicle with the real scene, and provide timely and clear collision warning information for the driver.

Description

Technical Field

[0001] The present invention relates to the technical field of head-up display, and particularly to a method for displaying collision warning information, a head-up display device, a vehicle and a medium. Background Art

[0002] A head-up display (HUD) refers to displaying vehicle driving information on the front windshield in front of the driver, enabling the driver to view important driving information without lowering the head or turning the head.

[0003] In the prior art, generally, an obstacle model can be displayed through an electronic display screen equipped on the vehicle, and the driver can be prompted that the vehicle may collide with the obstacle by changing the color of the obstacle model or flashing the obstacle model.

[0004] In the process of implementing the present invention, the inventors found that the prior art has the following problems: In the implementation process of the existing method for displaying collision warning information, the driver needs to lower the head or turn the head to view the display screen to obtain the collision warning information. However, in a real driving scenario, if the driver views the display screen and then performs a braking operation, it takes a long time and may not be able to effectively avoid collisions. Summary of the Invention

[0005] The present invention provides a method for displaying collision warning information, a head-up display device, a vehicle and a medium, which can accurately prompt obstacles in the real scene by using AR (Augmented Reality) collision warning elements displayed on the imaging element of the vehicle.

[0006] According to one aspect of the present invention, there is provided a method for displaying collision warning information, which is applied to a head-up display device and includes:

[0007] Whenever an obstacle to be prompted appears in the environment around the vehicle is detected, obtain the first position description information of the target AR collision warning element matching the obstacle in the real world;

[0008] According to the first position description information of the target AR collision warning element in the real world, determine the second position description information of the target AR collision warning element in the head-up display coordinate system of the virtual image plane;

[0009] According to the second position description information, determine the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0010] Optionally, detecting an obstacle to be prompted in the environment around the vehicle includes:

[0011] Obtain the description information of the obstacle to be prompted in front of the vehicle, which is output in real time by the assisted driving system configured on the vehicle;

[0012] Wherein, the description information of the obstacle includes: the type of the obstacle and the relative position description information between the obstacle and the vehicle.

[0013] The advantage of such a setting is that: by obtaining the obstacle description information in real time based on the technically mature assisted driving system, it is possible to reduce the computing power consumption of the vehicle's own controller to the greatest extent while obtaining the obstacle information in front of the vehicle in a timely and stable manner, ensuring the safe driving of the vehicle to the greatest extent.

[0014] Optionally, obtaining the first position description information of the target AR collision warning element matching the obstacle in the real world includes:

[0015] Obtain the target AR collision warning element matching the type of the obstacle;

[0016] Obtain the preset offset of the vehicle itself relative to the driving axis of the vehicle, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the driving axis of the vehicle as the first position description information of the target AR collision warning element.

[0017] The advantage of such a setting is that: by obtaining the offset of the vehicle itself relative to the driving axis of the vehicle, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the driving axis of the vehicle as the first position description information, the lateral position difference and longitudinal position difference between the vehicle and the obstacle in the real world can be accurately described, and then an accurate data source can be provided for the subsequent accurate fitting of the target AR collision warning element to the obstacle in the actual position in the real world.

[0018] Optionally, determining the second position description information of the target AR collision warning element in the head-up display coordinate system of the virtual image plane according to the first position description information of the target AR collision warning element in the real world includes:

[0019] In the pre-established first database, obtain at least one optical performance parameter corresponding to the virtual image plane;

[0020] In the pre-established second database, obtain the standard obstacle width corresponding to the type of the obstacle prompted by the target AR collision warning element;

[0021] Determine the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system based on each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, and use them as the second position description information.

[0022] The advantage of this setting is that by using the first position description information, the preset optical performance parameters, the standard obstacle width, and the element shape of the target AR collision warning element to obtain the second position description information, the AR collision warning element can have a better fitting display effect.

[0023] Optionally, the optical performance parameters include:

[0024] The horizontal field of view angle of the virtual image plane, the vertical field of view angle of the virtual image plane, the downward view angle of the virtual image plane, the horizontal resolution of the virtual image plane, the vertical resolution of the virtual image plane, the virtual image distance, and the preset distance value between the human eye and the reference plane.

[0025] The advantage of this setting is that by presetting the optical performance parameters, the projection position and size of the target AR collision warning element in the virtual image plane can be calculated more accurately, and at the same time, the calculation efficiency can be effectively improved.

[0026] Optionally, determining the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system based on each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, and using them as the second position description information includes:

[0027] If the obstacle type matching the target AR collision warning element is a vehicle, determine the starting coordinates and width of the target AR collision warning element in the head-up display coordinate system based on each optical performance parameter, the first position description information, and the standard obstacle width;

[0028] Use the starting coordinates and width as the second position description information.

[0029] Optionally, if the shape of the target AR collision warning element is a long strip with a preset length and width and filled with a color, and if the obstacle type matching the target AR collision warning element is a vehicle, then determine the starting coordinates and width of the target AR collision warning element with a long strip shape having a preset length and width and filled with a color in the head-up display coordinate system based on each optical performance parameter, the first position description information, and the standard obstacle width, and use the starting coordinates and width as the second position description information.

[0030] The advantage of such a setting is that for vehicle-type obstacles, an AR collision warning element in the form of a long strip with a preset length, width, and filled with color is selected for generation, which can accurately prompt the vehicle obstacles in front of the vehicle clearly, concisely, and distinguishably. At the same time, since fewer variables are required when drawing a long strip with a preset length, width, and filled with color, only the starting coordinates of the long strip with a preset length, width, and filled with color and the width of the long strip with a preset length, width, and filled with color need to be determined. Therefore, the calculation amount of the second position description information can be minimized to meet the real-time display requirement of the AR collision warning element.

[0031] Optionally, according to each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, determine the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system as the second position description information, including:

[0032] If the obstacle type matching the target AR collision warning element is a pedestrian, then according to each optical performance parameter, the first position description information, and the standard obstacle width, determine the triangle vertex coordinates and the triangle side length of the target AR collision warning element with an equilateral triangle shape in the head-up display coordinate system;

[0033] Use the triangle vertex coordinates and the triangle side length as the second position description information.

[0034] The advantage of such a setting is that for pedestrian-type obstacles, an AR collision warning element in the form of an equilateral triangle is selected for generation, which can accurately prompt the pedestrian obstacles in front of the vehicle clearly, concisely, and distinguishably. At the same time, since fewer variables are required when drawing an equilateral triangle, only the triangle vertex coordinates and the triangle side length need to be determined. Therefore, the calculation amount of the second position description information can be minimized to meet the real-time display requirement of the AR collision warning element.

[0035] Optionally, before projecting the target projection image displayed by the head-up display device onto the imaging element of the vehicle, it further includes:

[0036] According to the relative distance between the obstacle and the vehicle, determine the display color of the target AR collision warning element in the target projection image.

[0037] The advantage of such a setting is that: by selecting to display AR collision warning elements of different colors for different relative distances from the obstacle, while effectively prompting the obstacle in front of the vehicle, the distance between the vehicle and the obstacle is synchronously prompted. So that the vehicle driver can, based on the position and color of the AR collision warning element, master the approximate distance value from the obstacle while noticing the obstacle, better provide obstacle warning to the user, and improve the effectiveness and reliability of the obstacle warning.

[0038] According to another aspect of the present invention, there is provided a head-up display device, comprising:

[0039] A first position description information acquisition module, configured to, whenever an obstacle to be prompted appears in the vehicle's surrounding environment, acquire the first position description information of the target AR collision warning element matching the obstacle in the real world;

[0040] A second position description information acquisition module, configured to determine the second position description information of the target AR collision warning element in the head-up display coordinate system of the virtual image plane according to the first position description information of the target AR collision warning element in the real world;

[0041] A collision warning element projection module, configured to determine the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle according to the second position description information, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0042] According to another aspect of the present invention, there is provided a vehicle, the vehicle comprising:

[0043] At least one processor; and

[0044] A memory communicatively connected to the at least one processor; wherein,

[0045] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the display method of the collision warning information according to any embodiment of the present invention.

[0046] According to another aspect of the present invention, there is provided a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the display method of the collision warning information according to any embodiment of the present invention when executed by a processor.

[0047] The technical solution of the embodiment of the present invention determines the second position description information of the target AR collision warning element in the head-up display coordinate system of the virtual image plane through the first position description information of the obstacles around the vehicle in the real world, and determines the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle, and projects the target projection image displayed by the head-up display device onto the imaging element of the vehicle, so that the AR collision warning element with the first position description information in the real world that the user feels can be obtained according to the actual obstacle scene around the vehicle, and the AR navigation element that can be perfectly integrated with the actual obstacle is projected onto the imaging element of the vehicle, so that the AR navigation prompt can be accurately fitted with the real world and the user experience is improved.

[0048] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0050] Figure 1a is a flowchart of a method for displaying collision warning information provided according to an embodiment of the present invention;

[0051] Figure 1b is a schematic diagram of the head-up display effect of AR collision warning information provided according to an embodiment of the present invention;

[0052] Figure 2a is a flowchart of another method for displaying collision warning information provided according to an embodiment of the present invention;

[0053] Figure 2b is a schematic diagram of the position between an obstacle and a vehicle provided according to an embodiment of the present invention;

[0054] Figure 2c is a schematic diagram of the horizontal field of view of the virtual image plane and the longitudinal view angle of the virtual image plane provided according to an embodiment of the present invention;

[0055] Figure 2d is a schematic diagram of the lower view angle of the virtual image plane provided according to an embodiment of the present invention;

[0056] Figure 2eIt is a schematic diagram of virtual image distance provided according to an embodiment of the present invention;

[0057] Figure 2f It is a schematic diagram of parameters provided according to an embodiment of the present invention;

[0058] Figure 2g It is a hardware structure diagram provided according to an embodiment of the present invention;

[0059] Figure 3 It is a schematic structural diagram of a head-up display device provided according to an embodiment of the present invention;

[0060] Figure 4 It is a schematic structural diagram of a vehicle for implementing the method for displaying collision warning information according to an embodiment of the present invention. Detailed implementation manners

[0061] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0062] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily need to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0063] The method for displaying collision warning information provided in the embodiments of the present application can be applied to a head-up display device, and the head-up display device can be applied to any variety of transportation means (not shown). For example, the transportation means may include, but is not limited to, land transportation means such as vehicles, air transportation means such as aircraft (or called flying vehicles), or water or underwater transportation means, etc.

[0064] Figure 1aThe flowchart of a method for displaying collision warning information provided by an embodiment of the present invention. This embodiment is applicable to the situation where the position information of an AR collision warning element in the head-up display coordinate system is determined to display the AR collision warning element on the imaging element of a vehicle. This method can be executed by a head-up display device, which can be implemented in the form of hardware and / or software.

[0065] As Figure 1a shown, the method includes:

[0066] S110. Whenever an obstacle to be prompted appears in the surrounding environment of the vehicle, obtain the first position description information of the target AR collision warning element that matches the obstacle in the real world.

[0067] AR collision warning is a technology that uses augmented reality technology, combines the real-time moving environment, and provides collision warning information for users by virtual prompt identifiers. Among them, the virtual prompt identifier is the AR collision warning element.

[0068] Optionally, the AR collision warning element includes, but is not limited to, shapes such as triangles or straight lines that can indicate and mark obstacles. For example, in some embodiments, the AR collision warning element can also be a simple drawing of a person, a simple drawing of an animal, a simple drawing of a building, etc.

[0069] The present invention takes into account that during the actual driving process of a driver, if the driver views the electronic screen on the vehicle to obtain collision warning information, it may prolong the driver's braking time and may affect driving safety to a certain extent. When the AR collision warning element is displayed by the head-up display method, the AR collision warning element can be matched with the obstacle to accurately indicate the specific obstacle that may cause a collision to the driver without disturbing the driver's normal driving state, so that the driver can brake and avoid in time.

[0070] Here, a specific example is used to illustrate the technical effects that the present invention can achieve. Taking a vehicle as an example, when there is an obstacle in front of a moving vehicle (such as another vehicle or a pedestrian), and the in-vehicle system determines that there may be a collision between the vehicle and the obstacle, the driver is prompted by projecting AR collision warning elements on the imaging element of the vehicle (such as the front windshield). In a more specific example, if there is a low-speed vehicle in front of the currently moving vehicle and the speed of the vehicle is relatively fast, the vehicle controller may obtain a collision result with the front vehicle as the obstacle to be prompted. At this time, a projection image including AR collision prompt elements (such as a colored prompt horizontal line) can be projected on the imaging element of the vehicle. In the driver's view, the colored prompt horizontal line can be located directly below the front vehicle in the real world. Generally, the AR collision warning elements can be sent by the vehicle controller to the in-vehicle HUD device, and the HUD device projects them onto the front windshield of the vehicle. The image formed by the reflection of the front windshield is usually called a virtual image. The driver can see the virtual image through the windshield and can also see the real road conditions ahead. In other words, the user can see the virtual image superimposed on the real environment.

[0071] Among them, the specific element form of the target AR collision warning element can be determined according to the type of the obstacle to be prompted. For example, when the obstacle to be prompted is a vehicle, the target AR collision warning element can be a colored prompt horizontal line with a certain width, and for obstacles to be prompted with different degrees of importance, the colors of the target AR collision warning elements can be different.

[0072] The environment around the vehicle generally refers to the continuously changing environment around the vehicle in a moving state. For example, the current driving road environment of the vehicle in a driving state; the obstacle to be prompted generally refers to an obstacle that may collide with the vehicle, and the obstacle to be prompted is generally located in front of the moving direction of the vehicle.

[0073] Furthermore, an optional condition for determining an obstacle as an obstacle to be prompted can be that the obstacle is in front of the vehicle in the moving direction (directly in front or obliquely in front), and the relative distance (longitudinal distance and lateral distance) between the obstacle and the vehicle is less than a preset distance value.

[0074] Among them, the first position description information of the target AR collision warning element in the real world can include the length and width values of the target AR collision warning element in the real world, the height value from the reference plane, the left offset of the center point of the target AR collision warning element relative to the driving axis, and the current distance value that the vehicle needs to travel to perform the next expected vehicle action. It can be further understood that the first position description information can represent the expected display position of the target AR collision warning element in the real world.

[0075] Optionally, the first position description information may be obtained according to the current driving information of the vehicle and in combination with a pre-generated database.

[0076] S120. Determine the second position description information of the target AR collision warning element in the head-up display coordinate system on the virtual image plane according to the first position description information of the target AR collision warning element in the real world.

[0077] Optionally, the second position description information of the target AR collision warning element in the head-up display coordinate system on the virtual image plane may be determined according to the first position description information of the AR collision warning element in the real world and in combination with at least one optical performance parameter corresponding to the virtual image plane formed by the HUD.

[0078] It can be understood that the virtual image plane serves as the virtual image imaging surface of the AR collision warning element (the principle of mirror imaging can be referred to). When the light source in the HUD projects the AR collision warning element onto the imaging element of the vehicle, the AR collision warning element actually observed in the driver's perspective is actually located on this virtual image plane in space. By controlling the imaging size and imaging position of the AR collision warning element on the virtual image plane, the final effect presented in the driver's perspective is the fusion of the virtual image of the AR collision warning element and the obstacle in the real world.

[0079] Since the distance between the virtual image plane projected by the vehicle and the vehicle itself is generally a fixed distance, therefore, if it is necessary to change the display position and size of the AR collision warning element fused with the real world in the driver's perspective, generally, the position and size of the AR collision warning element in the head-up display coordinate system on the virtual image plane can be changed, so as to change the display position and size of the AR collision warning element fused with the real world in the driver's perspective.

[0080] Optionally, the virtual image plane may generally be the plane where the image formed by the image light emitted by the HUD is shrunk after being reflected by the imaging element of the vehicle (such as the windshield of the vehicle). The head-up display coordinate system can be understood as a coordinate system with a certain fixed point as the center point in the virtual image plane. For example, the top left vertex of the virtual image plane can be used as the center point of the head-up display coordinate system, the horizontal direction is used as the x-axis, the vertical direction is used as the y-axis, and each point in the virtual image plane has a fixed coordinate value in the head-up display coordinate system.

[0081] The second position description information may be the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system of the virtual image plane, and the second position description information can be used to describe the specific imaging position and shape size of the target AR collision warning element in the virtual image plane.

[0082] Optionally, the second position description information can be calculated from the first position description information, preset optical performance parameters, standard obstacle width, and the element shape of the target AR collision warning element. The standard obstacle width can be obtained from a preset database according to the obstacle type.

[0083] Figure 1b It is a schematic diagram of the head-up display effect of an optional AR collision warning element. As Figure 1b shown, the largest rectangle can represent the virtual image plane. The XOY coordinate system in the upper left corner of the rectangle is the head-up display coordinate system in the virtual image plane. The vehicle is the real vehicle mapped in the virtual image plane. The thicker horizontal line below the vehicle is an optional AR collision warning element. For the Figure 1b AR collision warning element in, its fixed-point coordinate is point a in the figure, that is, the left endpoint coordinate of the horizontal line, and the shape parameter is the length of the horizontal line.

[0084] The advantage of this setting is that by using the first position description information, preset optical performance parameters, standard obstacle width, and the element shape of the target AR collision warning element to obtain the second position description information, the AR collision warning element can have a better display effect.

[0085] S130. According to the second position description information, determine the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0086] Among them, the head-up display device in the vehicle can be used to project the target projection image including the target AR collision warning element onto the imaging element of the vehicle, so that the user can view the virtual image including the target AR collision warning element displayed in the virtual image plane.

[0087] Among them, the imaging element of the vehicle can be the front window of the vehicle (for example, the windshield), the emission film layer or the imaging window provided on the surface of the front window of the vehicle close to the head-up display device. Imaging through the windshield is W-HUD (Windshield-HUD, windshield head-up display), and imaging through the imaging window is C-HUD (Combiner HUD, combined head-up display). Optionally, the imaging window is generally made of a transparent material (transparent to visible light) or an imaging plate with a certain curvature.

[0088] Among them, the target projection image can be an image generated by a head-up display device for display on an imaging element of a vehicle. The target projection image may include projection elements that need to be displayed currently, such as AR collision warning elements. Taking a vehicle as an example, generally, the imaging element of the vehicle can be the front windshield of the vehicle. The four sides of the projection image displayed on the front windshield of the vehicle can coincide with the four sides of a preset rectangular area on the front windshield of the vehicle to reflect the target projection image to the driver's eyes.

[0089] In a specific example, if it is desired to display the AR collision warning element in the middle part of the rectangular area, then the AR collision warning element should also be arranged at the corresponding middle part of the target projection image.

[0090] It can be understood that according to the existing virtual image plane imaging principle, after obtaining the second position description information of the AR collision warning element, the specific position where the AR collision warning element should be displayed on the imaging element of the vehicle can be obtained, and further, the specific image layout position of the AR collision warning element in the target projection image can also be obtained.

[0091] Furthermore, the target layout position can be understood as the layout position of the target AR collision warning image in the target projection image (it can also be further understood as the pixel point position occupied by the target AR collision warning image in the target projection image). Since the relative positions of the virtual image plane, the imaging element of the vehicle, and the head-up display device are generally relatively fixed, therefore, only by obtaining the second position description information of the target AR collision warning element, the determined target layout position of the target AR collision warning element in the target projection image can be obtained according to the preset coordinate conversion relationship. The above information all has a certain mapping relationship.

[0092] The technical solution of the embodiment of the present invention, through the first position description information of the obstacles around the vehicle in the real world, further determines the second position description information of the target AR collision warning element in the head-up display coordinate system of the virtual image plane, and determines the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle, and projects the target projection image displayed by the head-up display device onto the imaging element of the vehicle, can obtain the AR collision warning element that the user feels has the first position description information in the real world according to the actual obstacle scene around the vehicle, project the AR navigation element that can be perfectly integrated with the actual obstacles onto the imaging element of the vehicle, so that the AR navigation prompt can accurately fit the real world and improve the user experience.

[0093] Figure 2aThe flowchart of another method for displaying collision warning information provided by an embodiment of the present invention. Based on the above embodiment, this embodiment specifically describes the process of displaying collision warning information. As Figure 2a shown, the method includes:

[0094] S210. Whenever an obstacle to be prompted appears in the environment around the vehicle, obtain the first position description information of the target AR collision warning element matching the obstacle in the real world.

[0095] Among them, detecting an obstacle to be prompted in the environment around the vehicle may include:

[0096] Obtain the description information of the obstacle to be prompted existing in front of the vehicle output in real time by the assisted driving system configured on the vehicle.

[0097] Among them, the description information of the obstacle may include: the type of the obstacle and the relative position description information between the obstacle and the vehicle.

[0098] Among them, the assisted driving system is generally a standard configuration on the vehicle. Through the assisted driving system, the description information of each obstacle in the environment around the vehicle can be obtained. Taking a vehicle as an example, the on-vehicle assisted driving system can identify the types of obstacles in front, generally including motor vehicles (which can be further divided into trucks, pickups, cars, etc.), non-motor vehicles, pedestrians, and roadblocks (such as cone barrels), etc. At the same time, the on-vehicle assisted system can also obtain the relative position description information between the vehicle and the obstacle, such as the relative distance between the obstacle vehicle and the vehicle, and the offset of the obstacle vehicle relative to the driving axis of the vehicle, etc.

[0099] Figure 2b is an optional schematic diagram of the position between the obstacle and the vehicle. As Figure 2b shown, the vehicle in the lower left corner is the vehicle applying the method for displaying collision warning information of the present invention, and the vehicle in the upper right corner is the obstacle vehicle in the environment around the vehicle. Figure 2b In it, D can represent the offset between the driving axis of the vehicle and the central axis of the obstacle vehicle, and L can represent the relative distance between the front end of the vehicle and the rear end of the obstacle vehicle. For example, L can represent the relative distance between the driver and the rear end of the obstacle vehicle. D and L are the relative position description information between the vehicle and the obstacle vehicle.

[0100] Furthermore, obtaining the first position description information of the target AR collision warning element matching the obstacle in the real world may include:

[0101] Obtain the target AR collision warning element matching the type of the obstacle;

[0102] Obtain the offset of the vehicle itself relative to the vehicle driving axis, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the vehicle driving axis as the first position description information of the target AR collision warning element.

[0103] Optionally, different AR collision warning elements can be used to identify different types of obstacles. For example, if the obstacle type is a vehicle, considering that vehicles are generally wider, a horizontal straight line can be selected as the AR collision warning element for the vehicle; if the obstacle type is a pedestrian, considering that pedestrians are generally smaller relative to the vehicle, a triangle can be selected as the AR collision warning element for the pedestrian.

[0104] As Figure 2b shown, the offset of the vehicle itself relative to the vehicle driving axis is the distance d in the figure. For a vehicle, the offset of the vehicle itself relative to the vehicle driving axis is generally the distance between the steering wheel and the vehicle's central axis. Obtaining the offset of the vehicle itself relative to the vehicle driving axis is generally to more accurately determine the projection position of the target AR collision warning element on the imaging element.

[0105] Optionally, whether an obstacle is an obstacle to be prompted can be determined by the assisted driving system on the vehicle. The assisted driving system can make a judgment based on multiple factors such as the current driving state of the vehicle, the position of the obstacle, and the motion state of the obstacle.

[0106] S220. In a pre-established first database, obtain at least one optical performance parameter corresponding to the virtual image plane.

[0107] Among them, the optical performance parameters may include:

[0108] The horizontal field of view angle of the virtual image plane, the vertical field of view angle of the virtual image plane, the lower view angle of the virtual image plane, the horizontal resolution of the virtual image plane, the vertical resolution of the virtual image plane, the virtual image distance, and a preset value of the distance between the human eye and the reference plane, etc.

[0109] For ease of understanding, in Figure 2c shows a schematic diagram of the horizontal field of view angle of the virtual image plane and the vertical view angle of the virtual image plane taking the projection on the vehicle's front windshield as an example; in Figure 2d shows an optional schematic diagram of the lower view angle of the virtual image plane; in Figure 2e shows an optional schematic diagram of the virtual image distance.

[0110] Among them, the horizontal field of view angle of the virtual image plane is as Figure 2c shown, which can be understood as the angle between the midpoints of the left and right vertical sides of the rectangular virtual image and the line connecting the central eye points; the vertical view angle of the virtual image plane is as Figure 2cAs shown, it can be understood as the angle between the connection line of the midpoints of the upper and lower horizontal sides of the rectangular virtual image and the central eye point; the left viewing angle of the virtual image plane can be understood as the left angle between the connection line of the central eye point and the center point of the virtual image and the horizontal line where the center point of the virtual image is located; the lower viewing angle of the virtual image plane is as Figure 2d shown, and can be understood as the angle between the connection line of the central eye point and the center point of the virtual image and the horizontal plane; the virtual image distance is as Figure 2e shown, and can be understood as the distance from the driver's eyes to the projection in the virtual image plane.

[0111] The advantage of such a setting is that by presetting the optical performance parameters, the projection position and size of the target AR collision warning element in the virtual image plane can be calculated more accurately, and at the same time, the calculation efficiency can be effectively improved.

[0112] S230. In the pre-established second database, obtain the standard obstacle width corresponding to the type of obstacle prompted by the target AR collision warning element.

[0113] It can be understood that the type of obstacle can be obtained through the assisted driving system on the vehicle, and the standard obstacle width corresponding to each type of obstacle can be stored in the second database. For example, if the recognized obstacle type is a car, the standard obstacle width of 3 meters can be directly obtained from the second database (the specific value depends on the corresponding obstacle width stored in the second database). Here, only an example is given, and the relevant parameters in the second database are not restricted.

[0114] S240. According to each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, determine the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system as the second position description information.

[0115] Among them, according to each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, determining the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system as the second position description information may include:

[0116] If the type of obstacle matching the target AR collision warning element is a vehicle, then according to each optical performance parameter, the first position description information, and the standard obstacle width, determine the starting coordinates of the long strip with a preset length, width, and filled with color and the width of the long strip with a preset length, width, and filled with color of the target AR collision warning element with the element shape of a long strip with a preset length, width, and filled with color in the head-up display coordinate system, and use the starting coordinates of the long strip with a preset length, width, and filled with color and the width of the long strip with a preset length, width, and filled with color as the second position description information.

[0117] Taking Figure 1b the vehicle obstacle in Figure 1b as an example, the target AR collision warning element is the horizontal line under the vehicle in

[0118] Optionally, assuming that the width of the obstacle vehicle obtained from the second database is W, the width Δx of the long strip with a preset length and width and filled with a color can be calculated by the following formula:

[0119]

[0120] where x is the horizontal resolution of the virtual image plane, FOVx is the horizontal field of view angle of the virtual image plane, h is the height of the driver's perspective from the ground plane, and L is the relative distance between the front end of this vehicle and the rear end of the obstacle vehicle;

[0121] The starting coordinate a of the long strip with a preset length and width and filled with a color can be represented by the coordinates and x0 and y0 can be calculated by the following formula:

[0122]

[0123]

[0124] where FOVy is the vertical field of view angle of the virtual image plane, y is the vertical resolution of the virtual image plane, LDA is the lower view angle of the virtual image plane, and D and d are consistent with the corresponding parameters in Figure 2b and D and d have been explained in detail in the above embodiments and will not be repeated here.

[0125] In other embodiments, the above-mentioned target AR collision warning element can also be configured as a line segment with a preset length and width. The advantage of such a setting is that for vehicle-type obstacles, by selecting to generate an AR collision warning element in the form of a line segment with a preset length, width, and filled with a color, it is possible to more clearly, concisely, and distinctively provide accurate prompts for vehicle obstacles in front of the vehicle. At the same time, since fewer variables are required when drawing a line segment with a preset length, width, and filled with a color, only the starting coordinates of the line segment with a preset length, width, and filled with a color and the width of the line segment with a preset length, width, and filled with a color need to be determined. Therefore, the computational amount of the second position description information can be further reduced to meet the real-time display requirements of the AR collision warning element.

[0126] Figure 2f Is an optional parameter schematic diagram, as Figure 2f Shown, the point in the upper left corner is the central eye point of the driver, h is the height of the driver's viewing angle from the ground plane, L is the relative distance between the driver and the rear end of the obstacle vehicle, L0 is the third side of the right triangle formed by h and L, FOVy is the longitudinal field of view angle of the virtual image, and LDA is the lower viewing angle of the virtual image.

[0127] Furthermore, according to each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, determining the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system as the second position description information may further include:

[0128] If the obstacle type matching the target AR collision warning element is a pedestrian, then according to each optical performance parameter, the first position description information, and the standard obstacle width, determine the triangle vertex coordinates and the triangle side length of the target AR collision warning element with an equilateral triangle shape in the head-up display coordinate system;

[0129] Take the triangle vertex coordinates and the triangle side length as the second position description information.

[0130] The advantage of such a setting is that for pedestrian-type obstacles, by selecting to generate an AR collision warning element in the form of an equilateral triangle, it is possible to clearly, concisely, and distinctively provide accurate prompts for pedestrian obstacles in front of the vehicle. At the same time, since fewer variables are required when drawing an equilateral triangle, only the triangle vertex coordinates and the triangle side length need to be determined. Therefore, the computational amount of the second position description information can be minimized to meet the real-time display requirements of the AR collision warning element.

[0131] When the obstacle is a pedestrian, a triangle can be selected as the target AR collision warning element, and the specific calculation methods for the triangle vertex coordinates and the triangle side length are not specifically limited.

[0132] S250. Determine the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle according to the second position description information.

[0133] S260. Determine the display color of the target AR collision warning element in the target projection image according to the relative distance between the obstacle and the vehicle.

[0134] It can be understood that as the relative distance between the obstacle and the vehicle shortens, the probability of collision will relatively increase. At this time, the color of the target AR collision warning element can be changed to ensure that the driver can obtain a more explicit collision warning.

[0135] For example, when the relative distance between the vehicle and the obstacle is greater than 100 meters, the color of the target AR collision warning element can be set to green; when the relative distance between the vehicle and the obstacle is between 50 meters and 100 meters, the color of the target AR collision warning element can be set to yellow; when the relative distance between the vehicle and the obstacle is less than 50 meters, the color of the target AR collision warning element can be set to red. This is only for illustrative purposes and does not limit the specific color of the target AR collision warning element, the color change conditions, and the color change distance value.

[0136] S270. Project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0137] It should be noted that the present invention does not specifically limit the execution order between the steps. For example, steps S220 and S230 can be executed in the order as shown in Figure 2a , or step S220 can be executed first and then step S30, or steps S220 and S230 can be executed simultaneously; again, steps S250 and S260 can be executed in the order as shown in Figure 2a , or step S260 can be executed first and then step S250, or steps S250 and S260 can be executed simultaneously.

[0138] Figure 2g It is an optional hardware structure diagram that can implement the collision warning information display method in the present invention. Figure 2g The hardware structure in can be configured in a vehicle, but Figure 2g this is only for illustrative purposes and no specific limitations are imposed. Figure 2gThe shown hardware structure diagram is composed of a controller, a HUD, a camera, a radar, a steering wheel sensor, an Electronic Stability Control (ESC) system of the vehicle, a wheel speed sensor, and a six-axis accelerometer (IMU). Among them, the controller can execute the display method of the collision warning information as described in the embodiments of the present invention; the HUD can be used to project the target AR collision warning element onto the imaging element; the camera can be used to capture the road environment; the radar can be used to obtain the position and distance of an object when it is stationary or moving; the steering wheel sensor can detect the steering angle and rotational speed of the steering wheel during vehicle driving; the wheel speed sensor can be used to detect the rotational speed of the vehicle wheels; the vehicle electronic stability system can be used to perform lateral and longitudinal control of the vehicle; the six-axis accelerometer can be used to detect the body motion posture (for example, roll, pitch, and heave during turning or acceleration / deceleration).

[0139] According to the technical solution of the embodiments of the present invention, by obtaining the obstacle description information in real time based on a technically mature assisted driving system, it is possible to minimize the consumption of the computing power of the vehicle's own controller while timely and stably obtaining the obstacle information in front of the vehicle, ensuring the safe driving of the vehicle to the greatest extent. By selecting to display AR collision warning elements of different colors according to different relative distances from the obstacle, it is possible to effectively prompt the obstacle in front of the vehicle while synchronously prompting the distance between the vehicle and the obstacle, enabling the vehicle driver to master the approximate distance value from the obstacle while paying attention to the obstacle according to the position and color of the AR collision warning element, providing better obstacle warning to the user, and improving the effectiveness and reliability of the obstacle warning.

[0140] Figure 3 It is a schematic structural diagram of a head-up display device provided by an embodiment of the present invention. As Figure 3 shown, the device includes:

[0141] A first position description information acquisition module 310, configured to acquire the first position description information of a target AR collision warning element matching an obstacle in the real world whenever an obstacle to be prompted appears in the vehicle's surrounding environment.

[0142] A second position description information acquisition module 320, configured to determine the second position description information of the target AR collision warning element in the head-up display coordinate system of the virtual image plane according to the first position description information of the target AR collision warning element in the real world.

[0143] A collision warning element projection module 330, configured to determine the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle according to the second position description information, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0144] In the technical solution of the embodiment of the present invention, based on the first position description information of the obstacles around the vehicle in the real world, the second position description information of the target AR collision warning element in the head-up display coordinate system on the virtual image plane is determined, and the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle is determined according to the second position description information, and the target projection image displayed by the head-up display device is projected onto the imaging element of the vehicle. In this way, according to the actual obstacle scene around the vehicle, the AR collision warning element with the first position description information in the real world that the user can feel is obtained, and the AR navigation element that can be perfectly integrated with the actual obstacle is projected onto the imaging element of the vehicle, so that the AR navigation prompt can accurately fit the real world and improve the user experience.

[0145] Based on the above embodiments, the first position description information acquisition module 310 may specifically be configured to:

[0146] Obtain the description information of the obstacles to be prompted existing in front of the vehicle, which is output in real time by the assisted driving system configured on the vehicle;

[0147] Wherein, the description information of the obstacles includes: the type of the obstacles and the relative position description information between the obstacles and the vehicle.

[0148] Based on the above embodiments, the first position description information acquisition module 310 may also specifically be configured to:

[0149] Obtain the target AR collision warning element that matches the type of the obstacles;

[0150] Obtain the offset of the vehicle itself relative to the driving axis of the vehicle, the relative distance in the relative position description information between the obstacles and the vehicle, and the offset of the obstacles relative to the driving axis of the vehicle as the first position description information of the target AR collision warning element.

[0151] Based on the above embodiments, the second position description information acquisition module 320 may include:

[0152] An optical performance parameter acquisition unit, configured to obtain at least one optical performance parameter corresponding to the virtual image plane in a pre-established first database;

[0153] A standard obstacle width acquisition unit, configured to obtain the standard obstacle width corresponding to the type of the obstacles prompted by the target AR collision warning element in a pre-established second database;

[0154] A second position description information determining unit, configured to determine fixed-point coordinates and shape parameters of a target AR collision warning element in a head-up display coordinate system according to each optical performance parameter, the first position description information, a standard obstacle width, and an element shape of the target AR collision warning element, and use the determined fixed-point coordinates and shape parameters as the second position description information.

[0155] Based on the above embodiments, the optical performance parameters may include:

[0156] A horizontal field of view angle of a virtual image plane, a vertical field of view angle of the virtual image plane, a downward view angle of the virtual image plane, a horizontal resolution of the virtual image plane, a vertical resolution of the virtual image plane, a virtual image distance, and a preset distance value between a human eye and a reference plane.

[0157] Based on the above embodiments, the second position description information determining unit may specifically be configured to:

[0158] If the obstacle type matching the target AR collision warning element is a vehicle, determine a starting coordinate of a strip having a preset length and width and filled with a color and a width of the strip having a preset length and width and filled with a color of the target AR collision warning element having an element shape of a strip having a preset length and width and filled with a color in the head-up display coordinate system according to each optical performance parameter, the first position description information, and the standard obstacle width;

[0159] Use the starting coordinate of the strip having a preset length and width and filled with a color and the width of the strip having a preset length and width and filled with a color as the second position description information.

[0160] Based on the above embodiments, the second position description information determining unit may also specifically be configured to:

[0161] If the obstacle type matching the target AR collision warning element is a pedestrian, determine triangle vertex coordinates and a triangle side length of the target AR collision warning element having an element shape of an equilateral triangle in the head-up display coordinate system according to each optical performance parameter, the first position description information, and the standard obstacle width;

[0162] Use the triangle vertex coordinates and the triangle side length as the second position description information.

[0163] Based on the above embodiments, a display color determining module may further be included, configured to determine a display color of the target AR collision warning element in a target projection image according to a relative distance between an obstacle and a vehicle.

[0164] The collision warning information display device provided by an embodiment of the present invention may execute the collision warning information display method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0165] Figure 4 FIG. 2 shows a schematic structural diagram of a vehicle 40 that can be used to implement an embodiment of the present invention. The vehicle is intended to represent various forms of transportation means. For example, the transportation means may include, but are not limited to, land transportation means such as vehicles, air transportation means such as aircraft (or called flying vehicles), or water or underwater transportation means. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0166] As Figure 4 shown, the vehicle 40 includes at least one processor 41 and a memory communicatively connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc. The memory stores a computer program executable by the at least one processor. The processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 into the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the vehicle 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0167] Multiple components in the vehicle 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disc, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the vehicle 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0168] The processor 41 can be various general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as the method for displaying collision warning information as described in the embodiment of the present invention. That is:

[0169] Whenever an obstacle to be prompted appears in the surrounding environment of the vehicle, obtain the first position description information of the target AR collision warning element matching the obstacle in the real world;

[0170] Determine the second position description information of the target AR collision warning element in the head-up display coordinate system on the virtual image plane according to the first position description information of the target AR collision warning element in the real world;

[0171] Determine the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle according to the second position description information, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0172] In some embodiments, the method for displaying collision warning information can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed onto vehicle 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the method for displaying collision warning information described above can be executed. Alternatively, in other embodiments, processor 41 can be configured to execute the method for displaying collision warning information by any other suitable means (e.g., by means of firmware).

[0173] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs, the one or more computer programs can be executed and / or interpreted on a programmable system including at least one programmable processor, the programmable processor can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0174] The computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a dedicated computer, or other programmable data processing devices, such that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0175] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0176] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a vehicle that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the vehicle. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0177] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0178] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0179] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0180] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for displaying collision warning information, applied to a head-up display device, characterized in that Including: Whenever an obstacle to be prompted appears in the environment around the vehicle, obtain the first position description information of the target augmented reality (AR) collision warning element matching the obstacle in the real world; According to the first position description information of the target AR collision warning element in the real world, determine the second position description information of the target AR collision warning element in the head-up display coordinate system on the virtual image plane; According to the second position description information, determine the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle; Determine the second position description information of the target AR collision warning element in the head-up display coordinate system on the virtual image plane according to the first position description information of the target AR collision warning element in the real world, including: In a pre-established first database, obtain at least one optical performance parameter corresponding to the virtual image plane; In a pre-established second database, obtain the standard obstacle width corresponding to the type of obstacle prompted by the target AR collision warning element; According to each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, determine the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system as the second position description information; According to each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, determine the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system as the second position description information, including: If the type of obstacle matching the target AR collision warning element is a pedestrian, determine the triangle vertex coordinates and triangle side length of the target AR collision warning element with an equilateral triangle shape in the head-up display coordinate system according to each optical performance parameter, the first position description information, and the standard obstacle width; Use the triangle vertex coordinates and triangle side length as the second position description information.

2. The method according to claim 1, wherein Detect an obstacle to be prompted in the environment around the vehicle, including: Obtain the description information of the obstacle to be prompted existing in front of the vehicle output in real time by the assisted driving system configured on the vehicle; Among them, the description information of the obstacle includes: the type of obstacle and the relative position description information between the obstacle and the vehicle.

3. The method according to claim 2, wherein Obtain the first position description information of the target augmented reality (AR) collision warning element matching the obstacle in the real world, including: Obtain the target AR collision warning element matching the type of the obstacle; Obtain the preset offset of the vehicle itself relative to the driving axis of the vehicle, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the driving axis of the vehicle as the first position description information of the target AR collision warning element.

4. The method according to claim 1, characterized in that The optical performance parameters include: The horizontal field of view angle of the virtual image plane, the vertical field of view angle of the virtual image plane, the downward viewing angle of the virtual image plane, the horizontal resolution of the virtual image plane, the vertical resolution of the virtual image plane, the virtual image distance, and a preset value of the distance between the human eye and the reference plane.

5. The method according to claim 1, wherein Based on each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element, determine the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system as the second position description information, including: If the obstacle type matching the target AR collision warning element is a vehicle, determine the starting coordinates and width of the target AR collision warning element in the head-up display coordinate system according to each optical performance parameter, the first position description information, and the standard obstacle width; Use the starting coordinates and the width as the second position description information.

6. The method according to claim 2, wherein Before projecting the target projection image displayed by the head-up display device onto the imaging element of the vehicle, it further includes: Determine the display color of the target AR collision warning element in the target projection image according to the relative distance between the obstacle and the vehicle.

7. A head-up display device, characterized in that, Include: A first position description information acquisition module, configured to acquire the first position description information of the target augmented reality (AR) collision warning element matching the obstacle in the real world whenever an obstacle to be prompted appears in the environment around the vehicle; A second position description information acquisition module, configured to determine the second position description information of the target AR collision warning element in the head-up display coordinate system of the virtual image plane according to the first position description information of the target AR collision warning element in the real world; A collision warning element projection module, configured to determine the target layout position of the target AR collision warning element in the target projection image formed by the head-up display device in the vehicle according to the second position description information, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle; Among them, the second position description information acquisition module (320) includes: An optical performance parameter acquisition unit, configured to acquire at least one optical performance parameter corresponding to the virtual image plane in a pre-established first database; A standard obstacle width acquisition unit, configured to acquire the standard obstacle width corresponding to the obstacle type prompted by the target AR collision warning element in a pre-established second database; A second position description information determination unit, configured to determine the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system according to each optical performance parameter, the first position description information, the standard obstacle width, and the element shape of the target AR collision warning element as the second position description information; The second position description information determination unit is specifically configured to: If the obstacle type matching the target AR collision warning element is a pedestrian, determine the triangle vertex coordinates and triangle side length of the target AR collision warning element with an equilateral triangle shape in the head-up display coordinate system according to each optical performance parameter, the first position description information, and the standard obstacle width; Use the triangle vertex coordinates and the triangle side length as the second position description information.

8. A vehicle, characterized in that, The vehicle includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the method for displaying collision warning information according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for implementing the method for displaying collision warning information according to any one of claims 1-6 when the computer instructions are executed by a processor.

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