Ambient rendering signal processing method, apparatus, electronic device, and program product

Abstract

The present disclosure relates to the technical field of electronic map, and in particular to an environment rendering signal processing method and device, electronic equipment and program product. The method comprises: when the last received environment rendering SR signal frame comprises SR signals corresponding to any SR element identifier in an SR signal queue, increasing the stability count value of any SR element identifier; when at least one SR signal frame in the last received continuous multiple SR signal frames does not comprise SR signals corresponding to any SR element identifier, and the stability count value of any SR element identifier is greater than or equal to a count threshold value, removing the SR signals corresponding to any SR element identifier from the SR signal queue; and rendering according to at least one SR signal in the SR signal queue. The scheme can obtain a relatively smooth rendering effect on the electronic map, thereby improving the user experience.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of electronic map, and in particular to a surrounding reality signal processing method and device, an electronic device and a program product. BACKGROUND

[0002] In order to facilitate users to plan driving routes, in the related art, a terminal such as a mobile communication terminal, a vehicle-mounted terminal or other terminal with human-computer interaction function can provide navigation services for users. Specifically, the terminal can display an electronic map and display a navigation path on the electronic map, so that the user can travel on the correct road along the navigation path. In recent years, with the development of electronic map technology, terminals with navigation service functions have begun to have more rich visualization functions, such as surrounding reality (SR) functions, and terminals with such functions can receive SR signals and render the environment around the vehicle more accurately on the electronic map according to the SR signals, so that the user can perceive the environment around the vehicle more accurately.

[0003] However, the applicant finds that since the SR signal is obtained by the vehicle detecting the environment around the vehicle through its own sensor, when the quality of the obtained SR signal is poor, the rendered object is prone to appear abrupt, interrupted and the like when rendered according to the SR signal, and a relatively smooth rendering effect cannot be obtained, thereby impairing the user experience. SUMMARY

[0004] In order to solve the problems in the related art, the embodiments of the present disclosure provide a surrounding reality signal processing method, device, electronic device and program product.

[0005] In a first aspect, a surrounding reality signal processing method is provided in the embodiments of the present disclosure, comprising:

[0006] When the last received surrounding reality (SR) signal frame includes the SR signal corresponding to any SR element identifier, the stability count value of any SR element identifier is increased;

[0007] When at least one of the last received continuous SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stability count value of any SR element identifier is greater than or equal to a count threshold value, the SR signal corresponding to any SR element identifier is removed from the SR signal queue;

[0008] According to at least one SR signal in the SR signal queue, rendering is performed.

[0009] In an embodiment of the present disclosure, before the SR signal corresponding to any signal identifier is removed from the SR signal queue, the method further comprises:

[0010] decrease the stable count value corresponding to the new SR element identification when the last received SR signal frame includes an SR signal corresponding to the new SR element identification and the SR signal queue does not include an SR signal corresponding to the new SR element identification.

[0011] In an embodiment of the present disclosure, before removing the SR signal corresponding to any SR element identification from the SR signal queue, the method further comprises:

[0012] updating the SR signal queue according to the last received SR signal frame.

[0013] In an embodiment of the present disclosure, before updating the SR signal queue according to the last received SR signal frame, the method further comprises:

[0014] determining whether the SR signal queue includes a proximate SR signal when the last received SR signal frame includes an SR signal corresponding to the new SR element identification and the SR signal queue does not include an SR signal corresponding to the new SR element identification, wherein a distance from a position of the proximate SR signal to a position of the SR signal corresponding to the new SR element identification is less than or equal to a distance threshold value;

[0015] updating an SR element identification of the proximate SR signal to the new SR element identification when the SR signal queue includes the proximate SR signal.

[0016] Or, adding the new SR element identification to the SR signal queue when the SR signal queue does not include the proximate SR signal.

[0017] In an embodiment of the present disclosure, updating the SR signal queue according to the last received SR signal frame comprises:

[0018] updating a position of a to-be-updated SR signal in the SR signal queue to a position of a target SR signal in the last received SR signal frame and updating an azimuth angle of the to-be-updated SR signal to the azimuth angle of the target SR signal, wherein the to-be-updated SR signal and the target SR signal correspond to a same SR element identification.

[0019] In an embodiment of the present disclosure, rendering according to at least one SR signal in the SR signal queue comprises:

[0020] determining at least one to-be-rendered SR signal in the at least one SR signal, wherein the to-be-rendered SR signal corresponds to a static element or a vulnerable road user element, or a distance from a position of an SR element indicated by the to-be-rendered SR signal to a target vehicle is less than a vehicle distance threshold value.

[0021] rendering according to at least one SR signal to be rendered.

[0022] In an embodiment of the present disclosure, rendering according to at least one SR signal in the SR signal queue comprises:

[0023] When the SR signal queue comprises at least one SR signal to be removed, removing the SR signal to be removed from the SR signal queue, wherein a time difference between an update time of the SR signal to be removed and a current time is greater than or equal to a time difference threshold;

[0024] rendering according to at least one SR signal in the SR signal queue.

[0025] In a second aspect, an environment rendering signal processing apparatus is provided in the embodiments of the present disclosure, and the apparatus comprises:

[0026] a stable count module configured to increase a stable count value of any SR element identifier when a latest received environment rendering SR signal frame comprises an SR signal corresponding to the SR element identifier;

[0027] a signal removing module configured to remove an SR signal corresponding to any SR element identifier from the SR signal queue when at least one SR signal frame in the latest received continuous multiple SR signal frames does not comprise the SR signal corresponding to the SR element identifier, and the stable count value of the SR element identifier is greater than or equal to a count threshold;

[0028] a signal rendering module configured to render according to at least one SR signal in the SR signal queue.

[0029] In a third aspect, an electronic device is provided in the embodiments of the present disclosure, and the electronic device comprises a memory and a processor, wherein the memory is configured to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the method in the first aspect or any one of the embodiments of the first aspect.

[0030] In a fourth aspect, a computer readable storage medium is provided in the embodiments of the present disclosure, and the computer readable storage medium stores computer instructions, and the computer instructions are executed by a processor to implement the method in the first aspect or any one of the embodiments of the first aspect.

[0031] According to the technical scheme provided by the embodiment of the present disclosure, when the last received environment rendering SR signal frame includes the SR signal corresponding to any SR element identifier in the SR signal queue, the stable count value of any SR element identifier is increased, wherein the stable count value can be understood as indicating the number of times that the corresponding SR element is stably detected by the vehicle; when at least one SR signal frame in the last received continuous multiple SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stable count value of any SR element identifier is greater than or equal to the count threshold value, the SR signal corresponding to any SR element identifier is removed from the SR signal queue, and rendering is performed according to at least one SR signal in the SR signal queue. Wherein, since the stable count value of any SR element identifier is greater than or equal to the count threshold value, and at least one SR signal frame does not include the SR signal corresponding to any SR element identifier, it can be considered that although the SR element corresponding to any SR element identifier has been detected by the vehicle for many times before, the SR element corresponding to any SR element identifier has not been continuously detected by the vehicle recently. If rendering is continued according to the SR signal corresponding to any SR element identifier in the SR signal queue, the trajectory of the SR element obtained by rendering may be discontinuous and present as a state of sometimes and sometimes not. By removing the SR signal corresponding to any SR element identifier from the SR signal queue and performing rendering according to at least one SR signal in the SR signal queue, the object to be rendered can be avoided from being easily abrupt and interrupted, so as to obtain a relatively smooth rendering effect, thereby improving the user experience.

[0032] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0033] Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of the non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0034] Figure 1 A flowchart of an environment rendering signal processing method according to an embodiment of the present disclosure is shown.

[0035] Figure 2 A flowchart of an environment rendering signal processing method according to an embodiment of the present disclosure is shown.

[0036] Figure 3 A structural block diagram of an environment rendering signal processing device according to an embodiment of the present disclosure is shown.

[0037] Figure 4 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0038] Figure 5A structural diagram showing a computer system suitable for implementing the method according to the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0039] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so as to be easily implemented by those skilled in the art. Also, for the sake of brevity, portions that are irrelevant to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0040] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate that there are features, numbers, steps, actions, components, parts or combinations thereof disclosed in the specification, and do not exclude the possibility that one or more other features, numbers, steps, actions, components, parts or combinations thereof exist or are added.

[0041] It should also be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0042] In the present disclosure, if the operation of acquiring user information or user data or the operation of showing user information or user data to others is involved, the operation is an operation authorized, confirmed by the user, or actively selected by the user.

[0043] In the related art, with the development of electronic map technology, terminals with navigation service functions begin to have more rich visualization functions, such as SR functions, etc.

[0044] For example, taking a vehicle terminal as an example, when the vehicle starts the automatic navigation assisted driving (NGP, Navigation Guided Pilot) function in the allowed area, the vehicle terminal with SR function can display SR elements on the screen to achieve the purpose of simulating the display of the vehicle and the surrounding environment of the vehicle. The SR elements can include the vehicle itself, other objects or elements (such as other vehicles, pedestrians, lane lines, etc.) within a predetermined range based on the vehicle.

[0045] The applicant found that since the SR signal is obtained by the vehicle detecting the environment around itself through its own sensor, considering that the working environment of the sensor is often relatively harsh, it is easy to have the condition that the acquired SR signal has poor signal quality, thereby causing the object to be rendered (for example, rendered on the electronic map) according to the SR signal to be easy to have the condition of being abrupt, interrupted, etc., thereby causing a relatively smooth rendering effect to be unable to be obtained, and the user experience is damaged.

[0046] To solve the above problems, in the technical scheme provided by the embodiments of the present disclosure, when the last received environment rendering SR signal frame includes the SR signal corresponding to any SR element identifier in the SR signal queue, the stable count value of any SR element identifier is increased, wherein the stable count value can be understood as indicating the number of times the corresponding SR element is stably detected by the vehicle; when at least one SR signal frame in the last received continuous multiple SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stable count value of any SR element identifier is greater than or equal to the count threshold value, the SR signal corresponding to any SR element identifier is removed from the SR signal queue, and rendering is performed according to at least one SR signal in the SR signal queue. Wherein, since the stable count value of any SR element identifier is greater than or equal to the count threshold value, and at least one SR signal frame does not include the SR signal corresponding to any SR element identifier, it can be considered that although the SR element corresponding to any SR element identifier has been detected by the vehicle for many times before, the SR element corresponding to any SR element identifier has not been continuously detected by the vehicle recently. If rendering is continued according to the SR signal corresponding to any SR element identifier in the SR signal queue, the trajectory of the rendered object may be discontinuous and appear in a state of sometimes and sometimes not. By removing the SR signal corresponding to any SR element identifier from the SR signal queue and performing rendering according to at least one SR signal in the SR signal queue, the object being rendered can be prevented from appearing abrupt and interrupted, so as to obtain a smoother rendering effect, thereby improving the user experience.

[0047] Figure 1 A flowchart of an environment rendering signal processing method according to an embodiment of the present disclosure is shown. As shown in Figure 1 The environment rendering signal processing method includes the following steps S101-S103:

[0048] In step S101, when the last received environment rendering SR signal frame includes the SR signal corresponding to any SR element identifier in the SR signal queue, the stable count value of any SR element identifier is increased;

[0049] In step S102, when at least one SR signal frame in the last received continuous multiple SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stable count value of any SR element identifier is greater than or equal to the count threshold value, the SR signal corresponding to any SR element identifier is removed from the SR signal queue;

[0050] In step S103, rendering is performed according to at least one SR signal in the SR signal queue.

[0051] In an implementation form of the present disclosure, the SR signal frame can be understood as being collected by the vehicle through sensors of the vehicle itself and transmitted, the SR signal frame can include a plurality of SR signals, each of which can be used to indicate the position of a corresponding SR element, and further each of which can be used to indicate at least one of the texture, shape and type of the corresponding SR element.

[0052] In an implementation form of the present disclosure, the plurality of SR signal frames received in succession recently can be understood as the K SR signal frames received in succession recently, in an implementation form of the present disclosure, K is an integer, the value of K can be pre-set or obtained from other devices or systems. Exemplarily, the plurality of SR signal frames received in succession recently can be 10 SR signal frames.

[0053] In an implementation form of the present disclosure, the SR element identifier can be understood as an identifier uniquely corresponding to the SR element.

[0054] In an implementation form of the present disclosure, the SR signal queue can be understood as including the SR signals in the SR signal frames previously received other than the SR signal frame received most recently and the SR signal identifiers corresponding to the SR signals in the SR signal frames before the SR signal queue is updated according to any SR signal.

[0055] In an implementation form of the present disclosure, the stability count value can be understood as being used to indicate the number of times the SR element corresponding to the SR element identifier is detected by the vehicle. Increasing the stability count value of any SR element identifier can be understood as adding the stability count value of the any SR element identifier to a pre-set adjustment threshold value, exemplarily, the adjustment threshold value can be 1.

[0056] In an implementation form of the present disclosure, the count threshold value can be pre-obtained or obtained from other devices or systems. Exemplarily, the count threshold value can be 10.

[0057] According to the technical scheme provided by the embodiment of the present disclosure, when the last received environment rendering SR signal frame includes the SR signal corresponding to any SR element identifier, the stable count value of the any SR element identifier is increased, where the stable count value can be understood as indicating the number of times that the corresponding SR element is stably detected by the vehicle; when at least one SR signal frame in the last received continuous multiple SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stable count value of the any SR element identifier is greater than or equal to the count threshold value, the SR signal corresponding to the any SR element identifier is removed from the SR signal queue, and rendering is performed according to at least one SR signal in the SR signal queue. Since the stable count value of the any SR element identifier is greater than or equal to the count threshold value, and at least one SR signal frame does not include the SR signal corresponding to the any SR element identifier, it can be considered that although the SR element corresponding to the any SR element identifier has been detected by the vehicle for multiple times before, the SR element corresponding to the any SR element identifier has not been continuously detected by the vehicle recently. If rendering is continued according to the SR signal corresponding to the any SR element identifier in the SR signal queue, the trajectory of the rendered SR element may be discontinuous and appear in a state of sometimes appearing and sometimes disappearing. By removing the SR signal corresponding to the any SR element identifier from the SR signal queue and performing rendering according to at least one SR signal in the SR signal queue, the object to be rendered can be prevented from being abrupt and interrupted, so that a smoother rendering effect is obtained, thereby improving the user experience.

[0058] In an implementation manner of the present disclosure, before the SR signal corresponding to any signal identifier is removed from the SR signal queue, the method further includes:

[0059] When the last received SR signal frame includes the SR signal corresponding to the newly added SR element identifier, and the SR signal queue does not include the SR signal corresponding to the newly added SR element identifier, the stable count value corresponding to the newly added SR element identifier is reduced.

[0060] In an implementation manner of the present disclosure, reducing the stable count value corresponding to the newly added SR element identifier can be understood as subtracting a preset adjustment threshold value from the stable count value of the newly added SR element identifier. For example, the adjustment threshold value can be 1.

[0061] According to the technical scheme provided by the embodiment of the present disclosure, by reducing the stable count value corresponding to the newly added SR element identifier when the last received SR signal frame includes the SR signal corresponding to the newly added SR element identifier and the SR signal queue does not include the SR signal corresponding to the newly added SR element identifier, the stable count value corresponding to the SR element identifier in the SR signal queue can reflect the number of times that the corresponding SR element is stably detected by the vehicle, so as to determine whether the corresponding SR element is stably detected by the vehicle according to the stable count value, which helps to accurately determine the relatively stable SR signal that can be used for rendering, and improves the user experience.

[0062] In an implementation manner of the present disclosure, before removing the SR signal corresponding to any SR element identifier from the SR signal queue, the method further comprises:

[0063] Updating the SR signal queue according to the last received SR signal frame.

[0064] In an implementation manner of the present disclosure, updating the SR signal queue according to the last received SR signal frame can be understood as updating the first SR signal in the SR signal queue to the second SR signal in the last received SR signal frame, wherein the first SR signal corresponds to the same SR identifier as the second SR signal. Alternatively, updating the SR signal queue according to the last received SR signal frame can also be understood as inserting the SR signal corresponding to the third SR signal identifier in the last received SR signal frame into the SR signal queue when the SR signal queue does not include the SR signal corresponding to the third SR signal identifier, and ensuring that the inserted position corresponds to the third SR signal identifier.

[0065] According to the technical scheme provided by the embodiment of the present disclosure, by updating the SR signal queue according to the last received SR signal frame, the timeliness of the SR signal in the SR signal queue can be ensured to be good, and when rendering is performed according to the SR signal in the SR signal queue, the rendering effect obtained is close to the real situation.

[0066] In an implementation manner of the present disclosure, before updating the SR signal queue according to the last received SR signal frame, the method further comprises:

[0067] When the last received SR signal frame includes the SR signal corresponding to the newly added SR element identifier and the SR signal queue does not include the SR signal corresponding to the newly added SR element identifier, determining whether the SR signal queue includes a nearby SR signal, wherein the distance from the position of the nearby SR signal to the position of the SR signal corresponding to the newly added SR element identifier is less than or equal to a distance threshold value;

[0068] When the SR signal queue includes the similar SR signal, updating the SR element identifier of the similar SR signal as the new SR element identifier;

[0069] Or, when the SR signal queue does not include the similar SR signal, adding the new SR element identifier to the SR signal queue.

[0070] In an implementation manner of the present disclosure, the position indicated by the SR signal can be understood as the position of the SR element indicated by the SR signal, which can be a relative position relative to the vehicle generating the SR signal. For example, the SR signal can include the distance of the corresponding SR element to the vehicle and the azimuth angle of the SR element relative to the vehicle. The position of the SR element can also be understood as the absolute position of the SR element. For example, the SR signal can include the geodetic coordinates of the corresponding SR element.

[0071] In an implementation manner of the present disclosure, the distance threshold value can be obtained in advance or obtained from other devices or systems. For example, the distance threshold value can be 2 meters.

[0072] According to the technical scheme provided by the embodiment of the present disclosure, when the last received SR signal frame includes the SR signal corresponding to the new SR element identifier, and the SR signal queue does not include the SR signal corresponding to the new SR element identifier, it is judged whether the SR signal queue includes the similar SR signal. When the SR signal queue includes the similar SR signal, the SR element identifier of the similar SR signal is updated as the new SR element identifier, or when the SR signal queue does not include the similar SR signal, the new SR element identifier is added to the SR signal queue. Wherein, the SR signal queue includes the similar SR signal, which can be understood as that the similar SR signal is the same as the SR element corresponding to the SR signal corresponding to the new SR element identifier, which may be caused by a certain detection error or a corresponding error when the vehicle detects the SR element. By updating the SR element identifier of the similar SR signal as the new SR element identifier, the accuracy of the SR signal in the SR signal queue can be improved, and the user experience can be improved.

[0073] In an implementation manner of the present disclosure, updating the SR signal queue according to the last received SR signal frame includes:

[0074] The position of the SR signal to be updated in the SR signal queue is updated to the position of the target SR signal in the last received SR signal frame, and the azimuth of the SR signal to be updated is updated to the azimuth of the target SR signal, wherein the SR signal to be updated and the target SR signal correspond to the same SR element identifier.

[0075] According to the technical scheme provided by the embodiment of the present disclosure, by updating the position of the SR signal to be updated in the SR signal queue to the position of the target SR signal in the last received SR signal frame, and updating the azimuth of the SR signal to be updated to the azimuth of the target SR signal, the space occupied by the updated SR signal queue can be minimized under the premise that the updated SR signal queue can reflect the latest position and the latest azimuth of the corresponding SR element, thereby reducing the cost.

[0076] In an implementation of the present disclosure, rendering according to at least one SR signal in the SR signal queue comprises:

[0077] Determining at least one SR signal to be rendered in the at least one SR signal, wherein the SR element corresponding to the SR signal to be rendered belongs to a static element or a vulnerable road user element, or the distance from the position of the SR element indicated by the SR signal to be rendered to the target vehicle is less than a vehicle distance threshold;

[0078] Rendering according to the at least one SR signal to be rendered.

[0079] In an implementation of the present disclosure, the static element can be understood as a stationary object in the road. For example, the static element can include crash barrels, construction fences, cone barrels, etc.

[0080] In an implementation of the present disclosure, the vulnerable road user element can be understood as a party that is easy to collide or scratch with a vehicle and is more likely to be injured in the road. For example, the vulnerable road user element can include pedestrians, three-wheeled bicycles, two-wheeled bicycles, motorcycles, traffic police, etc.

[0081] In an implementation of the present disclosure, the target vehicle can be understood as a vehicle of interest to the user. For example, the target vehicle can be a vehicle driven by the user, or other vehicles determined according to target vehicle indication information input by the user, etc.

[0082] According to the technical scheme provided by the embodiment of the present disclosure, considering that the environment rendering elements belonging to static elements, weak road user elements, or any environment rendering element close to the target vehicle are environment rendering elements that the user may pay more attention to, by determining at least one to-be-rendered SR signal in the at least one SR signal, and rendering according to the at least one to-be-rendered SR signal, the user can be ensured to obtain the information that he or she pays more attention to, and the interference of the rendering result on the user is reduced, and the user experience is improved.

[0083] In an embodiment of the present disclosure, rendering according to the at least one SR signal in the SR signal queue comprises:

[0084] When the SR signal queue includes at least one to-be-removed SR signal, the to-be-removed SR signal is removed from the SR signal queue, where a time difference between an update time of the to-be-removed SR signal and the current time is greater than or equal to the time difference threshold;

[0085] According to the at least one SR signal in the SR signal queue.

[0086] According to the technical scheme provided by the embodiment of the present disclosure, considering that when the time difference between the update time and the current time is greater than or equal to the time difference threshold, the corresponding SR signal, i.e., the to-be-removed SR signal, may not be able to accurately indicate the corresponding information of the SR element, such as the position, the driving direction, etc., and if the SR signal queue still includes the to-be-removed SR signal, the rendering result obtained by rendering according to the SR signal queue may be quite different from the real situation. By removing the to-be-removed SR signal from the SR signal queue when the SR signal queue includes at least one to-be-removed SR signal, and rendering according to the at least one SR signal in the SR signal queue, the above situation can be avoided, the accuracy of the SR signal queue is improved, the rendering result obtained by rendering based on the SR signal queue is ensured to be consistent with the real situation, and thus the user experience is improved.

[0087] Figure 2 A flowchart of an environment rendering signal processing method according to an embodiment of the present disclosure is shown. As shown in Figure 1 The environment rendering signal processing method comprises the following steps S201-S210:

[0088] In step S201, when the last received environment rendering SR signal frame includes the SR signal corresponding to any SR element identifier in the SR signal queue, the stability count value of any SR element identifier is increased.

[0089] In step S202, when the last received SR signal frame includes the SR signal corresponding to the new SR element identifier, and the SR signal queue does not include the SR signal corresponding to the new SR element identifier, the stable count value corresponding to the new SR element identifier is reduced.

[0090] In step S203, when the last received SR signal frame includes the SR signal corresponding to the new SR element identifier, and the SR signal queue does not include the SR signal corresponding to the new SR element identifier, it is determined whether the SR signal queue includes a nearby SR signal.

[0091] The distance from the position of the nearby SR signal to the position of the SR signal corresponding to the new SR element identifier is less than or equal to a distance threshold.

[0092] In step S204, when the SR signal queue includes the nearby SR signal, the SR element identifier of the nearby SR signal is updated to the new SR element identifier.

[0093] In step S205, when the SR signal queue does not include the nearby SR signal, the new SR element identifier is added to the SR signal queue.

[0094] In step S206, the position of the SR signal to be updated in the SR signal queue is updated to the position of the target SR signal in the last received SR signal frame, and the azimuth of the SR signal to be updated is updated to the azimuth of the target SR signal.

[0095] The SR signal to be updated and the target SR signal correspond to the same SR element identifier.

[0096] In step S207, when at least one of the last received continuous multiple SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stable count value of any SR element identifier is greater than or equal to a count threshold, the SR signal corresponding to any SR element identifier is removed from the SR signal queue.

[0097] In step S208, when the SR signal queue includes at least one SR signal to be removed, the SR signal to be removed is removed from the SR signal queue.

[0098] The time difference between the update time of the SR signal to be removed and the current time is greater than or equal to a time difference threshold.

[0099] In step S209, at least one SR signal to be rendered is determined in the at least one SR signal.

[0100] The SR element corresponding to the SR signal to be rendered belongs to a static element or a vulnerable road user element, or the distance from the position of the SR element indicated by the SR signal to be rendered to the target vehicle is less than a vehicle distance threshold.

[0101] In step S210, rendering is performed according to at least one SR signal to be rendered.

[0102] Figure 3 A structural block diagram of an environment rendering signal processing apparatus according to an embodiment of the present disclosure is shown. The apparatus can be implemented by software, hardware, or a combination of both as part or all of an electronic device.

[0103] As shown in Figure 3 The environment rendering signal processing apparatus 300 includes:

[0104] A stability counting module 301 is configured to increase the stability count value of any SR element identifier when the last received environment rendering SR signal frame includes the SR signal corresponding to the SR element identifier of any SR element identifier;

[0105] A signal removing module 302 is configured to remove the SR signal corresponding to any SR element identifier from the SR signal queue when at least one of the last received continuous multiple SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stability count value of any SR element identifier is greater than or equal to a count threshold value;

[0106] A signal rendering module 303 is configured to perform rendering according to at least one SR signal in the SR signal queue.

[0107] According to the technical scheme provided by the embodiment of the present disclosure, when the last received environment rendering SR signal frame includes the SR signal corresponding to any SR element identifier in the SR signal queue, the stable count value of any SR element identifier is increased, wherein the stable count value can be understood as indicating the number of times that the corresponding SR element is stably detected by the vehicle; when at least one SR signal frame in the last received continuous multiple SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stable count value of any SR element identifier is greater than or equal to the count threshold value, the SR signal corresponding to any SR element identifier is removed from the SR signal queue, and rendering is performed according to at least one SR signal in the SR signal queue. Since the stable count value of any SR element identifier is greater than or equal to the count threshold value, and at least one SR signal frame does not include the SR signal corresponding to any SR element identifier, it can be considered that although the SR element corresponding to any SR element identifier has been detected by the vehicle for many times before, the SR element corresponding to any SR element identifier has not been continuously detected by the vehicle recently. If rendering is continued according to the SR signal corresponding to any SR element identifier in the SR signal queue, the trajectory of the rendered object may be discontinuous and appear in a state of sometimes appearing and sometimes disappearing. By removing the SR signal corresponding to any SR element identifier from the SR signal queue and performing rendering according to at least one SR signal in the SR signal queue, the object to be rendered can be prevented from being abrupt and interrupted, so that a smoother rendering effect is obtained, thereby improving the user experience.

[0108] The present disclosure also discloses an electronic device, Figure 4 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0109] As Figure 4 shown, the electronic device includes a memory and a processor, wherein the memory is configured to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the method according to the embodiment of the present disclosure.

[0110] An environment rendering signal processing method is provided in the embodiment of the present disclosure, comprising:

[0111] When the last received environment rendering SR signal frame includes the SR signal corresponding to any SR element identifier in the SR signal queue, the stable count value of any SR element identifier is increased;

[0112] When at least one SR signal frame in the last received continuous multiple SR signal frames does not include the SR signal corresponding to any SR element identifier, and the stable count value of any SR element identifier is greater than or equal to the count threshold value, the SR signal corresponding to any SR element identifier is removed from the SR signal queue;

[0113] rendering according to at least one SR signal in the SR signal queue.

[0114] In an embodiment of the present disclosure, before removing the SR signal corresponding to any signal identification from the SR signal queue, the method further comprises:

[0115] decreasing a stable count value corresponding to the new SR element identification when the last received SR signal frame includes an SR signal corresponding to the new SR element identification and the SR signal queue does not include an SR signal corresponding to the new SR element identification.

[0116] In an embodiment of the present disclosure, before removing the SR signal corresponding to any SR element identification from the SR signal queue, the method further comprises:

[0117] updating the SR signal queue according to the last received SR signal frame.

[0118] In an embodiment of the present disclosure, before updating the SR signal queue according to the last received SR signal frame, the method further comprises:

[0119] when the last received SR signal frame includes an SR signal corresponding to the new SR element identification and the SR signal queue does not include an SR signal corresponding to the new SR element identification, determining whether the SR signal queue includes a proximate SR signal, wherein a distance from a position of the proximate SR signal to a position of the SR signal corresponding to the new SR element identification is less than or equal to a distance threshold;

[0120] when the SR signal queue includes the proximate SR signal, updating an SR element identification of the proximate SR signal to the new SR element identification;

[0121] or, when the SR signal queue does not include the proximate SR signal, adding the new SR element identification to the SR signal queue.

[0122] In an embodiment of the present disclosure, updating the SR signal queue according to the last received SR signal frame comprises:

[0123] updating a position of a to-be-updated SR signal in the SR signal queue to a position of a target SR signal in the last received SR signal frame and updating an azimuth angle of the to-be-updated SR signal to an azimuth angle of the target SR signal, wherein the to-be-updated SR signal and the target SR signal correspond to a same SR element identification.

[0124] In an embodiment of the present disclosure, rendering according to at least one SR signal in the SR signal queue comprises:

[0125] determining at least one to-be-rendered SR signal in the at least one SR signal, the to-be-rendered SR signal corresponding to an SR element belonging to a static element or a vulnerable road user element, or a distance from a position of an SR element indicated by the to-be-rendered SR signal to the target vehicle being less than a vehicle distance threshold;

[0126] rendering according to the at least one to-be-rendered SR signal.

[0127] In an embodiment of the present disclosure, rendering according to the at least one SR signal in the SR signal queue comprises:

[0128] when the SR signal queue comprises at least one to-be-removed SR signal, removing the to-be-removed SR signal from the SR signal queue, wherein a time difference between an update time of the to-be-removed SR signal and the current time is greater than or equal to a time difference threshold;

[0129] rendering according to the at least one SR signal in the SR signal queue.

[0130] Figure 5 A structural schematic of a computer system suitable for implementing the method according to the embodiments of the present disclosure is shown.

[0131] As shown in Figure 5 , the computer system comprises a processing unit which can execute various methods in the above embodiments according to programs stored in a read-only memory (ROM) or loaded from a storage part into a random access memory (RAM). Various programs and data required for the operation of the computer system are also stored in the RAM. The processing unit, the ROM and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0132] The following components are connected to the I / O interface: an input part comprising a keyboard, a mouse, etc.; an output part comprising a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part comprising a hard disk, etc.; and a communication part comprising a network interface card such as a LAN card, a modem, etc. The communication part performs a communication process via a network such as the Internet. A drive is also connected to the I / O interface as needed. A removable medium such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive as needed, so that a computer program read therefrom is installed in the storage part as needed. The processing unit can be implemented as a CPU, a GPU, a TPU, a FPGA, a NPU, etc.

[0133] In particular, the method described above can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for executing the methods described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication part, and / or installed from a removable medium.

[0134] The flow and block diagrams in the drawings show the architectural, functional and operational aspects of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow and block diagrams can represent a module, a segment, or a portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession can in fact be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block in the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0135] The units or modules described in the embodiments of the present disclosure can be implemented by means of software, or by means of programmable hardware. The described units or modules can also be provided in a processor, and the names of these units or modules do not constitute a limitation on the units or modules themselves in some cases.

[0136] As another aspect, the present disclosure also provides a computer readable storage medium, which can be a computer readable storage medium contained in the electronic device or computer system in the above embodiments; or can exist separately, and is not assembled into the device. The computer readable storage medium stores one or more programs, which are used by one or more processors to execute the methods described in the present disclosure.

[0137] The above description is merely that of the preferred embodiments of the present disclosure and a description of the technical principles of the present disclosure. It should be understood by those skilled in the art that the inventive scope involved in the present disclosure is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by the combinations of the above technical features or equivalent features without departing from the inventive concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features with similar functions disclosed in the present disclosure (but not limited to) without departing from the inventive concept.

Claims

1. An ambient rendering signal processing method, comprising: increasing a stability count value of any SR element identifier when a last received ambient rendering (SR) signal frame comprises a SR signal corresponding to the any SR element identifier; removing the SR signal corresponding to the any SR element identifier from an SR signal queue when at least one of the last received consecutive SR signal frames does not comprise the SR signal corresponding to the any SR element identifier and the stability count value of the any SR element identifier is greater than or equal to a count threshold value; rendering an environment around a vehicle according to at least one SR signal in the SR signal queue.

2. The environmental rendering signal processing method of claim 1, wherein, Before the removing the SR signal corresponding to the any SR element identifier from the SR signal queue, the method further comprises: decreasing a stability count value corresponding to a new SR element identifier when the last received SR signal frame comprises the SR signal corresponding to the new SR element identifier and the SR signal queue does not comprise the SR signal corresponding to the new SR element identifier.

3. The environmental rendering signal processing method of claim 2, wherein, Before the updating the SR signal queue according to the last received SR signal frame, the method further comprises: updating the SR signal queue according to the last received SR signal frame.

4. The environmental rendering signal processing method of claim 3, wherein, Before the updating the SR signal queue according to the last received SR signal frame, the method further comprises: determining whether the SR signal queue comprises a close SR signal when the last received SR signal frame comprises the SR signal corresponding to the new SR element identifier and the SR signal queue does not comprise the SR signal corresponding to the new SR element identifier, wherein a distance from a position of the close SR signal to a position of the SR signal corresponding to the new SR element identifier is less than or equal to a distance threshold value; updating an SR element identifier of the close SR signal to the new SR element identifier when the SR signal queue comprises the close SR signal; or adding the new SR element identifier to the SR signal queue when the SR signal queue does not comprise the close SR signal.

5. The environmental rendering signal processing method of claim 3, wherein, The updating the SR signal queue according to the last received SR signal frame, comprising: updating a position of a to-be-updated SR signal in the SR signal queue to a position of a target SR signal in the last received SR signal frame and updating an azimuth angle of the to-be-updated SR signal to an azimuth angle of the target SR signal, wherein the to-be-updated SR signal and the target SR signal correspond to a same SR element identifier.

6. The environmental rendering signal processing method of any one of claims 1-5, wherein, The rendering according to the at least one SR signal in the SR signal queue, comprising: determining at least one to-be-rendered SR signal in the at least one SR signal, wherein a SR element corresponding to the to-be-rendered SR signal belongs to a static element or a vulnerable road user element, or a distance from a position of the SR element indicated by the to-be-rendered SR signal to a target vehicle is less than a vehicle distance threshold value; rendering according to the at least one to-be-rendered SR signal.

7. The environmental rendering signal processing method of any one of claims 1-5, wherein, The rendering according to the at least one SR signal in the SR signal queue comprises: When the SR signal queue includes at least one SR signal to be removed, removing the SR signal to be removed from the SR signal queue, wherein a time difference between an update time of the SR signal to be removed and a current time is greater than or equal to a time difference threshold value; The rendering according to the at least one SR signal in the SR signal queue.

8. An ambient rendering signal processing apparatus, comprising: a stable count module configured to increase a stable count value of any SR element identifier when a latest received ambient rendering SR signal frame includes a corresponding SR signal of the any SR element identifier; a signal removal module configured to remove the corresponding SR signal of the any SR element identifier from the SR signal queue when at least one of the latest received consecutive SR signal frames does not include the corresponding SR signal of the any SR element identifier and the stable count value of the any SR element identifier is greater than or equal to a count threshold value; a signal rendering module configured to render an environment around a vehicle according to at least one SR signal in the SR signal queue.

9. An electronic device comprising a memory and a processor; wherein, The memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method steps of any one of claims 1-5.

10. A computer program product comprising computer programs / instructions, wherein, The computer program / instruction is executed by the processor to implement the method steps of any one of claims 1-7.

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