A radar distance display method and device, electronic equipment and storage medium

Abstract

The application discloses a radar distance display method and device, electronic equipment and a storage medium. The method comprises the following steps: establishing a rendering implementation scene based on the real vehicle scene coordinate system of at least one vehicle-mounted radar; determining the display anchor point of a radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient; and displaying the radar display graph in the rendering implementation scene according to the display anchor point. According to the embodiment of the application, the display anchor point of the radar display graph is determined according to the detection distance of each vehicle-mounted radar and the preset coefficient, and the corresponding radar display graph is displayed in the rendering implementation scene according to the display anchor point, so that the display definition and distance display accuracy of the radar display graph can be improved, the rendering display effect of the radar display graph is enhanced, and the driving safety and experience of the user are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted radar data processing, and in particular to a radar distance display method and device, electronic equipment and a storage medium. BACKGROUND

[0002] With the continuous development of automobile electronic technology, automobiles have gradually become an important means of transportation for people. However, with the increasing number of vehicles on the road, the safety of vehicles has gradually attracted people's attention.

[0003] At present, an obstacle detection system based on a vehicle-mounted radar is gradually integrated into more and more vehicle models. The system can draw distance data detected by each vehicle-mounted radar into a corresponding radar display graph and display it on a display device of the vehicle, thereby prompting the user to take appropriate measures. However, the existing radar distance display method still has the following shortcomings: first, the existing radar distance display method mostly uses a mapping method to implement, which may cause the radar display graph to be displayed unclearly; second, the existing radar distance display method may cause the distance display of the radar display graph to be lost and the rendering display effect to be poor in different view scenarios, thereby reducing the driving safety and experience of the user. SUMMARY

[0004] The present application provides a radar distance display method, device, electronic equipment and storage medium to solve the problems of unclear radar display graph display, easy loss of distance display and poor rendering display effect in the existing radar distance display method.

[0005] According to an aspect of the present application, a radar distance display method is provided, which comprises:

[0006] establishing a rendering implementation scene based on a real vehicle scene coordinate system of at least one vehicle-mounted radar;

[0007] determining a display anchor point of a radar display graph according to a detection distance of each vehicle-mounted radar and a preset coefficient;

[0008] displaying the radar display graph according to the display anchor point in the rendering implementation scene.

[0009] According to another aspect of the present application, a radar distance display device is provided, which comprises:

[0010] a scene establishing module configured to establish a rendering implementation scene based on a real vehicle scene coordinate system of at least one vehicle-mounted radar;

[0011] an anchor point determining module configured to determine a display anchor point of a radar display graph according to a detection distance of each vehicle-mounted radar and a preset coefficient;

[0012] The radar distance module is configured to display a radar display figure in the rendering implementation scene according to the display anchor point.

[0013] According to another aspect of the present application, an electronic device is provided, comprising:

[0014] at least one processor; and

[0015] a memory in communication with the at least one processor; wherein

[0016] 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 to enable the at least one processor to perform the radar distance display method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to perform the radar distance display method according to any one of the embodiments of the present application when executed by the processor.

[0018] The technical solution of the embodiments of the present application establishes a rendering implementation scene based on a real vehicle scene coordinate system of at least one vehicle-mounted radar, determines a display anchor point of a radar display figure according to a detection distance of each vehicle-mounted radar and a preset coefficient, and displays the radar display figure in the rendering implementation scene according to the display anchor point. The embodiments of the present application determine a display anchor point of a radar display figure according to a detection distance of each vehicle-mounted radar and a preset coefficient, and display the corresponding radar display figure in the rendering implementation scene according to the display anchor point, thereby improving the distance display precision of the radar display figure, enhancing the rendering display effect of the radar display figure, and effectively improving the driving safety and experience of users.

[0019] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a flowchart of a radar distance display method according to an embodiment of the present application;

[0022] Figure 2is a flow chart of a radar distance display method according to the second embodiment of the present application;

[0023] Figure 3 is a flow chart of a radar distance display method according to the third embodiment of the present application;

[0024] Figure 4 is an installation example diagram of a vehicle-mounted ultrasonic radar according to the third embodiment of the present application;

[0025] Figure 5 is an example diagram of radar shield color display according to the third embodiment of the present application;

[0026] Figure 6 is an example diagram of two-dimensional radar shield display according to the third embodiment of the present application;

[0027] Figure 7 is an example diagram of three-dimensional radar shield display according to the third embodiment of the present application;

[0028] Figure 8 is a structural schematic diagram of a radar distance display device according to the fourth embodiment of the present application;

[0029] Figure 9 is a structural schematic diagram of an electronic device implementing a radar distance display method according to the fourth embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Example 1

[0033] Figure 1 This is a flowchart illustrating a radar distance display method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where radar distance is displayed on a vehicle's display device. The method can be executed by a radar distance display device, which can be implemented in hardware and / or software. This radar distance display device can be configured in an electronic device, such as an in-vehicle device. Figure 1 As shown in the figure, the radar distance display method provided in this embodiment includes the following steps:

[0034] S110. Render the scene based on the coordinate system of the actual vehicle scene using at least one vehicle-mounted radar.

[0035] In this embodiment of the invention, vehicle-mounted radar can be understood as various types of radar sensors installed on a vehicle. The types of vehicle-mounted radar may include ultrasonic radar, lidar, and millimeter-wave radar, etc., and the number of vehicle-mounted radars can be one or more. The real-vehicle scene coordinate system can be understood as a real-vehicle coordinate system established according to the installation position of each vehicle-mounted radar. The rendered implementation scene can be understood as a vehicle view scene rendered and displayed on the vehicle's display device. The rendered implementation scene may include environmental data display of the vehicle and two-dimensional or three-dimensional outline display of the vehicle, etc.

[0036] Specifically, a corresponding real-vehicle scene coordinate system can be established based on at least one vehicle-mounted radar installed on the vehicle. Then, a corresponding rendering implementation scene can be established based on the real-vehicle scene coordinate system corresponding to each vehicle-mounted radar. The rendering implementation scene may include, but is not limited to, displaying vehicle environmental data and displaying the two-dimensional or three-dimensional outline of the vehicle. The establishment methods of the rendering implementation scene may include, but are not limited to, the following: corresponding vehicle environmental data can be collected based on the real-vehicle scene coordinate system of at least one vehicle-mounted radar, and a corresponding virtual three-dimensional rendering implementation scene can be rendered based on the vehicle environmental data. This rendering implementation scene can be displayed on various display devices of the vehicle. Alternatively, the above-mentioned three-dimensional rendering implementation scene can be transformed into a corresponding two-dimensional rendering implementation scene and displayed on the vehicle's display device. It should be understood that the rendering implementation scene in the embodiments of the present invention can be represented as a virtual implementation scene centered on the vehicle. The specific representation of the rendering implementation scene can be two-dimensional or three-dimensional, and the rendering implementation scene can be displayed on various display devices of the vehicle, such as, but not limited to, the vehicle's central control screen, the vehicle's passenger screen, etc.

[0037] S120. Determine the display anchor point of the radar display graphic based on the detection range of each vehicle-mounted radar and the preset coefficient.

[0038] In the embodiments of the present application, the detection distance can be understood as the distance between the vehicle-mounted radar and the obstacle. The preset coefficient can be understood as a coefficient related to the detection distance, which is configured in advance. For example, the preset coefficient can be set to 0.3, 0.5, 0.7, etc. In some embodiments, a corresponding preset coefficient can be preset for the detection distance of different vehicle-mounted radars. In other embodiments, the maximum detection distance of the vehicle-mounted radar can be divided into several distance intervals, and a preset coefficient corresponding to each distance interval can be configured in advance. The radar display pattern can be understood as a virtual pattern drawn according to the detection distance of each vehicle-mounted radar. The radar display pattern can be represented as a radar shield or a virtual pattern in other forms. The display anchor point can be understood as the anchor point of the radar display pattern. In some embodiments, the display anchor point can include the model center point or the vertex of the radar display pattern, etc.

[0039] Specifically, the display anchor point of the corresponding radar display pattern can be determined based on the detection distance of each vehicle-mounted radar and the preset coefficient. The determination method of the preset coefficient can include but is not limited to the following methods: a preset coefficient corresponding to the detection distance of each vehicle-mounted radar can be configured in advance; the maximum detection distance of the vehicle-mounted radar can be divided into several distance intervals, and a preset coefficient corresponding to each distance interval can be configured in advance. The determination method of the display anchor point of the radar display pattern can include but is not limited to the following methods: the display anchor point of the corresponding radar display pattern can be found in the database in which the display anchor points of a plurality of radar display patterns are stored in advance based on the detection distance of each vehicle-mounted radar and the preset coefficient; the preset coefficient corresponding to the detection distance of each vehicle-mounted radar can be found in the database in which the detection distance and the corresponding preset coefficient are stored in advance, and the display distance of the radar display pattern can be determined according to the detection distance and the corresponding preset coefficient. Then, a suitable position point can be selected in the preset detection direction of the corresponding vehicle-mounted radar based on the display distance, and the position point can be determined as the display anchor point of the radar display pattern. Further, the acquisition method of the detection distance of each vehicle-mounted radar and the preset coefficient can include but is not limited to the following methods: the detection distance of each vehicle-mounted radar and the preset coefficient can be acquired based on the corresponding detection distance collected by each vehicle-mounted radar and the corresponding preset coefficient found in the preset database, i.e., there is no correlation between the detection distance of each vehicle-mounted radar and the preset coefficient; or the preset coefficient corresponding to the detection distance of each vehicle-mounted radar can be found in the preset database by using the corresponding relationship between the detection distance of each vehicle-mounted radar and the preset coefficient. The embodiments of the present application do not limit this.

[0040] In S130, the radar display pattern is displayed in the rendering implementation scene according to the display anchor point.

[0041] Specifically, the radar display pattern can be displayed at a corresponding position of the rendering implementation scene according to the display anchor point of each radar display pattern, and the manner in which the rendering implementation scene displays each radar display pattern can include but is not limited to the following: first, the display position of the corresponding radar display pattern in the rendering implementation scene can be determined according to the display anchor point of each radar display pattern, and then each radar display pattern can be rendered according to the vehicle environment data collected by each vehicle-mounted radar, and the radar display pattern can be displayed in the rendering implementation scene in the form of two dimensions or three dimensions; first, the radar display pattern, the radar shield dynamic map data of the rendering implementation scene, and the scene map data can be read respectively, the position coordinates of each display anchor point can be determined in the scene map data, the scene map data can be rendered to display the rendering implementation scene, and the radar shield dynamic map can be displayed in the rendering implementation scene according to the position coordinates of each display anchor point. It should be understood that the radar display pattern obtained by rendering can be a two-dimensional display pattern or a three-dimensional display pattern, and the embodiments of the present application do not limit this. Further, the rendering implementation scene containing the radar display pattern after rendering can be displayed on the display device of the vehicle, and as the detection distance of the vehicle-mounted radar changes, the display distance, display color, size, and style of the radar display pattern can also change accordingly, and the user can determine whether the vehicle is currently at a safe distance according to the display distance, display color, size, and style of the radar display pattern, thereby improving the driving experience of the user.

[0042] The technical scheme of the embodiments of the present application establishes a rendering implementation scene based on the real vehicle scene coordinate system of at least one vehicle-mounted radar, determines the display anchor point of the radar display pattern according to the detection distance of each vehicle-mounted radar and a preset coefficient, and displays the radar display pattern in the rendering implementation scene according to the display anchor point. The embodiments of the present application can determine the display anchor point of the radar display pattern according to the detection distance of each vehicle-mounted radar and a preset coefficient, and display the corresponding radar display pattern in the rendering implementation scene according to the display anchor point, which can improve the display clarity and distance display accuracy of the radar display pattern, enhance the rendering display effect of the radar display pattern, and improve the driving safety and experience of the user.

[0043] Embodiment Two

[0044] Figure 2 A flowchart of a radar distance display method provided by the second embodiment of the present application is based on the further optimization and extension of the above-mentioned embodiments, and can be combined with each optional technical scheme in the above-mentioned embodiments. As shown in Figure 2 The radar distance display method provided by the second embodiment specifically includes the following steps:

[0045] S210, respectively establishing a real vehicle scene coordinate system according to the installation position of each vehicle-mounted radar.

[0046] Specifically, a real vehicle scene coordinate system can be established for each vehicle-mounted radar according to the specific installation position of each vehicle-mounted radar, wherein the installation position of each vehicle-mounted radar can include but is not limited to a front and rear bumper of the vehicle, left and right sides of the vehicle, and the like.

[0047] S220, collecting environment data collected by each vehicle-mounted radar according to the corresponding real vehicle scene coordinate system.

[0048] In the embodiment of the present application, the environment data can be understood as the data of the environment around the vehicle collected by the vehicle-mounted radar, and the environment data can include distance data of the obstacles around the vehicle.

[0049] Specifically, the environment data collected by each vehicle-mounted radar can be collected in the real vehicle scene coordinate system corresponding to each vehicle-mounted radar, wherein the environment data can include but is not limited to distance information of the obstacles around the vehicle. In some embodiments, if the vehicle-mounted radar is an ultrasonic radar, the time interval between the emitted wave and the echo of each ultrasonic radar can be used to calculate the distance information between the ultrasonic radar and the obstacle, and the distance information can be used as the environment data collected by the ultrasonic radar in the corresponding real vehicle scene coordinate system.

[0050] S230, converting each environment data to a pixel coordinate system to form a rendering implementation scene.

[0051] Specifically, the environment data collected by each vehicle-mounted radar can be converted to the corresponding pixel coordinate system through a coordinate system conversion operation, so as to form a rendering implementation scene, wherein the rendering implementation scene can include but is not limited to the display of the environment data of the vehicle, the display of the two-dimensional contour of the vehicle, the display of the three-dimensional contour of the vehicle, and the like. Further, the rendering implementation scene can be displayed on the display device of the vehicle, for example, can include but is not limited to the vehicle-mounted central control screen, the vehicle-mounted co-pilot screen, and the like.

[0052] S240, finding the detection distance corresponding to each vehicle-mounted radar and the preset coefficient.

[0053] Specifically, the detection distance corresponding to each vehicle-mounted radar and the preset coefficient can be found, wherein the finding method of the detection distance and the preset coefficient can include but is not limited to the following methods: the detection distance corresponding to each vehicle-mounted radar can be found from the vehicle environment data collected by each vehicle-mounted radar, and the preset coefficient corresponding to each vehicle-mounted radar can be found in the preset database; the detection distance of each vehicle-mounted radar and the preset coefficient corresponding thereto can be found from the data table in which the detection distance and the preset coefficient corresponding thereto are stored in advance; the detection distance of each vehicle-mounted radar and the preset coefficient corresponding thereto can be found from the database in which the detection distance and the preset coefficient corresponding thereto are stored in advance.

[0054] S250: The product of each detection distance and a preset coefficient is used as the display distance of the corresponding vehicle-mounted radar.

[0055] In this embodiment of the invention, the display distance can be understood as the distance between the radar display graphic and the two-dimensional / three-dimensional outline of the vehicle in the rendering scene. The setting of the display distance is related to the detection distance of each vehicle radar and the preset coefficient.

[0056] Specifically, each detection distance can be multiplied by a preset coefficient, and the result can be used as the display distance of the corresponding vehicle-mounted radar. In some embodiments, normalization technology can be used to multiply the detection distance of each vehicle-mounted radar by a preset coefficient as the display distance of the corresponding vehicle-mounted radar, thereby improving the rendering effect of the radar shield.

[0057] S260. Use the position point corresponding to the display distance in the preset detection direction of each vehicle radar as the display anchor point.

[0058] In this embodiment of the invention, the preset detection direction can be understood as the pre-configured detection direction of each vehicle-mounted radar.

[0059] Specifically, based on the preset detection direction of each vehicle radar, the position points corresponding to their respective display distances can be used as display anchor points for the radar display graphics. These display anchor points can be the model center point of the radar display graphics of each vehicle radar. Furthermore, appropriate offset distances can be configured according to the display anchor points of the radar display graphics of each vehicle radar to prevent overlap between the radar display graphics, thereby enhancing the display effect of the radar display graphics and improving the user experience.

[0060] S270 reads the radar display graphics and the dynamic texture data of the radar shield and the scene texture data of the rendered scene.

[0061] In this embodiment of the invention, the radar shield dynamic texture data can be understood as dynamic texture data related to the radar shield. This data may include warning text texture data and detection distance data for each vehicle-mounted radar, etc. Scene texture data can be understood as texture data related to the rendering of the scene. This data may include display anchor point data for the radar display graphics, parking space data around the vehicle, lane line data, and image data of obstacles around the vehicle, etc.

[0062] Specifically, the radar shield dynamic map data and the scene map data corresponding to each radar display pattern can be read according to the radar display pattern and the rendering implementation scene, wherein the radar shield dynamic map data can include but is not limited to warning text map data, detection distance data of each vehicle-mounted radar, etc., and the reading mode of the radar shield dynamic map data can include but is not limited to the following modes: reading from the environment data collected by each vehicle-mounted radar, reading from the latest map data of the current location of the vehicle, reading from the database in which the radar display pattern related model data is pre-stored, etc.; the scene map data can include but is not limited to display anchor point data of the radar display pattern, parking space data around the vehicle, lane line data, image data of obstacles around the vehicle, etc., and the reading mode of the scene map data can include but is not limited to the following modes: reading from the environment data collected by each vehicle-mounted radar, reading from the environment data collected by the camera installed on the vehicle, etc.

[0063] S280, determining the position coordinates of the display anchor point in the scene map data.

[0064] Specifically, the corresponding position coordinates of the display anchor point of each radar display pattern can be determined based on the read scene map data, and the determination mode of the position coordinates of the display anchor point can include but is not limited to the following modes: reading the display anchor point data from the scene map data, and then determining the position coordinates of the display anchor point according to the display anchor point data; obtaining the center position of each radar display pattern from the scene map data, and determining the coordinates of the center position as the position coordinates of the display anchor point.

[0065] S290, rendering the scene map data to display the rendering implementation scene, and displaying the radar shield dynamic map in the rendering implementation scene according to the position coordinates.

[0066] In the embodiment of the present application, the radar shield dynamic map can be understood as a radar shield map that can change dynamically in real time, which is obtained by rendering the radar shield dynamic map data, and the display distance, display color, size and style of the radar shield dynamic map can change with the change of the detection distance of the corresponding vehicle-mounted radar.

[0067] Specifically, the rendering implementation scene constructed in S230 can be rendered according to the scene map data, and each radar shield dynamic map can be displayed in the rendering implementation scene according to the corresponding position coordinates. The distance between the vehicle-mounted radar and the obstacle can be displayed on each radar shield dynamic map. The specific map rendering manner belongs to the prior art, for example, a two-dimensional map rendering method, a three-dimensional map rendering method or other related algorithms can be used for implementation. The embodiments of the present application do not limit this. In some embodiments, the rendering implementation scene can be rendered according to the scene map data, and each radar shield dynamic map can be displayed in the rendering implementation scene according to the corresponding position coordinates. The rendered rendering implementation scene can be displayed on the display device of the vehicle. As the detection distance of the vehicle-mounted radar changes, the display distance, display color, size and style of the radar shield dynamic map can change accordingly. Whether the vehicle is currently in a safe distance can be determined according to the display distance, display color, size and style of the radar shield dynamic map. For example, when the detection distance of the vehicle-mounted radar is in a safe distance range, the display color of the radar shield dynamic map can be green. When the detection distance of the vehicle-mounted radar is in a relatively safe distance range, the display color of the radar shield dynamic map can be yellow. When the detection distance of the vehicle-mounted radar is in a dangerous distance range, the display color of the radar shield dynamic map can be red, and a warning text map such as the word "please stop immediately" can be further displayed on the radar shield dynamic map. The horn or buzzer of the vehicle can also be triggered for danger warning and prompt, so as to prompt the user to take corresponding measures and improve the safety of driving and user experience.

[0068] Further, on the basis of the above-mentioned embodiments of the application, the radar distance display method further comprises:

[0069] Converting the rendering implementation scene into two-dimensional image data according to a preset distance.

[0070] In the embodiments of the present application, the preset distance can be understood as distance data configured in advance for converting the rendering implementation scene into two-dimensional image data. The preset distance can include the distance between the vehicle-mounted radar and the center of the vehicle and the distance between different vehicle-mounted radars.

[0071] Specifically, the constructed rendering implementation scene can be converted into corresponding two-dimensional image data based on the preset distance. The preset distance can include but is not limited to the distance between the vehicle-mounted radar and the center of the vehicle, the distance between different vehicle-mounted radars, etc. The conversion manner can include but is not limited to the following: the three-dimensional rendering implementation scene can be converted into corresponding two-dimensional image data under the world coordinate system to the camera coordinate system; the three-dimensional rendering implementation scene can be converted into corresponding two-dimensional image data by projecting the three-dimensional model into an aerial view.

[0072] Further, on the basis of the above-mentioned embodiments of the application, the radar distance display method further comprises:

[0073] In the case that the obstacle detected by the vehicle-mounted radar is less than the warning threshold, a dynamic map warning is displayed in the rendering implementation scene.

[0074] In the embodiments of the application, the warning threshold can be understood as a distance threshold pre-configured for judging whether the current vehicle is in a dangerous distance range, and exemplarily, the warning threshold can be set to 50 cm or 30 cm, which is not limited in the embodiments of the application.

[0075] Specifically, in the case that the distance between the vehicle and the obstacle detected by the vehicle-mounted radar is less than the warning threshold, for example, less than 30 cm, a dynamic map warning can be displayed in the rendering implementation scene, and the display information of the dynamic map warning can be set according to actual needs, for example, can be “please stop immediately”, “currently in a dangerous distance, please stop” and the like, and the display information of the dynamic map warning can be displayed in the corresponding radar shield display area.

[0076] The technical scheme of the embodiments of the application, by respectively establishing the real vehicle scene coordinate system according to the installation position of each vehicle-mounted radar, collecting the environment data collected by each vehicle-mounted radar according to the corresponding real vehicle scene coordinate system, respectively converting each environment data to the pixel coordinate system to constitute the rendering implementation scene, finding the detection distance corresponding to each vehicle-mounted radar and the preset coefficient, taking the product of each detection distance and the preset coefficient as the display distance of the corresponding vehicle-mounted radar, taking the position point corresponding to the display distance in the preset detection direction of each vehicle-mounted radar as the display anchor point, respectively reading the radar display graph and the radar shield dynamic map data and the scene map data of the rendering implementation scene, determining the position coordinates of the display anchor point in the scene map data, rendering the scene map data to display the rendering implementation scene, and displaying the radar shield dynamic map in the rendering implementation scene according to the position coordinates. The embodiments of the application can collect environment data in the real vehicle scene coordinate system of each vehicle-mounted radar, and respectively convert each environment data to the pixel coordinate system to constitute the rendering implementation scene, can render and display the radar shield and the rendering implementation scene in real time based on the radar shield dynamic map data and the scene map data, solve the problems of unclear radar display graph display, easy distance display loss and poor rendering display effect in the existing radar distance display method, can render the corresponding radar shield according to the real-time detection distance of each vehicle-mounted radar, enhance the rendering display effect of the radar shield, and effectively improve the driving safety and experience of users.

[0077] Embodiment three

[0078] Figure 3A flow chart of a radar distance display method provided in the third embodiment of the present application. Based on the above-mentioned embodiments, the third embodiment takes the vehicle-mounted ultrasonic radar as an example to provide an implementation of the radar distance display method, which can detect the distance between the vehicle-mounted ultrasonic radar and the obstacle, and make a two-dimensional / three-dimensional radar shield that can be displayed on the vehicle-mounted display screen. The user can determine whether to be in a safe distance according to the radar shield, and then take corresponding measures. Figure 4 An installation example of the vehicle-mounted ultrasonic radar provided in the third embodiment of the present application. As shown in the figure, the vehicle is installed with 12 vehicle-mounted ultrasonic radars, including 8 ultrasonic parking assistant (UPA) ultrasonic radars installed at the front and rear of the vehicle, and 4 automatic parking assistant (APA) ultrasonic radars installed on both sides of the vehicle. Figure 4 As shown in the figure, the radar distance display method provided in the third embodiment of the present application specifically includes the following steps: Figure 3

[0079] S310, each vehicle-mounted radar detects the distance between the vehicle-mounted radar and the obstacle in real time.

[0080] S320, determine whether the detected distance is greater than the first distance threshold.

[0081] In the embodiment of the present application, the first distance threshold can be understood as the maximum displayable distance of the radar shield. For example, the first distance threshold can be set to 200 cm, and the specific value can be set according to actual needs.

[0082] Specifically, according to the real-time detection distance between the vehicle-mounted radar and the obstacle, it can be determined whether it is greater than the first distance threshold. If yes, S330 is executed, and if no, S340 to S390 are executed.

[0083] S330, do not display the radar shield, and return to execute S310.

[0084] Specifically, if it is determined in S320 that the detected distance is greater than the first distance threshold, the corresponding radar shield is not displayed on the vehicle-mounted display screen of the vehicle, and the execution of S310 is returned.

[0085] S340, map the coordinate system according to the detection distance of each vehicle-mounted radar to convert the current real vehicle scene coordinate system into an image pixel coordinate system.

[0086] ​Specifically, the adjacent position relationship of each vehicle-mounted radar can be acquired, and the current real vehicle scene coordinate system can be acquired by the real vehicle radar; then, the scene is realized based on the rendering of the radar, and the coordinate system mapping is performed according to the detection distance of the vehicle-mounted radar, so as to convert the current real vehicle scene coordinate system into the corresponding image pixel coordinate system.

[0087] S350, constructing a radar shield model.

[0088] Specifically, the distance between the radar shield and the vehicle can be calculated according to the detection distance of each vehicle-mounted radar and the normalization technology, that is, the distance between the vehicle and the actual obstacle is reduced according to a certain proportion, and the reduced display distance is taken as the distance between the radar shield and the vehicle; the detection distance of each vehicle-mounted radar, the corresponding radar shield model anchor point are acquired, and the display offset position of the radar shield model is set, so as to avoid the overlap between different radar shield models, thereby reducing the user experience; further, the rendering implementation scene after constructing the radar shield model can be dynamically rotated and adjusted, so that the rendering implementation scene can be compatible with different view scene transformations.

[0089] S360, dynamically mapping rendering the corresponding radar shield model according to the detection distance of each vehicle-mounted radar, to obtain the corresponding radar shield.

[0090] Specifically, the dynamic mapping conversion can be performed according to the real-time detection distance of each vehicle-mounted radar, so as to dynamically map render the corresponding radar shield model, and then obtain the corresponding radar shield. In the embodiment of the application, different radar shield model dynamic mapping rendering modes can be set according to the real-time detection distance of the vehicle-mounted radar in different distance ranges. Figure 5 An example diagram of radar shield color display provided by the third embodiment of the application is shown in FIG. 3. Figure 5 As shown in FIG. 3, when the detection distance of the vehicle-mounted radar belongs to the Dist1 distance range, the display color of the radar shield can be set to red, that is, it indicates that the current vehicle is in a dangerous distance range; when the detection distance of the vehicle-mounted radar belongs to the Dist2 distance range, the display color of the radar shield can be set to yellow, that is, it indicates that the current vehicle is in a relatively safe distance range; when the detection distance of the vehicle-mounted radar belongs to the Dist3 distance range, the display color of the radar shield can be set to green, that is, it indicates that the current vehicle is in a safe distance range. Figure 6 An example diagram of two-dimensional radar shield display provided by the third embodiment of the application is shown in FIG. 4. Figure 7 An example diagram of three-dimensional radar shield display provided by the third embodiment of the application is shown in FIG. 5. Figure 6 and Figure 7As shown, when the vehicle is in the dangerous distance range, the two-dimensional / three-dimensional radar shield displayed at this time is very close to the vehicle, and the radar shield is displayed in red; when the vehicle is in the safer distance range, the two-dimensional / three-dimensional radar shield displayed at this time is relatively close to the vehicle, and the radar shield is displayed in yellow; when the vehicle is in the safe distance range, the two-dimensional / three-dimensional radar shield displayed at this time is far away from the vehicle, and the radar shield is displayed in green.

[0091] S370, determine whether the detection distance at this time is greater than the second distance threshold.

[0092] In the embodiment of the application, the second distance threshold can be understood as a minimum safe distance between the vehicle and the obstacle, and for example, the second distance threshold can be set to 30 cm, and the specific value can be set according to actual needs.

[0093] Specifically, whether the real-time detection distance between the vehicle-mounted radar and the obstacle is greater than the second distance threshold can be determined according to the obtained real-time detection distance, and if so, S380 is executed, and if not, S390 is executed.

[0094] S380, real-time update the display distance of the corresponding radar shield according to the detection distance of each vehicle-mounted radar.

[0095] Specifically, if it is determined in S370 that the detection distance is greater than the second distance threshold, the display distance of the corresponding radar shield can be real-time updated according to the detection distance of each vehicle-mounted radar.

[0096] S390, dynamically text map warning of the radar shield of the corresponding vehicle-mounted radar according to the preset configuration position.

[0097] Specifically, if it is determined in S370 that the detection distance is less than or equal to the second distance threshold, the corresponding radar shield can be dynamically text map warned according to the preset configuration position corresponding to the corresponding vehicle-mounted radar, for example, the radar shield can be displayed at the preset configuration position. The prompt words such as "please stop immediately", "currently in a dangerous distance, please stop" and the like, further, at this time, the horn or buzzer of the vehicle can also be triggered to give a dangerous warning prompt, so as to prompt the user to take corresponding measures, so as to improve the safety of driving and user experience.

[0098] The technical scheme of the embodiment of the present application determines whether the detection distance is greater than a first distance threshold through real-time detection of the distance between each vehicle-mounted radar and an obstacle, if yes, the radar shield is not displayed, and if not, the coordinate system mapping is performed according to the detection distance of each vehicle-mounted radar, so as to convert the current real vehicle scene coordinate system into an image pixel coordinate system, and the corresponding radar shield model is constructed, the dynamic texture mapping rendering is performed on the corresponding radar shield model according to the detection distance of each vehicle-mounted radar, so as to obtain the corresponding radar shield, whether the detection distance is greater than a second distance threshold is determined, if yes, the display distance of the corresponding radar shield is updated in real time according to the detection distance of each vehicle-mounted radar, and if not, the dynamic text mapping warning is performed on the radar shield of the corresponding vehicle-mounted radar according to the preset configuration position. The embodiment of the present application is different from the traditional mapping implementation mode in the radar distance display method, the corresponding radar shield can be drawn to prompt the user according to the real-time detection distance of each vehicle-mounted radar, and at the same time, when the detection distance is less than the dangerous distance range, the dynamic text mapping warning is added on the basis of the radar shield displaying the real-time detection distance, so as to warn the user to take corresponding measures, thereby greatly improving the driving safety and experience of the user.

[0099] Embodiment four

[0100] Figure 8 A structure schematic diagram of a radar distance display device provided by the embodiment four of the present application is shown in FIG. 4. Figure 8 As shown in the figure, the device comprises:

[0101] The scene establishing module 41 is configured to establish a rendering implementation scene based on the real vehicle scene coordinate system of at least one vehicle-mounted radar.

[0102] The anchor point determining module 42 is configured to determine the display anchor point of the radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient.

[0103] The radar distance module 43 is configured to display the radar display graph in the rendering implementation scene according to the display anchor point.

[0104] The technical scheme of the embodiment of the present application establishes the rendering implementation scene based on the real vehicle scene coordinate system of at least one vehicle-mounted radar through the scene establishing module, determines the display anchor point of the radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient through the anchor point determining module, and displays the radar display graph in the rendering implementation scene according to the display anchor point through the radar distance module. The display anchor point of the radar display graph is determined according to the detection distance of each vehicle-mounted radar and a preset coefficient, and the corresponding radar display graph is displayed in the rendering implementation scene according to the display anchor point, so that the display clarity and distance display accuracy of the radar display graph can be improved, the rendering display effect of the radar display graph is enhanced, and the driving safety and experience of the user are improved.

[0105] Further, on the basis of the above-mentioned embodiment of the application, the scene establishing module 41 comprises:

[0106] A coordinate system establishing unit is configured to establish a real vehicle scene coordinate system according to the installation position of each vehicle-mounted radar.

[0107] An environment data collecting unit is configured to collect environment data collected by each vehicle-mounted radar according to the corresponding real vehicle scene coordinate system.

[0108] A scene establishing unit is configured to convert each environment data to a pixel coordinate system to form a rendering implementation scene.

[0109] Further, on the basis of the above-mentioned embodiment of the application, the anchor point determining module 42 comprises:

[0110] A data searching unit is configured to search for the detection distance corresponding to each vehicle-mounted radar and a preset coefficient.

[0111] A distance displaying unit is configured to take the product of each detection distance and the preset coefficient as the display distance of the corresponding vehicle-mounted radar.

[0112] An anchor point determining unit is configured to take the position point corresponding to the display distance in the preset detection direction of each vehicle-mounted radar as the display anchor point.

[0113] Further, on the basis of the above-mentioned embodiment of the application, the radar distance module 43 comprises:

[0114] A map data reading unit is configured to read radar display graphics, radar shield dynamic map data and scene map data of the rendering implementation scene, respectively.

[0115] A position coordinate determining unit is configured to determine the position coordinates of the display anchor point in the scene map data.

[0116] A scene displaying unit is configured to render the scene map data to display the rendering implementation scene, and display the radar shield dynamic map according to the position coordinates in the rendering implementation scene.

[0117] Further, on the basis of the above-mentioned embodiment of the application, it further comprises:

[0118] A scene converting module is configured to convert the rendering implementation scene into two-dimensional image data according to a preset distance.

[0119] Further, on the basis of the above-mentioned embodiment of the application, the preset distance comprises the distance from the vehicle-mounted radar to the center of the vehicle.

[0120] Further, on the basis of the above-mentioned embodiment of the application, it further comprises:

[0121] The dynamic map warning module is configured to display a dynamic map warning in a rendered implementation scene when the obstacle detected by the vehicle-mounted radar is less than a warning threshold.

[0122] The radar distance display device provided by the embodiments of the present application can execute the radar distance display method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0123] Embodiment five

[0124] Figure 9 A structural schematic diagram of an electronic device 50 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0125] As shown in Figure 9 The electronic device 50 includes at least one processor 51, and a memory, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., connected to the at least one processor 51 in communication, where the memory stores a computer program executable by the at least one processor. The processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 into the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52, and the RAM 53 are connected to each other through a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0126] The various components in the electronic device 50 are connected to the I / O interface 55, including an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a magnetic disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0127] The processor 51 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, and the like. The processor 51 performs various methods and processes described above, such as the radar range display method.

[0128] In some embodiments, the radar range display method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 58. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded onto the RAM 53 and executed by the processor 51, one or more steps of the radar range display method described above can be performed. Alternatively, in other embodiments, the processor 51 can be configured to perform the radar range display method by any other suitable means, such as by means of firmware.

[0129] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0130] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0131] In the context of the present application, 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. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, 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.

[0132] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having 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 electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0133] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end 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 a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0134] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0135] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0136] The above detailed description does not constitute a limitation on the scope of protection of the present application. 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 replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A radar range display method, characterized by, The method comprises: establishing a rendering implementation scene based on a real vehicle scene coordinate system of at least one vehicle-mounted radar; determining display anchor points of radar display graphics according to detection distances of each vehicle-mounted radar and a preset coefficient; displaying the radar display graphics in the rendering implementation scene according to the display anchor points; wherein the determining of the display anchor points of the radar display graphics according to the detection distances of each vehicle-mounted radar and the preset coefficient comprises: finding the detection distances corresponding to each vehicle-mounted radar and the preset coefficient; the preset coefficient is dynamically associated with the detection distances; taking the product of each detection distance and the preset coefficient as a display distance corresponding to the vehicle-mounted radar; taking a position point corresponding to the display distance in a preset detection direction of each vehicle-mounted radar as the display anchor point; the displaying of the radar display graphics in the rendering implementation scene according to the display anchor points comprises: respectively reading radar shield dynamic map data and scene map data of the radar display graphics and the rendering implementation scene; determining position coordinates of the display anchor points in the scene map data; rendering the scene map data to display the rendering implementation scene, and displaying the radar shield dynamic map in the rendering implementation scene according to the position coordinates.

2. The method of claim 1, wherein, The establishing of the rendering implementation scene based on the real vehicle scene coordinate system of at least one vehicle-mounted radar comprises: respectively establishing the real vehicle scene coordinate system according to the installation positions of each vehicle-mounted radar; collecting environment data collected by each vehicle-mounted radar according to the corresponding real vehicle scene coordinate system; respectively converting each environment data to a pixel coordinate system to constitute the rendering implementation scene.

3. The method of claim 1, wherein, It further comprises: converting the rendering implementation scene to two-dimensional image data according to a preset distance.

4. The method of claim 3, wherein, The preset distance comprises: a distance of the vehicle-mounted radar from the center of the vehicle.

5. The method of claim 1, wherein, It further comprises: in the case that an obstacle detected by the vehicle-mounted radar is less than a warning threshold, displaying a dynamic map warning in the rendering implementation scene.

6. A radar range display device, characterized by The device comprises: a scene establishing module configured to establish a rendering implementation scene based on a real vehicle scene coordinate system of at least one vehicle-mounted radar; an anchor point determining module configured to determine display anchor points of radar display graphics according to detection distances of each vehicle-mounted radar and a preset coefficient; a radar distance module configured to display the radar display graphics in the rendering implementation scene according to the display anchor points; wherein the anchor point determining module comprises: a data finding unit configured to find the detection distances corresponding to each vehicle-mounted radar and the preset coefficient; the preset coefficient is dynamically associated with the detection distances; a distance display unit configured to take the product of each detection distance and the preset coefficient as a display distance corresponding to the vehicle-mounted radar; an anchor point determining unit configured to take a position point corresponding to the display distance in a preset detection direction of each vehicle-mounted radar as the display anchor point; the radar distance module comprises: a map data reading unit configured to respectively read radar shield dynamic map data and scene map data of the radar display graphics and the rendering implementation scene; a scene display unit, configured to determine a position coordinate of the display anchor point in the scene map data by the position coordinate determination unit; render the scene map data to display the rendering implementation scene, and display the radar shield dynamic map according to the position coordinate in the rendering implementation scene.

7. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein 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 to enable the at least one processor to execute the radar distance display method in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the radar distance display method in any one of claims 1-5 when executed.

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