A lane line display method, device, vehicle, and storage medium

Abstract

Embodiments of the present application provide a lane line display method and device, a vehicle and a storage medium. The method comprises: obtaining deviation degree information of lane lines on opposite sides of the vehicle during driving of the vehicle; determining display parameter information of each lane line according to the deviation degree information; and displaying each lane line in a traffic scene using the display parameter information. The method adjusts display parameters of lane lines in a graphical user interface based on the deviation degree of lane lines on opposite sides of the vehicle, wherein the display parameters change in real time, thereby achieving gradual appearance and disappearance of lane lines, smooth transition of display effects, and avoiding sudden changes or position mutations of lane lines.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a lane line display method, a lane line display device, a vehicle, and a computer-readable storage medium. Background Technology

[0002] In the reconstruction of vehicle interaction scenarios, lane line reconstruction is a common feature. Currently, most lane line reconstruction displays are based on fixed lanes, meaning that the lateral position of the lane lines is not identified in real time according to the relative positional relationship between the vehicle and the lane lines.

[0003] Real-time display of the lateral position of lane lines relative to the vehicle can draw the driver's attention to lane departure, lane crossing, lane changing, etc. However, the current display effect of indicating the lateral position of lane lines relative to the vehicle may cause lane line jumps or sudden changes in position when switching lanes and reconstructing lane lines. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a lane line display method and a corresponding lane line display device, a vehicle, and a computer-readable storage medium to overcome or at least partially solve the above problems.

[0005] This invention discloses a lane line display method, which provides a graphical user interface (GUI) through a terminal device. The GUI displays content including at least the lane lines of the current road segment, and the traffic scene displayed by the GUI changes based on changes in vehicle position. The method includes:

[0006] During the driving process of the vehicle, information on the degree of deviation of the vehicle relative to the lane lines on both sides is obtained;

[0007] Based on the deviation information, determine the display parameter information for each lane line;

[0008] The display parameter information is used to display the lane lines in the traffic scene.

[0009] Optionally, the deviation information includes a deviation value, and determining the display parameter information for each lane line based on the deviation information includes:

[0010] The deviation value is compared with a preset deviation threshold to obtain the corresponding comparison result;

[0011] Based on the comparison results, the visibility impact factor for each lane line is determined; wherein, the visibility impact factor characterizes the degree of influence on the visibility of the lane line display.

[0012] Based on the aforementioned visibility factor, the display parameter information for each lane line is determined.

[0013] Optionally, during the driving process, acquiring information on the degree of deviation of the vehicle relative to the lane lines on both sides includes:

[0014] During the lane-changing process, a lane-changing judgment reference point is determined on the vehicle's centerline, and a perpendicular line is drawn from the vehicle's centerline based on the lane-changing judgment reference point. The intersection of the perpendicular line and the centerline of the designated lane is determined, and first distance information is determined based on the intersection point and the lane-changing judgment reference point. The designated lane centerline is the centerline of the lane in which the vehicle is currently located.

[0015] Based on the first distance information, the degree of deviation of the vehicle relative to the lane lines on both sides is determined.

[0016] Optionally, determining the degree of deviation of the vehicle relative to the lane lines on both sides based on the first distance information includes:

[0017] Determine the intersection points of the vertical line with the lane lines on both sides of the lane where the vehicle is located, and determine the second distance information based on the two intersection points;

[0018] Determine a first distance value corresponding to the first distance information, and determine a second distance value corresponding to the second distance information;

[0019] Calculate the ratio of the first distance value to the second distance value, and calculate the deviation value based on the ratio.

[0020] Optionally, the deviation information includes the direction of deviation, and determining the significance factor for each lane line based on the comparison result includes:

[0021] If the deviation value is less than the preset deviation threshold, then the obviousness influence factor corresponding to each lane line is set to the first value.

[0022] If the deviation value is not less than the preset deviation threshold and the deviation direction is to the left, then the value of the significance influence factor corresponding to the farthest right lane line is determined based on the deviation value and the preset monotonically decreasing function, and the significance influence factors corresponding to the other lane lines in the traffic scene other than the farthest right lane line are respectively set to the first value.

[0023] If the deviation value is not less than the preset deviation threshold and the deviation direction is to the right, then the value of the significance factor corresponding to the farthest left lane line is determined based on the deviation value and the preset monotonically decreasing function, and the significance factor corresponding to the other lane lines in the traffic scene other than the farthest left lane line is set to the first value.

[0024] Optionally, determining the display parameter information for each lane line based on the visibility influence factor includes:

[0025] Obtain the initial display parameter information for each lane line;

[0026] Calculate the product of the initial display parameter information and the corresponding visibility factor, and determine the product as the final display parameter information of the corresponding lane line; wherein the display parameters corresponding to the display parameter information include one or more of transparency, brightness and contrast.

[0027] Optionally, the method further includes:

[0028] If a specific event is detected, the target lane line corresponding to the specific event is determined, and based on a pre-established mapping relationship, the gradient display parameter information corresponding to the specific event is determined; the specific event includes a lane line appearance event or a lane line disappearance event;

[0029] The target lane line is displayed on the graphical user interface using the gradient display parameter information; the gradient display parameter information is used to display the target lane line in a gradually increasing or decreasing manner.

[0030] This invention also discloses a lane line display device, which provides a graphical user interface (GUI) via a terminal device. The GUI displays content including at least the lane lines of the current road segment, and the traffic scene displayed by the GUI changes based on changes in vehicle position. The device includes:

[0031] The acquisition module is used to acquire information about the degree of deviation of the vehicle from the lane lines on both sides during the driving process of the vehicle;

[0032] The first determining module is used to determine the display parameter information of each lane line based on the deviation degree information;

[0033] The first display module is used to display lane lines in the traffic scene using the display parameter information.

[0034] Optionally, the deviation information includes a deviation value, and the first determining module includes:

[0035] The comparison submodule is used to compare the deviation value with a preset deviation threshold to obtain the corresponding comparison result;

[0036] The first determining submodule is used to determine the visibility influence factor for each lane line based on the comparison results; wherein the visibility influence factor characterizes the degree of influence on the visibility of the lane line display;

[0037] The second determining submodule is used to determine the display parameter information of each lane line based on the obviousness influence factor.

[0038] Optionally, the acquisition module includes:

[0039] The third determining submodule is used to determine a lane change judgment reference point on the vehicle centerline during the lane change process, draw a perpendicular line to the vehicle centerline based on the lane change judgment reference point, determine the intersection point of the perpendicular line and the centerline of the designated lane, and determine the first distance information based on the intersection point and the lane change judgment reference point; the designated lane centerline is the centerline of the lane where the vehicle is currently located.

[0040] The fourth determining submodule is used to determine the degree of deviation of the vehicle relative to the lane lines on both sides based on the first distance information.

[0041] Optionally, the fourth determining submodule includes:

[0042] The first determining unit is used to determine the intersection points of the vertical line and the lane lines on both sides of the lane where the vehicle is located, and to determine the second distance information based on the two intersection points.

[0043] The second determining unit is used to determine a first distance value corresponding to the first distance information and to determine a second distance value corresponding to the second distance information;

[0044] The calculation unit is used to calculate the ratio of the first distance value to the second distance value, and to calculate the deviation value based on the ratio.

[0045] Optionally, the deviation degree information includes the deviation direction, and the first determining submodule includes:

[0046] The first value unit is used to set the significance factor of each lane line to a first value if the deviation degree value is less than the preset deviation degree threshold.

[0047] The second value unit is used to determine the value of the significance factor corresponding to the farthest right lane line based on the deviation degree value and the preset monotonically decreasing function if the deviation degree value is not less than the preset deviation degree threshold and the deviation direction is to the left, and to set the significance factor corresponding to the other lane lines in the traffic scene other than the farthest right lane line to the first value.

[0048] The third value-taking unit is used to determine the value of the significance factor corresponding to the farthest left lane line based on the deviation degree value and the preset monotonically decreasing function if the deviation degree value is not less than the preset deviation degree threshold and the deviation direction is to the right, and to take the significance factor corresponding to the other lane lines in the traffic scene other than the farthest left lane line as the first value.

[0049] Optionally, the second determining submodule includes:

[0050] The acquisition unit is used to acquire the initial display parameter information of each lane line;

[0051] The calculation and determination unit is used to calculate the product of the initial display parameter information and the corresponding visibility influence factor, and determine the product as the final display parameter information of the corresponding lane line; wherein, the display parameters corresponding to the display parameter information include one or more of transparency, brightness and contrast.

[0052] Optionally, the device further includes:

[0053] The second determining module is used to determine the target lane line corresponding to the specific event if a specific event is detected, and to determine the gradient display parameter information corresponding to the specific event based on a pre-established mapping relationship; the specific event includes a lane line appearance event or a lane line disappearance event;

[0054] The second display module is used to display the target lane line on the graphical user interface using the gradient display parameter information; the gradient display parameter information is used to display the target lane line in a gradually increasing or decreasing manner.

[0055] This invention also discloses a vehicle, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements a lane line display method as described above.

[0056] This invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a lane line display method as described above.

[0057] The embodiments of the present invention have the following advantages:

[0058] In this embodiment of the invention, a graphical user interface (GUI) is provided through a terminal device. The GUI displays at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on the vehicle's position. During vehicle driving, information on the degree of deviation of the vehicle relative to the lane lines on both sides can be obtained. Based on this deviation information, the display parameter information of each lane line is determined. Then, the display parameter information can be used to display each lane line in the traffic scene. This process is dynamic; that is, when the deviation information changes, the display parameter information changes accordingly. Based on the real-time changing display parameter information, each lane line in the traffic scene is displayed. Thus, lane lines newly entering the traffic scene can be gradually displayed in the GUI, and lane lines about to leave the traffic scene can be gradually faded out. By adopting the above method, the display parameters of the lane lines in the GUI are adjusted based on the degree of deviation of the vehicle relative to the lane lines on both sides. Since the display parameters change in real time, the gradual appearance and disappearance of lane lines can be achieved, resulting in a smooth transition of the display effect and avoiding abrupt changes or sudden changes in the position of lane lines. Attached Figure Description

[0059] Figure 1 This is a diagram illustrating the jump phenomenon that occurs when lane lines are reconstructed and displayed during the process of a vehicle changing lanes.

[0060] Figure 2 This is a flowchart illustrating the steps of a lane line display method provided in an embodiment of the present invention;

[0061] Figure 3 This is a flowchart of another lane line display method provided in an embodiment of the present invention;

[0062] Figure 4 This is a schematic diagram illustrating the determination of the degree of deviation in a lane-changing scenario according to an embodiment of the present invention.

[0063] Figure 5 This is a flowchart illustrating the process of determining the display parameter information of lane lines according to an embodiment of the present invention;

[0064] Figure 6 This is a schematic diagram illustrating the display effect of lane lines during lane changing in an embodiment of the present invention, under the scenario of constructing two lane lines;

[0065] Figure 7 This is a schematic diagram illustrating the display effect of lane lines in a scenario where multiple lane lines are constructed during lane changing according to an embodiment of the present invention.

[0066] Figure 8 This is a structural block diagram of a lane line display device provided in an embodiment of the present invention. Detailed Implementation

[0067] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art are within the scope of protection of the present invention.

[0068] Reference Figure 1 The image shows a diagram illustrating the abrupt changes that occur during lane line reconstruction during vehicle lane switching. Figure 1 In step ①, the vehicle is preparing to change lanes to the left; for example... Figure 1 In point ②, during the process of changing lanes to the left, the vehicle is currently crossing the left lane line; for example... Figure 1 In step ③, the next moment, a lane line jump phenomenon occurs. That is, since lane lines appear or disappear directly, when a vehicle switches from the current lane to the left lane, the left lane line of the left lane will suddenly appear, while the left lane line of the current lane will become the right lane line of the left lane, and the right lane line of the current lane will suddenly disappear. This creates a display effect where the original right lane line suddenly jumps to the position of the current left lane line, which is the lane line jump or position change phenomenon.

[0069] Therefore, the present invention aims to provide a lane line display method and a corresponding lane line display device, a vehicle, and a computer-readable storage medium to overcome or at least partially solve the above problems.

[0070] One of the core concepts of this invention is that a graphical user interface (GUI) is provided through a terminal device. The GUI displays at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on the vehicle's position. During driving, information about the vehicle's deviation from the lane lines on both sides can be obtained. Based on this deviation information, the display parameters for each lane line are determined. Then, the display parameters are used to display the lane lines within the traffic scene. This process is dynamic; that is, when the deviation information changes, the display parameters change accordingly. The lane lines within the traffic scene are displayed based on the real-time changing display parameters. Thus, lane lines newly entering the traffic scene can be gradually displayed in the GUI, and lane lines about to leave the traffic scene can be gradually faded out. By using the above method, the display parameters of the lane lines in the GUI are adjusted based on the vehicle's deviation from the lane lines on both sides. Since the display parameters change in real time, a gradual appearance and disappearance effect of the lane lines can be achieved, resulting in a smooth transition and avoiding abrupt changes or sudden shifts in lane line positions.

[0071] Reference Figure 2 This diagram illustrates a flowchart of a lane line display method provided by an embodiment of the present invention. A graphical user interface (GUI) is provided through a terminal device. The GUI displays at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on changes in vehicle position, and specifically includes the following steps:

[0072] Step 201: During vehicle driving, obtain information on the degree of deviation of the vehicle from the lane lines on both sides.

[0073] The terminal device can be an in-vehicle terminal or various mobile terminals capable of communicating with an in-vehicle terminal. In this embodiment of the invention, the terminal device can provide a graphical user interface (GUI), which displays a traffic scene, a virtual scene constructed based on real-world traffic scenes. For example, the process of constructing the traffic scene can involve first collecting real-world traffic scene data through environmental perception sensors, processing it, importing it into a simulation platform, and then directly reproducing or generalizing the traffic scene based on a data-driven method. The traffic scene displayed in the terminal device's GUI includes at least the lane lines of the vehicle's current travel segment, and the traffic scene displayed changes based on the vehicle's position.

[0074] During vehicle driving, information on the degree of deviation of the vehicle relative to the lane lines on both sides can be obtained. This deviation information reflects the extent of the vehicle's deviation from the lane lines on both sides and may include the direction of deviation and the deviation value. This embodiment of the invention does not impose specific limitations on the specific method of obtaining this deviation information.

[0075] Step 202: Determine the display parameter information for each lane line based on the deviation information.

[0076] In this embodiment of the invention, after determining the deviation degree information, the display parameter information of each lane line in the traffic scene can be adjusted according to the deviation degree information. The display parameter information is used to control the display effect of the lane lines in the graphical user interface.

[0077] In one example, if the vehicle veers to the left, the display parameters for the right lane line can be adjusted to the first display parameter; if the vehicle veers to the right, the display parameters for the left lane line can be adjusted to the second display parameter.

[0078] In practice, since there are multiple scenarios for deviation information and multiple scenarios for display parameter information, a mapping relationship between deviation information and display parameter information can be established. Based on this mapping relationship, the display parameter information corresponding to the lane line can be quickly determined.

[0079] Step 203: Display the lane lines in the traffic scene using display parameter information.

[0080] In this embodiment of the invention, after determining the display parameter information corresponding to each lane line, the corresponding display parameter information can be used to display each lane line in the traffic scene.

[0081] The display parameter information can be used to display lane lines newly entering the traffic scene in a gradually increasing manner on the graphical user interface, and to display lane lines about to leave the traffic scene in a gradually decreasing manner.

[0082] The lane line display parameters change dynamically based on the vehicle's deviation information. Therefore, the real-time changing display parameters can be presented in a progressive manner in the graphical user interface.

[0083] In summary, in this embodiment of the invention, a graphical user interface (GUI) is provided by a terminal device. The GUI displays at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on the vehicle's position. During vehicle driving, information on the degree of deviation of the vehicle relative to the lane lines on both sides can be obtained. Based on this deviation information, the display parameter information for each lane line is determined. Then, the display parameter information can be used to display each lane line within the traffic scene. This process is dynamic; that is, when the deviation information changes, the display parameter information changes accordingly. The lane lines within the traffic scene are displayed based on the real-time changing display parameter information. Thus, lane lines newly entering the traffic scene can be gradually displayed in the GUI, and lane lines about to leave the traffic scene can be gradually faded out. By adopting the above method, the display parameters of the lane lines in the GUI are adjusted based on the degree of deviation of the vehicle relative to the lane lines on both sides. Since the display parameters change in real time, the gradual appearance and disappearance of lane lines can be achieved, resulting in a smooth transition of the display effect and avoiding abrupt changes or sudden positional shifts in lane lines.

[0084] Reference Figure 3 This diagram illustrates a flowchart of another lane line display method provided by an embodiment of the present invention. A graphical user interface (GUI) is provided through a terminal device. The GUI displays content including at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on changes in vehicle position, and specifically includes the following steps:

[0085] Step 301: During vehicle driving, obtain information on the degree of deviation of the vehicle from the lane lines on both sides.

[0086] The deviation information includes the deviation value and the direction of deviation.

[0087] In an optional embodiment of the present invention, step 301, during vehicle driving, involves acquiring information on the degree of deviation of the vehicle from the lane lines on both sides, which may specifically include the following sub-steps:

[0088] During the lane change process, a lane change judgment reference point is determined on the vehicle centerline, and a perpendicular line is drawn from the lane change judgment reference point to the vehicle centerline. The intersection point of the perpendicular line and the centerline of the designated lane is determined, and the first distance information is determined based on the intersection point and the lane change judgment reference point.

[0089] Based on the first distance information, determine the degree of deviation of the vehicle from the lane lines on both sides.

[0090] The lane line display method of this invention can be specifically applied to vehicle lane-changing scenarios. Specifically, during a lane-changing process, a lane-changing judgment reference point can be determined. This reference point is used to determine whether a lane-changing behavior has occurred. The lane-changing judgment reference point is located on the vehicle's centerline. A perpendicular line can be drawn from this reference point to the vehicle's centerline, and the intersection of this perpendicular line and the centerline of a designated lane can be determined. The designated lane centerline is the centerline of the lane the vehicle is currently in. Then, based on this intersection point and the lane-changing judgment reference point, first distance information is determined; that is, the distance between the intersection point and the lane-changing judgment reference point can be used as the first distance value corresponding to the first distance information.

[0091] Based on this first distance information, the degree of deviation of the vehicle from the lane lines on both sides is determined, specifically the lane lines of the lane where the vehicle is currently located.

[0092] In an optional embodiment of the present invention, the sub-step of determining the degree of deviation of the vehicle relative to the lane lines on both sides based on the first distance information may specifically include the following sub-steps:

[0093] Determine the intersection points of the perpendicular line with the lane lines on both sides of the lane where the vehicle is located, and determine the second distance information based on the two intersection points;

[0094] Determine the first distance value corresponding to the first distance information, and determine the second distance value corresponding to the second distance information;

[0095] Calculate the ratio of the first distance value to the second distance value, and calculate the degree of deviation based on the ratio.

[0096] In this embodiment of the invention, the intersection points of the perpendicular line obtained in the above steps with the lane lines on both sides of the vehicle's lane (i.e., the left lane line and the right lane line of the vehicle's lane) can be determined. Based on these two intersection points, the second distance information can be determined. That is, the distance between these two intersection points can be used as the second distance value corresponding to the second distance information. The ratio of the first distance value to the second distance value is calculated, and the deviation value is calculated based on the ratio.

[0097] Reference Figure 4 The diagram illustrates the determination of deviation in a lane-changing scenario according to an embodiment of the present invention. The main lane-changing judgment point (lane-changing judgment reference point) is the decisive point for determining whether the vehicle is on the left or right side of the lane line. This point is located on the vehicle's centerline. A line is drawn perpendicular to the vehicle's centerline based on this point. The distance between the two points that first intersect the lane line is w. If one lane line is missing, w can be set according to the general lane line width, such as w = 3.75. The distance between the main lane-changing judgment point and the intersection of the aforementioned perpendicular line and the centerline of the middle lane (the designated lane centerline) is d. The deviation value p = 2*d / w can be set. Figure 4Figure ① shows the situation on a straight road, and Figure ② shows the situation on a curve.

[0098] In addition to the degree of deviation, it is also necessary to determine the direction of the vehicle's deviation. If the lane change judgment reference point is located to the left of the center line of the designated lane, it can be determined that the vehicle is deviating to the left; if the lane change judgment reference point is located to the right of the center line of the designated lane, it can be determined that the vehicle is deviating to the right.

[0099] Step 302: Compare the deviation value with the preset deviation threshold to obtain the corresponding comparison result.

[0100] In this embodiment of the invention, a deviation threshold for comparison can be preset, which serves as a critical value for determining whether the displayed parameter information needs to be adjusted. By comparing the deviation value calculated at the current moment with the preset deviation threshold, a corresponding comparison result can be obtained.

[0101] Step 303: Based on the comparison results, determine the significance factor of each lane line.

[0102] In this embodiment of the invention, the visibility impact factor for each lane line can be determined based on the comparison results. The visibility impact factor characterizes the degree of influence on the visibility of the lane lines. In this invention, the visibility of the lane lines is adjusted by adjusting the display parameter information of the lane lines.

[0103] In an optional embodiment of the present invention, step 303, based on the comparison results, determines the visibility influence factor corresponding to each lane line, which may specifically include the following sub-steps:

[0104] If the deviation value is less than the preset deviation threshold, the significance factor of each lane line will be set to the first value.

[0105] If the deviation value is not less than the preset deviation threshold and the deviation direction is to the left, the value of the significance factor corresponding to the farthest right lane line is determined based on the deviation value and the preset monotonically decreasing function, and the significance factor corresponding to the other lane lines in the traffic scene other than the farthest right lane line is set to the first value.

[0106] If the deviation value is not less than the preset deviation threshold and the deviation direction is to the right, then the value of the significance factor corresponding to the farthest left lane line is determined based on the deviation value and the preset monotonically decreasing function, and the significance factor corresponding to the other lane lines in the traffic scene other than the farthest left lane line is set to the first value.

[0107] In specific implementation, assuming that the calculated deviation degree value is p and the preset deviation degree threshold is P, determine whether the deviation degree value is less than the threshold P. If p<P, the salience influence factors of all lane lines can be set to a first value, that is, fac=1; if the deviation degree value p≥P and the deviation direction is leftward deviation, the salience influence factor of the rightmost lane line can be set to fac=f(p), and the salience influence factors of the remaining lane lines are set to fac=1; if the deviation degree p≥P and the deviation direction is rightward deviation, the salience influence factor of the leftmost lane line can be set to fac=f(p), and the salience influence factors of the remaining lane lines are set to fac=1. Wherein, f() may be a monotonically decreasing function. That is, the larger the deviation degree value, the smaller the value of the corresponding salience influence factor.

[0108] In step 304, display parameter information of each lane line is determined according to the salience influence factors.

[0109] In the embodiment of the present invention, the display parameter information of each lane line can be determined according to the salience influence factor of each lane line.

[0110] In an optional embodiment of the present invention, determining the display parameter information of each lane line according to the salience influence factors in step 304 may specifically include the following sub-steps:

[0111] Acquiring initial display parameter information of each lane line;

[0112] Calculating a product of the initial display parameter information and the corresponding salience influence factor, and determining the product as the display parameter information for final display of the corresponding lane line.

[0113] In the embodiment of the present invention, the initial display parameter information respectively corresponding to each lane line can be acquired, and for any lane line, a product of the corresponding initial display parameter information and the corresponding salience influence factor is calculated to obtain the display parameter information for final display of the lane line. Wherein, the display parameter corresponding to the display parameter information includes one or more of transparency, brightness and contrast.

[0114] Refer to Figure 5 , which is a schematic flow diagram of determining display parameter information of lane lines in an embodiment of the present invention, the specific flow includes:

[0115] 1. Calculate the deviation degree value p of the vehicle;

[0116] 2. Determine whether the deviation degree value p is less than the deviation degree threshold P;

[0117] 3. If p<P, set the salience influence factor fac of all lane lines to 1;

[0118] 4. If p>=P and the deviation direction is to the left, set the visibility factor of the farthest lane line on the right to fac=f(p), and set the visibility factor of the remaining lane lines to fac=1;

[0119] 5. If p>=P and the deviation direction is to the right, set the visibility factor of the farthest lane line on the left to fac=f(p), and set the visibility factor of the remaining lane lines to fac=1;

[0120] 6. Multiply the initial display parameter information of each lane line by the significance factor to obtain the final display parameter information of each lane line.

[0121] Reference Figure 6 The diagram shown illustrates the display effect of lane lines during lane changing in an embodiment of the present invention, where two lane lines are constructed. (Refer to...) Figure 7 The diagram illustrates the display effect of lane lines in a scenario where multiple lane lines are constructed during lane changing according to an embodiment of the present invention. During the process of a vehicle switching to the left lane, the furthest lane line on the right gradually disappears in the graphical user interface. When the vehicle's lane-changing judgment reference point crosses the left lane line of its current lane, the furthest lane line on the right disappears and is no longer displayed; at this time, the vehicle enters the left lane. As the vehicle moves left from the left lane, due to the change in its lane position, the vehicle deviates to the right relative to the lane lines on both sides of the left lane. As the vehicle continues to move left, the furthest lane line on the left gradually appears in the graphical user interface.

[0122] Step 305: Display the lane lines in the traffic scene using display parameter information.

[0123] In an optional embodiment of the present invention, the method may further include the following steps:

[0124] If a specific event is detected, the target lane line corresponding to the specific event is determined, and the gradient display parameter information corresponding to the specific event is determined based on the pre-established mapping relationship;

[0125] The target lane line is displayed in the graphical user interface using a gradient display parameter information.

[0126] Specific events include lane line appearance events or lane line disappearance events.

[0127] In this embodiment of the invention, if a specific event is detected, the target lane line corresponding to that specific event can be determined. Based on a pre-established mapping relationship between the specific event and the gradient display parameter information, the gradient display parameter information corresponding to that specific event can be determined. Then, the target lane line can be displayed on the graphical user interface using the gradient display parameter information. The gradient display parameter information is used to display the target lane line in a gradually increasing or decreasing manner.

[0128] In practice, in addition to the farthest lane line on the left and the farthest lane line on the right, if the sensing device suddenly detects or fails to detect other lane lines, it can apply a gradual change effect such as fade-in or fade-out to reduce the visual impact.

[0129] In an optional embodiment of the present invention, functions such as lane-crossing alarms that are tied to the position and shape of the lane lines on the left and right sides of the vehicle's lane are not affected by the display effect of the lane lines themselves and can appear and disappear directly (excluding fade-in and fade-out effects that are deliberately made for low timeliness).

[0130] In summary, in this embodiment of the invention, a graphical user interface (GUI) is provided by a terminal device. The GUI displays at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on the vehicle's position. During vehicle driving, information on the degree of deviation of the vehicle relative to the lane lines on both sides can be obtained. Based on this deviation information, the display parameter information for each lane line is determined. Then, the display parameter information can be used to display each lane line within the traffic scene. This process is dynamic; that is, when the deviation information changes, the display parameter information changes accordingly. The lane lines within the traffic scene are displayed based on the real-time changing display parameter information. Thus, lane lines newly entering the traffic scene can be gradually displayed in the GUI, and lane lines about to leave the traffic scene can be gradually faded out. By adopting the above method, the display parameters of the lane lines in the GUI are adjusted based on the degree of deviation of the vehicle relative to the lane lines on both sides. Since the display parameters change in real time, the gradual appearance and disappearance of lane lines can be achieved, resulting in a smooth transition of the display effect and avoiding abrupt changes or sudden positional shifts in lane lines.

[0131] This invention provides a smooth transition algorithm for lane line reconstruction in vehicle lane-changing scenarios. The algorithm's impact on lane line reconstruction display is achieved through a lane line visibility factor. Lane line reconstruction requires a property that influences the visibility of the lane line reconstruction display, such as transparency.

[0132] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0133] Reference Figure 8 This diagram illustrates a structural block diagram of a lane line display device according to an embodiment of the present invention. A graphical user interface (GUI) is provided through a terminal device. The GUI displays content including at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on changes in vehicle position and may specifically include the following modules:

[0134] The acquisition module 801 is used to acquire information on the degree of deviation of the vehicle relative to the lane lines on both sides during the driving process of the vehicle;

[0135] The first determining module 802 is used to determine the display parameter information of each lane line based on the deviation information;

[0136] The first display module 803 is used to display lane lines in the traffic scene using the display parameter information.

[0137] In this embodiment of the invention, the deviation information includes a deviation value, and the first determining module includes:

[0138] The comparison submodule is used to compare the deviation value with a preset deviation threshold to obtain the corresponding comparison result;

[0139] The first determining submodule is used to determine the visibility influence factor for each lane line based on the comparison results; wherein the visibility influence factor characterizes the degree of influence on the visibility of the lane line display.

[0140] The second determining submodule is used to determine the display parameter information of each lane line based on the obviousness influence factor.

[0141] In this embodiment of the invention, the acquisition module includes:

[0142] The third determining submodule is used to determine a lane change judgment reference point on the vehicle centerline during the lane change process, draw a perpendicular line to the vehicle centerline based on the lane change judgment reference point, determine the intersection point of the perpendicular line and the centerline of the designated lane, and determine the first distance information based on the intersection point and the lane change judgment reference point; the designated lane centerline is the centerline of the lane where the vehicle is currently located.

[0143] The fourth determining submodule is used to determine the degree of deviation of the vehicle relative to the lane lines on both sides based on the first distance information.

[0144] In this embodiment of the invention, the fourth determining submodule includes:

[0145] The first determining unit is used to determine the intersection points of the vertical line and the lane lines on both sides of the lane where the vehicle is located, and to determine the second distance information based on the two intersection points.

[0146] The second determining unit is used to determine a first distance value corresponding to the first distance information and to determine a second distance value corresponding to the second distance information;

[0147] The calculation unit is used to calculate the ratio of the first distance value to the second distance value, and to calculate the deviation value based on the ratio.

[0148] In this embodiment of the invention, the deviation degree information includes the deviation direction, and the first determining submodule includes:

[0149] The first value unit is used to set the significance factor of each lane line to a first value if the deviation degree value is less than the preset deviation degree threshold.

[0150] The second value unit is used to determine the value of the significance factor corresponding to the farthest right lane line based on the deviation degree value and the preset monotonically decreasing function if the deviation degree value is not less than the preset deviation degree threshold and the deviation direction is to the left, and to set the significance factor corresponding to the other lane lines in the traffic scene other than the farthest right lane line to the first value.

[0151] The third value-taking unit is used to determine the value of the significance factor corresponding to the farthest left lane line based on the deviation degree value and the preset monotonically decreasing function if the deviation degree value is not less than the preset deviation degree threshold and the deviation direction is to the right, and to take the significance factor corresponding to the other lane lines in the traffic scene other than the farthest left lane line as the first value.

[0152] In this embodiment of the invention, the second determining submodule includes:

[0153] The acquisition unit is used to acquire the initial display parameter information of each lane line;

[0154] The calculation and determination unit is used to calculate the product of the initial display parameter information and the corresponding visibility influence factor, and determine the product as the final display parameter information of the corresponding lane line; wherein, the display parameters corresponding to the display parameter information include one or more of transparency, brightness and contrast.

[0155] In this embodiment of the invention, the device further includes:

[0156] The second determining module is used to determine the target lane line corresponding to the specific event if a specific event is detected, and to determine the gradient display parameter information corresponding to the specific event based on a pre-established mapping relationship; the specific event includes a lane line appearance event or a lane line disappearance event;

[0157] The second display module is used to display the target lane line on the graphical user interface using the gradient display parameter information; the gradient display parameter information is used to display the target lane line in a gradually increasing or decreasing manner.

[0158] In summary, in this embodiment of the invention, a graphical user interface (GUI) is provided by a terminal device. The GUI displays at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on the vehicle's position. During vehicle driving, information on the degree of deviation of the vehicle relative to the lane lines on both sides can be obtained. Based on this deviation information, the display parameter information for each lane line is determined. Then, the display parameter information can be used to display each lane line within the traffic scene. This process is dynamic; that is, when the deviation information changes, the display parameter information changes accordingly. The lane lines within the traffic scene are displayed based on the real-time changing display parameter information. Thus, lane lines newly entering the traffic scene can be gradually displayed in the GUI, and lane lines about to leave the traffic scene can be gradually faded out. By adopting the above method, the display parameters of the lane lines in the GUI are adjusted based on the degree of deviation of the vehicle relative to the lane lines on both sides. Since the display parameters change in real time, the gradual appearance and disappearance of lane lines can be achieved, resulting in a smooth transition of the display effect and avoiding abrupt changes or sudden positional shifts in lane lines.

[0159] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0160] This invention also provides a vehicle, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described lane line display method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0161] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described lane line display method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0162] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0163] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0164] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0165] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0166] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0167] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0168] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0169] The foregoing has provided a detailed description of a lane line display method, a lane line display device, a vehicle, and a computer-readable storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A lane line display method, characterized in that, The method includes providing a graphical user interface (GUI) via a terminal device, wherein the GUI displays content including at least the lane lines of the current road segment, and the traffic scene displayed by the GUI changes based on changes in vehicle position. During the driving process of the vehicle, information on the degree of deviation of the vehicle relative to the lane lines on both sides is obtained; Based on the deviation information, determine the display parameter information for each lane line; The display parameter information is used to display lane lines within a traffic scene; the display parameters corresponding to the display parameter information include one or more of transparency, brightness, and contrast; the display parameter information is used to display lane lines newly entering the traffic scene in a gradually appearing manner on the graphical user interface, and to display lane lines about to leave the traffic scene in a gradually disappearing manner. The deviation information includes a deviation value, and determining the display parameter information for each lane line based on the deviation information includes: The deviation value is compared with a preset deviation threshold to obtain a corresponding comparison result; the deviation threshold is a critical value for determining whether the display parameter information needs to be adjusted. Based on the comparison results, the visibility impact factor for each lane line is determined; wherein, the visibility impact factor characterizes the degree of influence on the visibility of the lane line display. Based on the aforementioned visibility factor, the display parameter information for each lane line is determined; The deviation information includes the direction of deviation. The determination of the significance factor for each lane line based on the comparison results includes: If the deviation value is less than the preset deviation threshold, then the obviousness influence factor corresponding to each lane line is set to the first value. If the deviation value is not less than the preset deviation threshold and the deviation direction is to the left, then the value of the significance influence factor corresponding to the farthest right lane line is determined based on the deviation value and the preset monotonically decreasing function, and the significance influence factors corresponding to the other lane lines in the traffic scene other than the farthest right lane line are respectively set to the first value. If the deviation value is not less than the preset deviation threshold and the deviation direction is to the right, then the value of the significance factor corresponding to the farthest left lane line is determined based on the deviation value and the preset monotonically decreasing function, and the significance factor corresponding to the other lane lines in the traffic scene other than the farthest left lane line is set to the first value.

2. The method according to claim 1, characterized in that, The process of acquiring information on the degree of deviation of the vehicle from the lane lines on both sides during the driving of the vehicle includes: During the lane-changing process, a lane-changing judgment reference point is determined on the vehicle's centerline, and a perpendicular line is drawn from the vehicle's centerline based on the lane-changing judgment reference point. The intersection of the perpendicular line and the centerline of the designated lane is determined, and first distance information is determined based on the intersection point and the lane-changing judgment reference point. The designated lane centerline is the centerline of the lane in which the vehicle is currently located. Based on the first distance information, the degree of deviation of the vehicle relative to the lane lines on both sides is determined.

3. The method according to claim 2, characterized in that, The step of determining the degree of deviation of the vehicle relative to the lane lines on both sides based on the first distance information includes: Determine the intersection points of the vertical line with the lane lines on both sides of the lane where the vehicle is located, and determine the second distance information based on the two intersection points; Determine a first distance value corresponding to the first distance information, and determine a second distance value corresponding to the second distance information; Calculate the ratio of the first distance value to the second distance value, and calculate the deviation value based on the ratio.

4. The method according to claim 1, characterized in that, The step of determining the display parameter information for each lane line based on the visibility influence factor includes: Obtain the initial display parameter information for each lane line; Calculate the product of the initial display parameter information and the corresponding significance factor, and determine the product as the final display parameter information of the corresponding lane line.

5. The method according to claim 1, characterized in that, The method further includes: If a specific event is detected, the target lane line corresponding to the specific event is determined, and based on a pre-established mapping relationship, the gradient display parameter information corresponding to the specific event is determined; the specific event includes a lane line appearance event or a lane line disappearance event; The target lane line is displayed on the graphical user interface using the gradient display parameter information; the gradient display parameter information is used to display the target lane line in a gradually increasing or decreasing manner.

6. A lane line display device, characterized in that, A graphical user interface (GUI) is provided via a terminal device. The GUI displays content including at least the lane lines of the current road segment. The traffic scene displayed by the GUI changes based on changes in vehicle position. The device includes: The acquisition module is used to acquire information about the degree of deviation of the vehicle from the lane lines on both sides during the driving process of the vehicle; The first determining module is used to determine the display parameter information of each lane line based on the deviation degree information; The first display module is used to display lane lines in the traffic scene using the display parameter information; the display parameters corresponding to the display parameter information include one or more of transparency, brightness and contrast; the display parameter information is used to display lane lines newly entering the traffic scene in a gradually appearing manner in the graphical user interface, and to display lane lines about to leave the traffic scene in a gradually disappearing manner. The deviation information includes a deviation value, and the first determining module includes: The comparison submodule is used to compare the deviation value with a preset deviation threshold to obtain a corresponding comparison result; the deviation threshold is a critical value for determining whether the display parameter information needs to be adjusted. The first determining submodule is used to determine the visibility influence factor for each lane line based on the comparison results; wherein the visibility influence factor characterizes the degree of influence on the visibility of the lane line display; The second determining submodule is used to determine the display parameter information of each lane line based on the obviousness influence factor; The deviation degree information includes the deviation direction. The first determining submodule includes: The first value unit is used to set the significance factor of each lane line to a first value if the deviation degree value is less than the preset deviation degree threshold. The second value unit is used to determine the value of the significance factor corresponding to the farthest right lane line based on the deviation degree value and the preset monotonically decreasing function if the deviation degree value is not less than the preset deviation degree threshold and the deviation direction is to the left, and to set the significance factor corresponding to the other lane lines in the traffic scene other than the farthest right lane line to the first value. The third value-taking unit is used to determine the value of the significance factor corresponding to the farthest left lane line based on the deviation degree value and the preset monotonically decreasing function if the deviation degree value is not less than the preset deviation degree threshold and the deviation direction is to the right, and to take the significance factor corresponding to the other lane lines in the traffic scene other than the farthest left lane line as the first value.

7. A vehicle, characterized in that, include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements a lane line display method as described in any one of claims 1-5.

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

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