Display method and device of three-dimensional radar wall, vehicle and storage medium

Abstract

The application relates to a three-dimensional radar wall display method, device, vehicle and storage medium, wherein the three-dimensional radar wall display method comprises the following steps: acquiring obstacle distance information fed back by a radar; determining position information of a three-dimensional radar wall relative to a virtual vehicle model according to the obstacle distance information; and displaying a continuous three-dimensional radar wall according to the position information. The application solves the problem that in the prior art, the display of obstacle distance by using a two-dimensional radar chart is not intuitive enough, and it is difficult for a driver to judge the distance of obstacles, and intuitively displays the position relationship between the vehicle and the obstacles in front of the driver, so that the driver can control the vehicle.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, apparatus, vehicle, and storage medium for displaying a three-dimensional radar wall. Background Technology

[0002] In autonomous driving technology, driver assistance functions such as obstacle detection, collision prediction, and adaptive cruise control are gradually becoming indispensable features of the Around View Monitor (AVM). Obstacle detection, in particular, plays a crucial role in assisting drivers when reversing and navigating complex road conditions.

[0003] In related technologies, the distance to obstacles is usually displayed based on a two-dimensional radar map on a plane. This display method makes it difficult for drivers to intuitively perceive the actual positional relationship between the obstacle and the vehicle, making it difficult for drivers to judge the distance of the obstacle, thus leading to accidents.

[0004] Currently, no effective solution has been proposed to address the problem that using two-dimensional radar charts to display obstacle distances in related technologies is not intuitive enough, making it difficult for drivers to judge the distance of obstacles. Summary of the Invention

[0005] This application provides a method, device, vehicle, and storage medium for displaying a three-dimensional radar wall, in order to solve the problem in related technologies where the use of two-dimensional radar maps to display the distance to obstacles is not intuitive enough, making it difficult for drivers to judge the distance of obstacles.

[0006] In a first aspect, this application provides a method for displaying a three-dimensional radar wall, applied to a vehicle, wherein the vehicle body is equipped with multiple radars, and the method includes:

[0007] Obtain obstacle distance information from radar feedback;

[0008] The position information of the three-dimensional radar wall relative to the virtual vehicle model is determined based on the obstacle distance information;

[0009] Display a continuous three-dimensional radar wall based on the location information.

[0010] In some embodiments, the distance between each position on the three-dimensional radar wall and the virtual vehicle model is determined based on the corresponding obstacle distance information.

[0011] In some embodiments, determining the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information includes:

[0012] Based on multiple obstacle distance information, multiple reference points of the three-dimensional radar wall are determined on distance control lines corresponding to each obstacle distance information, wherein the distance control lines are used to control the dynamic changes of the three-dimensional radar wall;

[0013] The baseline of the three-dimensional radar wall is determined based on multiple reference points as the position information of the three-dimensional radar wall relative to the virtual vehicle model.

[0014] In some embodiments, the method for obtaining the distance control line includes:

[0015] The installation location of the radar is determined on the virtual vehicle model;

[0016] The distance control line is determined based on the radar's installation location and the radar's signal receiving direction.

[0017] In some embodiments, determining the range control line based on the radar signal reception direction includes:

[0018] The centerline of the radar's radiation range is used as the internal range control line.

[0019] In some embodiments, determining the range control line based on the radar signal reception direction further includes:

[0020] If the radar is the outermost of a plurality of radars, the outer boundary of the radar's radiation range is used as the boundary distance control line.

[0021] In some embodiments, determining the baseline of the three-dimensional radar wall based on the plurality of reference points includes:

[0022] Interpolation is performed between multiple reference points, and curve fitting calculation is performed based on the interpolation results to obtain the baseline of the three-dimensional radar wall.

[0023] In some embodiments, displaying a continuous three-dimensional radar wall based on the location information includes:

[0024] The reference surface of the three-dimensional radar wall is determined based on the baseline and the first preset distance;

[0025] The three-dimensional radar wall is determined based on the reference surface and the second preset distance.

[0026] In some embodiments, determining the reference surface of the three-dimensional radar wall based on the baseline and a first preset distance includes:

[0027] The baseline is shifted by the first preset distance to obtain the reference surface of the three-dimensional radar wall.

[0028] In some embodiments, determining the three-dimensional radar wall based on the reference plane and the second preset distance includes:

[0029] The reference plane is translated by the second preset distance to obtain the three-dimensional radar wall.

[0030] In some embodiments, the faces of the three-dimensional radar wall are constructed using a mesh.

[0031] In some embodiments, the color, grayscale, or transparency of each point on the three-dimensional radar wall is determined based on the obstacle distance information.

[0032] Secondly, embodiments of this application provide a display device for a three-dimensional radar wall, applied to a vehicle, the device including a processor and a display device:

[0033] The processor is used to acquire obstacle distance information fed back by the radar; and to determine the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information.

[0034] The display device is used to display a continuous three-dimensional radar wall based on the location information.

[0035] Thirdly, embodiments of this application provide a vehicle including a display device for a three-dimensional radar wall, the device comprising a processor and a display device:

[0036] The processor is used to acquire obstacle distance information fed back by the radar; and to determine the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information.

[0037] The display device is used to display a continuous three-dimensional radar wall based on the location information.

[0038] Fourthly, embodiments of this application provide an electronic device including a processor and a memory, the memory being used to store executable instructions of the processor; the processor is configured to execute the executable instructions to perform a display method for a three-dimensional radar wall as described in any of the first aspects above.

[0039] Fifthly, embodiments of this application provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the display method of the three-dimensional radar wall as described in any of the first aspects above.

[0040] Compared with related technologies, the three-dimensional radar wall display method provided in this embodiment obtains obstacle distance information fed back by radar; determines the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information; and displays a continuous three-dimensional radar wall based on the position information. This solves the problem in related technologies where the use of two-dimensional radar charts to display obstacle distances is not intuitive enough, making it difficult for drivers to judge the distance of obstacles. It intuitively displays the positional relationship between the vehicle and obstacles in front of the driver, making it easier for the driver to control the vehicle.

[0041] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0042] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0043] Figure 1 This is a schematic diagram illustrating an application scenario of the three-dimensional radar wall display method according to an embodiment of this application;

[0044] Figure 2 This is a flowchart of a method for displaying a three-dimensional radar wall according to an embodiment of this application;

[0045] Figure 3 This is a schematic diagram of a single distance control line according to an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of multiple distance control lines according to embodiments of this application;

[0047] Figure 5 This is a flowchart of a method for determining the location information of a three-dimensional radar wall according to an embodiment of this application;

[0048] Figure 6 This is a schematic diagram showing the location of the reference point according to an embodiment of this application;

[0049] Figure 7 This is a flowchart of a method for displaying a three-dimensional radar wall according to an embodiment of this application;

[0050] Figure 8 This is a schematic diagram of baseline translation according to an embodiment of this application;

[0051] Figure 9 This is a schematic diagram of a reference surface of a three-dimensional radar wall according to an embodiment of this application;

[0052] Figure 10 This is a flowchart of a method for displaying a three-dimensional radar wall according to a preferred embodiment of this application;

[0053] Figure 11 This is a schematic diagram of a three-dimensional radar wall according to an embodiment of this application;

[0054] Figure 12 This is a structural block diagram of a display device for a three-dimensional radar wall according to an embodiment of this application. Detailed Implementation

[0055] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0056] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0057] This application describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with or in lieu of any other feature or element in any other embodiment.

[0058] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0059] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0060] The three-dimensional radar wall display method provided in this application can be applied to, for example... Figure 1 The application environment shown. Figure 1 This is a schematic diagram illustrating an application scenario of the three-dimensional radar wall display method according to an embodiment of this application, such as... Figure 1As shown, the vehicle's display device can display a virtual vehicle model 11. After the radar installed on the vehicle receives obstacle distance information, the vehicle's processor can calculate and process the obstacle distance information to form a real-time, continuous three-dimensional radar wall 12 that surrounds the vehicle model 11 for display. The processor can be, but is not limited to, various personal computers, laptops, tablets, standalone servers, or server clusters composed of multiple servers.

[0061] Specifically, embodiments of this application provide a method for displaying a three-dimensional radar wall, such as... Figure 2 As shown, the method includes the following steps:

[0062] Step S201: Obtain obstacle distance information fed back by radar.

[0063] In this embodiment, the radar is mounted on the vehicle body. Specifically, radar can be mounted around the entire circumference of the vehicle body, or it can be mounted on parts of the vehicle body such as the front and rear. If radar is mounted around the entire circumference of the vehicle body, the 3D radar wall can be displayed around the virtual vehicle model, or only partial obstacle distance information can be selected and the corresponding part of the 3D radar wall can be displayed. If the radar is only mounted on part of the vehicle body, the 3D radar wall can be displayed only on the corresponding part of the virtual vehicle model, or the complete 3D radar wall can be displayed by fitting.

[0064] The specific arrangement of radars can be set according to needs. For example, they can be evenly arranged around the vehicle body, densely arranged at the front and rear of the vehicle, or sparsely arranged on the sides of the vehicle body, etc.

[0065] The obstacle distance information refers to the distance between the obstacle and the actual vehicle. The radar installed on the vehicle can receive and transmit multiple obstacle distance information simultaneously. During the formation of a 3D radar wall, the wall can be constructed based on all received obstacle distance information, or by selecting one or more obstacle distance information from the received data. In this embodiment, obstacles include pedestrians, vehicles, trees, etc., on the road surface, and can also include pillars, pedestrians, etc., in a parking lot.

[0066] Step S202: Determine the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information.

[0067] In this embodiment, the 3D radar wall is used to visually display the distance between obstacles and vehicles. Therefore, on the vehicle's display device, a virtual vehicle model can represent the vehicle, and the 3D radar wall is displayed around the virtual vehicle model to make the distance representation more intuitive. Preferably, the virtual vehicle model is also 3D to facilitate cooperation with the 3D radar wall. Furthermore, the shape and posture of the virtual vehicle model can also dynamically change according to the actual situation of the vehicle.

[0068] Specifically, the position information of the 3D radar wall relative to the virtual vehicle model is determined by the distances between each point on the 3D radar wall and the vehicle model, and is used to locate the display position of the 3D radar wall. In this embodiment, the position information of the 3D radar wall can be obtained from the distance information of multiple obstacles. If the distance information of multiple obstacles is different, the 3D radar wall can bend according to the different obstacle distance information to fit the obstacles, thus more vividly displaying the distance and position relationships between different obstacles.

[0069] Step S203: Display a continuous three-dimensional radar wall based on the location information.

[0070] After determining the location information of the 3D radar wall, it can be displayed at the corresponding location. In this embodiment, the 3D radar wall is continuous, specifically meaning that it can form an uninterrupted 3D radar wall that conforms to the shape of multiple obstacles even when the distance to the obstacles is different.

[0071] Through steps S201 to S203, a continuous three-dimensional radar wall is constructed based on the obstacle distance information fed back by the radar. This makes the radar wall more three-dimensional and fits the obstacles more closely when displayed. Moreover, the three-dimensional radar wall displayed around the virtual vehicle model intuitively shows the positional relationship between the vehicle and the obstacles to the driver, making it easier for the driver to control the vehicle. This solves the problem that using a two-dimensional radar map to display the obstacle distance is not intuitive enough, making it difficult for the driver to judge the distance of the obstacles. Based on this, it can assist the driver in navigating complex road conditions or completing operations such as reversing into a parking space.

[0072] Specifically, the distance between each position on the 3D radar wall and the virtual vehicle model is determined based on the corresponding obstacle distance information. That is, different positions on the continuous 3D radar wall correspond to different obstacle distance information, providing a more intuitive display of the distances to different obstacles. In this embodiment, the multiple obstacle distance information can be obtained based on one radar or multiple radars. When the obstacle distance information differs, the 3D radar wall exhibits a curved posture, such as... Figure 1 As shown, the distance between the 3D radar wall and the vehicle model at point A is significantly different from that at point B.

[0073] Furthermore, 3D radar walls can represent obstacle distances using color, grayscale, or transparency to enhance visualization. For example, when using color, red indicates a nearby obstacle that may pose a danger, while green indicates a distant obstacle at a safe distance, with transitional colors like yellow and orange used in between. When using grayscale, higher grayscale indicates a closer obstacle, and lower transparency indicates a closer obstacle. The specific numerical correspondence between color, grayscale, or transparency and distance can be preset.

[0074] In some embodiments, a 3D radar wall is displayed on at least one side of a virtual vehicle model. The specific display range can be determined based on the radar's location. For example, if the radar is installed at the front and / or rear of the vehicle, the 3D radar wall can be displayed at the front and / or rear of the virtual vehicle model. If there are enough radars installed on the vehicle body, it can also be displayed around the entire virtual vehicle model. In other embodiments, if the radar is only installed at the front and / or rear of the vehicle, the 3D radar walls on both sides of the vehicle body can also be implemented through fitting to improve the visualization effect of the 3D radar wall.

[0075] In some embodiments, to ensure that the 3D radar wall can dynamically change according to obstacle distances in real time, it is necessary to first determine distance control lines based on the radar signal receiving direction. After determining the distance control lines, only the obstacle distance information on the distance control lines needs to be processed, simplifying the construction process of the 3D radar wall. Specifically, the installation positions of the radars are first determined on a virtual vehicle model, such as... Figure 3 As shown, the dots L1, L2, L3, and L4 at the rear of the vehicle can represent the radar installation positions on the virtual vehicle model. The area within the directed dashed lines a1 and a2 is the radiation range of radar L2. At this point, the range control line can be determined based on the radar's signal reception direction, starting from its installation position. Preferably, the central axis of the radar's radiation range can be used as the range control line. Figure 3 The solid line with an arrow indicates this. It should be noted that the position of the distance control line will change as the shape and attitude of the virtual vehicle model changes.

[0076] Specifically, range control lines can be divided into internal range control lines and boundary range control lines based on their location, corresponding to controlling the dynamic changes inside the three-dimensional radar wall and the dynamic changes at the boundary. For example... Figure 4As shown, there are multiple radars L1, L2, L3, and L4 at the rear of the vehicle. The center lines of the radar's radiation range, l1, l2, l3, and l4, can be used as internal distance control lines. In this case, the distribution of internal distance control lines is relatively uniform, making the shape of the three-dimensional radar wall closer to the actual distance of the obstacle. On the other hand, if the radar is the outermost of the multiple radars, such as L1 and L4, then the outer boundaries e1 and e2 of the radar's radiation range can also be used as boundary distance control lines, which facilitates the control of the boundaries of the three-dimensional radar wall.

[0077] In some embodiments, if the radars are evenly distributed around the vehicle body, only the internal control lines need to be determined, and a complete three-dimensional radar wall can be constructed based on the obstacle distance information on the internal control lines. If the radars are densely arranged at the rear and front of the vehicle, two three-dimensional radar walls are constructed at the rear and front of the vehicle respectively, and their respective internal distance control lines and boundary distance control lines are determined. Similarly, when the radars are densely arranged on the vehicle body, such as at the front, rear, or both sides of the vehicle, both internal distance control lines and boundary distance control lines can be determined simultaneously to construct the corresponding three-dimensional radar wall.

[0078] In some of these embodiments, Figure 5 This is a flowchart of a method for determining the location information of a three-dimensional radar wall according to an embodiment of this application. The method includes the following steps:

[0079] Step S501: Based on the distance information of multiple obstacles, determine multiple reference points of the three-dimensional radar wall on the distance control lines corresponding to the distance information of each obstacle. The distance control lines are used to control the dynamic changes of the three-dimensional radar wall and include internal distance control lines and boundary distance control lines.

[0080] After determining the distance control lines, when constructing the 3D radar wall, only the obstacle distance information on the distance control lines needs to be acquired. Specifically, each distance control line corresponds to one obstacle distance. Taking the radar installation position on the virtual vehicle model as the starting point, a reference point is determined on the corresponding distance control line based on this obstacle distance information. This reference point represents the obstacle in the current direction and is also used to assist in determining the position of the 3D radar wall. Then, multiple reference points are determined based on multiple obstacle distance information. The virtual distance between the reference point and the virtual vehicle model corresponds to the actual distance between the obstacle and the vehicle in the real scene. The ratio between the virtual distance and the actual distance can be set according to requirements.

[0081] like Figure 6 As shown, for the four radars located at the rear of the vehicle, six distance control lines can be determined, and correspondingly, six reference points B1, B2, B3, B4, B5, and B6 can be obtained.

[0082] Step S502: Determine the baseline of the three-dimensional radar wall based on multiple reference points as the position information of the three-dimensional radar wall relative to the virtual vehicle model.

[0083] After obtaining multiple reference points, the position of the current 3D radar wall can be determined based on the joint reference points. Specifically, the baseline of the 3D radar wall can be determined first based on multiple reference points, and then the position information of the virtual vehicle model can be determined based on the baseline. The baseline can be obtained by curve fitting calculation based on the reference points.

[0084] By using the above steps S501 and S502, the construction process of the three-dimensional radar wall can be simplified, the construction efficiency of the three-dimensional radar wall can be improved, and thus the real-time performance of the three-dimensional radar wall can be improved.

[0085] In some of these embodiments, Figure 7 This is a flowchart of a method for displaying a three-dimensional radar wall according to an embodiment of this application. The method includes the following steps:

[0086] Step S701: Determine the baseline of the three-dimensional radar wall based on multiple reference points;

[0087] Step S702: Determine the reference surface of the three-dimensional radar wall based on the baseline and the first preset distance;

[0088] Step S703: Determine the three-dimensional radar wall based on the reference surface and the second preset distance.

[0089] The three-dimensional radar wall in this embodiment has two bottom surfaces and four side surfaces. The reference surface determined based on the baseline can be perpendicular to the ground (in which case the reference surface is a side surface) or parallel to the ground (in which case the reference surface is a bottom surface). The first and second preset distances in this embodiment are both determined according to requirements.

[0090] Steps S701 to S703 above provide a method for constructing a three-dimensional radar wall, which helps to realize the visualization of the three-dimensional radar wall.

[0091] Furthermore, since determining the baseline solely based on reference points may result in an insufficiently smooth baseline, interpolation can be performed between multiple reference points. Curve fitting calculations are then performed based on the interpolated results to obtain the baseline of the three-dimensional radar wall. For example, this can be achieved using a cubic spline interpolation algorithm. Given reference points B1, B2, B3, B4, B5, and B6, and assuming any point between B1 and B2 is B(t), when t = 0, B(0) = B1, and when t = 1, B(1) = B2. Then, any point B(t) can be represented using the following interpolation function:

[0092] B(t) = c0 + c1×t + c2×t 2 +c3×t 3 Formula (1)

[0093] Where B(t) represents the ordinate of any point between B1 and B2, t is the abscissa of the independent variable, and c0, c1, c2, and c3 are parameters determined by the following formula (2).

[0094]

[0095] Where τ is an empirical value, which can be 0.5. According to the above formula, any number of intermediate points can be interpolated in the reference point to finally fit a smooth curve.

[0096] Further, determining the reference surface of the three-dimensional radar wall based on the baseline and the first preset distance includes: shifting the baseline by the first preset distance to obtain the reference surface of the three-dimensional radar wall. In this embodiment, the direction of the shift is not limited, such as... Figure 8 As shown, taking the translation of the baseline in a direction parallel to the ground as an example, the reference surface of the three-dimensional radar wall has boundaries f1 and f2. For example, f1 can be the original baseline, and f2 is the result of the translation. During the translation, the baseline can move towards or away from the vehicle. For example, both f1 and f2 are obtained after the baseline translation; the baseline can be in the middle of f1 and f2, or located on one side of f1 and f2. In other embodiments, the baseline can also be translated upwards, downwards, or to the sides in a direction perpendicular to the ground to obtain the reference surface.

[0097] Further, determining the three-dimensional radar wall based on the reference surface and the second preset distance includes translating the reference surface by the second preset distance to obtain the three-dimensional radar wall. Similarly, in this embodiment, the translation direction of the reference surface is not set; it can be translated in a direction perpendicular to the ground or in a direction parallel to the ground. In some embodiments, the reference surface can be translated in only one direction or extended in two directions. It should be noted that the translation direction of the reference surface needs to be perpendicular to the translation direction of the baseline to ensure that a three-dimensional radar wall can be formed.

[0098] It should be noted that when the 3D radar wall is displayed using color, grayscale, or transparency, the color, grayscale, or transparency of the column containing the reference point is consistent with the color of the reference point. The color, grayscale, or transparency of the interpolation point between two adjacent reference points can be obtained by linear interpolation of the color, grayscale, or transparency corresponding to the reference point, so as to obtain a gradient effect of color, grayscale, or transparency.

[0099] In some embodiments, the faces of the three-dimensional radar wall are constructed using a mesh. Specifically, a baseline can be viewed as being composed of numerous points, and connecting the points on two baselines according to a set rule forms a triangular mesh, such as... Figure 9As shown, the reference surface of the three-dimensional radar wall is obtained. The reference surface is translated by a second preset distance to obtain the translated reference surface. The two reference surfaces are connected in the same way to form a triangular mesh, thus obtaining the three-dimensional radar wall with a three-dimensional curved surface structure.

[0100] The following is a preferred embodiment. Figure 10 This is a flowchart of a method for displaying a three-dimensional radar wall according to a preferred embodiment of this application. The method includes the following steps:

[0101] Step S1001: Take the center line of the radiation range of all radars as the internal range control line, and take the outer boundary of the radiation range of the outermost radar as the boundary range control line.

[0102] Step S1002: Based on the distance information of multiple obstacles obtained by radar, determine multiple reference points of the three-dimensional radar wall on the corresponding internal distance control lines and boundary distance control lines.

[0103] Step S1003: Interpolate between multiple reference points, and perform curve fitting calculation based on the interpolated results to obtain the baseline of the three-dimensional radar wall;

[0104] Step S1004: Shift the baseline by a first preset distance to obtain the reference surface of the three-dimensional radar wall;

[0105] Step S1005: Translate the reference plane by a second preset distance to obtain a three-dimensional radar wall;

[0106] Step S1006: Determine the color, grayscale, or transparency of each point on the 3D radar wall based on the obstacle distance information, such as... Figure 11 As shown, this is a 3D radar wall that uses grayscale to represent the distance information of obstacles.

[0107] Through the above steps S1001 to S1006, a continuous three-dimensional radar wall is constructed based on the obstacle distance information fed back by the radar. This makes the radar wall more three-dimensional and fits the obstacle when displayed, making it easier for the driver to control the vehicle. This solves the problem that using a two-dimensional radar map to display the obstacle distance is not intuitive enough, making it difficult for the driver to judge the distance of the obstacle.

[0108] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0109] This embodiment also provides a display device for a three-dimensional radar wall, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that perform predetermined functions. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0110] Figure 12 This is a structural block diagram of a three-dimensional radar wall display device according to an embodiment of this application, applied to a vehicle, such as... Figure 12 As shown, the device includes a processor 1201 and a display device 1202: the processor 1201 is used to acquire obstacle distance information fed back by radar, and determine the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information; the display device 1202 is used to display the continuous three-dimensional radar wall according to the position information. The distance between each position on the three-dimensional radar wall and the virtual vehicle model is determined according to the corresponding obstacle distance information.

[0111] The aforementioned 3D radar wall display device constructs a continuous 3D radar wall based on obstacle distance information fed back by radar. This makes the radar wall more three-dimensional and closely matches the obstacles when displayed. Moreover, the 3D radar wall displayed around the virtual vehicle model intuitively shows the positional relationship between the vehicle and the obstacles to the driver, making it easier for the driver to control the vehicle. This solves the problem that using a 2D radar map to display obstacle distances is not intuitive enough, making it difficult for the driver to judge the distance of obstacles. Based on this, it can assist the driver in navigating complex road conditions or performing operations such as reversing into a parking space.

[0112] Furthermore, the processor 1201 is also used to determine multiple reference points of the three-dimensional radar wall on distance control lines corresponding to the distance information of each obstacle, based on the distance information of multiple obstacles. The distance control lines are used to control the dynamic changes of the three-dimensional radar wall. The baseline of the three-dimensional radar wall is determined based on the multiple reference points as the position information of the three-dimensional radar wall relative to the virtual vehicle model. The distance control lines can be obtained by: determining the installation position of the radar on the virtual vehicle model; and determining the distance control lines based on the radar's signal receiving direction, starting from the installation position of the radar. Specifically, the centerline of the radar's radiation range is used as the internal distance control line. If the radar is the outermost radar among multiple radars, the outer boundary of the radar's radiation range is also used as the boundary distance control line.

[0113] Furthermore, the processor 1201 is also used to interpolate between multiple reference points, and to perform curve fitting calculations based on the interpolated results to obtain the baseline of the three-dimensional radar wall.

[0114] Furthermore, the processor 1201 is also used to determine the reference surface of the three-dimensional radar wall based on the baseline and the first preset distance; and to determine the three-dimensional radar wall based on the reference surface and the second preset distance.

[0115] Furthermore, the processor 1201 is also used to translate the baseline by a first preset distance to obtain a reference surface of the three-dimensional radar wall; and to translate the reference surface by a second preset distance to obtain the three-dimensional radar wall. Each surface of the three-dimensional radar wall is constructed using a mesh, and the color, grayscale, or transparency of each point on the three-dimensional radar wall is determined based on obstacle distance information.

[0116] On the other hand, this application also provides a vehicle, including a display device for a three-dimensional radar wall. The device includes a processor and a display device: the processor is used to acquire obstacle distance information fed back by radar; determine the position information of the three-dimensional radar wall relative to a virtual vehicle model based on the obstacle distance information; and the display device is used to display a continuous three-dimensional radar wall based on the position information. The distance between each position on the three-dimensional radar wall and the virtual vehicle model is determined according to the corresponding obstacle distance information.

[0117] The aforementioned vehicle constructs a continuous three-dimensional radar wall based on obstacle distance information fed back by radar. This makes the radar wall more three-dimensional and closely matches the obstacles when displayed. Moreover, the three-dimensional radar wall displayed around the virtual vehicle model intuitively shows the positional relationship between the vehicle and the obstacles to the driver, making it easier for the driver to control the vehicle. This solves the problem that using two-dimensional radar maps to display obstacle distances is not intuitive enough, making it difficult for the driver to judge the distance of obstacles. Based on this, it can assist the driver in navigating complex road conditions or performing operations such as reversing into a parking space.

[0118] Furthermore, the processor is also used to determine multiple reference points for the 3D radar wall based on distance information from multiple obstacles, on distance control lines corresponding to each obstacle's distance information. These distance control lines are used to control the dynamic changes of the 3D radar wall. The baseline of the 3D radar wall is determined based on these multiple reference points as the position information of the 3D radar wall relative to the virtual vehicle model. The distance control lines can be obtained by: determining the radar's installation position on the virtual vehicle model; and determining the distance control lines based on the radar's signal receiving direction, starting from the radar's installation position. Specifically, the centerline of the radar's radiation range is used as the internal distance control line. If the radar is the outermost of multiple radars, the outer boundary of its radiation range is also used as the boundary distance control line.

[0119] Furthermore, the processor is also used to interpolate between multiple reference points, and to perform curve fitting calculations based on the interpolated results to obtain the baseline of the three-dimensional radar wall.

[0120] Furthermore, the processor is also used to determine the reference surface of the three-dimensional radar wall based on the baseline and the first preset distance; and to determine the three-dimensional radar wall based on the reference surface and the second preset distance.

[0121] Furthermore, the processor is also used to translate the baseline by a first preset distance to obtain a reference surface for the 3D radar wall; and to translate the reference surface by a second preset distance to obtain the 3D radar wall. Each surface of the 3D radar wall is constructed using a mesh, and the color, grayscale, or transparency of each point on the 3D radar wall is determined based on obstacle distance information.

[0122] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0123] This embodiment also provides an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0124] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0125] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0126] S1, obtain obstacle distance information fed back by radar.

[0127] S2, determine the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information.

[0128] S3, Display a continuous three-dimensional radar wall based on the location information.

[0129] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0130] Furthermore, in conjunction with the three-dimensional radar wall display method provided in the above embodiments, this embodiment can also provide a computer-readable storage medium for implementation. This storage medium stores one or more programs, which can be executed by one or more processors; when executed by a processor, the program implements any of the methods in the above embodiments.

[0131] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0132] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0133] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0134] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0135] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

[0136] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A method for displaying a three-dimensional radar wall, characterized in that, Applied to a vehicle, the vehicle body is equipped with multiple radars, the method includes: Obtain obstacle distance information fed back by radar; The position information of the three-dimensional radar wall relative to the virtual vehicle model is determined based on the obstacle distance information; A continuous three-dimensional radar wall is displayed based on the location information. On the vehicle's display device, a virtual vehicle model represents the vehicle, and the three-dimensional radar wall is displayed around the virtual vehicle model. The three-dimensional radar wall has two bottom surfaces and four sides. The step of determining the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information includes: Based on multiple obstacle distance information, multiple reference points of the three-dimensional radar wall are determined on distance control lines corresponding to each obstacle distance information, wherein the distance control lines are used to control the dynamic changes of the three-dimensional radar wall; The baseline of the three-dimensional radar wall is determined based on multiple reference points as the position information of the three-dimensional radar wall relative to the virtual vehicle model; The step of displaying a continuous three-dimensional radar wall based on the location information includes: The reference surface of the three-dimensional radar wall is determined based on the baseline and the first preset distance; The three-dimensional radar wall is determined based on the reference surface and the second preset distance.

2. The method for displaying a three-dimensional radar wall according to claim 1, characterized in that, The distance between each position on the three-dimensional radar wall and the virtual vehicle model is determined based on the corresponding obstacle distance information.

3. The method for displaying a three-dimensional radar wall according to claim 1, characterized in that, The method for obtaining the distance control line includes: The installation location of the radar is determined on the virtual vehicle model; The distance control line is determined based on the radar's installation location and the radar's signal receiving direction.

4. The method for displaying a three-dimensional radar wall according to claim 3, characterized in that, Determining the range control line based on the radar signal reception direction includes: The centerline of the radar's radiation range is used as the internal range control line.

5. The method for displaying a three-dimensional radar wall according to claim 4, characterized in that, The step of determining the range control line based on the radar signal receiving direction further includes: If the radar is the outermost of a plurality of radars, the outer boundary of the radar's radiation range is used as the boundary distance control line.

6. The method for displaying a three-dimensional radar wall according to claim 1, characterized in that, Determining the baseline of the three-dimensional radar wall based on multiple reference points includes: Interpolation is performed between multiple reference points, and curve fitting calculation is performed based on the interpolation results to obtain the baseline of the three-dimensional radar wall.

7. The method for displaying a three-dimensional radar wall according to claim 1, characterized in that, The step of determining the reference surface of the three-dimensional radar wall based on the baseline and the first preset distance includes: The baseline is shifted by the first preset distance to obtain the reference surface of the three-dimensional radar wall.

8. The method for displaying a three-dimensional radar wall according to claim 1, characterized in that, Determining the three-dimensional radar wall based on the reference plane and the second preset distance includes: The reference plane is translated by the second preset distance to obtain the three-dimensional radar wall.

9. The method for displaying a three-dimensional radar wall according to claim 7 or 8, characterized in that, Each face of the three-dimensional radar wall is constructed using a mesh.

10. The method for displaying a three-dimensional radar wall according to claim 1, characterized in that, The color, grayscale, or transparency of each point on the three-dimensional radar wall is determined based on the obstacle distance information.

11. A display device for a three-dimensional radar wall, characterized in that, Applied to vehicles, the device includes a processor and a display device: The processor is used to acquire obstacle distance information fed back by the radar; and to determine the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information. The display device is used to display a continuous three-dimensional radar wall according to the location information, wherein, on the display device, a virtual vehicle model represents the vehicle, and the three-dimensional radar wall is displayed around the virtual vehicle model, the three-dimensional radar wall having two bottom surfaces and four sides. The step of determining the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information includes: Based on multiple obstacle distance information, multiple reference points of the three-dimensional radar wall are determined on distance control lines corresponding to each obstacle distance information, wherein the distance control lines are used to control the dynamic changes of the three-dimensional radar wall; The baseline of the three-dimensional radar wall is determined based on multiple reference points as the position information of the three-dimensional radar wall relative to the virtual vehicle model; The step of displaying a continuous three-dimensional radar wall based on the location information includes: The reference surface of the three-dimensional radar wall is determined based on the baseline and the first preset distance; The three-dimensional radar wall is determined based on the reference surface and the second preset distance.

12. A vehicle, characterized in that, The display device includes a three-dimensional radar wall, the device comprising a processor and a display device: The processor is used to acquire obstacle distance information fed back by the radar; and to determine the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information. The display device is used to display a continuous three-dimensional radar wall according to the location information, wherein, on the display device, a virtual vehicle model represents the vehicle, and the three-dimensional radar wall is displayed around the virtual vehicle model, the three-dimensional radar wall having two bottom surfaces and four sides. The step of determining the position information of the three-dimensional radar wall relative to the virtual vehicle model based on the obstacle distance information includes: Based on multiple obstacle distance information, multiple reference points of the three-dimensional radar wall are determined on distance control lines corresponding to each obstacle distance information, wherein the distance control lines are used to control the dynamic changes of the three-dimensional radar wall; The baseline of the three-dimensional radar wall is determined based on multiple reference points as the position information of the three-dimensional radar wall relative to the virtual vehicle model; The step of displaying a continuous three-dimensional radar wall based on the location information includes: The reference surface of the three-dimensional radar wall is determined based on the baseline and the first preset distance; The three-dimensional radar wall is determined based on the reference surface and the second preset distance.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the method for displaying a three-dimensional radar wall as described in any one of claims 1 to 10.

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