A front vehicle display method, device and computer system of an intelligent driving assistance system

Abstract

The application discloses a front vehicle display method of an intelligent driving assistance system, and utilizes the intelligent driving assistance system, and the steps are as follows: extracting parameters: based on real-time information and combining algorithm, outputting a lateral vector distance and a longitudinal vector distance of a front vehicle relative to a vehicle, and simultaneously outputting parameter information of left and right lane lines of a driving lane of the vehicle; determining a screen display position: calculating a lateral position of the front vehicle, a relative position relationship between the front vehicle and the lane line and a longitudinal position relationship between each front vehicle, respectively obtaining lateral position display and longitudinal position display of the front vehicle in a display screen, and then inputting parameter signals of the lateral position display and the longitudinal position display to the display screen. The application further discloses a front vehicle display device of the intelligent driving assistance system and a computer system. The application outputs processed front vehicle position information to a screen display end for display, can improve visual experience of customers, and can be widely applied to the field of intelligent driving.

Description

Technical Field

[0001] This invention relates to intelligent driving technology, and in particular to a method, device, and computer system for displaying the vehicle ahead in an intelligent driving assistance system. Background Technology

[0002] With the advancement of automotive intelligence and electrification, advanced driver assistance systems (ADAS / AD) have gradually become a key area of ​​research and development and technological investment for mainstream manufacturers. While ADAS functions bring driving safety and comfort to customers, the vehicle's human-machine interface (HMI) module also provides customers with an upgraded technological experience. The vehicle's instrument panel display is an important component of the HMI module. Traditional vehicle instruments often only display conventional vehicle status information such as speed and RPM, while vehicles equipped with ADAS tend to map actual road conditions onto the instrument panel to display more ADAS-related functional information to the customer. The vehicle is an important part of the driving environment, and its display on the instrument panel is a crucial element of the HMI. However, some vehicle models on the market currently have issues with inaccurate positioning or disproportionate size of vehicles in front, resulting in a poor user experience.

[0003] In light of this, some manufacturers have proposed the following solutions: See Figures 1 to 2 The processing unit 14 transmits the obtained road user, road surface information, and road sign information to the instrument unit 16 for real-time display via the sensor unit 12.

[0004] However, in the whole solution, the processing unit 14 only serves to send the actual road conditions to the instrument for display as realistically and accurately as possible, without separating the display module and without considering the functional requirements of the instrument display (comfort, etc.).

[0005] Based on this, this patent describes a method and apparatus for processing the vehicle's and the preceding vehicle's position and lane line information provided by the upstream module (sensor or perception fusion module) of ADAS. The module (ADAS visualization module) of this method and apparatus outputs the processed preceding vehicle position information to the display terminal for display, which can improve the customer's visual experience. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the aforementioned background technology and provide a method, device, and computer system for displaying vehicles ahead in an intelligent driving assistance system, so as to solve the following technical problems:

[0007] 1. It can solve the problem of inaccurate vehicle lateral display or even display of the wrong lane;

[0008] 2. It can solve the problems of vehicle overlap, vehicle models being too small, or the display of the number of vehicles in front being limited;

[0009] 3. This method can reduce the computational power limitations of the instrument itself;

[0010] 4. The intuitive data allows for quick identification of the cause of instrument display problems;

[0011] 5. This patent can effectively improve the human-machine interaction experience of lower-cost vehicle models that are limited by hardware such as sensors and instruments.

[0012] This invention provides a method for displaying vehicles ahead in an intelligent driving assistance system. Utilizing the intelligent driving assistance system, the method includes the following steps: Parameter extraction: During vehicle operation, based on real-time information collected by vehicle sensors and combined with an algorithm, the lateral and longitudinal vector distances of the vehicles ahead relative to the vehicle are output, along with parameter information for the left and right lane lines of the vehicle's driving lane. The real-time information collected by the vehicle sensors includes the position, speed, heading, and lane line information of the vehicles ahead. Screen display position determination: Based on the parameter information, calculations are performed on the lateral position of the vehicles ahead, the relative positional relationship between the vehicles ahead and the lane lines, and the longitudinal positional relationship between the vehicles ahead, respectively, to obtain the lateral and longitudinal position displays of the vehicles ahead on the display screen. The parameter signals for the lateral and longitudinal position displays are then transmitted to the display screen for display. It is assumed that lanes traveling in the same direction have the same width.

[0013] In the above technical solution, the specific process of determining the screen display position is as follows: Displaying the lateral position of the vehicle in front: Calculate the lane to which the vehicle in front belongs, obtain the ratio of the lateral distance parameter of the vehicle in front to the lane width at the vehicle's location, and transmit the lane to which the vehicle in front belongs and the obtained ratio to the display screen to display the lateral position of the vehicle in front; Displaying the longitudinal position of the vehicle in front: Adopt a segmented longitudinal vehicle position display method, divide the longitudinal position of the screen into two parts, with area one displaying nearby vehicles and area two displaying distant vehicles. The size of the vehicle model in each area is linearly set according to the distance from the vehicle.

[0014] In the above technical solution, the specific process of the forward vehicle lateral position display step is as follows: Lane determination: Based on the parameter information, the lateral vector distance between the vehicle and the vehicle in front is first combined with the lane line algorithm to determine the lane to which the vehicle in front belongs; Calculation of left and right lane line position ratio: After determining the lane to which the vehicle in front belongs, the vector distance between the vehicle in front and the left or right lane line of the vehicle's lane in each lane is calculated, and then the percentage of the vector distance relative to the width of the lane at the vehicle's location is obtained; Display of lateral position: The calculated percentage signal of the vector distance between each vehicle in front and the left or right lane line of the vehicle's lane relative to the width of the lane at the vehicle's location, along with the signal indicating the lane to which the vehicle in front belongs, is transmitted to the display screen for the display module to display the lateral position of the vehicle in front.

[0015] In the above technical solution, the specific process of determining the lane to which the vehicle ahead belongs in the lane determination step is as follows: Calculating the distance from the vehicle to the left and right lane lines: By substituting the longitudinal vector distance Px of the vehicle ahead into the lane line function of the vehicle's left and right lane lines, the lateral vector distance Y from the vehicle to the vehicle's left and right lane lines is calculated respectively. L With Y R The lane line function is Y = C0 + C1x + C2x 2 +C3*x 3 Lane determination: Then, the lateral vector distance Py between the vehicle and the vehicle in front is compared with the respective Y... L and Y R Compare and determine the left, middle, and right lanes where the vehicle ahead is located: 1) When Py > Y L When the vehicle in front is in the left lane; 2) When Y L ≥Py≥Y R At that time, the vehicle in front is located in the middle lane where your vehicle is located; 3) When Y R > When Py is used, the vehicle in front is in the right lane; in all three cases above, the vehicle is assumed to be traveling in the middle lane.

[0016] In the above technical solution, in the step of calculating the position ratio of the left and right lane lines, the vector distance D between the vehicle in front and the left or right lane line of the vehicle's own lane is... L The calculation process is as follows: 1) When the vehicle in front is in the left lane, D L =Py-Y L ;2) When the vehicle in front is in the middle lane where your vehicle is located, D L =Y L -Py; 3) When the vehicle in front is in the right lane, D L =Y R -Py.

[0017] In the above technical solution, in the step of calculating the position ratio of the left and right lane lines, the vector distance D between the vehicle in front and the left or right lane line of the vehicle's own lane is... L The percentage of lane width W at the vehicle location D L The calculation process for _Pct is as follows: 1) Lane width W = Y at the vehicle location L -Y R ;2) When the vehicle in front is in the left lane, D L _Pct=(Py-Y L ) / (Y L -Y R 3) When the vehicle in front is in the middle lane where your vehicle is located, D L _Pct=(Y L -Py) / (Y L -YR 4) When the vehicle in front is in the right lane, D L _Pct=(Y R -Py) / (Y L -Y R ).

[0018] In the above technical solution, the specific process of the forward vehicle longitudinal position display step is as follows: Area partitioning: The instrument panel's longitudinal display area is divided into two parts: Area 1 and Area 2. Area 1 occupies X% of the longitudinal display area, and Area 2 occupies 1-X% of the longitudinal display area; Positional relationship between areas: Area 1 displays the endpoint position Lgt_Lim of nearby vehicles, and Area 2 displays vehicles between the endpoint position Lgt_Lim of nearby vehicles and the furthest position Lgt_Max of distant vehicles; Static model of forward vehicles in Area 1: In Area 1, the instrument panel displays only one forward vehicle model per lane, which is the vehicle closest to the vehicle in each lane. The model size of this forward vehicle is Size_min = ( 1-X%)*L, where L is the vertical dimension of the instrument display area. The vertical position of the vehicle in front is always maintained at the X% position on the instrument panel. Dynamic model of the vehicle in front in Zone 1: When the vehicle in front is running in Zone 1, its model size and vertical position are adjusted linearly according to the vertical position Px by a ratio Px_Pct. The calculation logic of Px_Pct is as follows: Px_Pct=(Px*X%) / Lgt_Lim; Arrangement of the positions of each vehicle in front: The vertical display position of the vehicle in front on the screen is Px_Pct from bottom to top of the display area. The model size of the vehicle in front is: Size_zone1=-(Size_base-Size_min) / X%*P X _Pct+Size_base, where Size_base is the base model size, which is the model size of the vehicle ahead at Px=0.

[0019] In the above technical solution, during the parameter extraction step, the coordinate system used by the ADAS visualization module takes the ground corresponding to the intersection of the vehicle's centerline and the camera's horizontal line as the origin of the vehicle coordinate system, with forward as X, forward being positive, lateral as Y, and left being positive. The collected position information and lane line parameters are as follows: Py: the vector distance in the Y direction between the rear axle center of the vehicle and the rear axle center of the vehicle in front; Px: the vector distance in the X direction between the front bumper center of the vehicle and the rear bumper center of the vehicle in front; C0_L0: the distance of the left lane line from the vehicle's centerline to the rear bumper center of the vehicle in front. The lateral vector distance from the center of the rear axle of the vehicle; C0_RO: The lateral vector distance from the right lane line to the center of the rear axle of the vehicle; C1_L0: The angle between the tangent of the left lane line at the turning point and the straight line of the left lane line; C1_R0: The angle between the tangent of the right lane line at the turning point and the straight line of the right lane line; C2_L0: The curvature of the left lane line at the turning point; C2_R0: The curvature of the right lane line at the turning point; C3_L0: The rate of change of curvature of the left lane line at the turning point; C3_R0: The rate of change of curvature of the right lane line at the turning point.

[0020] This invention also provides a forward vehicle display device for an intelligent driving assistance system, comprising the following components: a perception fusion module: during vehicle operation, based on information collected in real time by vehicle sensors and combined with algorithms, outputs the lateral and longitudinal vector distances of the forward vehicle relative to the vehicle, and simultaneously outputs parameter information of the left and right lane lines of the vehicle's driving lane; the information collected in real time by the vehicle sensors includes the position, speed, heading, and lane line information of the forward vehicle; and an ADAS visualization module: based on the parameter information, calculates the lateral position of the forward vehicle, the relative positional relationship between the forward vehicle and the lane lines, and the longitudinal positional relationship between each forward vehicle, respectively, to obtain the lateral and longitudinal position displays of the forward vehicle on the display screen, and then sends the parameter signals of the lateral and longitudinal position displays to the display screen for display, wherein, by default, the lane widths of lanes traveling in the same direction are the same.

[0021] The present invention also provides a computer system including a forward vehicle display device for an intelligent driving assistance system.

[0022] The method, apparatus, and computer system for displaying vehicles ahead in the intelligent driving assistance system of the present invention have the following beneficial effects:

[0023] 1. This solution introduces a lane line function to compare the lateral position of the vehicle ahead with the lane line, providing the screen with information on the lane ahead and its lateral position within the lane. This solves the problem of inaccurate lateral display of vehicles or even displaying the wrong lane.

[0024] 2. This solution optimizes the problems of vehicle overlap, small vehicle models, or limited display of the number of vehicles in front by using a segmented vehicle longitudinal position display method, so as to restore the actual road conditions as much as possible and provide customers with a better visual experience.

[0025] 3. Since the ADAS visualization system is independent of the vehicle's display system, this method can reduce the computing load on the display itself. Attached Figure Description

[0026] Figure 1 This is a hardware logic block diagram of the solutions provided by relevant manufacturers in the existing technology;

[0027] Figure 2 This is a real-world road condition illustration of the solutions provided by relevant manufacturers in the existing technology.

[0028] Figure 3 This is a schematic diagram of the overall process of the forward vehicle display method of the intelligent driving assistance system of the present invention;

[0029] Figure 4 This is a flowchart of the display of the lateral position of the vehicle in front in the screen display position determination step of the intelligent driving assistance system of the present invention.

[0030] Figure 5 This is a real-world road scene diagram of the lane judgment step, which is the corresponding step of the forward vehicle lateral position display step in the forward vehicle display method of the intelligent driving assistance system of the present invention.

[0031] Figure 6 In the method for displaying the vehicle ahead in the intelligent driving assistance system of the present invention, the vector distance D between the vehicle ahead and the left or right lane line position ratio calculation step in the forward vehicle lateral position display step of the screen display position determination step is used to calculate the vector distance D between the vehicle ahead and the left or right lane line of the driver's lane in each lane. L A real-world road scene illustration (taking a vehicle in front in the left lane as an example);

[0032] Figure 7 This is a flowchart of the longitudinal position display of the vehicle in front in the screen display position determination step of the intelligent driving assistance system of the present invention.

[0033] Figure 8 This is a schematic diagram of the display screen showing the longitudinal position of the vehicle in front in the step of determining the display position in the intelligent driving assistance system of the present invention.

[0034] Figure 9This is a schematic diagram showing the relationship between the size of the vehicle model in front and its proportion in the longitudinal position of the instrument panel, which is part of the forward vehicle longitudinal position display step in the forward vehicle display method of the intelligent driving assistance system of the present invention.

[0035] Figure 10 This is a schematic diagram of the structure of the forward vehicle display device in the intelligent driving assistance system of the present invention;

[0036] Figure 11 This is a schematic diagram of the computer system of the present invention. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but these embodiments should not be construed as limiting the present invention.

[0038] Figures 1 to 2 The disclosed technical content has been described in detail in the background section and will not be repeated here.

[0039] See Figure 3 The method for displaying the vehicle ahead in the intelligent driving assistance system of the present invention includes the following steps:

[0040] Signal Acquisition: During the vehicle's operation, the vehicle's sensors collect information such as the position, speed, heading, and lane markings of vehicles ahead in real time, and transmit this information to the ADAS perception fusion module.

[0041] Parameter extraction: Based on this information and combined with the algorithm, the perception fusion module outputs the lateral vector distance (Py) and longitudinal vector distance (Px) of the vehicle in front relative to the vehicle, and also outputs the parameter information of the left and right lane lines of the vehicle's driving lane. The coordinate system used by the ADAS visualization module takes the ground corresponding to the intersection of the vehicle's centerline and the horizontal line of the camera as the origin of the vehicle coordinate system, with forward as X, forward being positive, sideways as Y, and left being positive.

[0042] The following is an explanation of the location information and lane line parameters:

[0043] Py: Vector distance in the Y direction between the rear axle center of the vehicle and the rear axle center of the vehicle in front.

[0044] Px: The vector distance in the X direction from the center of the front bumper of the vehicle to the center of the rear bumper of the vehicle in front.

[0045] C0_L0: The lateral vector distance between the left lane line and the center of the vehicle's rear axle.

[0046] C0_RO: The lateral vector distance between the right lane line and the center of the vehicle's rear axle.

[0047] C1_L0: The angle between the tangent line at the turning point of the left lane and the straight line of the left lane.

[0048] C1_R0: The angle between the tangent line at the turning point of the right lane and the straight line of the right lane.

[0049] C2_L0: Curvature of the left lane line at the turning point

[0050] C2_R0: Curvature at the right lane curve

[0051] C3_L0: Rate of curvature change at the left lane curve

[0052] C3_R0: Rate of change of curvature at the right lane curve

[0053] Screen position determination: Based on the information provided by the perception fusion module, the ADAS visualization module optimizes the lateral position of the vehicle in front, the relative position of the vehicle in front and the lane lines, and the longitudinal position to obtain the lateral and longitudinal positions of the vehicle in front on the display screen. Then, the parameter signals of the lateral and longitudinal positions are output to the screen for display. The ADAS visualization module assumes that the lanes in the same direction as the vehicle are all the same width and that the lane width of the vehicle is W.

[0054] Among them, the most important step in this invention, the screen display position determination step, is carried out in the following specific process:

[0055] 1. Display of the lateral position of the vehicle in front

[0056] See Figure 4 Lane determination: Based on the information output by perception fusion, the ADAS visualization module first combines the lateral vector distance between the vehicle and the vehicle in front with the lane line algorithm to determine the lane to which the vehicle in front belongs.

[0057] like Figure 5 As shown, in this embodiment, the determination method is as follows:

[0058] Calculating the distance between the vehicle and the left and right lane lines: Substitute the longitudinal position Px of the vehicle in front into the lane line function for the vehicle's left and right lane lines. The formula for this lane line function is Y = C0 + C1*x + C2*x. 2 +C3*x 3 Calculate the lateral vector distances YL and YR between the vehicle and the lane lines on the left and right sides of the vehicle, respectively.

[0059] Lane determination: Next, compare the lateral vector distance Py between the vehicle and the vehicle in front with YL and YR respectively according to Table 1 below to determine the left, middle, or right lane position of the vehicle in front (all situations assume the vehicle is traveling in the middle lane):

[0060] Table 1

[0061] Classification Numerical comparison Lane <![CDATA[D L ]]> The lane width at the vehicle location is W <![CDATA[D L _Pct]]> 1 <![CDATA[Py>Y L ]]> Left Lane <![CDATA[P y -AND L ]]> <![CDATA[Y L -AND R ]]> <![CDATA[(P y -AND L ) / (AND L -AND R )]]> 2 <![CDATA[Y L ≥Py≥Y R ]]> This lane <![CDATA[Y L -P y ]]> <![CDATA[Y L -AND R ]]> <![CDATA[(Y L -P y ) / (AND L -AND R )]]> 3 <![CDATA[Y R >Py]]> Right Lane <![CDATA[Y R -P y ]]> <![CDATA[Y L -AND R ]]> <![CDATA[(Y R -P y ) / (AND L -AND R )]]>

[0062] Calculation of left and right lane line positions: After determining the lane to which the vehicle ahead belongs, refer to... Figure 6 It can calculate the vector distance DL (Distance DL) between the vehicle ahead and the left or right lane line of the user's lane in different lanes. Figure 6 (Example: Taking a vehicle in front as being in the left lane of the vehicle) and then according to... Figure 5 The percentage of DL to lane width W at the vehicle location is calculated as DL_Pct. The specific calculation process is detailed in Table 1.

[0063] Lateral position display on the screen: Finally, the ADAS visualization module transmits the calculated vector distance DL of each vehicle ahead from the left or right lane line of the vehicle's lane to the lane width W of the vehicle ahead, DL_Pct, and the lane signal of the vehicle ahead to the screen display module, so that it can display the lateral position of the vehicle ahead.

[0064] 2. Display of the longitudinal position of the vehicle ahead

[0065] Currently, there are two common methods for displaying the longitudinal position of vehicles ahead in the market:

[0066] Displaying vehicles ahead based on their actual distance can maximize the accuracy of real-time road conditions. However, due to sensor errors, there may be issues such as inaccurate or jittery displays of distant vehicles. Additionally, the limited vertical dimension of the instrument panel can result in smaller-than-usual vehicle models displayed on it.

[0067] Displaying only nearby vehicles ahead (e.g., within 50 meters) optimizes the visual experience and avoids issues like vibrations or inaccurate displays of distant vehicles. However, it can cause discomfort for customers if ADAS functions activate but the corresponding vehicles are not displayed on the instrument panel.

[0068] Since the two methods mentioned above have significant shortcomings in displaying the longitudinal arrangement of vehicles ahead, this invention proposes a segmented method for displaying the longitudinal position of vehicles, which aims to provide customers with a better visual experience while restoring the actual road conditions as much as possible.

[0069] like Figures 7 to 8 As shown, the specific process of the forward vehicle longitudinal position display step in the forward vehicle display method of the intelligent driving assistance system of the present invention is as follows:

[0070] Zone partitioning: The vertical display area of ​​the instrument is divided into two parts, Zone 1 and Zone 2. Zone 1 occupies X% of the vertical display area (can be calibrated, occupying the majority of the screen, such as 90%), and Zone 2 occupies 1-X% of the vertical display area. Generally, it is set to 50≤X≤100.

[0071] The positional relationship between the regions: Region 1 is used to display the endpoint position Lgt_Lim of nearby vehicles (calibrated according to the display effect), and Region 2 is used to display vehicles between the endpoint position Lgt_Lim of nearby vehicles and the farthest position Lgt_Max of distant vehicles (which can be calibrated).

[0072] Static model of the vehicle in front in Zone 1: The instrument panel in Zone 1 displays only one model of the vehicle in front in each lane, which is the vehicle closest to the vehicle in front in each lane. Its model size Size_min = (1-X%)*L, where L is the vertical dimension of the instrument panel display area. Its vertical position is always kept at the X% position of the instrument panel.

[0073] Dynamic model of the vehicle ahead in Zone 1: When the vehicle ahead is running in Zone 1, its model size and longitudinal position are adjusted linearly according to the longitudinal position Px by a proportional scale Px_Pct. The calculation logic of Px_Pct is as follows:

[0074] Px_Pct = (Px * X%) / Lgt_Lim;

[0075] Arrangement of the positions of the vehicles in front: The vertical display position of the vehicles in front on the screen is Px_Pct from bottom to top of the display area. The size of the vehicle model is:

[0076] Size_zone1=-(Size_base-Size_min) / X%*P X _Pct+Size_base,

[0077] Size_base is the base model size, which is the model size of the vehicle ahead at Px=0.

[0078] For specific effects, please refer to [link / details]. Figure 9 , Figure 9 It shows the relationship between the size of the vehicle model in front and its proportion in the vertical direction of the instrument panel.

[0079] The above is the complete process of the forward vehicle display method of the intelligent driving assistance system of the present invention.

[0080] See Figure 10 The present invention relates to a forward vehicle display device for an intelligent driving assistance system, comprising an intelligent driving assistance system, wherein the intelligent driving assistance system includes the following components:

[0081] Perception fusion module: During the vehicle's driving process, based on the information collected in real time by the vehicle's sensors and combined with the algorithm, it outputs the lateral and longitudinal vector distances of the vehicle in front relative to the vehicle, and at the same time outputs the parameter information of the left and right lane lines of the vehicle's driving lane; the information collected in real time by the vehicle's sensors includes the position, speed, heading, and lane line information of the vehicle in front.

[0082] ADAS visualization module: Based on the parameter information, it calculates the lateral position of the vehicle in front, the relative position of the vehicle in front and the lane line, and the longitudinal position of each vehicle in front, respectively, to obtain the lateral position display and longitudinal position display of the vehicle in front on the display screen. Then, it sends the parameter signals of the lateral position display and longitudinal position display to the display screen for display. By default, the lane width of the same direction of travel of the vehicle is the same.

[0083] See Figure 11 The present invention relates to a computer system, which includes a forward vehicle display device for an intelligent driving assistance system.

[0084] Of course, as a preferred embodiment of the present invention, in order to improve the human-machine interaction experience of the instrument, the accuracy of the sensor can be improved and a lidar can be introduced. At the same time, the screen display computing power can be upgraded and the screen display area can be increased, which will provide a better display effect when displaying real-time traffic information.

[0085] The key technical points and principles of this invention are as follows:

[0086] 1. For the lateral display of vehicles ahead, a lane line equation is introduced as a reference. By calculating the relative position of the vehicle ahead and the lane line, the percentage of its lane occupied by the vehicle is obtained, so that the screen displays the lanes laterally according to the percentage of each lane, instead of the common method of directly displaying the lateral distance of the vehicle ahead relative to the vehicle.

[0087] 2. For the longitudinal display of the vehicle ahead, a segmented display method was adopted, and the calculation method for the minimum vehicle model under this method was defined. In region 1, the relationship between the longitudinal distance Px of the vehicle ahead, the longitudinal percentage displayed on the screen, and the size of the vehicle model was defined.

[0088] Definitions of abbreviations and key terms

[0089] ADAS (Advanced Driver Assistance Systems): Advanced driver assistance systems

[0090] AD (Autonomous Driving): Autonomous Driving

[0091] HMI (Human Machine Interface): Human-Computer Interaction

[0092] ADAS visualization module: Used to display the road conditions ahead and lane markings of the ADAS vehicle in real time, providing users with a good interactive experience.

[0093] Vehicles ahead: Vehicles other than your own that need to be displayed on the instrument panel.

[0094] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0095] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A method for displaying a vehicle ahead in an intelligent driving assistance system, characterized in that: Utilizing an intelligent driving assistance system includes the following steps: Parameter extraction: During the vehicle's driving process, based on the information collected in real time by the vehicle's sensors and combined with the algorithm, the lateral and longitudinal vector distances of the vehicle in front relative to the vehicle are output, and the parameter information of the left and right lane lines of the vehicle's driving lane is also output; the information collected in real time by the vehicle's sensors includes the position, speed, heading, and lane line information of the vehicle in front; Screen position determination: Based on the aforementioned parameter information, calculations are performed on the lateral position of the vehicle in front, the relative position of the vehicle in front to the lane lines, and the longitudinal position relationships among the vehicles in front. This yields the lateral and longitudinal positions of the vehicles in front displayed on the screen. The parameter signals for these lateral and longitudinal positions are then sent to the display screen for display. It is assumed that lanes traveling in the same direction have the same width. The specific process for determining the screen position is as follows: The display of the lateral position of the vehicle ahead involves calculating the lane to which the vehicle ahead belongs, obtaining the ratio of the lateral distance parameter of the vehicle ahead to the lane width at the current vehicle's location, and transmitting the ratio of the lane to which the vehicle ahead belongs to the display screen to show the lateral position of the vehicle ahead. The specific process of the lateral position display step is as follows: Lane determination: Based on the parameter information, the lateral vector distance between the vehicle and the vehicle in front is first combined with the lane line algorithm to determine the lane to which the vehicle in front belongs; Calculation of the proportion of left and right lane lines: After determining the lane to which the vehicle in front belongs, calculate the vector distance between the vehicle in front and the left or right lane line of the vehicle's own lane in each lane, and then obtain the percentage of the vector distance to the width of the lane at the vehicle's location. Lateral position display: The calculated percentage signal of the vector distance between each vehicle ahead and the left or right lane line of the vehicle's lane relative to the width of the lane at the vehicle's location, along with the lane signal of the vehicle ahead, is transmitted to the display screen so that the display module can display the lateral position of the vehicle ahead. Forward vehicle longitudinal position display: A segmented longitudinal vehicle position display method is adopted, dividing the vertical position of the screen into two parts. Area 1 displays nearby vehicles, and area 2 displays distant vehicles. The size of the vehicle model in each area is linearly set according to the distance from the user vehicle.

2. The method for displaying the vehicle ahead in an intelligent driving assistance system according to claim 1, characterized in that: The specific process for determining the lane of the vehicle ahead in the lane determination step is as follows: Calculating the distance from the vehicle to the left and right lane lines: By substituting the longitudinal vector distance Px of the vehicle in front into the lane line function of the vehicle's left and right lane lines, the lateral vector distance Y of the vehicle from the vehicle's left and right lane lines is calculated respectively. L With Y R The lane line functions are as follows: Y L =C0_L0+C1_L0*Px+C2_L0*Px 2 +C3_L0*Px 3 ; Y R =C0_R0+C1_R0*Px+C2_R0*Px 2 +C3_R0*Px 3 ; Lane determination: Then, compare the lateral vector distance Py between the vehicle and the vehicle in front with Y... L and Y R Compare and determine the position of the vehicle in the left, middle, or right lane: 1) When Py > Y L At that time, the vehicle in front was in the left lane; 2) When Y L ≥Py≥Y R At that time, the vehicle in front was in the middle lane where your vehicle was located; 3) When Y R > When Py is in progress, the vehicle in front is in the right lane; In all three scenarios above, it is assumed that the vehicle is traveling in the middle lane.

3. The method for displaying the vehicle ahead in an intelligent driving assistance system according to claim 2, characterized in that: In the step of calculating the proportion of left and right lane line positions, the vector distance D between the vehicle in front and the left or right lane line of the vehicle's own lane in each lane is... L The calculation process is as follows: 1) When the vehicle in front is in the left lane, D L =Py-Y L ; 2) When the vehicle in front is in the middle lane where your vehicle is located, D L =Y L -Py; 3) When the vehicle in front is in the right lane, D L =Y R -Py.

4. The method for displaying the vehicle ahead in an intelligent driving assistance system according to claim 3, characterized in that: In the step of calculating the proportion of left and right lane line positions, the vector distance D between the vehicle in front and the left or right lane line of the vehicle's own lane is... L The percentage of lane width W at the vehicle location D L The calculation process for _Pct is as follows: 1) Lane width W = Y at the vehicle location L -Y R ; 2) When the vehicle in front is in the left lane, D L _Pct = (Py - Y) L ) / (Y L -Y R ); 3) When the vehicle in front is in the middle lane where your vehicle is located, D L _Pct=(Y L -Py) / (Y L -Y R ); 4) When the vehicle in front is in the right lane, D L _Pct=(Y R -Py) / (Y L -Y R ).

5. The method for displaying the vehicle ahead in an intelligent driving assistance system according to claim 4, characterized in that: In the parameter extraction step, the coordinate system used by the ADAS visualization module takes the ground corresponding to the intersection of the vehicle's centerline and the camera's horizontal line as the origin of the vehicle coordinate system, with forward as X, forward being positive, sideways as Y, and left being positive. The collected location information and lane line parameters are as follows: Py: The vector distance in the Y direction between the center of the rear axle of the vehicle and the center of the rear axle of the vehicle in front; Px: The vector distance in the X direction from the center of the front bumper of the vehicle to the center of the rear bumper of the vehicle in front; C0_L0: The lateral vector distance between the left lane line and the center of the rear axle of the vehicle; C0_R0: The lateral vector distance between the right lane line and the center of the rear axle of the vehicle; C1_L0: The angle between the tangent line at the turning point of the left lane and the straight line of the left lane; C1_R0: The angle between the tangent line at the turning point of the right lane and the straight line of the right lane; C2_L0: Curvature of the left lane line at the turning point; C2_R0: Curvature of the right lane line at the turning point; C3_L0: Rate of curvature change at the turning point of the left lane line; C3_R0: Rate of curvature change at the right lane curve.

6. A forward vehicle display device for an intelligent driving assistance system, comprising an intelligent driving assistance system, characterized in that: The intelligent driving assistance system includes the following components: Perception fusion module: During the vehicle's driving process, based on the information collected in real time by the vehicle's sensors and combined with algorithms, it outputs the lateral and longitudinal vector distances of the vehicle in front relative to the vehicle, and at the same time outputs the parameter information of the left and right lane lines of the vehicle's driving lane; the information collected in real time by the vehicle's sensors includes the position, speed, heading, and lane line information of the vehicle in front. ADAS visualization module: Based on the parameter information, it calculates the lateral position of the vehicle in front, the relative position of the vehicle in front to the lane lines, and the longitudinal position of each vehicle in front, respectively, to obtain the lateral and longitudinal positions of the vehicles in front on the display screen. The parameter signals for the lateral and longitudinal positions are then sent to the display screen for display. It is assumed that the lane width is the same for vehicles traveling in the same direction. The specific process for determining the screen position is as follows: The display of the lateral position of the vehicle ahead involves calculating the lane to which the vehicle ahead belongs, obtaining the ratio of the lateral distance parameter of the vehicle ahead to the lane width at the current vehicle's location, and transmitting the ratio of the lane to which the vehicle ahead belongs to the display screen to show the lateral position of the vehicle ahead. The specific process of the lateral position display step is as follows: Lane determination: Based on the parameter information, the lateral vector distance between the vehicle and the vehicle in front is first combined with the lane line algorithm to determine the lane to which the vehicle in front belongs; Calculation of the proportion of left and right lane lines: After determining the lane to which the vehicle in front belongs, calculate the vector distance between the vehicle in front and the left or right lane line of the vehicle's own lane in each lane, and then obtain the percentage of the vector distance to the width of the lane at the vehicle's location. Lateral position display: The calculated percentage signal of the vector distance between each vehicle ahead and the left or right lane line of the vehicle's lane relative to the width of the lane at the vehicle's location, along with the lane signal of the vehicle ahead, is transmitted to the display screen so that the display module can display the lateral position of the vehicle ahead. Forward vehicle longitudinal position display: A segmented longitudinal vehicle position display method is adopted, dividing the vertical position of the screen into two parts. Area 1 displays nearby vehicles, and area 2 displays distant vehicles. The size of the vehicle model in each area is linearly set according to the distance from the user vehicle.

7. A computer system, characterized in that: The computer system includes a forward vehicle display device for the intelligent driving assistance system as described in claim 6.

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