A target object display method, device, equipment and medium

Abstract

The application discloses a target display method and device, equipment and medium, and relates to the technical field of intelligent driving. The method comprises the following steps: determining the lateral movement distance of a target between a previous time and a current time, and taking the ratio of the lateral movement distance and the lane width as a ratio change rate of the lateral ratio of the target to the lane; determining whether the ratio change rate is greater than a first preset threshold value, and if so, filtering the ratio change rate according to a preset filtering method to obtain a filtered ratio change rate; determining a second ratio of the lateral ratio of the target to the lane at the current time according to the filtered ratio change rate and a first ratio of the lateral ratio of the target to the lane at the previous time; and displaying the target on a preset interface based on the second ratio and the longitudinal distance between the target and the ego vehicle. The application determines the specific position of the target in the lane by calculating the ratio, so that the target can be more accurately displayed on the preset interface, and the driving experience is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a method, apparatus, device, and medium for displaying target objects. Background Technology

[0002] With the development and innovation of automotive technology and the improvement of people's living standards, car travel has become a very common mode of transportation, and people are paying more and more attention to the driving experience. Currently, most passenger cars on the market are equipped with Level 2 intelligent driver assistance systems. Level 2 intelligent driver assistance systems mean that the vehicle achieves partial automation, requiring both the system and the driver to control the car. Under certain specific circumstances, the vehicle can operate automatically. To achieve the effect of human-machine interaction, vehicles equipped with Level 2 intelligent driver assistance systems typically monitor the current location of the vehicle and surrounding objects in real time, such as the relative distance and speed of objects, and the vehicle's lane position, and display this information in real time through a Human Machine Interface (HMI).

[0003] Currently, HMIs (Hybrid Management Systems) acquire target information from cameras and radar, calculate lane line equations, and map the target's relative position onto the instrument panel to achieve human-computer interaction, allowing the target to be displayed proportionally on the HMI based on the provided data. However, in practical applications, the display of the target cannot be achieved in real-time, dynamically, and accurately, significantly reducing the user experience. This is especially true in construction zones and at intersections, where lane lines on some roads in China are unclear or discontinuous. Using traditional HMI display algorithms, the displayed position of the target ahead will deviate significantly from its actual position in such conditions, particularly at intersections, where the displayed target may exhibit noticeable lateral movement and jitter. Therefore, HMIs currently do not perform ideally in terms of information feedback, thus affecting the user's human-computer interaction experience.

[0004] In summary, how to display the target object more clearly and accurately is a problem that needs to be solved. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a method, apparatus, device, and medium for displaying target objects, which can display target objects more clearly and accurately. The specific solution is as follows:

[0006] In a first aspect, this application discloses a method for displaying a target object, comprising:

[0007] Determine the lateral movement distance of the target object between the previous moment and the current moment, and use the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane.

[0008] Determine whether the percentage change rate is greater than a first preset threshold. If it is, filter the percentage change rate according to a preset filtering method to obtain the filtered percentage change rate.

[0009] Based on the filtered percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, the second ratio of the target object's lateral proportion to the lane at the current moment is determined.

[0010] The target object is displayed on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle.

[0011] Optionally, determining the lateral movement distance of the target object between the previous moment and the current moment includes:

[0012] The lateral movement speed is determined based on the current speed of the target and the vehicle body yaw angle;

[0013] The lateral movement speed is used to determine the lateral movement distance of the target object between the previous moment and the current moment.

[0014] Optionally, the step of filtering the percentage change rate according to a preset filtering method to obtain the filtered percentage change rate includes:

[0015] A pre-constructed filtering expression is determined to characterize the relationship between lateral movement speed and percentage change rate, and the filtered percentage change rate is determined using the filtering expression and the lateral movement speed; wherein the filtering expression includes filtering coefficients, which are determined based on the chassis height of the target object.

[0016] Optionally, after determining whether the percentage change rate is greater than a first preset threshold, the method further includes:

[0017] If the percentage change rate is not greater than the first preset threshold, then determine whether the percentage change rate is less than the second preset threshold.

[0018] If so, the target object is displayed on a preset interface based on the first ratio and the longitudinal distance between the target object and the vehicle;

[0019] If not, then based on the percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, the third ratio of the target object's lateral proportion to the lane at the current moment is determined, and the target object is displayed on a preset interface based on the third ratio and the longitudinal distance between the target object and the vehicle.

[0020] Optionally, before determining the second ratio of the target object's lateral proportion to the lane at the current moment based on the filtered rate of change of proportion and the first ratio of the target object's lateral proportion to the lane at the previous moment, the method further includes:

[0021] The lateral distance between the target object and the target lane line, determined based on a preset lane line equation at the previous moment, is obtained, and a first ratio of the target object's lateral distance to the lane width at the previous moment is determined based on the lateral distance and the lane width.

[0022] Optionally, displaying the target object on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle includes:

[0023] Based on the second ratio and the lane width, the target lateral distance between the target object and the target lane line at the current moment is determined;

[0024] The target object is displayed on a preset interface based on the target's lateral distance and the target object's longitudinal distance from the vehicle.

[0025] Optionally, the target display method further includes:

[0026] If the target lane line is not detected at the current time, then the lane line detected in the historical time within the preset time range will be used as the target lane line.

[0027] If the target lane line is not detected after the preset time range has elapsed, a virtual lane line is constructed with the vehicle as the center of the lane, and the virtual lane line is used as the target lane line.

[0028] Secondly, this application discloses a target object display device, comprising:

[0029] The percentage change rate determination module is used to determine the lateral movement distance of the target object between the previous moment and the current moment, and to use the ratio of the lateral movement distance to the lane width as the percentage change rate of the target object's lateral proportion of the lane.

[0030] The filtering module is used to determine whether the percentage change rate is greater than a first preset threshold. If it is greater, the percentage change rate is filtered according to a preset filtering method to obtain the filtered percentage change rate.

[0031] The proportion determination module is used to determine the second proportion of the target object's lateral proportion to the lane at the current moment based on the filtered proportion change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment;

[0032] The display module is used to display the target object on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle.

[0033] Thirdly, this application discloses an electronic device, including:

[0034] Memory, used to store computer programs;

[0035] A processor is configured to execute the computer program to implement the steps of the aforementioned disclosed object display method.

[0036] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the aforementioned disclosed target object display method.

[0037] As can be seen, this application determines the lateral movement distance of the target object between the previous moment and the current moment, and uses the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane; it then determines whether the rate of change of proportion is greater than a first preset threshold. If it is greater, the rate of change of proportion is filtered according to a preset filtering method to obtain a filtered rate of change of proportion; based on the filtered rate of change of proportion and the first ratio of the target object's lateral proportion of the lane at the previous moment, a second ratio of the target object's lateral proportion of the lane at the current moment is determined; and the target object is displayed on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle. Thus, this application first determines the lateral movement distance of the target object between two adjacent moments, and uses the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane. Then, it compares this rate of change of proportion with a first preset threshold. If the rate of change of proportion is greater than the first preset threshold, further filtering of the rate of change of proportion is required to obtain a filtered rate of change of proportion. Then, based on the filtered percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, the second ratio of the target object's lateral proportion to the lane at the current moment can be determined. Finally, based on the second ratio and the longitudinal distance between the target object and the vehicle, the target object is displayed on the preset interface. This solution determines the target object's specific position in the lane by calculating the proportion, thus enabling the target object to be displayed more clearly and accurately on the preset interface, improving the driving experience. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0039] Figure 1 This is a flowchart of a target object display method disclosed in this application;

[0040] Figure 2 This is a schematic diagram illustrating the proportion of a target object as disclosed in this application;

[0041] Figure 3 This is a schematic diagram of a coordinate system disclosed in this application;

[0042] Figure 4 This is a flowchart of a specific target object display method disclosed in this application;

[0043] Figure 5 This is a schematic diagram of a vehicle body yaw angle disclosed in this application;

[0044] Figure 6 This is a schematic diagram of the structure of a target object display device disclosed in this application;

[0045] Figure 7 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0047] Currently, in practical applications, HMIs often fail to display target objects in real-time, dynamically, and accurately at their corresponding locations, significantly reducing the user experience. This is especially true in construction zones and intersections, where lane markings on some domestic roads are unclear or discontinuous. Using traditional HMI display algorithms, the displayed location of the target object in such conditions often deviates considerably from its actual location, particularly at intersections where the displayed object may exhibit noticeable lateral movement and jitter. Therefore, HMIs currently do not perform ideally in terms of information feedback, impacting the user's human-computer interaction experience. To address this, this application discloses a target object display method, apparatus, device, and medium that can display target objects more clearly and accurately.

[0048] See Figure 1 As shown in the figure, this application discloses a method for displaying a target object, the method comprising:

[0049] Step S11: Determine the lateral movement distance of the target object between the previous moment and the current moment, and use the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane.

[0050] In this embodiment, the lateral movement distance of the target object between the previous moment and the current moment is first determined. In one specific implementation, the time interval t between two adjacent moments can be set according to the majority of the message cycle of the vehicle signal, such as t = 100ms, thus determining the lateral distance the target object moves within 100ms. Then, the ratio of the lateral movement distance to the lane width is used as the rate of change of the target object's lateral proportion of the lane. It can be understood that at each moment, the lateral proportion of the target object in the lane can be obtained by calculating the ratio of the lateral distance of the target object from a certain lane line to the entire lane width. Therefore, the ratio of the lateral movement distance of the target object to the lane width between two adjacent moments can be considered as the rate of change of the target object's lateral proportion of the lane. In this embodiment, as... Figure 2 As shown, taking the lateral distance between the target object and the left lane line as the standard, and assuming the lateral distance between the target object and the left lane line is 'a' and the lane width is 'b', the formula for calculating the target object's proportion is as follows:

[0051]

[0052] Step S12: Determine whether the percentage change rate is greater than the first preset threshold. If it is, filter the percentage change rate according to the preset filtering method to obtain the filtered percentage change rate.

[0053] In this embodiment, after obtaining the percentage change rate, it is compared with a first preset threshold to determine whether the percentage change rate is greater than the first preset threshold. If the percentage change rate is greater than the first preset threshold, further filtering is required to obtain a filtered percentage change rate. In this embodiment, the first preset threshold can be set with reference to the ratio of the lateral movement distance of the target object to the road width under extreme conditions.

[0054] Furthermore, after determining whether the percentage change rate is greater than the first preset threshold, the method further includes: if the percentage change rate is not greater than the first preset threshold, then determining whether the percentage change rate is less than the second preset threshold; if so, then displaying the target object on a preset interface based on the first ratio and the longitudinal distance between the target object and the vehicle; if not, then determining a third ratio of the target object's lateral proportion to the lane at the current moment based on the percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, and displaying the target object on the preset interface based on the third ratio and the longitudinal distance between the target object and the vehicle. That is, if the percentage change rate is not greater than the first preset threshold, then again determining whether the percentage change rate is less than the second preset threshold. The second preset threshold is a calibrable parameter, manually set by professional technicians based on experience. It can be set with reference to vehicle conditions and driving experience; in this embodiment, it is set to 5%.

[0055] In one specific implementation, if the percentage change rate is less than a second preset threshold, the target object is displayed on a preset interface based on a first ratio and the longitudinal distance between the target object and the vehicle. That is, the first ratio of the target object's lateral proportion to the lane and the longitudinal distance between the target object and the vehicle are still used to display the target object in the HMI at the previous moment. In other words, considering the instability of camera recognition causing HMI jumps or target object jitter, a certain filtering process is added to the percentage change to filter out percentage changes below the second preset threshold. Taking a second preset threshold of 5% as an example, if the percentage change rate between the current moment and the previous moment is less than 5%, this percentage change rate is filtered out, meaning the target object's position in the HMI at the current moment is the same as its position in the HMI at the previous moment.

[0056] In another specific implementation, if the percentage change rate is between the second preset threshold and the first preset threshold, then there is no need to filter the percentage change rate. Instead, the third ratio of the target object's lateral proportion of the lane at the current moment is determined directly based on the currently calculated percentage change rate and the first ratio of the target object's lateral proportion of the lane at the previous moment. Based on the third ratio and the longitudinal distance between the target object and the vehicle, the target object is displayed on a preset interface.

[0057] Step S13: Based on the filtered percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, determine the second ratio of the target object's lateral proportion to the lane at the current moment.

[0058] In this embodiment, the second ratio of the target object's lateral lane occupancy at the current moment can be determined based on the filtered rate of change and the first ratio of the target object's lateral lane occupancy at the previous moment. For example, taking the lateral distance of the target object from the left lane line as the basis, assuming the first ratio of the target object's lateral lane occupancy at the previous moment was 20%, and the calculated rate of change between the previous and current moments was 25%, then the second ratio of the target object's lateral lane occupancy at the current moment would be 45%. It should be noted that if the target object moves to the left, the rate of change is negative; if the target object moves to the right, the rate of change is positive.

[0059] Furthermore, before determining the second ratio of the target object's lateral proportion to the lane at the current moment based on the filtered rate of change and the first ratio of the target object's lateral proportion to the lane at the previous moment, the method further includes: obtaining the lateral distance of the target object from the target lane line determined based on a preset lane line equation at the previous moment, and determining the first ratio of the target object's lateral proportion to the lane at the previous moment based on the lateral distance and the lane width. As can be seen from the foregoing, when calculating the target object's proportion, the lateral distance of the target object from a target lane line is calculated as a ratio to the entire lane width. The lane width can be referenced to the currently specified standard road width of 3.5m to 3.75m, and the lateral distance of the target object from the target lane line needs to be calculated based on a preset lane line equation. The expression of the lane line equation is as follows:

[0060]

[0061] This expression uses a coordinate system with the vehicle as the origin. A diagram of the coordinate system can be found here. Figure 3 As shown in the figure. Where y0 is the offset distance of the vehicle from the lane boundary, Psi represents the lane line yaw angle, C0 represents the lane line curvature (positive when curving to the right), and C1 represents the rate of change of the lane line curvature (positive C1 indicates that the radius of curvature gradually decreases).

[0062] Understandably, the lateral and longitudinal distances between the vehicle and the target object can be collected solely by the front-facing camera, eliminating the need for front-facing radar and significantly reducing costs. By substituting the longitudinal distance as the y-value into the above expression, the value of x can be determined. The x-value represents the target distance between the vehicle and the left lane line when the longitudinal distance between the vehicle and the target object is zero. Subtracting this target distance from the lateral distance yields the lateral distance between the target object and the target lane line. In other words, this application reduces reliance on front-facing radar to a certain extent, allowing the HMI to calculate the specific position of the target object using only information sent by the front-facing camera, greatly saving costs while improving the driving experience, achieving a win-win situation for both manufacturers and users.

[0063] Step S14: Display the target object on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle.

[0064] In this embodiment, the target object is displayed on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle. The preset interface can be an HMI, i.e., a human-machine interface.

[0065] As can be seen, this application determines the lateral movement distance of the target object between the previous moment and the current moment, and uses the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane; it then determines whether the rate of change of proportion is greater than a first preset threshold. If it is greater, the rate of change of proportion is filtered according to a preset filtering method to obtain a filtered rate of change of proportion; based on the filtered rate of change of proportion and the first ratio of the target object's lateral proportion of the lane at the previous moment, a second ratio of the target object's lateral proportion of the lane at the current moment is determined; and the target object is displayed on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle. Thus, this application first determines the lateral movement distance of the target object between two adjacent moments, and uses the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane. Then, it compares this rate of change of proportion with a first preset threshold. If the rate of change of proportion is greater than the first preset threshold, further filtering of the rate of change of proportion is required to obtain a filtered rate of change of proportion. Then, based on the filtered percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, the second ratio of the target object's lateral proportion to the lane at the current moment can be determined. Finally, based on the second ratio and the longitudinal distance between the target object and the vehicle, the target object is displayed on the preset interface. This solution determines the target object's specific position in the lane by calculating the proportion, thus enabling the target object to be displayed more clearly and accurately on the preset interface, improving the driving experience.

[0066] See Figure 4 As shown, this application discloses a specific method for displaying a target object. Compared to the previous embodiment, this embodiment further explains and optimizes the technical solution. Specifically, it includes:

[0067] Step S21: Determine the lateral movement speed based on the current speed of the target object and the vehicle yaw angle, and use the lateral movement speed to determine the lateral movement distance of the target object between the previous moment and the current moment. Then, the ratio of the lateral movement distance to the lane width is used as the rate of change of the target object's lateral proportion of the lane.

[0068] In this embodiment, the lateral movement speed is determined based on the target's current speed and the vehicle's yaw angle. Assuming an extreme case, within t = 100 ms, the target changes lanes at a speed of 60 kph, at which point the vehicle's yaw angle α = 30°. Figure 5 As shown in the diagram, a 30° yaw angle is understood to be an extreme value at a lane change speed of 60 kph. Generally, to ensure driving stability, the yaw angle of a car is smaller than the steering angle of the wheels. The maximum steering angle of a typical passenger car is between 30° and 40°, and normally, a driver cannot turn the steering wheel fully within 100 ms. Therefore, in this embodiment, a 30° yaw angle is set as an extreme value at a speed of 60 kph. Using the above data, it can be calculated that within time t, with a lateral speed of 30 kph, the target object moves approximately 0.83 m laterally. Since the standard road width is 3.5 m to 3.75 m, the maximum lateral movement distance is approximately 23.7% of the road width.

[0069] Step S22: Determine whether the percentage change rate is greater than a first preset threshold. If it is, determine a pre-constructed filtering expression to characterize the relationship between the lateral movement speed and the percentage change rate, and use the filtering expression and the lateral movement speed to determine the filtered percentage change rate. The filtering expression includes filtering coefficients, which are determined based on the chassis height of the target object.

[0070] In this embodiment, if the percentage change rate is greater than a first preset threshold, a pre-constructed filtering expression characterizing the relationship between lateral movement speed and percentage change rate is determined, and the filtered percentage change rate is determined using the filtering expression and the lateral movement speed. As mentioned above, under an extreme condition, i.e., when the vehicle yaw angle is 30° and the lane change speed is 60 kph, the calculated maximum lateral movement distance is approximately 23.7% of the road width. Therefore, in this embodiment, the first preset threshold is set to 24%. It is understood that the lateral movement speed and percentage change rate are directly proportional; therefore, in this embodiment, the filtering expression is constructed as y = kv.2 Where y is the percentage change rate, v is the lateral movement speed of the target object, and the speed value is determined by the lateral distance between the target object and the left lane line, with the left side being positive and the right side being negative, and k is the filtering coefficient.

[0071] The filtering coefficient is determined based on the target object's chassis height. It's understandable that within 100ms, the steering wheel angle cannot normally be manually adjusted to 270°. The maximum steering wheel angle is 540°. Using a default threshold yaw angle of 15° and a chassis height of 15cm, k is calculated as 1 / 300. It should be noted that different vehicle models have different chassis heights, so when the rate of change needs to be filtered, the threshold yaw angle can be adjusted as needed. The yaw angle is related to the vehicle's chassis height; that is, the filtering coefficient k is directly proportional to the chassis height.

[0072] That is, in this embodiment of the application, if the rate of change of the percentage is greater than the first preset threshold, then the filtering expression y = kv needs to be used. 2 A new percentage change rate is recalculated to serve as a filter. The aforementioned filtering coefficients effectively filter out abrupt changes in the display of objects caused by unstable camera recognition or excessive distance between the vehicle and the target. Furthermore, the smooth handling of object movement during filtering can improve the driver's visual experience to some extent.

[0073] Step S23: Based on the filtered percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, determine the second ratio of the target object's lateral proportion to the lane at the current moment.

[0074] Step S24: Determine the target lateral distance of the target object from the target lane line at the current moment based on the second ratio and the lane width.

[0075] In this embodiment, the method further includes: if the target lane line is not detected at the current moment, then lane lines detected in the historical time within a preset time range are used as the target lane line; if the target lane line is still not detected after the preset time range has elapsed, then a virtual lane line is constructed with the vehicle as the lane center position, and the virtual lane line is used as the target lane line. That is, when the target object is at an intersection or the lane line of the lane where the target object is located is lost, the target lane line may not be detected at the current moment, so lane lines detected in the historical time range can be used as the target lane line within the preset time range. It is understood that in this embodiment, when the road condition is at an intersection or the lane line is lost, the proportion of the effective lane line calculated at the last moment should be reserved for 500ms to prevent the lane line from being suddenly lost or its identification from being lost. Within these 500ms when the lane line is not detected, the effective lane line detected at the last moment is used as the target lane line. If the lane line is still lost after 500ms, a virtual lane line is constructed with the vehicle as the lane center position, and the virtual lane line is used as the target lane line. Specifically, a three-lane scenario is simulated, meaning that in addition to simulating the lane where the vehicle is located, two adjacent lanes are also simulated, each with a width of 3.5 meters, with the vehicle fixed in the center of each lane. Under this simulation, the lane occupancy of the target object is calculated, and the calculated position of the target object is displayed on the HMI. By simulating virtual lanes, this method prevents noticeable jumps and vibrations of the target object when its lane line is lost or at intersections.

[0076] Step S25: Display the target object on a preset interface based on the target's lateral distance and the target object's longitudinal distance from the vehicle.

[0077] For more detailed processing of steps S23 and S25, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0078] As can be seen, this application determines the specific location of the target object in the lane by calculating the proportion, and when the proportion change rate is too large, a filtering operation is performed through a filtering expression to redetermine the proportion change rate. In addition, by simulating the lane, this application can effectively prevent the target object from shaking and displaying chaotically when the lane lines are blurred or suddenly lost, thus enabling the target object to be displayed more accurately and consistently on the HMI even in road conditions without lane lines.

[0079] See Figure 6 As shown in the figure, this application discloses a target object display device, which includes:

[0080] The percentage change rate determination module 11 is used to determine the lateral movement distance of the target object between the previous moment and the current moment, and to use the ratio of the lateral movement distance to the lane width as the percentage change rate of the target object's lateral proportion of the lane.

[0081] The filtering module 12 is used to determine whether the percentage change rate is greater than a first preset threshold. If it is greater, the percentage change rate is filtered according to a preset filtering method to obtain the filtered percentage change rate.

[0082] The proportion determination module 13 is used to determine the second proportion of the target object's lateral proportion to the lane at the current moment based on the filtered proportion change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment;

[0083] Display module 14 is used to display the target object on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle.

[0084] As can be seen, this application determines the lateral movement distance of the target object between the previous moment and the current moment, and uses the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane; it then determines whether the rate of change of proportion is greater than a first preset threshold. If it is greater, the rate of change of proportion is filtered according to a preset filtering method to obtain a filtered rate of change of proportion; based on the filtered rate of change of proportion and the first ratio of the target object's lateral proportion of the lane at the previous moment, a second ratio of the target object's lateral proportion of the lane at the current moment is determined; and the target object is displayed on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle. Thus, this application first determines the lateral movement distance of the target object between two adjacent moments, and uses the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane. Then, it compares this rate of change of proportion with a first preset threshold. If the rate of change of proportion is greater than the first preset threshold, further filtering of the rate of change of proportion is required to obtain a filtered rate of change of proportion. Then, based on the filtered percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, the second ratio of the target object's lateral proportion to the lane at the current moment can be determined. Finally, based on the second ratio and the longitudinal distance between the target object and the vehicle, the target object is displayed on the preset interface. This solution determines the target object's specific position in the lane by calculating the proportion, thus enabling the target object to be displayed more clearly and accurately on the preset interface, improving the driving experience.

[0085] Figure 7This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Specifically, it may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the target object display method performed by the electronic device disclosed in any of the foregoing embodiments.

[0086] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0087] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0088] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored on it include operating system 221, computer program 222 and data 223, etc., and the storage method can be temporary storage or permanent storage.

[0089] The operating system 221 manages and controls the various hardware devices and computer programs 222 on the electronic device 20 to enable the processor 21 to perform calculations and processing on the massive amounts of data 223 in the memory 22. The operating system 221 can be Windows, Unix, Linux, etc. The computer program 222, in addition to including a computer program capable of performing the target object display method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, may further include computer programs capable of performing other specific tasks. The data 223 may include data received by the electronic device from external devices, as well as data collected by its own input / output interface 25.

[0090] Furthermore, embodiments of this application also disclose a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, it implements the method steps performed during the display of a target object as disclosed in any of the foregoing embodiments.

[0091] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0092] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0093] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0094] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0095] The present invention has provided a detailed description of a target object display method, apparatus, device, and storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for displaying a target object, characterized in that, include: Determine the lateral movement distance of the target object between the previous moment and the current moment, and use the ratio of the lateral movement distance to the lane width as the rate of change of the target object's lateral proportion of the lane. Determine whether the percentage change rate is greater than a first preset threshold. If it is, filter the percentage change rate according to a preset filtering method to obtain the filtered percentage change rate. Based on the filtered percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, the second ratio of the target object's lateral proportion to the lane at the current moment is determined. The target object is displayed on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle. The method further includes, after determining whether the percentage change rate is greater than the first preset threshold: If the percentage change rate is not greater than the first preset threshold, then determine whether the percentage change rate is less than the second preset threshold. If so, the target object is displayed on a preset interface based on the first ratio and the longitudinal distance between the target object and the vehicle; If not, then based on the percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, the third ratio of the target object's lateral proportion to the lane at the current moment is determined, and the target object is displayed on a preset interface based on the third ratio and the longitudinal distance between the target object and the vehicle. The step of filtering the percentage change rate according to a preset filtering method to obtain the filtered percentage change rate includes: A pre-constructed filtering expression is determined to characterize the relationship between lateral movement speed and percentage change rate. The filtered percentage change rate is then determined using the filtering expression and the lateral movement speed. The filtering expression is y=kv. 2 y is the percentage change rate, v is the lateral movement speed of the target object, and k is the filtering coefficient; the lateral movement speed is determined based on the current speed of the target object and the vehicle body yaw angle, and the filtering coefficient is determined based on the chassis height of the target object.

2. The target object display method according to claim 1, characterized in that, Determining the lateral movement distance of the target object between the previous moment and the current moment includes: The lateral movement speed of the target object is used to determine the lateral movement distance between the previous moment and the current moment.

3. The target object display method according to claim 1, characterized in that, Before determining the second ratio of the target object's lateral proportion to the lane at the current moment based on the filtered ratio change and the first ratio of the target object's lateral proportion to the lane at the previous moment, the method further includes: The lateral distance between the target object and the target lane line, determined based on a preset lane line equation at the previous moment, is obtained, and a first ratio of the target object's lateral distance to the lane width at the previous moment is determined based on the lateral distance and the lane width.

4. The target object display method according to any one of claims 1 to 3, characterized in that, The step of displaying the target object on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle includes: Based on the second ratio and the lane width, the target lateral distance between the target object and the target lane line at the current moment is determined; The target object is displayed on a preset interface based on the target's lateral distance and the target object's longitudinal distance from the vehicle.

5. The target object display method according to claim 4, characterized in that, Also includes: If the target lane line is not detected at the current time, then the lane line detected in the historical time within the preset time range will be used as the target lane line. If the target lane line is not detected after the preset time range has elapsed, a virtual lane line is constructed with the vehicle as the center of the lane, and the virtual lane line is used as the target lane line.

6. A target object display device, characterized in that, include: The percentage change rate determination module is used to determine the lateral movement distance of the target object between the previous moment and the current moment, and to use the ratio of the lateral movement distance to the lane width as the percentage change rate of the target object's lateral proportion of the lane. The filtering module is used to determine whether the percentage change rate is greater than a first preset threshold. If it is greater, the percentage change rate is filtered according to a preset filtering method to obtain the filtered percentage change rate. The proportion determination module is used to determine the second proportion of the target object's lateral proportion to the lane at the current moment based on the filtered proportion change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment; The display module is used to display the target object on a preset interface based on the second ratio and the longitudinal distance between the target object and the vehicle. Wherein, after determining whether the percentage change rate is greater than a first preset threshold, the device is further configured to, if the percentage change rate is not greater than the first preset threshold, determine whether the percentage change rate is less than a second preset threshold; if so, display the target object on a preset interface based on the first ratio and the longitudinal distance between the target object and the vehicle; if not, determine a third ratio of the target object's lateral proportion to the lane at the current moment based on the percentage change rate and the first ratio of the target object's lateral proportion to the lane at the previous moment, and display the target object on a preset interface based on the third ratio and the longitudinal distance between the target object and the vehicle. The filtering module is specifically used to determine a pre-constructed filtering expression characterizing the relationship between lateral movement speed and percentage change rate, and to determine the filtered percentage change rate using the filtering expression and the lateral movement speed; wherein, the filtering expression is y=kv 2 y is the percentage change rate, v is the lateral movement speed of the target object, and k is the filtering coefficient; the lateral movement speed is determined based on the current speed of the target object and the vehicle body yaw angle, and the filtering coefficient is determined based on the chassis height of the target object.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the target object display method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the target object display method as described in any one of claims 1 to 5.

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