Target vehicle tracking method, device and vehicle
By displaying an AR image that closely matches the real-world scene in front of the vehicle, based on the location information of the target vehicle and the driving vehicle and the environmental image, the problem of driver fatigue caused by frequent switching of the driver's gaze is solved, and driving safety is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG ZEEKR INTELLIGENT TECH CO LTD
- Filing Date
- 2023-09-08
- Publication Date
- 2026-07-31
AI Technical Summary
In existing technologies, drivers need to frequently switch their gaze when tracking target vehicles, which leads to eye fatigue and increases road safety hazards.
By displaying augmented reality (AR) images that match the real-world scene in front of the vehicle, virtual tracking of the target vehicle can be achieved based on the location information between the target vehicle and the driving vehicle and the environmental image, thus avoiding the driver frequently switching their gaze.
It reduces driver fatigue, improves driving safety, and is applicable to a variety of different situations, making it highly versatile.
Smart Images
Figure CN117079241B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of vehicle technology, and in particular relates to a target vehicle tracking method, device, and vehicle. Background Technology
[0002] In applications such as convoy tours, drivers need to track target vehicles. Related technologies include methods that use GPS to obtain the target vehicle's location information and display the marker information on an electronic map. Common vehicle tracking methods require drivers to simultaneously view road traffic and monitor the target vehicle; frequent switching of gaze can lead to eye fatigue and consequently, road safety hazards. Summary of the Invention
[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a target vehicle tracking method, device, and vehicle that eliminates the need for the driver to frequently switch their gaze to monitor the target vehicle, reducing driver fatigue and improving driving safety.
[0004] Firstly, this application provides a target vehicle tracking method, the method comprising:
[0005] Obtain the location information of the target vehicle and the driving vehicle;
[0006] Based on the location information and the acquired environmental image corresponding to the driving vehicle, an AR image is displayed in front of the driving vehicle. The AR image matches the actual road environment corresponding to the environmental image in the virtual driving field of view of the driving vehicle. The AR image is used to mark the target vehicle.
[0007] According to the target vehicle tracking method provided in the embodiments of this application, an AR image that matches the real scene in front of the driver's vehicle is displayed in front of the driver's vehicle. Then, based on the position information between the target vehicle and the driver's vehicle and the environmental image corresponding to the driver's vehicle, the AR image is displayed in front of the driver's vehicle, and the target vehicle is tracked based on the AR image. This eliminates the need for the driver to frequently switch their gaze to monitor the target vehicle, reduces driver fatigue, and improves driving safety.
[0008] One embodiment of the target vehicle tracking method of this application includes displaying an AR image in front of the driving vehicle based on the location information and the acquired environmental image corresponding to the driving vehicle, comprising:
[0009] Image recognition is performed on the environmental image to obtain object information in the environmental image;
[0010] If the object information includes the target vehicle, the AR image is displayed at the location of the target vehicle in the virtual driving field of view;
[0011] If the object information does not include the target vehicle, a target position is determined based on the location information to characterize the orientation information of the target vehicle relative to the driving vehicle.
[0012] The AR image is displayed at the target location within the virtual driving field of view.
[0013] One embodiment of the target vehicle tracking method of this application includes determining a target position based on the location information to characterize the orientation information of the target vehicle relative to the driving vehicle, comprising:
[0014] Based on the location information, obtain the target angle between the fourth straight line passing through the location of the target vehicle and the location of the driving vehicle and the driving direction of the driving vehicle.
[0015] The target position is determined based on the target angle and the horizontal field of view corresponding to the AR-HUD.
[0016] One embodiment of the target vehicle tracking method of this application, wherein determining the target position based on the target's included angle and the horizontal field of view corresponding to the AR-HUD, includes:
[0017] When the target angle of the target multiple is not greater than the horizontal field of view angle, the target position is determined as the intersection of the first line and the second line. The first line is a horizontal line passing through the center point of the virtual driving field of view and located on the plane of the virtual driving field of view. The second line is a line passing through the location of the driving vehicle. The angle between the second line and the third line is the target angle. The third line is a line passing through the center point of the virtual driving field of view and the location of the driving vehicle. The second line and the first line are located on the same plane.
[0018] When the included angle of the target multiple is greater than the horizontal field of view, the target position is determined to be the intersection of the first straight line and the first vertical edge of the virtual driving field of view, where the first vertical edge is the edge of the target vehicle on one side of the virtual driving field of view relative to the driving vehicle.
[0019] One embodiment of the target vehicle tracking method of this application, wherein when the object information includes the target vehicle, the AR image is displayed at the location of the target vehicle in the virtual driving field of view, including:
[0020] Determine the first position of the target vehicle in the virtual driving field of view;
[0021] The AR image is displayed at the first location.
[0022] One embodiment of the target vehicle tracking method of this application includes obtaining the position information between the target vehicle and the driving vehicle, comprising:
[0023] Receive the user's first input;
[0024] In response to the first input, vehicle information of the target vehicle is obtained from the first target platform;
[0025] Based on the vehicle information, the location information is obtained from the second target platform.
[0026] Secondly, this application provides a target vehicle tracking device, the device comprising:
[0027] The first processing module is used to obtain the location information between the target vehicle and the driving vehicle;
[0028] The second processing module is used to display an AR image in front of the driving vehicle based on the location information and the acquired environmental image corresponding to the driving vehicle. The AR image is matched with the actual road environment corresponding to the environmental image in the virtual driving field of view of the driving vehicle. The AR image is used to mark the target vehicle.
[0029] According to the target vehicle tracking device provided in the embodiments of this application, by displaying an AR image that matches the real scene in front of the driver's vehicle, and then displaying the AR image in front of the driver's vehicle based on the position information between the target vehicle and the driver's vehicle and the environmental image corresponding to the driver's vehicle, the target vehicle is tracked based on the AR image. This eliminates the need for the driver to frequently switch their gaze to monitor the target vehicle, reducing driver fatigue and improving driving safety.
[0030] Thirdly, this application provides a vehicle comprising:
[0031] Image sensor;
[0032] AR-HUD, wherein the AR-HUD is installed in the vehicle;
[0033] The target vehicle tracking device as described in the second aspect is electrically connected to the image sensor and the AR-HUD, respectively.
[0034] According to the vehicle provided in the embodiments of this application, by displaying an AR image that matches the real scene in front of the driver's vehicle, and then displaying the AR image in front of the driver's vehicle based on the position information between the target vehicle and the driver's vehicle and the environmental image corresponding to the driver's vehicle, the target vehicle can be tracked based on the AR image. This eliminates the need for the driver to frequently switch their gaze to monitor the target vehicle, reducing driver fatigue and improving driving safety.
[0035] Fourthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the target vehicle tracking method as described in the first aspect above.
[0036] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the target vehicle tracking method as described in the first aspect above.
[0037] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects:
[0038] By displaying an AR image that matches the real-world view in front of the driver's vehicle, and then using the location information between the target vehicle and the driver's vehicle, as well as the corresponding environmental image of the driver's vehicle, the AR image is displayed in front of the driver's vehicle. The target vehicle is then tracked based on the AR image, eliminating the need for the driver to frequently switch their gaze to monitor the target vehicle, thus reducing driver fatigue and improving driving safety.
[0039] Furthermore, by performing image recognition on environmental images, different display methods are adopted for AR images based on whether the target vehicle is within or outside the driver's line of sight. This solves the problem of losing track of the target vehicle when it is beyond the driver's line of sight, and is applicable to a variety of different situations, with high versatility and a wide range of applicable scenarios.
[0040] Furthermore, when the target angle of the target multiple is not greater than the horizontal field of view, the target position is determined as the intersection of the first and second straight lines. When the target angle of the target multiple is greater than the horizontal field of view, the target position is determined as the intersection of the first straight line and the first vertical edge of the virtual driving field of view. The display method of the AR image can be determined based on the degree to which the target vehicle exceeds the driver's line of sight, which makes it easier for the driver to quickly judge the distance between the vehicle and the target vehicle. It has high universality, is applicable to a wide range of scenarios, and helps to improve the user experience.
[0041] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0042] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:
[0043] Figure 1 This is one of the flowcharts illustrating the target vehicle tracking method provided in this application embodiment;
[0044] Figure 2 This is a second schematic flowchart of the target vehicle tracking method provided in the embodiments of this application;
[0045] Figure 3 This is the third flowchart illustrating the target vehicle tracking method provided in this application embodiment;
[0046] Figure 4 This is one of the schematic diagrams illustrating the principle of the target vehicle tracking method provided in the embodiments of this application;
[0047] Figure 5 This is a second schematic diagram illustrating the principle of the target vehicle tracking method provided in this application embodiment;
[0048] Figure 6 This is the third schematic diagram illustrating the principle of the target vehicle tracking method provided in this application embodiment;
[0049] Figure 7 This is the fourth schematic diagram illustrating the principle of the target vehicle tracking method provided in the embodiments of this application;
[0050] Figure 8 This is a schematic diagram of the target vehicle tracking device provided in the embodiments of this application;
[0051] Figure 9 This is a schematic diagram of the vehicle structure provided in the embodiments of this application. Detailed Implementation
[0052] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0053] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0054] The following is combined Figures 1 to 7 This application describes a target vehicle tracking method according to embodiments of the present application.
[0055] It should be noted that the subject executing the target vehicle tracking method can be a vehicle, a target vehicle tracking device installed on a vehicle, a server electrically connected to the vehicle, or a user terminal communicatively connected to the vehicle, including but not limited to mobile terminals and non-mobile terminals.
[0056] For example, mobile terminals include, but are not limited to, mobile phones, PDA smart terminals, tablets, and in-vehicle smart terminals; non-mobile terminals include, but are not limited to, PCs.
[0057] like Figure 1 As shown, the target vehicle tracking method includes steps 110 and 120.
[0058] Step 110: Obtain the location information between the target vehicle and the driving vehicle.
[0059] In this step, the target vehicle is the vehicle to be tracked, such as the lead vehicle in a convoy or similar situation.
[0060] The vehicle being driven is the one that needs to follow the target vehicle.
[0061] The location information between the target vehicle and the driving vehicle may include: the location information of the target vehicle, the location information of the driving vehicle, and the relative location information between the target vehicle and the driving vehicle.
[0062] In some embodiments, step 110 may include:
[0063] Receive the user's first input;
[0064] In response to the first input, obtain vehicle information of the target vehicle from the first target platform;
[0065] Location information is obtained from the second target platform based on vehicle information.
[0066] In this embodiment, the vehicle information of the target vehicle may include the registration information of the target vehicle, such as the license plate number.
[0067] It is understood that vehicle information can be obtained from a cloud platform that communicates with the driving vehicle; or it can be obtained from nearby vehicles based on vehicle networking technology; or it can be obtained through other means, which are not limited in this application.
[0068] In this application, as Figure 3 As shown, the first target platform can be a vehicle management platform, and the second target platform can be a vehicle positioning platform.
[0069] Users can be the drivers in the vehicles.
[0070] The first input is used to determine the target vehicle.
[0071] The first input can be in at least one of the following ways:
[0072] Firstly, the first input can be a touch operation, including but not limited to click, swipe, and press operations.
[0073] In this embodiment, receiving the user's first input can be receiving the user's touch operation on the display area of the terminal screen.
[0074] To reduce user error rates, the effective area of the first input can be limited to a specific area, such as the upper middle area of the target vehicle interface; or, while the target vehicle interface is displayed, the target control can be displayed on the current interface, and touching the target control will enable the first input; or the first input can be set to multiple consecutive taps on the display area within a target time interval.
[0075] Secondly, the first input can be a physical button input.
[0076] In this embodiment, the terminal has physical buttons on its body corresponding to the target vehicle. The first input from the user can be the user pressing the corresponding physical button; the first input can also be a combination of pressing multiple physical buttons simultaneously.
[0077] Thirdly, the first input can be voice input.
[0078] In this implementation, the terminal can identify A as the target vehicle when it receives a voice message such as "Identify A as the target vehicle".
[0079] Of course, in other embodiments, the first input may also be in other forms, including but not limited to character input, etc., which can be determined according to actual needs, and this application embodiment does not limit it.
[0080] like Figure 3 As shown, in actual execution, the system can receive the user's first input to identify the target vehicle, then obtain the target vehicle's registration information from the vehicle management platform, and finally obtain the target vehicle's location information from the vehicle positioning platform based on the vehicle information.
[0081] According to the target vehicle tracking method provided in the embodiments of this application, the target vehicle is determined based on the user's first input, then the registration information of the target vehicle is obtained from the vehicle management platform, and then the location information of the target vehicle is obtained from the vehicle positioning platform based on the vehicle information, so as to determine the relative position information between the target vehicle and the driving vehicle based on the location information of the target vehicle, and then determine whether the target vehicle is within the driver's field of vision.
[0082] Step 120: Based on the location information and the acquired environmental image corresponding to the driving vehicle, display AR image 110 in front of the driving vehicle. The AR image 110 matches the actual road environment corresponding to the environmental image in the virtual driving field of view of the driving vehicle. AR image 110 is used to mark the target vehicle.
[0083] In this step, the environmental image corresponding to the driving vehicle can be a real-time image of the road where the driving vehicle is located, including an image of the road ahead, used to characterize the real-time condition of the road where the driving vehicle is located.
[0084] In some embodiments, the environmental image may also include images of the roads on both sides.
[0085] Based on AR-HUD technology, a virtual image can be projected in front of the driver's vehicle, such as... Figure 4 The AR-HUD virtual image shown in the image represents the virtual driving field of vision.
[0086] It is understandable that the virtual driving view is aligned with the real driving view, and the driving view seen by the driver is the result of the fusion of the virtual and real driving views.
[0087] AR Image 110 is based on location information and environmental images, with differentiated changes.
[0088] AR image 110 may include marking patterns and marker locations for marking target vehicles; AR image 110 may be used to represent the direction of the target vehicle, etc., and the driver can track the target vehicle based on AR image 110.
[0089] The logo pattern can be the pattern shape corresponding to the AR image 110. For example, the logo pattern can be a landmark shape or an arrow shape. It can be customized by the user based on the actual situation, and this application does not limit it.
[0090] AR image 110 is a virtual image projected in front of the driver's cab of a driving vehicle.
[0091] AR image 110 is a virtual image generated based on the environmental image and location information corresponding to the driving vehicle.
[0092] AR image 110 can be generated based on AR-HUD technology.
[0093] The AR image 110 matches the actual road environment corresponding to the environmental image in the virtual driving field of vision of the driving vehicle, that is, in the driver's driving field of vision, the AR image 110 matches at least part of the real-world target in front of the vehicle.
[0094] Based on location information and environmental images, an AR image 110 can be displayed in front of the driving vehicle, and then the target vehicle can be tracked based on the AR image 110.
[0095] AR images 110 can be displayed by highlighting the target vehicle with bright colors; or by marking it with special symbols, such as pointing with arrows; or by displaying it with text.
[0096] During the research and development process, the inventors discovered that some related technologies rely on GPS to obtain the location information of target vehicles and display the marked information on electronic maps. Common vehicle tracking methods require drivers to simultaneously view road traffic and monitor the target vehicle. Frequent switching of gaze can lead to eye fatigue and thus create road safety hazards. In addition, there is another method that requires drivers to wear special AR glasses to monitor target vehicles, but this method prevents drivers from observing the real road environment in real time, which can easily lead to traffic accidents.
[0097] In this application, by displaying an AR image 110 that matches the real scene in front of the driving vehicle, and then displaying the AR image 110 in front of the driving vehicle based on the position information between the target vehicle and the driving vehicle and the corresponding environmental image of the driving vehicle, and then tracking the target vehicle based on the AR image 110, an effective combination of virtual and reality is achieved. The driver does not need to frequently switch his gaze to monitor the target vehicle, nor does the driver need to wear special AR glasses. Based on real-time observation of the real road environment, the target vehicle can be effectively marked, reducing driver fatigue, improving driving safety, and improving tracking efficiency.
[0098] According to the target vehicle tracking method provided in the embodiments of this application, an AR image 110 that matches the real scene in front of the driver's vehicle is displayed in front of the driver's vehicle. Then, based on the position information between the target vehicle and the driver's vehicle and the environmental image corresponding to the driver's vehicle, the AR image 110 is displayed in front of the driver's vehicle, and the target vehicle is tracked based on the AR image 110. This eliminates the need for the driver to frequently switch their gaze to monitor the target vehicle, reduces driver fatigue, and improves driving safety.
[0099] like Figure 2 As shown, in some embodiments, step 120 may include:
[0100] Image recognition is performed on environmental images to obtain object information within the images;
[0101] If the object information includes the target vehicle, the AR image 110 will be displayed at the location of the target vehicle in the virtual driving field of view;
[0102] If the object information does not include the target vehicle, the target position is determined based on the location information to represent the orientation information of the target vehicle relative to the driving vehicle.
[0103] Display the AR image 110 at the target location within the virtual driving field of view.
[0104] In this step, the object information in the environmental image can include all vehicles within the driver's field of vision.
[0105] When the object information includes the target vehicle, i.e., the target vehicle is within the driver's line of sight, the AR image 110 can be directly displayed on the location of the target vehicle in the virtual driving field of view. For example, the AR image 110 can be overlaid on the real-world view of the target vehicle. The marker pattern of the AR image 110 can be a circle, such as... Figure 5 As shown.
[0106] When the object information does not include the target vehicle, that is, the target vehicle is not within the driver's line of sight, the target position can be determined based on the position information, and then the AR image 110 is displayed at the target position in the virtual driving field of vision. The target position is used to characterize the orientation information of the target vehicle relative to the driving vehicle, wherein the orientation information may include information such as direction.
[0107] In actual operation, when the target vehicle is beyond the driver's line of sight, the target position can be determined based on the target vehicle's orientation relative to the driver's vehicle. Then, the AR image 110 is displayed at the target position within the virtual driving view. The marker pattern of the AR image 110 can be an arrow. For example, if the target vehicle is located to the left of the driver's vehicle, the AR image 110 can be displayed as follows: Figure 7 The left-pointing arrow shown allows drivers to track target vehicles.
[0108] In this application, based on image recognition technology, the visibility of the target vehicle in the driver's field of vision is obtained, and the two situations of the target vehicle being within the driver's line of sight and outside the line of sight are distinguished. Based on different detection results, different display methods can be adopted for the AR image 110, thus solving the problem of losing track of the target vehicle when it is beyond the driver's line of sight.
[0109] According to the target vehicle tracking method provided in the embodiments of this application, by performing image recognition on the environmental image, the AR image 110 is displayed in different ways based on two situations: when the target vehicle is within the driver's line of sight and when it is outside the driver's line of sight. This solves the problem of losing track of the target vehicle when it is beyond the driver's line of sight, and is applicable to a variety of different situations. It has high versatility and is applicable to a wide range of scenarios.
[0110] In some embodiments, when the object information includes a target vehicle, displaying the AR image 110 at the location of the target vehicle in the virtual driving field of view may include:
[0111] Determine the first position of the target vehicle in the virtual driving view;
[0112] AR image 110 is displayed at the first location.
[0113] In this embodiment, the first position is the position of the target vehicle in the virtual driving field of view.
[0114] AR image 110 is displayed at the first location. For example, AR image 110 can be overlaid on the real-world view of the target vehicle, and the marking effect is as follows. Figure 5 As shown.
[0115] In actual execution, when the object information includes the target vehicle, i.e., the target vehicle is within the driver's line of sight, the target vehicle is located as follows: Figure 4 Position A in the isometric and top views shown can then be used to obtain the first position of the target vehicle in the virtual driving view, such as... Figure 5 The location of the target vehicle is determined, and then AR image 110 is displayed at the first location. For example, a circle marker can be overlaid on the target vehicle. The marker pattern and marking position of AR image 110 are as follows: Figure 5 As shown.
[0116] According to the target vehicle tracking method provided in the embodiments of this application, when the object information includes the target vehicle, the first position of the target vehicle in the virtual driving field of vision can be determined, and then an AR image 110 is displayed at the first position. The marking method is simple and easy to implement, which makes it convenient for the driver to monitor the target vehicle for tracking and improves driving safety.
[0117] In some embodiments, determining the target position, which characterizes the orientation information of the target vehicle relative to the driving vehicle, based on location information may include:
[0118] Based on location information, obtain the target angle between the fourth straight line passing through the location of the target vehicle and the location of the driving vehicle and the driving direction of the driving vehicle.
[0119] The target position is determined based on the target's included angle and the corresponding horizontal field of view of the AR-HUD.
[0120] In this embodiment, the fourth straight line is a straight line passing through the location of the target vehicle and the location of the driving vehicle.
[0121] The target angle is the angle between the fourth straight line and the direction of travel of the driving vehicle. For example, at the location of the target vehicle... Figure 4 At point B in the diagram, the included angle is angle b in the figure, and the fourth line is line RB; at the location of the target vehicle is... Figure 4 When the target is at point C, the included angle is angle c in the figure, and the fourth line is line RC.
[0122] The horizontal field of view for an AR-HUD can be the width of the AR-HUD virtual image.
[0123] In actual execution, the target angle between the target vehicle and the driving vehicle can be obtained based on the target vehicle's position information and the driving vehicle's position information. Then, the target position can be determined based on the target angle and the horizontal field of view corresponding to the AR-HUD.
[0124] According to the target vehicle tracking method provided in the embodiments of this application, the target angle between the target vehicle and the driving vehicle is obtained based on the position information of the target vehicle and the position information of the driving vehicle. Then, the target position is determined based on the target angle and the horizontal field of view angle corresponding to the AR-HUD. The display mode of the AR image 110 can be determined based on the degree to which the target vehicle exceeds the driver's line of sight. It is applicable to a variety of different situations, has high versatility, and is widely applicable.
[0125] like Figure 4 As shown, in some embodiments, determining the target position based on the target's included angle and the horizontal field of view corresponding to the AR-HUD may include:
[0126] When the target angle of the target multiple is not greater than the horizontal field of view, the target position is determined as the intersection of the first line and the second line. The first line is a horizontal line passing through the center point of the virtual driving field of view and located on the plane of the virtual driving field of view. The second line is a line passing through the location of the driving vehicle, and the angle between the second line and the third line is the target angle. The third line is a line passing through the center point of the virtual driving field of view and the location of the driving vehicle, and the second line and the first line are located on the same plane.
[0127] When the included angle of the target multiple is greater than the horizontal field of view, the target position is determined as the intersection of the first straight line and the first vertical edge of the virtual driving field of view. The first vertical edge is the edge of the target vehicle on one side of the virtual driving field of view relative to the driving vehicle.
[0128] In this embodiment, the target multiple can be 2 times.
[0129] If the included angle of the target multiple is not greater than the horizontal field of view, the target position is determined as the intersection of the first line and the second line.
[0130] The center point of the virtual driving field of view is the exact center of the virtual driving field of view. Specifically, in the case where the virtual driving field of view is rectangular, such as... Figure 6 and Figure 7 As shown in the dashed rectangle, the center point of the virtual driving view is the intersection of the rectangle's diagonals, as... Figure 6 and Figure 7 Point O in the middle.
[0131] The first straight line is a horizontal line passing through the center point of the virtual driving field of view and located on the plane of the virtual driving field of view, such as... Figure 6 As shown by the middle straight line L1;
[0132] Figure 4 The diagram shows a top-down view of the virtual driving field of view, with the positions of both the driving vehicle and the target vehicle fitted as points. The third straight line is a line passing through the center point of the virtual driving field of view and the position of the driving vehicle. Figure 4 As shown by the straight line RO in the middle;
[0133] The second straight line is a line passing through the location R of the driving vehicle, forming a target angle b with the third straight line RO, and lying on the same plane as the first straight line L1, such as... Figure 4 As shown by the straight line RB in the middle.
[0134] When the target angle is greater than the horizontal field of view, the target position is determined as the intersection of the first straight line and the first vertical edge of the virtual driving field of view.
[0135] The first vertical edge is the edge of the target vehicle relative to the driving vehicle on one side in the virtual driving field of view, and the first vertical edge is located on the plane of the virtual driving field of view.
[0136] For example, when the target vehicle is located to the left of the driver's vehicle, the first vertical edge is the left edge line of the virtual driving view, such as... Figure 7 As shown by line L2; when the target vehicle is located to the right of the driver's vehicle, the first vertical edge is the right edge line of the virtual driving view, as shown. Figure 7 As shown by the straight line L3.
[0137] In actual implementation, such as Figure 4 As shown, the vehicle's current position is position R. The target magnification can be set to 2. When the target angle of this magnification is no greater than the horizontal field of view (i.e., when the target vehicle is at position B), the target angle is b. 2b is no greater than the horizontal FOV (Field of View) of the AR-HUD. The second straight line is line RB. Then, the intersection point Rb of the first straight line L1 and the second straight line RB is determined as the target position. Figure 6 As shown, a logo pattern can be displayed at the marked location Rb;
[0138] When the target angle is greater than the horizontal field of view (FOV), i.e., when the target vehicle is at position C, the target angle is c, and 2c is greater than the horizontal FOV of the AR-HUD. In this case, the target vehicle is located to the left of the driving vehicle, and the first vertical edge is the left edge line of the virtual driving field of view. Figure 7As shown in L2, the intersection of the first straight line L1 and the first vertical edge L2 of the virtual driving view is determined as the target position. Figure 4 In the top view shown, the target position is Rc, as... Figure 7 As shown, a logo pattern can be displayed at the marked location Rc.
[0139] According to the target vehicle tracking method provided in this application embodiment, when the target angle of the target multiple is not greater than the horizontal field of view, the target position is determined as the intersection of the first straight line and the second straight line. When the target angle of the target multiple is greater than the horizontal field of view, the target position is determined as the intersection of the first straight line and the first vertical edge of the virtual driving field of view. The display mode of the AR image 110 can be determined based on the degree to which the target vehicle exceeds the driver's line of sight, which makes it easier for the driver to quickly judge the distance between the vehicle and the target vehicle. It has high universality, is applicable to a wide range of scenarios, and helps to improve the user experience.
[0140] The target vehicle tracking device provided in this application is described below. The target vehicle tracking device described below can be referred to in correspondence with the target vehicle tracking method described above.
[0141] The target vehicle tracking method provided in this application can be executed by a target vehicle tracking device. This application uses the example of a target vehicle tracking device executing the target vehicle tracking method to illustrate the target vehicle tracking device provided in this application.
[0142] This application also provides a target vehicle tracking device.
[0143] like Figure 8 As shown, the target vehicle tracking device includes: a first processing module 810 and a second processing module 820.
[0144] The first processing module 810 is used to obtain the position information between the target vehicle and the driving vehicle;
[0145] The second processing module 820 is used to display an AR image 110 in front of the driving vehicle based on the location information and the acquired environmental image corresponding to the driving vehicle. The AR image 110 is matched with the actual road environment corresponding to the environmental image in the virtual driving field of view of the driving vehicle. The AR image 110 is used to mark the target vehicle.
[0146] According to the target vehicle tracking device provided in the embodiments of this application, by displaying an AR image 110 that matches the real scene in front of the driver's vehicle, and then displaying the AR image 110 in front of the driver's vehicle based on the position information between the target vehicle and the driver's vehicle and the environmental image corresponding to the driver's vehicle, the target vehicle is tracked based on the AR image 110. This eliminates the need for the driver to frequently switch their gaze to monitor the target vehicle, reduces driver fatigue, and improves driving safety.
[0147] In some embodiments, the target vehicle tracking device may further include:
[0148] The third processing module is used to perform image recognition on the environmental image to obtain object information in the environmental image;
[0149] The fourth processing module is used to display the AR image 110 at the location of the target vehicle in the virtual driving field of view when the object information includes the target vehicle;
[0150] The fifth processing module is used to determine the target position, which represents the orientation information of the target vehicle relative to the driving vehicle, based on the location information when the object information does not include the target vehicle.
[0151] Display the AR image 110 at the target location within the virtual driving field of view.
[0152] In some embodiments, the target vehicle tracking device may further include:
[0153] The sixth processing module is used to obtain the target angle between the fourth straight line passing through the location of the target vehicle and the location of the driving vehicle and the driving direction of the driving vehicle based on the location information.
[0154] The seventh processing module is used to determine the target position based on the target's included angle and the horizontal field of view corresponding to the AR-HUD.
[0155] In some embodiments, the seventh processing module can also be used for:
[0156] When the target angle of the target multiple is not greater than the horizontal field of view, the target position is determined as the intersection of the first line and the second line. The first line is a horizontal line passing through the center point of the virtual driving field of view and located on the plane of the virtual driving field of view. The second line is a line passing through the location of the driving vehicle, and the angle between the second line and the third line is the target angle. The third line is a line passing through the center point of the virtual driving field of view and the location of the driving vehicle, and the second line and the first line are located on the same plane.
[0157] When the included angle of the target multiple is greater than the horizontal field of view, the target position is determined as the intersection of the first straight line and the first vertical edge of the virtual driving field of view. The first vertical edge is the edge of the target vehicle on one side of the virtual driving field of view relative to the driving vehicle.
[0158] In some embodiments, the fourth processing module can also be used for:
[0159] Determine the first position of the target vehicle in the virtual driving view;
[0160] AR image 110 is displayed at the first location.
[0161] In some embodiments, the first processing module 810 may also be used for:
[0162] Receive the user's first input;
[0163] In response to the first input, obtain vehicle information of the target vehicle from the first target platform;
[0164] Location information is obtained from the second target platform based on vehicle information.
[0165] The target vehicle tracking device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.
[0166] The target vehicle tracking device provided in this application embodiment can achieve... Figures 1 to 7 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.
[0167] This application also provides a vehicle.
[0168] The vehicle includes an image sensor, an AR-HUD, and a target vehicle tracking device as described in any of the above embodiments.
[0169] In this embodiment, the image sensor is used to acquire environmental images corresponding to the driving vehicle.
[0170] AR-HUD (Augmented Reality Head-Up Display) is installed in the vehicle.
[0171] AR-HUD allows for the projection of AR virtual images in front of the driver's cab of a vehicle.
[0172] The target vehicle tracking device is electrically connected to the image sensor and the AR-HUD respectively, and the target vehicle tracking device is the target vehicle tracking device described in any of the above embodiments.
[0173] In some embodiments, such as Figure 9As shown, this application embodiment also provides a vehicle, including a processor 901, a memory 902, and a computer program stored in the memory 902 and executable on the processor 901. When the program is executed by the processor 901, it implements the various processes of the above-described target vehicle tracking method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.
[0174] According to the vehicle provided in the embodiments of this application, by displaying an AR image 110 that matches the real scene in front of the driver's vehicle, and then displaying the AR image 110 in front of the driver's vehicle based on the position information between the target vehicle and the driver's vehicle and the environmental image corresponding to the driver's vehicle, the target vehicle can be tracked based on the AR image 110. This eliminates the need for the driver to frequently switch their gaze to monitor the target vehicle, reduces driver fatigue, and improves driving safety.
[0175] On the other hand, this application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the various processes of the above-described target vehicle tracking method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.
[0176] In another aspect, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the various processes of the above-described target vehicle tracking method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.
[0177] In another aspect, this application embodiment provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-described target vehicle tracking method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.
[0178] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
[0179] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0180] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0181] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A method for tracking a target vehicle, characterized in that, include: Obtain the location information of the target vehicle and the driving vehicle; Based on the location information and the acquired environmental image corresponding to the driving vehicle, an AR image is displayed in front of the driving vehicle. The AR image matches the actual road environment corresponding to the environmental image in the virtual driving field of view of the driving vehicle. The AR image is used to mark the target vehicle. The step of displaying an AR image in front of the driving vehicle based on the location information and the acquired environmental image corresponding to the driving vehicle includes: Image recognition is performed on the environmental image to obtain object information in the environmental image; If the object information includes the target vehicle, the AR image is displayed at the location of the target vehicle in the virtual driving field of view; If the object information does not include the target vehicle, a target position is determined based on the location information to characterize the orientation information of the target vehicle relative to the driving vehicle. The AR image is displayed at the target location within the virtual driving field of view; Determining the target position based on the location information to characterize the orientation information of the target vehicle relative to the driving vehicle includes: Based on the location information, obtain the target angle between the fourth straight line passing through the location of the target vehicle and the location of the driving vehicle and the driving direction of the driving vehicle. The target position is determined based on the target angle and the horizontal field of view corresponding to the AR-HUD; Determining the target position based on the target's included angle and the horizontal field of view corresponding to the AR-HUD includes: When the target angle of the target multiple is not greater than the horizontal field of view angle, the target position is determined as the intersection of the first line and the second line. The first line is a horizontal line passing through the center point of the virtual driving field of view and located on the plane of the virtual driving field of view. The second line is a line passing through the location of the driving vehicle. The angle between the second line and the third line is the target angle. The third line is a line passing through the center point of the virtual driving field of view and the location of the driving vehicle. The second line and the first line are located on the same plane. When the included angle of the target multiple is greater than the horizontal field of view, the target position is determined to be the intersection of the first straight line and the first vertical edge of the virtual driving field of view, where the first vertical edge is the edge of the target vehicle on one side of the virtual driving field of view relative to the driving vehicle.
2. The target vehicle tracking method according to claim 1, characterized in that, When the object information includes the target vehicle, displaying the AR image at the location of the target vehicle in the virtual driving field of view includes: Determine the first position of the target vehicle in the virtual driving field of view; The AR image is displayed at the first location.
3. The target vehicle tracking method according to any one of claims 1-2, characterized in that, The acquisition of the location information between the target vehicle and the driving vehicle includes: Receive the user's first input; In response to the first input, vehicle information of the target vehicle is obtained from the first target platform; Based on the vehicle information, the location information is obtained from the second target platform.
4. A target vehicle tracking device, characterized in that, To implement the target vehicle tracking method as described in any one of claims 1-3, comprising: The first processing module is used to obtain the location information between the target vehicle and the driving vehicle; The second processing module is used to display an AR image in front of the driving vehicle based on the location information and the acquired environmental image corresponding to the driving vehicle. The AR image is matched with the actual road environment corresponding to the environmental image in the virtual driving field of view of the driving vehicle. The AR image is used to mark the target vehicle.
5. A vehicle, characterized in that, include: Image sensor; AR-HUD, wherein the AR-HUD is installed in the vehicle; The target vehicle tracking device as described in claim 4 is electrically connected to the image sensor and the AR-HUD, respectively.
6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the target vehicle tracking method as described in any one of claims 1-3.
7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the target vehicle tracking method as described in any one of claims 1-3.