Display method, electronic device and storage medium

Abstract

The present invention relates to the technical field of intelligent terminals, and discloses a display method, an electronic device, and a storage medium. The method enables the electronic device to change lanes in real time according to a determined lane change starting point and lane change end point when detecting that a navigation prompt has been given to a vehicle to change lanes, so as to present a curved display effect. The user can know the lane change driving route according to the curved display effect and perform the lane change operation. After the electronic device detects that a user has triggered a lane change operation, the lane guide line can change its display effect according to the real-time change of the user's driving vehicle position, thereby realizing the mutual correlation between the animation effect and the user operation, thereby making the lane guide line present a dynamically changing display effect during the entire lane change driving process of the user, realizing dynamic lane change navigation, and effectively improving the user's driving experience.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent terminals, and in particular to a display method, electronic equipment and storage medium. Background Art

[0002] With the continuous development of vehicle technology, augmented reality head-up displays (AR-HUD) have been widely used in vehicles. AR-HUD devices can fuse the projected AR effects with real road information and project them in front of the driver's field of view. For example, when the AR-HUD device detects a lane change request from the vehicle, such as a lane change prompt from the navigation system, the AR-HUD device can replan the lane guide lines based on the driving road conditions and present them in front of the driver's field of view, realizing AR lane change guidance.

[0003] However, the AR lane change guidance animation effects currently presented by AR-HUD devices are stiff and abrupt. For example, when the AR-HUD device detects a lane change prompt from the navigation system, it is unable to provide lane change guidance, or when the vehicle is changing lanes according to the navigation prompt, the lane guidance line displayed in the current driving lane will directly jump to the lane after the lane change. As a result, the lane guidance line display presented to the driver by the AR-HUD device will appear discontinuous, resulting in a poor user experience. Summary of the Invention

[0004] An embodiment of the present invention provides a display method, an electronic device, and a storage medium. After the electronic device detects that a vehicle initiates a lane change request, the lane guide line can be changed in real time according to a determined lane change starting point and lane change end point. After the electronic device detects that a user triggers a lane change operation, the lane guide line can be changed in display according to the real-time change of the user's driving vehicle position, so that the animation effect and the user operation are mutually associated, and the lane guide line presents a dynamically changing display effect throughout the user's entire lane change driving process, thereby realizing dynamic lane change navigation and effectively improving the user's driving experience.

[0005] In a first aspect, the present invention provides a display method, which is applied to an electronic device and is characterized in that it includes: the electronic device projects and displays a first guide line, the first guide line is displayed on a first lane and a second lane, and the first lane is the current driving lane of the vehicle; detecting that a user triggers a lane change operation; in response to the lane change operation, controlling the first guide line to be in a first motion state; wherein the first motion state includes: at least a portion of the first guide line moves following the real-time position of the vehicle, and the curvature of at least a portion of the first guide line decreases as the first distance between the vehicle and the second lane decreases.

[0006] In the embodiment of the present invention, the first lane corresponds to the lane 311 described below, and the second lane corresponds to the lane 312 described below, for example Figure 5B As shown, the lane guide line 314 at time T15 is used as the first guide line. At time T15, after the electronic device detects that the user turns the steering wheel to the right to trigger the lane change operation, it obtains the movement change of the intersection B1, that is, the position change of the vehicle's real-time position. Further, from time T16 to T17, the user turns the steering wheel to the right, so that the intersection B1 gradually moves toward the lane 312. According to the change in the distance (that is, the first distance) between the intersection B1 and the lane 312 or the central axis 312A, the curvature of the first guide line gradually decreases, so that the lane guide line changes the display effect of the first guide line according to the real-time change of the user's driving position of the vehicle, and realizes the mutual correlation between the animation effect and the user operation, so that the first guide line presents a dynamically changing display effect during the user's lane change driving process, realizes dynamic lane change navigation, and effectively improves the user's driving experience.

[0007] In a possible implementation of the first aspect above, before the electronic device projects and displays a first guide line, and the first guide line is displayed on the first lane and the second lane, the method includes: the electronic device projects and displays a second guide line, and the second guide line is displayed on the first lane; a lane change request of the vehicle is detected; in response to the lane change request, the second lane is determined as the lane into which the vehicle needs to change lanes, and the second guide line is controlled to be in a second motion state to change into the first guide line.

[0008] In the embodiment of the present invention, for example Figure 5A As shown, lane guide line 314 at time T11 serves as the second guide line. At time T11, the electronic device detects a lane change request from the navigation system indicating that the vehicle needs to change to lane 312, which is to the right of lane 311. Lane 312, to the right of lane 311, is then determined as the lane to which the vehicle needs to change. Furthermore, from time T12 to T13, the end of the second guide line closest to intersection A1 gradually moves toward intersection A2, ultimately becoming the first guide line at time T14. It will be appreciated that the first guide lines at times T14 and T15 are schematic guide lines in different schematic diagrams.

[0009] In a possible implementation of the first aspect, the second motion state includes: at least a portion of the second guide line moves in a direction close to the second lane, and a curvature of at least a portion of the second guide line increases with increasing movement time.

[0010] In the embodiment of the present invention, for example Figure 5AAs shown, the time interval from T11 to T14 is taken as the duration of the target animation, and the change from T11 to T14 can be understood as the change of animation time within the target animation, and the duration of the target animation is fixed. The speed at which the end of the second guide line close to the intersection A1 gradually moves toward the intersection A2 can be determined according to the duration of the target animation from T11 to T14 and the distance between the intersection A1 and the intersection A2, and as the duration of the target animation (i.e., the time of movement) increases, the smaller the distance between the intersection A1 and the intersection A2, the greater the curvature of the second guide line.

[0011] In a possible implementation of the first aspect, before the lane change request of the vehicle is detected, the second guide line is parallel to the first central axis of the first lane.

[0012] In a possible implementation of the first aspect, the electronic device projects and displays a first area screen, which includes a first edge line and a second edge line; and the first guide line or the second guide line is displayed in the first area screen.

[0013] In the embodiments of the present application, for example Figure 5B As shown in FIG5A , the first area screen corresponds to the projection screen 310 described below, the first edge line corresponds to the lower edge line 513 described below, and the second edge line corresponds to the lower edge line 511 described below.

[0014] In a possible implementation of the first aspect above, before the above-mentioned response to the lane change operation and the control of the first guide line to be in the first motion state, it includes: the first endpoint of the first guide line is projected and displayed on the first edge line, the first endpoint is displayed on the first lane and the first endpoint is used to indicate the current position of the vehicle; the second endpoint of the first guide line is projected and displayed on the second edge line, the second endpoint is displayed on the second lane and the second endpoint is used to indicate the end position of the vehicle that needs to change lanes determined by the lane change request; wherein the first endpoint and the second endpoint are respectively used to indicate the two end endpoints of the first guide line.

[0015] In the embodiments of the present application, for example Figure 5B As shown, the first endpoint corresponds to the intersection B1 described below, and the second endpoint corresponds to the intersection A2 described below.

[0016] In a possible implementation of the above-mentioned first aspect, the curvature of at least part of the above-mentioned first guide line decreases as the first distance between the vehicle and the second lane decreases, including: the curvature of the first guide line at different first distances is determined by the following method: based on the driving direction of the vehicle, the first endpoint is extended along the side close to the second endpoint to obtain a first control point; based on the second central axis direction of the second lane or the tangent direction of the second central axis of the second lane, the second endpoint is extended along the side close to the first endpoint to obtain a second control point; the second distance of the first control point and / or the second control point relative to the first endpoint decreases as the first distance between the vehicle and the second lane decreases; after substituting the first control point, the second control point, the second endpoint and the real-time position of the vehicle into the Bezier curve, the curvature of the first guide line at different first distances is obtained.

[0017] In the embodiments of the present application, for example Figure 5B As shown, the first control point is equivalent to the first control point C1 described below, and the second control point is equivalent to the second control point C2 described below.

[0018] In a possible implementation of the first aspect above, the first edge line and the second edge line are parallel to each other; before detecting that the user triggers a lane change operation, it includes: the vertical distances of the first control point relative to the first edge line and the second edge line are equal; and / or the vertical distances of the second control point relative to the first edge line and the second edge line are equal.

[0019] In the embodiments of the present application, for example Figure 5B At time T15 shown, the first control point C1 and / or the second control point C2 are located on the horizontal central axis 512 of the second edge line of the first edge line.

[0020] In a possible implementation of the above-mentioned first aspect, the curvature of at least part of the above-mentioned first guide line decreases as the first distance between the vehicle and the second lane decreases, including: the curvature of the first guide line at different first distances is determined by the following method: at least two points are arbitrarily collected on the first guide line to form a feature point set; wherein the feature point set includes a first feature point and a second feature point; based on the driving direction of the vehicle, the first feature point is extended along the side close to the second endpoint to obtain a third control point; based on the second central axis direction of the second lane or the tangent direction of the second central axis of the second lane, the second feature point is extended along the side close to the first endpoint to obtain a fourth control point; the third distance of the third control point and / or the fourth control point relative to the first feature point decreases as the first distance between the vehicle and the second lane decreases; after substituting the third control point, the fourth control point, the first feature point and the second feature point into the Bezier curve, the curvature of the first guide line at different first distances is obtained.

[0021] In an embodiment of the present application, the curvature of a portion of the first guide line between the first feature point and the second feature point at different first distances may be changed by collecting the first feature point and the second feature point.

[0022] In a possible implementation of the first aspect, the first characteristic point is a first endpoint; and / or the second characteristic point is a second endpoint.

[0023] In a possible implementation of the first aspect, after controlling the first guide line to be in the first motion state in response to the lane change operation, the method further includes: displaying the first guide line on the second lane, and the first guide line is parallel to the second central axis of the second lane.

[0024] In a possible implementation of the first aspect above, before responding to the lane change request, determining the second lane as the lane into which the vehicle needs to change lanes, and controlling the second guide line to be in the second motion state to change to the first guide line, it includes: the third endpoint of the second guide line is projected and displayed on the first edge line, the third endpoint is displayed on the first lane and the third endpoint is used to indicate the current position of the vehicle; the fourth endpoint of the second guide line is projected and displayed on the second edge line, and the fourth endpoint is used to indicate the intersection of the third endpoint extending along the first central axis direction of the first lane and the second edge line; wherein the third endpoint and the fourth endpoint are respectively used to indicate the two end endpoints of the second guide line.

[0025] In the embodiments of the present application, for example Figure 5A As shown, the third endpoint corresponds to the intersection B1 described below, and the fourth endpoint corresponds to the intersection A1 described below.

[0026] In a possible implementation of the above-mentioned first aspect, the curvature of at least part of the second guide line increases with the increase of the moving time, including: the curvature of the second guide line at different moving times is determined by the following method: based on the driving direction of the vehicle, the third endpoint is extended along the side close to the fourth endpoint to obtain the fifth control point; based on the first central axis direction of the first lane or the tangent direction of the first central axis of the first lane, the fourth endpoint is extended along the side close to the third endpoint to obtain the sixth control point; the fourth distance of the fifth control point and / or the sixth control point relative to the third endpoint increases with the increase of the moving time, and the fifth distance of the fourth endpoint relative to the second central axis of the second lane decreases with the increase of the moving time; after substituting the fifth control point, the sixth control point, the third endpoint and the fourth endpoint into the Bezier curve, the curvature of the second guide line at different moving times is obtained.

[0027] In the embodiments of the present application, for example Figure 5A As shown, the fifth control point is equivalent to the first control point C1 described below, and the sixth control point is equivalent to the second control point C2 described below.

[0028] In a possible implementation of the first aspect, before the lane change request of the vehicle is detected, the fourth endpoint, the fifth control point, and the sixth control point overlap with each other.

[0029] In a second aspect, an embodiment of the present invention provides a readable storage medium having instructions stored thereon, which, when executed on an electronic device, enables the electronic device to implement any one of the display methods provided by the first aspect and various possible implementations of the first aspect.

[0030] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory for storing instructions executed by one or more processors of the electronic device; and a processor, which is one of the processors of the electronic device, for executing the instructions stored in the memory to implement any one of the display methods provided by the above-mentioned first aspect and various possible implementations of the above-mentioned first aspect.

[0031] In a fourth aspect, an embodiment of the present invention provides a program product, which includes instructions. When the instructions are executed by an electronic device, the electronic device can implement any display method provided by the first aspect and various possible implementations of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 According to some embodiments of the present invention, a schematic diagram of the display principle of an AR-HUD is shown;

[0033] Figures 2A to 2C According to some embodiments of the present invention, an example schematic diagram of a lane guide line is shown;

[0034] Figures 3A to 3D According to some embodiments of the present invention, another exemplary schematic diagram of a lane guide line is shown;

[0035] Figure 4A According to some embodiments of the present invention, a schematic structural diagram of an electronic device is shown;

[0036] Figure 4B According to some embodiments of the present invention, a flowchart of a display method is shown;

[0037] Figure 5A According to some embodiments of the present invention, a schematic diagram of a top view of a lane guide line changing from time T11 to time T14 is shown;

[0038] Figure 5B According to some embodiments of the present invention, a schematic diagram of the top view change of the lane guide line from time T15 to T18 is shown;

[0039] Figure 6AAccording to some embodiments of the present invention, a schematic diagram of the change of lane guide lines from time T21 to T24 as viewed from a driving perspective is shown;

[0040] Figure 6B According to some embodiments of the present invention, a schematic diagram of the change of lane guide lines from time T21 to T24 as viewed from a driving perspective is shown;

[0041] Figures 7A to 7B According to some embodiments of the present invention, an example schematic diagram showing a lane having a curved shape is shown;

[0042] Figures 8A to 8C According to some embodiments of the present invention, a schematic top view of a lane guide line is shown;

[0043] Figures 8D to 8E According to some embodiments of the present invention, a schematic diagram of a lane guide line viewed from a driving perspective is shown;

[0044] Figures 9A to 9C According to some embodiments of the present invention, an exemplary schematic diagram of grid data superimposed on a two-dimensional image is shown. DETAILED DESCRIPTION

[0045] Illustrative embodiments of the present invention include, but are not limited to, a display method, an electronic device, and a storage medium.

[0046] In order to facilitate those skilled in the art to understand the solutions in the embodiments of the present application, some of the terms in the present application are explained below.

[0047] (1) Augmented reality-head up display (AR-HUD) is a fusion of augmented reality (AR) technology and head up display (HUD) technology. In the application scenario of intelligent driving, AR-HUD equipment can overlay some driving information on the driver's field of view combined with actual traffic conditions.

[0048] Head-up display technology is a technology that projects images into the driver's field of view. In intelligent driving applications, head-up display technology uses the principle of optical reflection to project important relevant information (such as instrument information, navigation information, etc.) in the form of two-dimensional images on the vehicle's windshield. When the driver looks forward through the windshield, he can see the two-dimensional image projected by the head-up display technology displayed on a virtual image surface in front of the windshield. Figure 1 As shown, the HUD device can emit a light beam for projecting the image to be imaged through the head-up display technology, such as Figure 1Light beam 101 is shown. This light beam 101 is projected onto the windshield via a curved reflector, forming a projected image. The driver can then view this projected image on the windshield, which may include vehicle instrumentation, navigation information, and more. Furthermore, combined with augmented reality (AR) head-up display (HUD) technology, the AR-HUD device can present the image observed by the human eye as a virtual image, displayed between the road surface and the windshield. This allows the driver to visually perceive the image as a three-dimensional image combined with the road surface.

[0049] (2) Field of view (FOV) refers to the angle between the two edges of the visual field that the human eye can observe through the optical imaging system and the line connecting the center of the human pupil. FOV is an important parameter for the size of the HUD device's projected image. FOV includes the horizontal field of view (H-FOV) and the vertical field of view (V-FOV). The horizontal field of view refers to the maximum visible range of the HUD device's projected image in the horizontal direction, while the vertical field of view refers to the maximum visible range of the HUD device in the vertical direction.

[0050] In some embodiments of the present invention, when a user is driving a vehicle, if the AR-HUD device detects that the vehicle has initiated a lane change request, for example, when the vehicle navigation system prompts a lane change, the AR-HUD device can combine the current road conditions of the vehicle and the navigation information to generate corresponding lane guide lines based on the detected lane change request. The lane guide lines can be displayed as information on the AR-HUD device, projected onto the user's field of view, so that the user can change lanes according to the presentation effect of the lane guide lines. It should be noted that in the specific embodiments provided in this application, unless otherwise specified, the descriptions of "user" and "driver" can be understood as descriptions of the same subject, both referring to the person driving the vehicle.

[0051] For example Figure 2A As shown, while a user is driving vehicle 210, if the AR-HUD device detects that vehicle 210 has initiated a lane change request, such as a navigation system prompt to change to the right lane, the AR-HUD device can generate a lane guide line 210A with an arrow-like effect based on the current road conditions of vehicle 210 and navigation information, and project the lane guide line 210A into the user's field of view, allowing the user to change lanes according to the lane guide line 210A.

[0052] or for example Figure 2BAs shown, while a user is driving vehicle 220, the AR-HUD device can project lane guide lines 220A based on the driving lane in which vehicle 220 is located. When the AR-HUD device detects a lane change request from the vehicle, the user can change lanes to the right, as prompted by the navigation system. At this point, the AR-HUD device can combine the current road conditions and navigation information to shift lane guide lines 220A from the current driving lane directly to the right, into the target lane for lane change guidance. The user can then change lanes according to the guidance of lane guide lines 220A. The driving lane refers to the lane in which the vehicle is located when a lane change request is detected.

[0053] In other embodiments, Figure 2C As shown, when the user is driving the vehicle 230, the AR-HUD device can project and display the lane guide line 230A according to the driving lane of the vehicle 230. When the vehicle initiates a lane change request, such as when the navigation system prompts to change lanes to the left lane. At this time, the AR-HUD device can combine the current road conditions of the vehicle 230 and the navigation information to project one end of the lane guide line 230A, such as Figure 2C The upper end of lane guide line 230A shown gradually shifts leftward from the current driving lane to the target lane, ultimately forming a slightly curved lane guide line 230A. The user can then change lanes according to the guidance of lane guide line 230A.

[0054] However, in the above Figure 2A The lane change guidance of the AR-HUD device is presented as an arrow-guided animation effect. Figure 2B The lane change guidance of the AR-HUD device is presented as an animation effect of the position jump change guidance, and Figure 2C The lane change guidance of the AR-HUD device shown is presented as an animation effect of position translation change guidance. The lane guidance line jumps abruptly from the current driving lane to the target lane. The lane change guidance screen displayed by the AR-HUD device also changes abruptly, resulting in a poor user experience.

[0055] To solve the above problems, the present application provides a display method, which is applied to electronic devices such as AR-HUD. In the process of the electronic device displaying lane guide lines to guide the user to change lanes, the method determines the linearity, curvature, etc. of the lane guide lines at each moment by obtaining the changes in animation time within the target animation duration, the real-time position of the vehicle, and the target position in the target lane that needs to be changed lanes, and makes the lane guide lines present a continuous and dynamically changing animation effect to guide the user to change lanes.

[0056] The lane change guidance process includes two steps: the vehicle initiating a lane change request and the user triggering a lane change operation. For example, the vehicle initiating a lane change request can be triggered by conditions such as the user turning on the lane change turn signal or the navigation system prompting a lane change; the user triggering a lane change operation can be triggered by conditions such as the user turning the steering wheel or the linear distance between the vehicle's real-time location and the target location decreasing, etc. This application does not impose any specific restrictions.

[0057] For example, after detecting a lane change request from a vehicle, the electronic device determines the target location and gradually increases the curvature of all or part of the lane guide line based on the change in animation time within the target animation duration, causing one end of the lane guide line to gradually move toward the target lane, thereby creating a dynamic animation effect of the lane guide line gradually approaching the target location.

[0058] For another example, after detecting a user triggering a lane change, the electronic device gradually reduces the curvature of all or part of the lane guide line based on the changes in the vehicle's real-time position detected during the lane change, causing the other end of the lane guide line to follow the vehicle's displacement toward the target lane. This creates a dynamically changing animation effect associated with the lane guide line and the vehicle's real-time position. It will be appreciated that when a lane guide line includes multiple curved sections, the curvature of some or all of the curved sections can be dynamically adjusted during the vehicle's lane change process, depending on the desired animation effect.

[0059] In this way, electronic devices such as AR-HUD can display continuous and smooth lane guide lines based on the detected lane change request when the user is changing lanes, that is, when the vehicle is in the process of changing lanes, which is conducive to improving the user experience.

[0060] It can be understood that the display method provided in the embodiments of the present application is applicable to electronic devices including but not limited to the above-mentioned AR-HUD devices, in-vehicle computers, tablet computers, desktop computers, laptop computers, handheld computers, netbooks, as well as augmented reality (AR) and virtual reality (VR) devices, smart TVs, smart watches and other wearable devices, servers, mobile email devices, in-vehicle devices, portable game consoles, portable music players, reader devices, televisions in which one or more processors are embedded or coupled, or other electronic devices that can access the Internet, and the present invention is not limited to this.

[0061] Taking AR-HUD devices as an example, Figures 3A to 3D According to some embodiments of the present application, schematic diagrams of different effects of projection display of an electronic device are shown.

[0062] In some embodiments, as Figure 3AAs shown, a user is driving a vehicle (the vehicle is not shown to avoid obstruction) on the central axis 311A ​​of lane 311. The area projected by the electronic device within the user's field of view is projection screen 310. When the electronic device detects a lane change request initiated by the vehicle, it can determine the vehicle's current position and the target position to which the vehicle needs to change lanes based on the area indicated by projection screen 310. For ease of understanding, the vehicle's current position when a lane change request is detected is referred to as the vehicle's starting point, and the target position is referred to as the lane change destination.

[0063] like Figure 3A As shown, the vehicle starting point is used to represent the position directly below the projection screen 310, such as the midpoint of the lower edge of the projection screen 310, for example, it can be the intersection B1 of the lower edge of the projection screen 310 and the central axis 311A ​​of the lane 311; the lane change end point is used to represent the intersection of the central axis of the target lane determined according to the lane change request and the edge line of the projection screen 310 away from the vehicle, for example Figure 3A The intersection point A2 is shown.

[0064] In some embodiments, the electronic device determines a target lane when it detects a lane change request from the vehicle. For example, if the electronic device detects that the navigation system indicates that the vehicle needs to change lanes to lane 312 to the right of lane 311, lane 312 to the right of lane 311 is determined as the target lane.

[0065] In some embodiments, the electronic device can determine the central axis 311A ​​of lane 311 and the central axis 312A of lane 312 based on the widths of lanes 311 and lanes 312 in the navigation map, or can also determine them based on the widths of lanes 311 and lanes 312 in the projection screen 310. The present invention is not limited here.

[0066] As described above, after determining the central axis 311A, based on the current position of the vehicle, it can be obtained that the vehicle is traveling on the central axis 311A ​​of the lane 311. It can be understood that since the vehicle is traveling on the central axis 311A ​​of the lane 311, the intersection B1 of the central axis 311A ​​and the lateral edge line of the projection screen 310 close to the driving vehicle side is the vehicle starting point of the driving vehicle; after determining the central axis 312A, the electronic device can determine the lane change end point based on the intersection of the central axis 312A and the edge line of the projection screen 310, for example, obtain the intersection of the central axis 312A and the lateral edge line of the projection screen 310, and use the intersection A2 as the lane change end point.

[0067] In some embodiments, as Figure 3BAs shown, when the electronic device detects a lane change request from a vehicle, it projects lane guide lines 314 onto projection screen 310 based on the lane change request. Lane guide lines 314 extend from intersection B1 along lane 311. For example, if intersection B1 extends along lane 311 and intersects projection screen 310 at intersection A1, lane guide line 314 is the line connecting intersection B1 and intersection A1, meaning lane guide line 314 is parallel to lane 311.

[0068] I understand. Figure 3B The lane guide line 314 shown can be projected and displayed when the electronic device detects that the vehicle initiates a lane change request, or it can be projected and displayed before the electronic device detects that the vehicle initiates a lane change request, so as to provide driving guidance to the user before the vehicle initiates the lane change request. The present invention is not limited here.

[0069] In some embodiments, intersection A1 is used as the lane change starting point. Intersection A1 is the intersection of intersection B1 extending along lane 311 and the edge of projection image 310. Intersection A1 is horizontally parallel to intersection A2 in projection image 310. It will be understood that if the vehicle does not initiate a lane change request, the vehicle's driving position is the position of intersection A1 on lane 311; if the vehicle initiates a lane change request, the vehicle's driving position is the position of intersection A2 on lane 312.

[0070] In some embodiments, combined Figure 3B and Figure 3C As shown, when the electronic device detects that the vehicle initiates a lane change request, the time when the electronic device detects that the vehicle initiates the lane change request is recorded, and the time is used as the animation time for the start of the target animation. As the animation time increases, the electronic device gradually increases the curvature of the lane guide line 314, and gradually moves the end of the lane guide line 314 close to the intersection A1 in the direction close to the intersection A2, thereby gradually changing the display effect of the lane guide line 314, so that the lane guide line 314 presents a dynamically changing animation effect.

[0071] It is understood that when the electronic device detects that the vehicle initiates a lane change request, Figure 3B The lane guide lines shown are used to indicate the display effect presented when the electronic device detects a lane change request or before the electronic device detects a lane change request, for example, Figure 3B The lane guide line shown may be displayed parallel to the center axis 311A ​​of the lane 311 in which the vehicle is currently located; Figure 3C The lane guide line shown is used to indicate the display effect of the maximum animation time of the dynamic change of the lane guide line after the electronic device detects that the vehicle initiates a lane change request, for example, Figure 3CThe lane guide line shown may be displayed in a wavy curve. The maximum animation time is used to indicate the animation time at which the target animation ends.

[0072] In some embodiments, Figures 3B to 3C The electronic device detects the duration of the vehicle's lane change request as the duration of the target animation. Based on the duration of the target animation and the distance between intersections A1 and A2, the electronic device can determine the speed at which the end of lane guide line 314 near intersection A1 gradually moves toward intersection A2.

[0073] In some embodiments, combined Figure 3C and 3D As shown, after the electronic device detects a user triggering a lane change operation, such as detecting that the user turns the steering wheel to the right to change lanes, the vehicle's position changes toward lane 312 on the right, causing the straight-line distance (hereinafter referred to as the distance) between the vehicle and lane 312 to change. As the distance decreases, the curvature of lane guide line 314 is gradually reduced. For example, the end of lane guide line 314 near intersection B1 is gradually moved in a direction closer to lane 312, so that lane guide line 314 gradually changes and finally appears parallel to lane 312.

[0074] It can be understood that in the process of the above user triggering the lane change operation, Figure 3D As shown, after the user completes the lane change, the vehicle is driving in the middle position of the lane 312, that is, the position of the central axis 312A. At this time, the intersection B2 of the central axis 312A and the lateral edge line of the projection screen 310 close to the driving vehicle side is the current position of the driving vehicle, that is, the vehicle end point.

[0075] In some embodiments, after the electronic device detects that the user is driving the vehicle to change lanes, the change in lane guide line 314 is associated with the change in the vehicle's current position, that is, the change in lane guide line 314 is associated with the vehicle's destination. For example, upon detecting that the user has turned off the lane change turn signal, the user can be determined to have completed the lane change. Based on the vehicle's destination at the time of completion, the electronic device can determine whether the vehicle has initiated a lane change request. If a lane change request is still initiated, the route is replanned and lane guide lines are generated. If a lane change request is not initiated, the electronic device can cancel the display of the lane guide lines or change the lane guide lines to follow the vehicle's destination and parallel to the vehicle's current lane, etc., although the present invention is not limited thereto.

[0076] In some embodiments, the above example is only used to illustrate that the vehicle changes lanes from the position of the central axis 311A ​​of the lane 311 to the position of the central axis 312A of the lane 312. In other embodiments, when the electronic device detects that the vehicle initiates a lane change request, the lane guide line displayed by the electronic device may be a guide line extending along the shape of the lane based on the current position of the vehicle, such as Figure 3B As shown, intersection B1 can be determined based on the current position of the vehicle, and intersection A1 is the point where intersection B1 extends in the direction of the central axis 311A ​​of lane 311, that is, the lane guide line 314 formed by intersection A1 and intersection B1 is parallel to lane 311. When it is detected that the vehicle position is not along the central axis 311A ​​of lane 311, the lane guide line 314 formed by intersection A1 and intersection B1 may also be non-parallel to lane 311, and the present invention does not impose any limitation on this.

[0077] In other embodiments, when the electronic device detects that the user has completed lane change, the lane guide line displayed by the electronic device may also be a guide line extending along the lane shape based on the current position of the vehicle, such as Figure 3D As shown, intersection B2 can be determined based on the current position of the vehicle, and intersection A2 is the point where intersection B2 extends in the direction of the central axis 312A of lane 312, that is, the lane guide line 314 formed by intersection A2 and intersection B2 is parallel to lane 312. When the vehicle completes lane change and is not along the central axis 312A of lane 312, the lane guide line 314 formed by intersection A2 and intersection B2 may also be non-parallel to lane 312. The present invention does not impose any restrictions on this.

[0078] It can be understood that the scenario in which the above-mentioned electronic device is used for car driving is only described as an example of an application scenario of the present invention. In other embodiments, the electronic device can also be used in other application scenarios, and the present invention does not limit this.

[0079] Figure 4A According to some embodiments of the present invention, a schematic structural diagram of an electronic device 100 is shown.

[0080] like Figure 4A As shown, the electronic device 100 includes a processor 110, an image projection device 120, an audio module 130, a wireless communication module 140, an interface module 150, and a memory 160. The image projection device 120 includes a visual positioning unit 210, an image determination unit 220, an image control unit 230, an image display unit 240, and an optical unit 250.

[0081] It should be understood that the structure illustrated in this embodiment does not constitute a specific limitation on the electronic device 100. In other embodiments, the electronic device 100 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0082] The processor 110 is the control center of the electronic device 100 and can be a single processor or a collective term for multiple processing elements. For example, the processor 110 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as one or more microcontroller units (MCUs) or one or more field programmable gate arrays (FPGAs).

[0083] The processor 110 can execute the display method provided in the embodiments of the present application by running or executing instructions stored in the memory 160 and calling data stored in the memory 160. For example, the processor 110 can calculate the size of the projection screen projected by the electronic device, the display shape and effect of the lane guide line, etc. based on the real-scene image or video data captured by the image acquisition device such as the vehicle-mounted camera.

[0084] The image projection device 120 is used to generate a corresponding projection image according to the information to be displayed, and map it onto the windshield of the car, so that the human eye can observe the image of the projection image on the windshield.

[0085] The visual positioning unit 210 is used to obtain the user's line of sight information and determine the screen projected by the electronic device based on the line of sight information. In some embodiments, the projected screen can be, for example, the above-mentioned Figure 3A The scene shown is a projected image 310 .

[0086] The image determination unit 220 is used to obtain information such as instrument information, navigation information, route conditions, time, vehicle speed, displacement, etc., and determine the image presented by the projection screen. In some embodiments, the image can be the above-mentioned Figures 3B to 3D An image of the middle lane guide line 314 .

[0087] The image display unit 230 is used to display the real image of the image determined by the image determination unit 220. In some embodiments, the real image can be the above-mentioned Figures 3B to 3D Lane guide lines 314 are shown in the scene.

[0088] The optical unit 240 is configured to form a projection light beam based on the real image of the image, so as to generate a virtual image of the image and map it onto the projection screen.

[0089] The electronic device 100 can implement audio functions through the audio module 130, a high-frequency speaker or a vehicle-mounted speaker, a microphone, and an application processor, such as playing warning sounds, playing navigation sounds, or implementing voice assistant functions.

[0090] The interface module 150 may include one or more interfaces for accessing a vehicle power supply or connecting to other vehicle devices. The one or more interfaces may include, for example, an on-board diagnostic (OBD) interface, an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, and / or a universal serial bus (USB) interface.

[0091] The following is based on Figures 3A to 3D The application scenarios shown and Figure 4A The structural diagram shown in FIG. 1 illustrates some embodiments of the present invention.

[0092] Figure 4B According to some embodiments of the present invention, a flowchart of a display method is shown, which specifically includes the following steps:

[0093] S401: The electronic device 100 detects that a vehicle initiates a lane change request.

[0094] For example, Figure 5A As shown, at time T11, the electronic device detects that the navigation system prompts the vehicle to change lanes to lane 312 on the right side of lane 311, and then determines lane 312 on the right side of lane 311 as the target lane.

[0095] S402: The electronic device 100 obtains the vehicle starting point, the lane change starting point, and the lane change end point in response to the lane change request.

[0096] For example, Figure 5AAs shown, the electronic device obtains the lane change starting point (intersection A1), the lane change end point (intersection A2) and the vehicle starting point (intersection B1) based on the current position of the vehicle initiating the lane change request, the current position extending along the central axis 311A ​​of the lane 311 to the intersection with the upper edge line 511, and the intersection of the central axis of the lane 312 and the upper edge line 511.

[0097] It is understandable that, for example, Figures 3A to 3D As shown and related descriptions, you can Figure 5A The upper edge line 511 in the figure serves as the upper edge line of the projection screen 310 , the horizontal central axis 512 serves as the horizontal central axis of the projection screen 310 , and the lower edge line 513 serves as the lower edge line of the projection screen 310 .

[0098] S403: The electronic device 100 determines a second guide line displayed by projection based on the vehicle starting point and the lane change starting point.

[0099] For example, Figure 5A As shown, the electronic device 100 forms a lane guide line 314 based on the line connecting the intersection A1 and the intersection B1. At this time, the lane guide line 314 is projected onto the lane 311 and is parallel to the lane 311. The lane guide line 314 at time T11 is used as the second guide line.

[0100] S404: The electronic device 100 increases the curvature of at least a portion of the second guide line based on the animation time change, so that the end of the second guide line close to the lane change starting point moves toward the lane change end point to obtain the first guide line.

[0101] For example, Figure 5A As shown, from time T11 to time T14, the end of the lane guide line 314 (second guide line) close to the intersection A1 gradually moves toward the intersection A2.

[0102] It can be understood that the time interval from T11 to T14 is used as the duration of the target animation, and the change from T11 to T14 can be understood as the animation time change within the target animation, and the duration of the target animation is fixed. The duration of the target animation can be preset by the program in the electronic device or customized by the user. For example, if the duration of the target animation from T11 to T14 is 1S, after the electronic device detects that the navigation system prompts the vehicle to change lanes to lane 312 to the right of lane 311, within 1S, the electronic device can present the display screens of T11 to T14 in sequence, so that the user can see the dynamic changing display effect of the lane guide line 314 through the projection screen 310.

[0103] It can be understood that the speed at which the end of the lane guide line 314 (the second guide line) close to the intersection A1 gradually moves toward the intersection A2 can be determined based on the duration of the target animation from T11 to T14 and the distance between the intersection A1 and the intersection A2, or it can be preset by the program or customized by the user, and this application does not impose any specific restrictions.

[0104] In some embodiments, the process of adjusting the second guide line in step S404 can be achieved by:

[0105] For example, after electronic device 100 obtains intersection points A1, A2, and B1, it obtains first control point C1, which is a projection of intersection point B1 onto upper edge line 511 along the vehicle's driving direction, and uses intersection point A1 as second control point C2. Based on the animation timeline, first control point C1 and second control point C2 are adjusted to gradually approach horizontal center axis 512, causing the lane guide line to gradually increase in size.

[0106] Among them, the speed at which the first control point C1 or the second control point C2 approaches the horizontal central axis 512 can be determined by: according to the duration of the target animation from T11 to T14 and the distance between the first control point C1 or the second control point C2 and the horizontal central axis 512, or it can be preset by the program or customized by the user, and the present invention does not impose any specific restrictions.

[0107] For example, based on the animation time changes from T11 to T14, the intersection point B1, the intersection point A1, the first control point C1, and the second control point C2 corresponding to different animation times are substituted into a preset multi-order Bezier curve formula, and the curvature of the lane guide line at different animation times is determined by the multi-order Bezier curve formula.

[0108] Bezier curves are a computer graphics tool that create and edit curves by controlling at least multiple points to be fitted. For example, by substituting intersection point B1, intersection point A1, first control point C1, and second control point C2 corresponding to different animation times into the third-order Bezier curve formula, the curvature of the lane guide line at different animation times can be determined.

[0109] Furthermore, at time T14, intersection point A1 reaches intersection point A2, and first control point C1 and second control point C2 intersect horizontal central axis 512. Lane guide line 314 has one endpoint aligned with intersection point A2, and the other endpoint aligned with intersection point B1, with lane guide line 314 displaying a wavy curve. Lane guide line 314 at time T14 is considered the first guide line.

[0110] It can be understood that by substituting the intersection B1 and the intersection A1 as the two endpoints of the second guide line into the Bezier curve formula, the overall curvature of the second guide line can be adjusted. In other embodiments, any point on the second guide line and the intersection A1 can be substituted into the Bezier curve formula so that part of the curvature of the second guide line can be adjusted. For example, by substituting the intersection point and the intersection A1 of the second guide line with the horizontal central axis 512 into the Bezier curve formula, the curvature of the part of the second guide line located between the horizontal central axis 512 and the upper edge line 511 can be adjusted. For example, the intersection point and the intersection A1 of the second guide line with the horizontal central axis 512 at time T11 are obtained, and the corresponding first control point C1 or second control point C2 is obtained according to the above-mentioned acquisition principle. The control point of the intersection of the second guide line and the horizontal central axis 512 is substituted into the Bezier curve formula according to the change of the animation time, the intersection of the second guide line and the horizontal central axis 512, the intersection A1, the second control point C2 and the control point of the intersection of the second guide line and the horizontal central axis 512, so as to determine the curvature of the second guide line between the horizontal central axis 512 and the upper edge line 511 at different animation times, and in the process of the change of this part of the second guide line, the curvature of the second guide line between the horizontal central axis 512 and the lower edge line 513 remains unchanged. Specifically, two other points on the second guide line can be selected and the control points are determined based on the two selected points, and then the Bezier curve formula is used to obtain the curvature of part or all of the second guide line at different animation times. The present invention is not limited here.

[0111] S405: The electronic device 100 detects that the user triggers a lane change operation.

[0112] For example, when the electronic device 100 detects that the user turns the steering wheel to the right and drives the vehicle toward lane 312 so that the distance between the vehicle and the target lane decreases, it determines that the user has triggered a lane change operation.

[0113] S406: The electronic device 100 reduces the curvature of at least part of the first guide line based on the position change of the vehicle, so that the end of the first guide line close to the starting point of the vehicle moves toward the lane where the lane change end point is located to obtain a third guide line.

[0114] For example, Figure 5B As shown, at time T15, the electronic device detects that the user turns the steering wheel to the right to trigger a lane change operation, and obtains the movement change of the intersection B1, that is, the position change of the vehicle.

[0115] Furthermore, from time T16 to T17, the user turns the steering wheel to the right, causing the intersection point B1 to gradually move toward the lane 312. According to the change in the distance between the intersection point B1 and the lane 312 or the central axis 312A, the first control point C1 and the second control point C2 are gradually moved closer to the lower edge line 513, so that the curvature of the lane guide line 314 (i.e., the first guide line) gradually decreases.

[0116] Furthermore, at time T18, the electronic device detects that the user has completed the lane change operation. For example, the electronic device detects that the user has turned off the lane change turn signal, or the navigation system prompts that the lane change is completed, and determines that the user has completed the lane change operation.

[0117] For example, after the electronic device detects that the user has completed a lane change, it obtains the current location of the vehicle at the time the user completed the lane change as the vehicle's destination. For example, if the electronic device detects that the vehicle is at intersection B2 when the user turns off the lane change turn signal, intersection B2 is used as the vehicle's destination. Alternatively, when the electronic device detects that the vehicle has reached intersection B2, it instructs the user to complete the lane change and uses intersection B2 as the vehicle's destination. At this point, the first control point C1 and the second control point C2 intersect with the lower edge line 513, and lane guide line 314 is displayed on lane 312. Lane guide line 314 extends from intersection B2 along lane 312, i.e., it is displayed parallel to lane 312. Lane guide line 314 at time T18 is used as the third guide line.

[0118] It can be understood that the distance that the first control point C1 and the second control point C2 move toward the lower edge line 513 can be determined based on the distance that the intersection point B1 moves toward the lane 312. For example, if the intersection point B1 moves 20 cm in a straight line toward the lane 312, then the first control point C1 and the second control point C2 move 1 cm toward the lower edge line 513, etc. Or it can be a program preset or user-defined setting, which is not specifically limited in the present invention.

[0119] The curvature change of lane guide line 314 from T15 to T18 is determined by substituting intersection point A2, intersection point B1, first control point C1, and second control point C2 into the Bezier curve formula. The specific determination process is the same as the principle of the curvature change of lane guide line 314 from T11 to T14 described above, and therefore is not further described here.

[0120] It can be understood that by substituting the intersection B1 and the intersection A2 as the two endpoints of the first guide line into the Bezier curve formula, the overall curvature of the first guide line can be adjusted. In other embodiments, any point on the first guide line and the intersection B1 can be substituted into the Bezier curve formula so that part of the curvature of the first guide line can be adjusted. For example, by substituting the intersection of the first guide line and the horizontal central axis 512 and the intersection B1 into the Bezier curve formula, the curvature of the part of the first guide line located between the horizontal central axis 512 and the lower edge line 513 can be adjusted. For example, the intersection of the first guide line and the horizontal central axis 512 and the intersection B1 at time T15 are obtained, and the corresponding first control point C1 or second control point C2 is obtained according to the above-mentioned acquisition principle. The control point of the intersection of the first guide line and the horizontal central axis 512 is substituted into the Bezier curve formula according to the change of the animation time, the intersection of the first guide line and the horizontal central axis 512, the intersection B1, the second control point C2 and the control point of the intersection of the first guide line and the horizontal central axis 512, so as to determine the curvature of the first guide line between the horizontal central axis 512 and the lower edge line 513 at different animation times, and in the process of the change of this part of the first guide line, the curvature of the first guide line between the horizontal central axis 512 and the upper edge line 511 remains unchanged. Specifically, two other points on the first guide line can be selected and the control points are determined according to the selected two points, and then the Bezier curve formula is used to obtain the curvature of part or all of the first guide line at different animation times. The present invention is not limited here.

[0121] It is understood that the overall duration from T15 to T18 is determined based on the overall time taken by the user to change lanes. For example, if the overall time taken by the user to change lanes is 3 seconds, the overall duration from T15 to T18 is 3 seconds. Consequently, the electronic device can sequentially present the display screens from T15 to T18 within 3 seconds, allowing the user to see the dynamically changing display effect of the lane guide line 314 through the projection screen 310. Based on the display method implemented in steps S401 to S406, upon detecting a lane change request initiated by the vehicle, the electronic device can cause the lane guide line to change in real time based on the determined lane change start and end points, presenting a wavy curve display effect. The user can understand the lane change driving route based on the wavy curve display effect and perform the lane change operation. Upon detecting a lane change operation initiated by the user, the electronic device can cause the lane guide line to change in real time based on the real-time changes in the user's vehicle position, thereby achieving an animation effect that is correlated with the user operation. This allows the lane guide line to display dynamically throughout the entire lane change process, implementing dynamic lane change navigation and effectively improving the user's driving experience.

[0122] The following combination Figure 5A 、 5B as well as Figure 6A 、6B , the animation effect of the guide line in the above steps S401 to S406 is further explained.

[0123] in, Figure 5A and 5B The overhead rendering presented as the projection screen of the electronic device can be understood as a two-dimensional rendering. Figure 6A and 6B The rendering of the projection screen of the electronic device observed from the user's driving angle can be understood as a stereoscopic three-dimensional rendering.

[0124] In some embodiments, combined Figure 5A and Figure 6A As shown, Figure 5A The T11 to T14 moments are respectively Figure 6A The time periods T21 to T24 correspond to the time periods T21 to T24.

[0125] like Figure 6A As shown, at time T21, the electronic device detects that the navigation system prompts the vehicle to change lanes to lane 312 to the right of lane 311, sets lane 312 to the right of lane 311 as the target lane, and projects lane guide line 314 onto lane 311. At this time, lane guide line 314 is parallel to lane 311.

[0126] From time T22 to T23, according to the change in animation time, the side of lane guide line 314 away from the user is gradually moved closer to lane 312, and the curvature of lane guide line 314 is gradually increased, so that lane guide line 314 gradually presents a wavy curve display effect.

[0127] At time T24, a portion of the lane guide line 314 is displayed on the lane 311 and a portion is displayed on the lane 312, presenting a wavy curve display effect.

[0128] In some embodiments, combined Figure 5B and Figure 6B As shown, Figure 5B The T15 to T18 moments are respectively Figure 6B It corresponds to the time from T25 to T28 in the figure.

[0129] like Figure 6B As shown, at time T25, the electronic device detects that the user turns the steering wheel to the right to change lanes and obtains the real-time change of the vehicle's position.

[0130] From time T26 to T27, the user drives the vehicle gradually toward lane 312, and lane guide line 314 follows the movement of the vehicle. According to the change in the distance between the vehicle position and lane 312, the curvature of lane guide line 314 is gradually reduced, so that lane guide line 314 gradually appears to be parallel to lane 312.

[0131] At time T28, the electronic device detects that the user has turned off the lane change turn signal, determines that the user has completed the lane change, uses the current position of the vehicle as the vehicle's end point, and displays the lane guide line 314 on the lane 312 and presents a display effect parallel to the lane 312.

[0132] The following combination Figures 7A to 7B 、 Figures 8A to 8D ,as well as Figures 9A to 9C , the different shapes or styles of lane guide lines in the above steps are exemplified.

[0133] It is understood that the lane 311 or 312 is a straight lane shape as an example of a lane shape. In other embodiments, the lane may also be other shapes, such as Figure 7A Or lanes 711 and 712 shown in FIG7B may be curved, and lane 712 is used as the target lane. The lane change end point, lane change start point, vehicle start point, vehicle end point, first control point, and second control point are determined in the same manner as described above. Figure 7A As shown, the line connecting the lane change end point and the second control point is a tangent to the central axis 712A of the lane 712, and the line connecting the lane change start point and the first control point is parallel to the driving direction of the vehicle; or as shown in FIG. Figure 7B As shown, the line connecting the lane change end point and the second control point is a tangent to the central axis 712B of the lane 712, and the line connecting the lane change start point and the first control point is parallel to the driving direction of the vehicle.

[0134] In some embodiments, the comparison Figure 3B and Figure 8A 、 8B As shown, Figure 3B The figure shows the display effect of the projection screen of the electronic device observed from the user's driving angle. Figure 8A Shown Figure 3B A top view of the middle lane 311 and the lane guide line 314. Figure 8B As shown, it can be understood that the lane guide line 314 is the line connecting the intersection B1 and the intersection A1, and Figure 3B The display effect of the lane guide line 314 is based on Figure 8B The lane guide line 314 shown generates a display effect after grid data is superimposed on a two-dimensional graphic. Figure 3C and Figure 8C As shown, it can be understood that Figure 3CThe display effect of the lane guide line 314 is based on Figure 8C The line shape of the lane guide line 314 is shown as a display effect after grid data is superimposed on a two-dimensional graphic.

[0135] In other embodiments, the two-dimensional graphics superimposed according to the line shape of the lane guide line can also be other shapes, such as Figure 8D A two-dimensional diagram of the blocks arranged as shown, or Figure 8E The two-dimensional graphic of the combination of arrows and rectangles shown is not limited in the present invention.

[0136] The following combination Figure 3C 、 Figure 8C as well as Figures 9A to 9C , an example is given to illustrate the process of superimposing a two-dimensional graphic based on the line shape of the lane guide line.

[0137] In some embodiments, Figure 3C The display effect of the middle lane guide line 314 (curved surface + arrow) can be obtained by corresponding Figure 3C A top view of Figure 8C The lane guide line 314 in FIG. 3 is substituted into a mesh function to calculate mesh data, and then rendered by overlaying a corresponding two-dimensional graphic on the mesh data through a 3D rendering engine (such as Unity).

[0138] Specifically, if Figure 9A As shown, get Figure 8C A plurality of points are uniformly selected along the lane guide line to form a point set. The points are then connected sequentially to form a line segment 91, which is then translated left and right to form line segments 92 and 93. Furthermore, multiple parallel line segments are generated based on the multiple points selected above, and the ends of the multiple parallel line segments intersect with line segments 92 and 93, respectively, to generate multiple quadrilaterals 94. The diagonals of each quadrilateral 94 are connected to generate multiple triangles 95. The combination of multiple triangles 95 is substituted into the mesh function to obtain the three-dimensional coordinates, two-dimensional coordinates, index data, etc. of each triangle 95. It can be understood that by substituting multiple triangles 95 into the mesh function, the corresponding three-dimensional image features of each triangle 95 can be obtained.

[0139] In some embodiments, for example Figure 9B As shown, get Figure 5AThe schematic diagram at time T14 is obtained, and the line shape of the lane guide line 314 in the schematic diagram at time T14 is extracted. Based on the line shape, multiple points are collected, and the multiple points are connected in sequence to form a line segment 96. After translating the line segment 96 left and right, line segments 97 and 98 are obtained. Based on the multiple collected points, multiple parallel lines connected to line segments 95 and 96 are generated to generate multiple quadrilaterals, and the diagonals of each quadrilateral are connected respectively to generate multiple triangles 99. After substituting each triangle 99 into the mesh function, the corresponding mesh data is calculated.

[0140] like Figure 9C As shown, after calculating the grid data 90A, the final display effect of the lane guide line can be obtained by superimposing the two-dimensional graphic 90B in the shape of a double arrow through the unity engine. Figure 9C The display effect obtained by adding the two-dimensional graphics to the grid data 90A in the image can be used to represent Figure 3B or Figure 6A T21 time or Figure 6B The display effect of the lane guide lines at time T28.

[0141] In the accompanying drawings, some structural or method features may be shown in a particular arrangement and / or order. However, it should be understood that such a particular arrangement and / or order may not be required. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of a structural or method feature in a particular figure does not imply that such feature is required in all embodiments, and in some embodiments, such features may not be included or may be combined with other features.

[0142] It should be noted that the various units / modules mentioned in the various device embodiments of the present invention are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or can be implemented as a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems raised by the present invention. In addition, in order to highlight the innovative part of the present invention, the above-mentioned device embodiments of the present invention do not introduce units / modules that are not closely related to solving the technical problems raised by the present invention. This does not mean that other units / modules do not exist in the above-mentioned device embodiments.

[0143] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "including a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0144] While the present invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention.

Claims

1. A display method, applied to an electronic device, characterized in that: include: The electronic device projects and displays a first guide line, the first guide line being displayed on a first lane and a second lane, the first lane being the current driving lane of the vehicle; Detecting that a user triggers a lane change operation; In response to the lane change operation, the first guide line is controlled to be in a first motion state; wherein the first motion state includes: At least a portion of the first guide line moves following the real-time position of the vehicle, and a curvature of at least a portion of the first guide line decreases as a first distance between the vehicle and the second lane decreases; and Before the electronic device projects and displays a first guide line, and the first guide line is displayed on the first lane and the second lane, the method includes: The electronic device projects and displays a second guide line, where the second guide line is displayed on the first lane; detecting a lane change request by the vehicle; In response to the lane change request, the second lane is determined as the lane into which the vehicle needs to change lanes, and the second guide line is controlled to be in a second motion state to change into the first guide line; wherein, The second motion state includes: At least a portion of the second guide line moves in a direction approaching the second lane, and a curvature of the at least a portion of the second guide line increases with an increase in the time of the movement.

2. The method according to claim 1, characterized in that Before detecting the lane change request of the vehicle, the method includes: The second guide line is parallel to the first central axis of the first lane.

3. The method according to claim 1, characterized in that The electronic device projects and displays a first area image, wherein the first area image includes a first edge line and a second edge line; The first guide line or the second guide line is displayed in the first area screen.

4. The method according to claim 3, characterized in that Before controlling the first guide line to be in a first motion state in response to the lane changing operation, the method includes: A first endpoint of the first guide line is projected and displayed on the first edge line, the first endpoint is displayed on the first lane, and the first endpoint is used to indicate the current position of the vehicle; A second endpoint of the first guide line is projected onto the second edge line, the second endpoint is displayed on the second lane, and the second endpoint is used to indicate an end position of the vehicle that needs to change lanes as determined by the lane change request; The first endpoint and the second endpoint are respectively used to indicate the two end points of the first guide line.

5. The method according to claim 4, characterized in that The curvature of at least a portion of the first guide line decreases as a first distance between the vehicle and the second lane decreases, comprising: The curvature of the first guide line at different first distances is determined by the following method: Extending the first endpoint along a side close to the second endpoint based on the driving direction of the vehicle to obtain a first control point; Extending the second endpoint along a side close to the first endpoint based on the direction of the second central axis of the second lane or the tangent direction of the second central axis of the second lane to obtain a second control point; The second distance of the first control point and / or the second control point relative to the first endpoint decreases as the first distance between the vehicle and the second lane decreases; After substituting the first control point, the second control point, the second endpoint and the real-time position of the vehicle into the Bezier curve, the curvature of the first guide line at different first distances is obtained.

6. The method according to claim 5, characterized in that The first edge line and the second edge line are parallel to each other; Before detecting that a user triggers a lane change operation, the method includes: The vertical distances of the first control point relative to the first edge line and the second edge line are equal; and / or, The second control point has the same vertical distance from the first edge line and the second edge line.

7. The method according to claim 4, characterized in that The curvature of at least a portion of the first guide line decreases as a first distance between the vehicle and the second lane decreases, comprising: The curvature of the first guide line at different first distances is determined by the following method: At least two points are randomly collected on the first guide line to form a feature point set, wherein the feature point set includes a first feature point and a second feature point; Extending the first feature point along a side close to the second end point based on the driving direction of the vehicle to obtain a third control point; Extending the second feature point along a side close to the first endpoint based on the second central axis direction of the second lane or the tangent direction of the second central axis of the second lane to obtain a fourth control point; The third distance of the third control point and / or the fourth control point relative to the first feature point decreases as the first distance between the vehicle and the second lane decreases; After substituting the third control point, the fourth control point, the first feature point and the second feature point into the Bezier curve, the curvature of the first guide line at different first distances is obtained.

8. The method according to claim 7, characterized in that The first feature point is the first endpoint; and / or the second feature point is the second endpoint.

9. The method according to claim 1, characterized in that After controlling the first guide line to be in a first motion state in response to the lane changing operation, the method further includes: The first guide line is displayed on the second lane, and the first guide line is parallel to the second central axis of the second lane.

10. The method according to claim 3, characterized in that Before determining the second lane as the lane into which the vehicle needs to change lanes in response to the lane change request and controlling the second guide line to be in the second motion state to change into the first guide line, the method includes: The third endpoint of the second guide line is projected and displayed on the first edge line, the third endpoint is displayed on the first lane, and the third endpoint is used to indicate the current position of the vehicle; The fourth endpoint of the second guide line is projected onto the second edge line, and the fourth endpoint is used to represent the intersection of the third endpoint extending along the first central axis of the first lane and the second edge line; The third endpoint and the fourth endpoint are respectively used to indicate the two end points of the second guide line.

11. The method according to claim 10, characterized in that The curvature of at least a portion of the second guide line increases as the time of the movement increases, comprising: The curvature of the second guide line at different times of the movement is determined by: Extending the third endpoint along a side close to the fourth endpoint based on the driving direction of the vehicle to obtain a fifth control point; Extending the fourth endpoint along a side close to the third endpoint based on the first central axis direction of the first lane or the tangent direction of the first central axis of the first lane to obtain a sixth control point; A fourth distance between the fifth control point and / or the sixth control point and the third endpoint increases as the movement time increases, and a fifth distance between the fourth endpoint and the second central axis of the second lane decreases as the movement time increases; After substituting the fifth control point, the sixth control point, the third endpoint and the fourth endpoint into the Bezier curve, the curvature of the second guide line at different movement times is obtained.

12. The method according to claim 11, characterized in that Before detecting the lane change request of the vehicle, the method includes: The fourth endpoint, the fifth control point and the sixth control point coincide with each other.

13. A computer-readable storage medium, characterized in that The readable storage medium stores instructions, which, when executed on an electronic device, enable the electronic device to implement the method according to any one of claims 1 to 12.

14. An electronic device, characterized in that: include: a memory for storing instructions to be executed by one or more processors of the electronic device; and a processor, which is one of the processors of the electronic device, configured to execute instructions stored in the memory to implement the method according to any one of claims 1 to 12.

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