Trajectory Display Method, Device, Equipment and Storage Medium

Abstract

The present invention belongs to the technical field of vehicles, and discloses a trajectory display method, device, equipment and storage medium. When obtaining the driving perception information of multiple traffic participants, the present invention determines high-risk participants and the predicted driving trajectories of the high-risk participants according to the driving perception information of each traffic participant; processes the predicted driving trajectories according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectories of the high-risk participants to determine the driving trajectories to be displayed; and pushes and displays the driving trajectories to be displayed. By the above method, accurate and clear display of the predicted driving trajectories of high-risk participants is achieved, and at the same time, it helps users to anticipate the behavior of their own vehicles in advance and take over in advance when it does not conform to the expectation, reducing the risks of late takeover and emergency takeover, and enhancing the user's trust and experience of the navigation assisted driving system.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a trajectory display method, device, equipment, and storage medium. Background Art

[0002] When the navigation assisted driving function is turned on, when the host vehicle encounters traffic participants such as high-risk neighboring vehicles and VRUs (Vulnerable Road Users), it will perform targeted deceleration and avoidance, lateral offset (bias), nudge, etc. However, the actions initiated by the host vehicle may not meet the expectations of all users, and there may be differences from the users' expectations. Moreover, users cannot understand the host vehicle's actions through the SR environment reconstruction display interface, resulting in panic among users and a poor user experience.

[0003] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a trajectory display method, device, equipment, and storage medium, aiming to solve the technical problem of how to display the trajectories of traffic participants to improve the interpretability of the actions generated by the host vehicle during autonomous driving.

[0005] To achieve the above purpose, the present invention provides a trajectory display method, and the method includes the following steps:

[0006] When obtaining the driving perception information of multiple traffic participants, determine high-risk participants and the predicted driving trajectories of the high-risk participants according to the driving perception information of each traffic participant;

[0007] Process the predicted driving trajectories according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectories of the high-risk participants to determine the driving trajectories to be displayed;

[0008] Push and display the driving trajectories to be displayed.

[0009] Optionally, the step of determining high-risk participants and the predicted driving trajectories of the high-risk participants according to the driving perception information of each traffic participant includes:

[0010] Perform trajectory prediction according to the driving perception information of each traffic participant to determine the predicted driving trajectories of each traffic participant;

[0011] Perform risk prediction according to the current driving information of the target vehicle and the predicted driving trajectories of each traffic participant, and determine initially screened risk participants among multiple traffic participants according to the prediction results;

[0012] When there are multiple initially screened risk participants, high-risk participants are determined according to the participant positions of the initially screened risk participants;

[0013] According to the predicted driving trajectories of the traffic participants, the predicted driving trajectory of the high-risk participant is determined.

[0014] Optionally, the determining of high-risk participants according to the participant positions of the initially screened risk participants includes:

[0015] Obtain the current location of the target vehicle;

[0016] Perform distance calculation according to the participant positions of the initially screened risk participants and the current location, and determine the distance between the target vehicle and each initially screened risk participant;

[0017] Determine high-risk participants among the multiple initially screened risk participants according to the distance between the target vehicle and each initially screened risk participant.

[0018] Optionally, the processing of the predicted driving trajectory to determine the driving trajectory to be displayed according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant includes:

[0019] Determine the trajectory relationship according to the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle;

[0020] When the trajectory relationship is a preset intersection relationship, determine the trajectory intersection point;

[0021] Perform trajectory clipping on the predicted driving trajectory according to the trajectory intersection point to determine the driving trajectory to be displayed.

[0022] Optionally, after determining the trajectory relationship according to the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle, it further includes:

[0023] When the trajectory relationship is a preset coincidence relationship, determine the relative position relationship according to the current location of the target vehicle and the participant position of the high-risk participant;

[0024] When the relative position relationship is a preset front relationship, filter the predicted driving trajectory and determine the driving trajectory to be displayed according to the current driving trajectory.

[0025] Optionally, the pushing and displaying of the driving trajectory to be displayed includes:

[0026] Determine the basic display parameters according to the driving perception information of the high-risk participant;

[0027] Generate driving display information according to the basic display parameters and the driving trajectory to be displayed;

[0028] Push and display the driving display information.

[0029] Optionally, after pushing and displaying the driving display information, it further includes:

[0030] Obtain the real-time predicted trajectory and real-time driving position of the high-risk participant;

[0031] Perform risk calculation according to the real-time predicted trajectory and the real-time driving position to determine the driving risk result;

[0032] When there is no driving risk in the driving risk result, obtain the preset display time;

[0033] Stop displaying the driving display information after the current time interval reaches the preset display time.

[0034] In addition, to achieve the above object, the present invention also proposes a trajectory display device, and the trajectory display device includes:

[0035] A processing module, configured to determine a high-risk participant and the predicted driving trajectory of the high-risk participant according to the driving perception information of multiple traffic participants when obtaining the driving perception information of the multiple traffic participants;

[0036] The processing module is configured to process the predicted driving trajectory according to the trajectory relationship between the current driving trajectory and the predicted driving trajectory of the high-risk participant to determine the driving trajectory to be displayed;

[0037] A display module, configured to push and display the driving trajectory to be displayed.

[0038] In addition, to achieve the above object, the present invention also proposes a trajectory display device, and the trajectory display device includes: a memory, a processor, and a trajectory display program stored on the memory and executable on the processor, and the trajectory display program is configured to implement the steps of the trajectory display method as described above.

[0039] In addition, to achieve the above object, the present invention also proposes a storage medium, and a trajectory display program is stored on the storage medium, and when the trajectory display program is executed by a processor, it implements the steps of the trajectory display method as described above.

[0040] When the present invention obtains the driving perception information of multiple traffic participants, it determines high-risk participants and the predicted driving trajectories of the high-risk participants according to the driving perception information of each traffic participant; processes the predicted driving trajectories according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectories of the high-risk participants to determine the driving trajectories to be displayed; and pushes and displays the driving trajectories to be displayed. In the above manner, high-risk participants are screened out from multiple traffic participants based on the driving perception information of each traffic participant, and the predicted driving trajectories of the high-risk participants are predicted. The predicted driving trajectories are processed according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectories to determine the driving trajectories to be displayed, and they are pushed and displayed, achieving accurate and clear display of the predicted driving trajectories of high-risk participants, and at the same time helping users to anticipate the behavior of their own vehicles in advance and take over in advance when it does not conform to the expectation, reducing the risks of late takeover and emergency takeover, and enhancing the user's trust and experience of the navigation assisted driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic structural diagram of a trajectory display device in the hardware operating environment related to the solution of the embodiment of the present invention;

[0042] Figure 2 is a schematic flowchart of the first embodiment of the trajectory display method of the present invention;

[0043] Figure 3 is a schematic system architecture diagram of an embodiment of the trajectory display method of the present invention;

[0044] Figure 4 is a schematic SR display diagram of an embodiment of the trajectory display method of the present invention;

[0045] Figure 5 is a schematic flowchart of the second embodiment of the trajectory display method of the present invention;

[0046] Figure 6 is a schematic flowchart of the third embodiment of the trajectory display method of the present invention;

[0047] Figure 7 is a schematic block diagram of the first embodiment of the trajectory display device of the present invention.

[0048] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] Refer to Figure 1 , Figure 1Schematic diagram of the structure of the trajectory display device for the hardware operating environment involved in the embodiment of the present invention.

[0051] As shown in Figure 1 , the trajectory display device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) memory or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art can understand that Figure 1 the structure shown in

[0053] does not constitute a limitation to the trajectory display device, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements. Figure 1 As shown in

[0054] , the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a trajectory display program. Figure 1 In the trajectory display device shown in

[0055] , the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the trajectory display device of the present invention may be arranged in the trajectory display device. The trajectory display device calls the trajectory display program stored in the memory 1005 through the processor 1001 and executes the trajectory display method provided by the embodiment of the present invention. Figure 2 , Figure 2 Schematic diagram of the process of the first embodiment of a trajectory display method of the present invention.

[0056] In this embodiment, the trajectory display method includes the following steps:

[0057] Step S10: When the driving perception information of multiple traffic participants is obtained, determine the high-risk participants and the predicted driving trajectories of the high-risk participants according to the driving perception information of each traffic participant.

[0058] It should be noted that the execution subject of this embodiment is a trajectory display device. Among them, the trajectory display device has functions such as data processing, data communication, and program operation. The trajectory display device can be an integrated controller, a control computer, etc., and of course it can also be other devices with similar functions. This embodiment does not limit this.

[0059] It can be understood that the target vehicle in this embodiment refers to the vehicle itself that can realize the autonomous driving function. The target vehicle includes an autonomous driving domain controller and a large-screen display controller. The autonomous driving domain controller includes a perception fusion module, a prediction and control module, and a data processing module. The large-screen display controller includes an SR display rendering module. Its specific architecture is as Figure 3 shown, and the data processing module and the SR display rendering module are communicatively connected through Ethernet.

[0060] In specific implementation, the driving perception information includes but is not limited to the target ID of each traffic participant, the type corresponding to the traffic participant, the heading angle, and the position information. When the target vehicle turns on the navigation assisted driving function, after the perception fusion module obtains the driving perception information of multiple traffic participants, the prediction and control module real-time performs trajectory prediction based on the driving perception information of each traffic participant, and determines the predicted driving trajectories of each traffic participant within a preset time period in the future.

[0061] It should be noted that if there are multiple traffic participants, the prediction and control module performs risk prediction based on the predicted driving trajectories of each traffic participant within a preset time period in the future and the current driving information of the target vehicle, and can determine whether the traffic participant will cause the target vehicle to decelerate and avoid, lateral offset (bias), detour (nudge), etc. If so, it means that the traffic participant will have a safety impact on the driving of the target vehicle. At this time, the traffic participant is identified as a risk participant.

[0062] It can be understood that if there are multiple risk participants, the risk participant closest to the target vehicle can be used as the high-risk participant; the risk participant with the greatest impact on the target vehicle can also be used as the high-risk participant, or other methods can be used to screen out the high-risk participant among multiple risk participants. This embodiment does not limit this. In this embodiment, the risk participant closest to the target vehicle is used as the high-risk participant, and only one risk participant is screened out as the high-risk participant.

[0063] Step S20: Process the predicted driving trajectory based on the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant, and determine the driving trajectory to be displayed.

[0064] It should be noted that since there are intersecting or overlapping relationships in the current driving trajectory of the target vehicle, in order to avoid SR display confusion, it is necessary to filter or clip the predicted driving trajectory based on the trajectory relationship between the current driving trajectory and the predicted driving trajectory, so as to obtain the driving trajectory to be displayed for auxiliary display. In this embodiment, the driving trajectory to be displayed can be the current driving trajectory and a part of the predicted driving trajectory obtained by clipping the predicted driving trajectory, or can only include the current driving trajectory.

[0065] Step S30: Push and display the driving trajectory to be displayed.

[0066] It should be noted that the SR display rendering module pushes and displays the driving trajectory to be displayed to assist in explaining the behavior generated by the target vehicle during autonomous driving.

[0067] It can be understood that in order for the user to accurately obtain the relevant information of the high-risk participant, further, the pushing and displaying of the driving trajectory to be displayed includes: determining basic display parameters according to the driving perception information of the high-risk participant; generating driving display information according to the basic display parameters and the driving trajectory to be displayed; and pushing and displaying the driving display information.

[0068] In specific implementation, the basic display parameters include but are not limited to the target ID of the high-risk participant, the type corresponding to the traffic participant, the heading angle, and the position information, etc. Based on the basic display parameters of the high-risk participant and the driving trajectory to be displayed, the driving display information corresponding to the high-risk participant is generated, and the SR display rendering module displays the driving display information. For example, as Figure 4 shown, A + B is the driving trajectory to be displayed in the driving display information, A is the current driving trajectory of the target vehicle, and B is a part of the predicted driving trajectory obtained by clipping the predicted driving trajectory of the high-risk participant.

[0069] It should be noted that in order not to affect the SR display effect, further, after the pushing and displaying of the driving display information, it also includes: obtaining the real-time predicted trajectory and real-time driving position of the high-risk participant; calculating the driving risk according to the real-time predicted trajectory and the real-time driving position to determine the driving risk result; when the driving risk result indicates no driving risk, obtaining the preset display time; and stopping the display of the driving display information after the current time interval reaches the preset display time.

[0070] It can be understood that after displaying the driving display information of high-risk participants, the target vehicle determines the real-time predicted trajectory and real-time driving position of high-risk participants in real time based on the driving perception information, calculates the risk based on the real-time predicted trajectory, real-time driving position, and the real-time driving trajectory of the target vehicle. When the driving risk result indicates no driving risk, it means that high-risk participants no longer pose a risk to the target vehicle. At the same time, when there are no other risk participants, the preset display time is obtained. After the driving display information is continuously output for the preset display time, the display stops.

[0071] In a specific implementation, the target vehicle determines in real time based on the driving perception information whether there are new high-risk participants. If there are new high-risk participants, the driving display information of the new high-risk participants is immediately displayed, and the driving display information of the current high-risk participants disappears. For example, when using the method of selecting the risk participant closest to the target vehicle as the high-risk participant for screening, when a new high-risk participant closest to the target appears, the predicted driving trajectory of the current high-risk participant immediately disappears and the predicted driving trajectory of the new high-risk participant is displayed.

[0072] In this embodiment, when obtaining the driving perception information of multiple traffic participants, high-risk participants and the predicted driving trajectories of the high-risk participants are determined according to the driving perception information of each traffic participant; the predicted driving trajectories are processed according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectories of the high-risk participants to determine the driving trajectories to be displayed; and the driving trajectories to be displayed are pushed for display. Through the above method, high-risk participants are screened out among multiple traffic participants based on the driving perception information of each traffic participant, and the predicted driving trajectories of high-risk participants are predicted. The predicted driving trajectories are processed according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectories to determine the driving trajectories to be displayed and push them for display, achieving an accurate and clear display of the predicted driving trajectories of high-risk participants. At the same time, it helps users anticipate the behavior of their own vehicles in advance, take over in advance when it does not conform to expectations, reduce the risks of late takeover and emergency takeover, and enhance the user's trust and experience of the navigation assisted driving system.

[0073] Reference Figure 5 , Figure 5 is a schematic flowchart of the second embodiment of a trajectory display method of the present invention.

[0074] Based on the above first embodiment, the trajectory display method of this embodiment in step S10 includes:

[0075] Step S11: Perform trajectory prediction according to the driving perception information of each traffic participant to determine the predicted driving trajectories of each traffic participant.

[0076] It should be noted that the driving perception information of each traffic participant is preprocessed and feature extracted, and combined with the processed driving perception information of each traffic participant based on technologies such as machine learning or deep learning to predict the predicted driving trajectories of each traffic participant in a preset future time period.

[0077] Step S12: Perform risk prediction based on the current driving information of the target vehicle and the predicted driving trajectories of each traffic participant, and determine the initially screened risk participants among multiple traffic participants according to the prediction results.

[0078] It should be noted that the prediction and control module performs risk prediction based on the predicted driving trajectories of each traffic participant in a preset future time period and the current driving information of the target vehicle, and can determine whether a traffic participant will cause the target vehicle to decelerate and avoid, laterally deviate (bias), detour (nudge), etc. If so, it means that the traffic participant will have a safety impact on the driving of the target vehicle. At this time, the traffic participant is identified as an initially screened risk participant. In this embodiment, the initially screened risk participant refers to a risk participant that has an impact on the driving of the target vehicle screened from multiple traffic participants. The current driving information includes but is not limited to information such as the driving speed, driving acceleration, driving trajectory, and driving position of the target vehicle.

[0079] Step S13: When there are multiple initially screened risk participants, determine the high-risk participants according to the participant positions of each initially screened risk participant.

[0080] It should be noted that when there are multiple initially screened risk participants, in order to avoid multiple trajectories appearing at the same time and causing display chaos, it is necessary to determine the high-risk participant closest to the target vehicle among multiple initially screened risk participants based on the participant positions of each initially screened risk participant, and display the predicted driving trajectory of the high-risk participant when displaying the trajectory. In this embodiment, in addition to screening based on the participant positions of each initially screened risk participant, other methods can also be used, and this embodiment does not limit this.

[0081] It can be understood that in order to accurately screen out high-risk participants based on the participant positions of initially screened risk participants, further, the determining the high-risk participants according to the participant positions of each initially screened risk participant includes: obtaining the current location of the target vehicle; calculating the distance according to the participant positions of each initially screened risk participant and the current location to determine the distance between the target vehicle and each initially screened risk participant; determining the high-risk participants among multiple initially screened risk participants according to the distance between the target vehicle and each initially screened risk participant.

[0082] In a specific implementation, the current location of the target vehicle is obtained, the distances between each preliminarily screened risk participant and the target vehicle are calculated, and based on the distances between the target vehicle and each preliminarily screened risk participant, the participant with the closest distance to the target vehicle is found among the multiple preliminarily screened risk participants and is taken as the high-risk participant.

[0083] It should be noted that if there is only one preliminarily screened risk participant, then this preliminarily screened risk participant is taken as the high-risk participant and there is no need to enter the screening process.

[0084] Step S14: Determine the predicted driving trajectory of the high-risk participant according to the predicted driving trajectories of each traffic participant.

[0085] In this embodiment, trajectory prediction is performed according to the driving perception information of each traffic participant to determine the predicted driving trajectories of each traffic participant; risk prediction is performed according to the current driving information of the target vehicle and the predicted driving trajectories of each traffic participant, and preliminarily screened risk participants are determined among the multiple traffic participants according to the prediction results; when there are multiple preliminarily screened risk participants, high-risk participants are determined according to the participant positions of each preliminarily screened risk participant; the predicted driving trajectory of the high-risk participant is determined according to the predicted driving trajectories of each traffic participant. In the above manner, high-risk participants can be accurately screened out among multiple traffic participants, and the predicted driving trajectory of the high-risk participant can be determined, which is convenient for subsequent trajectories to be clearly and intuitively displayed.

[0086] Reference Figure 6 , Figure 6 is a schematic flowchart of the third embodiment of a trajectory display method of the present invention.

[0087] Based on the above embodiment, the trajectory display method of this embodiment in the step S20 includes:

[0088] Step S21: Determine the trajectory relationship according to the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle.

[0089] It should be noted that in order to avoid confusion when the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle are displayed, it is necessary to determine the trajectory relationship between the predicted driving trajectory and the current driving trajectory. The trajectory relationship includes only coincidence relationship and intersection relationship.

[0090] It can be understood that, in order to clearly display the trajectories when they coincide, further, after determining the trajectory relationship based on the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle, it further includes: when the trajectory relationship is a preset coincidence relationship, determining the relative position relationship based on the current location of the target vehicle and the participant location of the high-risk participant; when the relative position relationship is a preset front relationship, filtering the predicted driving trajectory and determining the driving trajectory to be displayed based on the current driving trajectory.

[0091] In specific implementation, when the current driving trajectory and the predicted driving trajectory overlap by more than a preset ratio, it indicates that the trajectory relationship between the current driving trajectory and the predicted driving trajectory is a coincidence relationship. At this time, it is necessary to further determine whether the high-risk participant is in front of the target vehicle, determine the relative position relationship between the two based on the current location of the target vehicle and the participant location of the high-risk participant, or determine whether the high-risk participant is in front of the target vehicle based on the longitudinal distance of the target vehicle. When the relative position relationship between the two is a preset front relationship, it indicates that the high-risk participant is in front of the target vehicle, then filter the predicted driving trajectory of the high-risk participant and only use the current driving trajectory as the trajectory to be displayed.

[0092] Step S22: When the trajectory relationship is a preset intersection relationship, determine the trajectory intersection point.

[0093] It should be noted that when there is an intersection point between the current driving trajectory and the predicted driving trajectory, it indicates that the trajectory relationship between the current driving trajectory and the predicted driving trajectory is an intersection relationship. At this time, determine the trajectory intersection point between the two.

[0094] Step S23: Perform trajectory clipping on the predicted driving trajectory according to the trajectory intersection point to determine the driving trajectory to be displayed.

[0095] It should be noted that perform trajectory clipping on the predicted driving trajectory based on the trajectory intersection point, retain the trajectory of the predicted driving trajectory before intersecting with the current driving trajectory, and use the trajectory of the predicted driving trajectory before intersecting with the current driving trajectory and the current driving trajectory as the driving trajectory to be displayed. When displaying the trajectory, display the current driving trajectory of the target vehicle and the trajectory of the predicted driving trajectory of the high-risk participant before intersecting with the current driving trajectory.

[0096] In this embodiment, the trajectory relationship is determined based on the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle; when the trajectory relationship is a preset intersection relationship, the trajectory intersection point is determined; and the predicted driving trajectory is trimmed based on the trajectory intersection point to determine the driving trajectory to be displayed. In the above manner, the predicted driving trajectory is processed based on the trajectory relationship between the predicted driving trajectory and the current driving trajectory, and the predicted driving trajectory is trimmed when they intersect, ensuring clarity and intuitiveness during subsequent trajectory display.

[0097] In addition, an embodiment of the present invention further provides a storage medium, on which a trajectory display program is stored. When the trajectory display program is executed by a processor, the steps of the trajectory display method described above are implemented.

[0098] Referring to Figure 7 , Figure 7 is a structural block diagram of the first embodiment of the trajectory display device of the present invention.

[0099] As Figure 7 shown, the trajectory display device proposed in an embodiment of the present invention includes:

[0100] A processing module 10, configured to determine a high-risk participant and the predicted driving trajectory of the high-risk participant according to the driving perception information of each traffic participant when the driving perception information of multiple traffic participants is obtained.

[0101] The processing module 10 is configured to process the predicted driving trajectory according to the trajectory relationship between the current driving trajectory and the predicted driving trajectory of the high-risk participant to determine the driving trajectory to be displayed.

[0102] A display module 20, configured to push and display the driving trajectory to be displayed.

[0103] In this embodiment, when obtaining the driving perception information of multiple traffic participants, the predicted driving trajectories of high-risk participants and the predicted driving trajectories of the high-risk participants are determined according to the driving perception information of each traffic participant; the predicted driving trajectories are processed according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectories of the high-risk participants to determine the driving trajectories to be displayed; and the driving trajectories to be displayed are pushed for display. In the above manner, high-risk participants are screened out among multiple traffic participants based on the driving perception information of each traffic participant, and the predicted driving trajectories of the high-risk participants are predicted. The predicted driving trajectories are processed according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectories, the driving trajectories to be displayed are determined, and they are pushed for display, realizing accurate and clear display of the predicted driving trajectories of high-risk participants, helping the user to anticipate the behavior of the vehicle in advance, taking over in advance when it does not conform to the expectation, reducing the risks of late takeover and emergency takeover, and enhancing the user's trust and experience in the navigation assisted driving system.

[0104] In one embodiment, the processing module 10 is further configured to perform trajectory prediction according to the driving perception information of each traffic participant to determine the predicted driving trajectories of each traffic participant;

[0105] Perform risk prediction according to the current driving information of the target vehicle and the predicted driving trajectories of each traffic participant, and determine the initially screened risk participants among multiple traffic participants according to the prediction results;

[0106] When there are multiple initially screened risk participants, determine the high-risk participants according to the participant positions of each initially screened risk participant;

[0107] Determine the predicted driving trajectories of the high-risk participants according to the predicted driving trajectories of each traffic participant.

[0108] In one embodiment, the processing module 10 is further configured to obtain the current location of the target vehicle;

[0109] Calculate the distances according to the participant positions of each initially screened risk participant and the current location to determine the distances between the target vehicle and each initially screened risk participant;

[0110] Determine the high-risk participants among multiple initially screened risk participants according to the distances between the target vehicle and each initially screened risk participant.

[0111] In one embodiment, the processing module 10 is further configured to determine the trajectory relationship according to the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle;

[0112] When the trajectory relationship is a preset intersection relationship, determine the trajectory intersection point;

[0113] Perform trajectory clipping on the predicted driving trajectory according to the trajectory intersection point to determine the driving trajectory to be displayed.

[0114] In one embodiment, the processing module 10 is further configured to determine a relative position relationship according to the current position of the target vehicle and the participant position of the high-risk participant when the trajectory relationship is a preset coincidence relationship;

[0115] When the relative position relationship is a preset front relationship, filter the predicted driving trajectory, and determine the driving trajectory to be displayed according to the current driving trajectory.

[0116] In one embodiment, the display module 20 is further configured to determine basic display parameters according to the driving perception information of the high-risk participant;

[0117] Generate driving display information according to the basic display parameters and the driving trajectory to be displayed;

[0118] Push and display the driving display information.

[0119] In one embodiment, the display module 20 is further configured to obtain the real-time predicted trajectory and the real-time driving position of the high-risk participant;

[0120] Perform risk calculation according to the real-time predicted trajectory and the real-time driving position to determine a driving risk result;

[0121] When there is no driving risk in the driving risk result, obtain a preset display time;

[0122] After the current time interval reaches the preset display time, stop displaying the driving display information.

[0123] It should be understood that the above is only an example, and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not limit this.

[0124] It should be understood that although the steps in the flowchart in the embodiments of the present application are sequentially shown according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limitation, and they can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0125] It should be noted that the above-described work process is only illustrative and does not limit the scope of protection of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no restrictions are imposed here.

[0126] In addition, it should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or system. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0127] The serial numbers of the above-described embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0128] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, 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 is stored in a storage medium (such as Read Only Memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0129] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, is equally included in the patent protection scope of the present invention.

Claims

1. A trajectory display method, characterized in that, The described trajectory display method includes: When obtaining the driving perception information of multiple traffic participants, determining high-risk participants and the predicted driving trajectories of the high-risk participants according to the driving perception information of each traffic participant, where the high-risk participants are the risk participants closest to the target vehicle or the risk participants with the greatest impact on the target vehicle; Processing the predicted driving trajectory according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant to determine the driving trajectory to be displayed; Pushing and displaying the driving trajectory to be displayed; Among them, the processing the predicted driving trajectory according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant to determine the driving trajectory to be displayed includes: Determining the trajectory relationship according to the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle; When the trajectory relationship is a preset intersection relationship, determining the trajectory intersection point; Performing trajectory clipping on the predicted driving trajectory according to the trajectory intersection point to determine the driving trajectory to be displayed; Among them, after determining the trajectory relationship according to the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle, it further includes: When the trajectory relationship is a preset coincidence relationship, determining the relative position relationship according to the current location of the target vehicle and the participant location of the high-risk participant; When the relative position relationship is a preset front relationship, filtering the predicted driving trajectory and determining the driving trajectory to be displayed according to the current driving trajectory.

2. The trajectory display method according to claim 1, wherein The determining the high-risk participants and the predicted driving trajectories of the high-risk participants according to the driving perception information of each traffic participant includes: Performing trajectory prediction according to the driving perception information of each traffic participant to determine the predicted driving trajectories of each traffic participant; Performing risk prediction according to the current driving information of the target vehicle and the predicted driving trajectories of each traffic participant, and determining the initially screened risk participants among multiple traffic participants according to the prediction results; When there are multiple initially screened risk participants, determining the high-risk participants according to the participant locations of each initially screened risk participant; Determining the predicted driving trajectory of the high-risk participant according to the predicted driving trajectories of each traffic participant.

3. The trajectory display method according to claim 2, wherein The determining the high-risk participants according to the participant locations of each initially screened risk participant includes: Obtaining the current location of the target vehicle; Calculating the distance according to the participant locations of each initially screened risk participant and the current location to determine the distance between the target vehicle and each initially screened risk participant; Determining the high-risk participants among multiple initially screened risk participants according to the distance between the target vehicle and each initially screened risk participant.

4. The trajectory display method according to any one of claims 1 to 3, characterized in that The pushing and displaying the driving trajectory to be displayed includes: Determining the basic display parameters according to the driving perception information of the high-risk participant; Generating driving display information according to the basic display parameters and the driving trajectory to be displayed; Pushing and displaying the driving display information.

5. The trajectory display method according to claim 4, wherein After pushing and displaying the driving display information, it further includes: Obtain the real-time predicted trajectory and real-time driving position of the high-risk participant; Perform risk calculation based on the real-time predicted trajectory and the real-time driving position to determine the driving risk result; When there is no driving risk in the driving risk result, obtain the preset display time; After the current time interval reaches the preset display time, stop the display of the driving display information.

6. A trajectory display device, characterized in that, The trajectory display device includes: A processing module, configured to, when obtaining the driving perception information of multiple traffic participants, determine the high-risk participant and the predicted driving trajectory of the high-risk participant according to the driving perception information of each traffic participant, where the high-risk participant is the risk participant closest to the target vehicle or the risk participant with the greatest impact on the target vehicle; The processing module is configured to process the predicted driving trajectory according to the trajectory relationship between the current driving trajectory and the predicted driving trajectory of the high-risk participant to determine the driving trajectory to be displayed; A display module, configured to push and display the driving trajectory to be displayed; The processing module is further configured to determine the trajectory relationship according to the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle; when the trajectory relationship is a preset intersection relationship, determine the trajectory intersection point; perform trajectory clipping on the predicted driving trajectory according to the trajectory intersection point to determine the driving trajectory to be displayed; The processing module is further configured to, when the trajectory relationship is a preset coincidence relationship, determine the relative position relationship according to the current location of the target vehicle and the participant position of the high-risk participant; when the relative position relationship is a preset front relationship, filter the predicted driving trajectory and determine the driving trajectory to be displayed according to the current driving trajectory.

7. A trajectory display device, characterized in that, The device includes: a memory, a processor, and a trajectory display program stored on the memory and executable on the processor, where the trajectory display program is configured to implement the trajectory display method according to any one of claims 1 to 5.

8. A storage medium, characterized in that, A trajectory display program is stored on the storage medium, and when the trajectory display program is executed by a processor, it implements the trajectory display method according to any one of claims 1 to 5.

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