An auxiliary trajectory line projection method, device, equipment and storage medium

Abstract

Embodiments of the present application provide a kind of auxiliary trajectory projection method, device, equipment and storage medium, it is related to vehicle driving field, method includes: if detecting vehicle meets preset turning condition, according to the information of the road where vehicle is located and the rotation angle of the steering wheel of vehicle, generate the two auxiliary trajectory lines of the vehicle of forward travel;Two auxiliary trajectory lines are projected on the ground in the field of view range of vehicle;If the first auxiliary trajectory line in two auxiliary trajectory lines and the boundary of field of view range intersect, according to intersection point and the head position of vehicle, the second auxiliary trajectory line is optimized, so that the length of the second auxiliary trajectory line after optimization is equal to the first auxiliary trajectory line;First auxiliary trajectory line and the second auxiliary trajectory line after optimization are re-projected on the ground in field of view range.Using the present application, it can improve the driving experience while guaranteeing driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle driving, and more specifically, to an auxiliary trajectory projection method, apparatus, device, and storage medium. Background Technology

[0002] With the development of intelligent vehicles, in order to facilitate drivers' travel and reduce traffic accidents, intelligent vehicles can usually provide drivers with forward driving assistance trajectory lines to help them understand the driving conditions.

[0003] Generally, projected auxiliary trajectory lines can be used to help drivers turn smoothly when the vehicle is turning. However, in existing technology, the projected auxiliary trajectory lines cannot adjust the projection effect in real time according to the turning situation, resulting in a poor driving experience for the driver. Summary of the Invention

[0004] This invention provides an auxiliary trajectory projection method, device, equipment, and storage medium, which can improve the driving experience while ensuring driving safety.

[0005] In a first aspect, embodiments of the present invention provide an auxiliary trajectory line projection method, the method comprising:

[0006] If a vehicle is detected to meet the preset turning conditions, two auxiliary trajectory lines for the vehicle traveling forward are generated based on the information of the road where the vehicle is traveling and the rotation angle of the vehicle's steering wheel.

[0007] The two auxiliary trajectory lines are projected onto the ground within the vehicle's field of view;

[0008] If the first auxiliary trajectory line intersects the boundary of the field of view, the second auxiliary trajectory line is optimized based on the intersection point and the position of the vehicle's front end, so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line.

[0009] The first auxiliary trajectory line and the optimized second auxiliary trajectory line are reprojected onto the ground within the field of view.

[0010] Optionally, generating two auxiliary trajectory lines for the forward-moving vehicle based on information about the road the vehicle is traveling on and the rotation angle of the vehicle's steering wheel includes:

[0011] Based on the centerline of the driving road, the centerline of the vehicle in the driving direction, and the rotation angle of the steering wheel, two auxiliary trajectory lines of the vehicle traveling forward are generated.

[0012] Optionally, generating two auxiliary trajectory lines for the forward-moving vehicle based on the centerline of the driving road, the centerline of the vehicle in the driving direction, and the rotation angle of the steering wheel includes:

[0013] Calculate the first distance between the centerline of the driving road and the centerline of the vehicle in the driving direction;

[0014] Based on the first distance and the rotation angle of the steering wheel, two auxiliary trajectory lines are generated for the vehicle traveling forward.

[0015] Optionally, optimizing the second auxiliary trajectory line based on the intersection point and the vehicle's front position, such that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line, includes:

[0016] Calculate the second distance between the intersection point and the front position of the vehicle;

[0017] Based on the second distance and a preset transformation coefficient, the second auxiliary trajectory line is optimized so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line, wherein the preset transformation coefficient is a positive number less than 1.

[0018] Optionally, projecting the two auxiliary trajectory lines onto the ground within the vehicle's field of view includes:

[0019] The preset trajectory line pixel values ​​and the preset background pixel values ​​are weighted and summed to calculate the projected pixel values ​​of the two auxiliary trajectory lines;

[0020] Based on the projected pixel values, the two auxiliary trajectory lines are projected onto the ground within the vehicle's field of view.

[0021] Optionally, before calculating the projected pixel values ​​of the two auxiliary trajectory lines by performing a weighted sum operation on the preset trajectory line pixel values ​​and the preset background pixel values, the method further includes:

[0022] Based on the rotation angle of the steering wheel and the preset rotation angle threshold, the trajectory line weight and background weight are determined.

[0023] Based on the trajectory line weight and the background weight, the preset trajectory line pixel values ​​and the preset background pixel values ​​are weighted and summed to calculate the projected pixel values ​​of the two auxiliary trajectory lines.

[0024] Optionally, determining the trajectory line weight and background weight based on the rotation angle of the steering wheel and a preset rotation angle threshold includes:

[0025] When the rotation angle of the steering wheel is less than a preset minimum rotation angle threshold, the weight of the trajectory line is determined to be a first value, and the weight of the background is determined to be a second value; wherein, the first value is greater than the second value;

[0026] When the rotation angle of the steering wheel is greater than the preset maximum rotation angle threshold, the weight of the trajectory line is determined to be the second value, and the weight of the background is determined to be the first value;

[0027] When the rotation angle of the steering wheel is greater than or equal to the preset minimum rotation angle threshold and less than or equal to the preset maximum rotation angle threshold, the trajectory line weight and the background weight are determined using preset transformation coefficients.

[0028] Secondly, embodiments of the present invention also provide an auxiliary trajectory line projection device, the device comprising:

[0029] The generation module is used to generate two auxiliary trajectory lines for the vehicle traveling forward, based on the information of the road where the vehicle is traveling and the rotation angle of the vehicle's steering wheel, if the vehicle is detected to meet the preset turning conditions.

[0030] A projection module is used to project the two auxiliary trajectory lines onto the ground within the vehicle's field of view;

[0031] An optimization module is used to optimize the second auxiliary trajectory line based on the intersection point and the vehicle's front position if the first auxiliary trajectory line intersects with the boundary of the field of view, so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line.

[0032] The projection module is also used to reproject the first auxiliary trajectory line and the optimized second auxiliary trajectory line onto the ground within the field of view.

[0033] Thirdly, embodiments of the present invention also provide an auxiliary trajectory projection device, comprising: a processor, a memory, and a bus, wherein the memory stores program instructions executable by the processor, and when the auxiliary trajectory projection device is running, the processor communicates with the memory via the bus, and the processor executes the program instructions to perform the steps of the auxiliary trajectory projection method as described in any of the first aspects.

[0034] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the auxiliary trajectory projection method as described in any of the first aspects.

[0035] This invention provides an auxiliary trajectory projection method, apparatus, device, and storage medium. When a vehicle is detected to meet preset turning conditions, it generates two auxiliary trajectory lines for a forward-moving vehicle based on the road information and the steering wheel rotation angle, and projects them onto the ground within the vehicle's field of view. Simultaneously, when the first auxiliary trajectory line intersects the boundary of the field of view, the second auxiliary trajectory line is optimized based on the intersection point and the vehicle's front position, ensuring that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line. The optimized auxiliary trajectory line is then reprojected onto the ground within the field of view. By using this auxiliary trajectory projection method, the two projected auxiliary trajectory lines can be made to have equal lengths during vehicle turning, avoiding the problem of unequal auxiliary trajectory line lengths caused by the boundary of the vehicle's field of view. This improves the driver's perception, allows for faster and more accurate decision-making, reduces driving difficulty, enhances the driving experience, and ensures driving safety. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A schematic diagram of a conventional auxiliary trajectory line projection provided for an embodiment of this application;

[0038] Figure 2 A flowchart illustrating an auxiliary trajectory projection method provided in an embodiment of this application;

[0039] Figure 3 A schematic diagram illustrating an improved auxiliary trajectory line projection provided in an embodiment of this application;

[0040] Figure 4 A flowchart illustrating a method for generating auxiliary trajectory lines provided in an embodiment of this application;

[0041] Figure 5 A flowchart illustrating an optimized auxiliary trajectory line method provided in an embodiment of this application;

[0042] Figure 6 A schematic flowchart illustrating a projection-assisted trajectory line method provided in an embodiment of this application;

[0043] Figure 7 A flowchart illustrating another projection-assisted trajectory line method provided in an embodiment of this application;

[0044] Figure 8 This application provides a schematic diagram of the optimization calculation of an auxiliary trajectory line.

[0045] Figure 9 A schematic diagram of an auxiliary trajectory projection device provided in an embodiment of this application;

[0046] Figure 10 This is a schematic diagram of an auxiliary trajectory projection device provided in an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0051] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0053] Before providing a detailed explanation of the present invention, its application scenarios will be introduced first.

[0054] While automobiles have brought immense convenience to people's lives, the number of traffic accidents they cause has also been soaring year by year. To improve driving safety and automation, most cars now possess intelligent features, capable of projecting corresponding auxiliary trajectory lines onto the road surface using pixelated headlights to assist driving and guide drivers in correct driving. For example, when the road narrows or encounters obstacles, ordinary drivers may find it difficult to judge whether the vehicle can pass, posing a potential risk of collision. In such situations, projected trajectory lines on the ground can assist in judging the passage. Similarly, when turning, projected trajectory lines can also assist the driver in making the turn.

[0055] The following diagrams illustrate the traditional auxiliary trajectory line projection scenario. Figure 1 This is a schematic diagram of a conventional auxiliary trajectory line projection provided for an embodiment of this application. For example... Figure 1 As shown, refer to Figure 1 (a) When the vehicle prepares to turn, two auxiliary trajectory lines A and B are generated in the forward direction; where A is the left auxiliary trajectory line and B is the right auxiliary trajectory line. Theoretically, A and B should be of equal length, but as can be seen from 1(a), A exceeds the boundary of the vehicle's field of view. Therefore, when actually projecting the auxiliary trajectory lines, only a partial projection can be achieved. Figure 1 (b) will result in the projection of auxiliary trajectory lines of unequal lengths when A and B are of different lengths.

[0056] This shows that when turning, the vehicle's auxiliary trajectory line will exceed the physical boundary of the headlight illumination range under large curvature conditions. At this time, the trajectory line will inevitably become shorter (for example, when turning left, the left trajectory line becomes shorter, but the right trajectory line is still long). This is not a good experience for the driver and is not conducive to the driver making quick and accurate driving decisions.

[0057] Based on this, the present invention provides an auxiliary trajectory projection method, apparatus, device, and storage medium. When a vehicle is detected to meet preset turning conditions, it generates two auxiliary trajectory lines for the forward-moving vehicle based on the road information and the steering wheel rotation angle, and projects them onto the ground within the vehicle's field of view. Simultaneously, when the first auxiliary trajectory line intersects the boundary of the field of view, the second auxiliary trajectory line can be optimized based on the intersection point and the vehicle's front position, ensuring that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line. The optimized auxiliary trajectory line is then reprojected onto the ground within the field of view, improving the driving experience while ensuring driving safety. The auxiliary trajectory projection method provided in the following embodiments of the present invention can be executed by an auxiliary trajectory projection device, which can be installed in a vehicle, allowing the user to project auxiliary trajectory lines while the vehicle is in motion.

[0058] The following explanation, in conjunction with the accompanying drawings, uses several embodiments to illustrate the concepts. Figure 2 This is a flowchart illustrating an auxiliary trajectory projection method provided in an embodiment of this application. Figure 2 As shown, the auxiliary trajectory projection method includes:

[0059] S110: If the vehicle is detected to meet the preset turning conditions, two auxiliary trajectory lines for the forward-moving vehicle are generated based on the information of the road where the vehicle is traveling and the rotation angle of the vehicle's steering wheel.

[0060] In this application, a "turn" button can be installed in the vehicle. When the user actively presses the "turn" button, it triggers a preset transition condition, allowing the auxiliary trajectory projection device to detect that the vehicle meets the preset transition condition when the "turn" button is pressed. In one possible implementation, a vehicle sensing device can be installed at the front of the vehicle to collect road condition information on the road surface in the direction of travel. When the auxiliary trajectory projection device uses the information collected by the vehicle sensing device to identify that the road surface in the direction of travel suddenly narrows, or when the auxiliary trajectory projection device uses the information collected by the vehicle sensing device to identify that an obstacle of a preset size appears on the road surface in the direction of travel, that is, when the auxiliary trajectory projection device uses the information collected by the vehicle sensing device to identify that the vehicle can no longer maintain a straight line and needs to turn, in this embodiment, the auxiliary trajectory projection device can consider that the vehicle meets the preset turning condition.

[0061] If a vehicle is detected to meet the preset turning conditions, two auxiliary trajectory lines for the forward-moving vehicle can be generated based on the centerline information of the road where the vehicle is traveling and the rotation angle of the vehicle's steering wheel.

[0062] Optionally, the centerline information of the road in which the vehicle is traveling can be obtained by the vehicle sensing device, and the rotation angle of the vehicle's steering wheel can be detected by the angle sensor in the vehicle and transmitted to the auxiliary trajectory projection device via the CAN (Controller Area Network) bus, so that the auxiliary trajectory projection device can obtain the rotation angle of the vehicle's steering wheel in real time.

[0063] It should be noted that if the steering wheel rotation angle is 0 at this time, that is, when the steering wheel is fully straightened, the two auxiliary trajectory lines generated at this time are parallel to the center line of the road where the vehicle is driving.

[0064] S120 projects two auxiliary trajectory lines onto the ground within the vehicle's field of view.

[0065] In this embodiment, two auxiliary trajectory lines need to be projected at a preset distance from the front of the vehicle. The preset distance from the front of the vehicle refers to the starting projection point closest to the front of the vehicle, which is also the closest point in the vehicle's field of view to the front of the vehicle.

[0066] Optionally, during projection, the color and width of the projection auxiliary trajectory line can be selected according to actual needs, and this application does not impose any restrictions on this.

[0067] It should be noted that, due to the limited illumination range of vehicle headlights, vehicles have a field of vision, and auxiliary trajectory lines that are outside the field of vision will not be projected.

[0068] S130, if the first auxiliary trajectory line intersects the boundary of the field of view, then the second auxiliary trajectory line is optimized based on the intersection point and the vehicle's front position, so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line.

[0069] In this application, during the turning process of a vehicle, if the first auxiliary trajectory line intersects the boundary of the field of view, because the vehicle has a field of view, the auxiliary trajectory line outside the field of view will not be projected and displayed, resulting in the two auxiliary trajectory lines having unequal lengths.

[0070] In this case, the second auxiliary trajectory line can be optimized based on the intersection of the first auxiliary trajectory line and the boundary of the field of view, as well as the current position of the vehicle's front end, so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line.

[0071] It should be noted that the "first auxiliary trajectory line" mentioned in this application is an auxiliary trajectory line that intersects with the boundary of the field of view while the vehicle is moving, and the "second auxiliary trajectory line" is another auxiliary trajectory line other than the "first auxiliary trajectory line".

[0072] Optionally, the length of the first auxiliary trajectory line can be determined by the position of the intersection point, thereby shortening and optimizing the second auxiliary trajectory line so that the optimized second auxiliary trajectory line is equal in length to the first auxiliary trajectory line.

[0073] Optionally, let the midpoint of the vehicle's front be the origin of the coordinate system, the Y-axis be the direction of travel, and the X-axis be the direction perpendicular to the direction of travel. The maximum horizontal illumination angle of the headlights can be set as follows: The distance between the headlights and the vehicle's centerline in the direction of travel is d. The field of view of the vehicle can be obtained according to formula (1).

[0074] Formula (1)

[0075] It should be noted that all the following formulas are described using the coordinate system mentioned above, and will not be repeated here.

[0076] S140, the first auxiliary trajectory line and the optimized second auxiliary trajectory line are reprojected onto the ground within the field of view.

[0077] When the optimization is complete and the two auxiliary trajectory lines are of equal length, the first auxiliary trajectory line and the optimized second auxiliary trajectory line are reprojected onto the ground within the field of view to improve the driver's driving experience.

[0078] Optionally, when the vehicle speed is relatively high, the auxiliary trajectory line will shorten more quickly, while when the vehicle speed is relatively low, the auxiliary trajectory line will shorten more slowly. Therefore, the length of the auxiliary trajectory line can also help the driver judge the vehicle speed.

[0079] Figure 3 This is a schematic diagram illustrating an improved auxiliary trajectory line projection provided in an embodiment of this application. For example... Figure 3 As shown, refer to Figure 3 (b) The vehicle is preparing to turn left. The left auxiliary trajectory line A and the right auxiliary trajectory line B are of unequal length. After optimization and improvement using the above S130-S140, as follows: Figure 3 As shown in (c), the left auxiliary trajectory line A and the optimized right auxiliary trajectory line B' are of the same length.

[0080] In this embodiment, by using such an auxiliary trajectory projection method, the two projected auxiliary trajectory lines can be made to be of equal length during vehicle turning, avoiding the problem of unequal auxiliary trajectory line lengths caused by the vehicle's field of view boundary. This improves the driver's perception and allows the driver to make more rapid and accurate decisions on driving behavior, reducing driving difficulty, enhancing the driving experience, and ensuring driving safety.

[0081] In S110 above, based on the information of the road where the vehicle is traveling and the rotation angle of the vehicle's steering wheel, two auxiliary trajectory lines for the forward-moving vehicle are generated, including:

[0082] Based on the centerline of the road, the vehicle's centerline in the direction of travel, and the steering wheel rotation angle, two auxiliary trajectory lines are generated for the forward-moving vehicle.

[0083] The information about the road in which the vehicle is traveling includes: the centerline information of the road and the centerline information of the vehicle in the direction of travel.

[0084] In the process of generating two auxiliary trajectory lines for a forward-moving vehicle, in order to make the auxiliary trajectory lines dynamically accurate, it is necessary to determine the current position information of the vehicle in the driving road based on the centerline information of the current driving road and the centerline information of the vehicle in the driving direction. Based on the vehicle's position information, the two auxiliary trajectory lines for the forward-moving vehicle are generated more accurately, which helps the driver judge driving behavior, helps the driver adjust the steering wheel in time, and ensures driving safety.

[0085] Figure 4 This is a flowchart illustrating a method for generating auxiliary trajectory lines provided in an embodiment of this application. Figure 4 As shown, the above-mentioned two auxiliary trajectory lines for a forward-moving vehicle are generated based on the centerline of the road, the vehicle's centerline in the direction of travel, and the steering wheel rotation angle, including:

[0086] S210, calculate the first distance between the centerline of the road and the centerline of the vehicle in the direction of travel.

[0087] In this application, the first distance 'a' between the centerline of the driving road and the centerline of the vehicle in the driving direction is calculated.

[0088] S220 generates two auxiliary trajectory lines for the forward-moving vehicle based on the first distance and the steering wheel rotation angle.

[0089] In this application, when the vehicle turns left, based on the first distance a and the current steering wheel rotation angle t, the left auxiliary trajectory line of the forward-moving vehicle can be obtained according to formula (2), and the right auxiliary trajectory line of the forward-moving vehicle can be obtained according to formula (3).

[0090] Formula (2)

[0091] Formula (3)

[0092] In this embodiment, two auxiliary trajectory lines for a forward-moving vehicle can be quickly generated based on the centerline of the road, the centerline of the vehicle in the direction of travel, and the rotation angle of the steering wheel. This helps the driver judge driving behavior, adjust the steering wheel in advance, and ensure driving safety.

[0093] Figure 5 This is a flowchart illustrating a method for optimizing auxiliary trajectory lines provided in an embodiment of this application. Figure 5 As shown, in S130 above, the second auxiliary trajectory line is optimized based on the intersection point and the vehicle's front position, so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line, including:

[0094] S310, calculate the second distance between the intersection point and the position of the vehicle's front end.

[0095] In this embodiment, the range of the first auxiliary trajectory line is defined as (Ya, Yb), where Ya represents the Y-coordinate value of the point on the first auxiliary trajectory line closest to the front of the vehicle, and Yb represents the Y-coordinate value of the point on the first auxiliary trajectory line furthest from the front of the vehicle. The intersection point of the first auxiliary trajectory line and the boundary of the field of view is then obtained, and the Y-coordinate value of the intersection point is defined as Y1. That is, the second distance between the intersection point and the front position of the vehicle is Yl.

[0096] S320, optimize the second auxiliary trajectory line according to the second distance and the preset transformation coefficient, so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line, wherein the preset transformation coefficient is a positive number less than 1.

[0097] Based on the second distance Yl and the preset transformation coefficient k, where k is a positive number less than 1, the Y coordinate value of the point on the optimized second auxiliary trajectory line that is far from the front of the vehicle can be calculated according to formula (4).

[0098] Formula (4)

[0099] Optionally, by continuing to use formula (3), the value of X can be obtained based on the value of Yr and the value of Ya, thus obtaining the optimized second auxiliary trajectory line.

[0100] In this embodiment, the distance between the auxiliary trajectory line intersecting the boundary of the field of view and the front of the vehicle can be used to optimize the second auxiliary trajectory line using a preset transformation coefficient, thereby making the two auxiliary trajectory lines equal in length. This improves the driver's perception and allows the driver to make more rapid and accurate decisions on driving behavior, reducing driving difficulty, enhancing the driving experience, and ensuring driving safety.

[0101] Figure 6 This is a flowchart illustrating a projection-assisted trajectory line method provided in an embodiment of this application. Figure 6 As shown, in S120 above, projecting two auxiliary trajectory lines onto the ground within the vehicle's field of view includes:

[0102] S410 performs a weighted sum operation on the preset trajectory line pixel values ​​and the preset background pixel values ​​to calculate the projected pixel values ​​of the two auxiliary trajectory lines.

[0103] In this application, in order to improve the driver's sensory experience, the projection pixel value of the auxiliary trajectory projection device can be specified during projection.

[0104] Optionally, to allow the brightness of the auxiliary trajectory line to change during turning, a weighted sum is performed on preset trajectory line pixel values ​​and preset background pixel values. The preset trajectory line pixel values ​​are the initial trajectory line pixel values ​​during projection, and the preset background pixel values ​​are the pixel values ​​of the light emitted by the vehicle headlights.

[0105] The rules stipulate that the sum of the preset weights of the trajectory line pixel values ​​and the preset weights of the background pixel values ​​is 1. Obviously, when the trajectory line and the light from the headlights appear on the ground at the same time, if the weight of the trajectory line pixel value is relatively large, then the weight of the background pixel value is relatively small, and the trajectory line is brighter than the light from the headlights; if the weight of the trajectory line pixel value is relatively small, then the weight of the background pixel value is relatively large, and the light from the headlights is brighter than the trajectory line.

[0106] S420 projects two auxiliary trajectory lines onto the ground within the vehicle's field of view, based on the projected pixel values.

[0107] Once the projection pixel values ​​are determined, two auxiliary trajectory lines are projected onto the ground within the vehicle's field of view based on these values.

[0108] In this embodiment, the auxiliary trajectory line is not static; it can be adjusted according to different trajectory line pixel value weights and background pixel value weights, so that the trajectory line can have a dynamic display effect during vehicle turning, thereby improving the driver's driving experience.

[0109] Figure 7 This is a flowchart illustrating another projection-assisted trajectory line method provided in an embodiment of this application. Figure 7 As shown, in S410 above, before performing a weighted sum operation on the preset trajectory line pixel values ​​and the preset background pixel values ​​to calculate the projected pixel values ​​of the two auxiliary trajectory lines, the following steps are included:

[0110] S510 determines the trajectory line weight and background weight based on the steering wheel rotation angle and the preset rotation angle threshold.

[0111] In this embodiment, the trajectory line weight and background weight can be determined based on the steering wheel rotation angle and the preset maximum rotation angle threshold and minimum rotation angle threshold.

[0112] In this way, the projected pixel values ​​of the auxiliary trajectory lines can be related to the steering wheel rotation angle. One possible implementation could be to achieve a fading effect, where the projected auxiliary trajectory lines are brightest at the beginning of a turn and disappear when the turn is complete, enhancing the driver's experience.

[0113] S520, perform a weighted sum operation on the preset trajectory line pixel value and the preset background pixel value according to the trajectory line weight and the background weight to calculate the projected pixel values of the two auxiliary trajectory lines.

[0114] In this embodiment, use the rotation angle of the steering wheel and the trajectory line weight and background weight adjusted by the preset rotation angle threshold to perform a weighted sum operation on the preset trajectory line pixel value and the preset background pixel value, so that the calculated projected pixel values of the two auxiliary trajectory lines are related to the rotation angle of the steering wheel, which is convenient for improving the driving experience of the driver.

[0115] Optionally, in the above S510, determining the trajectory line weight and the background weight according to the rotation angle of the steering wheel and the preset rotation angle threshold includes:

[0116] S610, when the rotation angle of the steering wheel is less than the preset minimum rotation angle threshold, determine that the trajectory line weight is the first value and the background weight is the second value.

[0117] Among them, the first value is greater than the second value.

[0118] In this embodiment, let the trajectory line pixel value be pv_ll and the trajectory line weight be w_ll; let the background pixel value be pv_bg and the background weight be w_bg; where, w_ll + w_bg = 1.0;

[0119] In this embodiment, the projected pixel value can be obtained using formula (5).

[0120] pv = w_ll * pv_ll + w_bg * pv_bg Formula (5)

[0121] At the same time, let the minimum rotation angle threshold be thelta_a, the maximum rotation angle threshold be thelta_b, and the rotation angle of the steering wheel be wheel_angle.

[0122] Then, when wheel_angle < thelta_a, that is, when the rotation angle of the steering wheel is less than the preset minimum rotation angle threshold, at this time, determine that the trajectory line weight is the first value. Optionally, the first value is 1.0, and the background weight is the second value of 0.0. That is, at this time, when starting to turn, the trajectory line is the brightest.

[0123] S620, when the rotation angle of the steering wheel is greater than the preset maximum rotation angle threshold, determine that the trajectory line weight is the second value and the background weight is the first value.

[0124] When wheel_angle > thelta_b, that is, when the rotation angle of the steering wheel is greater than the preset maximum rotation angle threshold, the trajectory line weight is determined to be the second value. Optionally, if the second value is 0.0, the background weight is the first value of 1.0, that is, w_ll = 1.0 and w_bg = 0.0. That is, when the turn is completed, the trajectory line disappears.

[0125] S630: When the rotation angle of the steering wheel is greater than or equal to the preset minimum rotation angle threshold and less than or equal to the preset maximum rotation angle threshold, the trajectory line weight and background weight are determined using preset transformation coefficients.

[0126] When wheel_angle≧thelta_a and wheel_angle≤thelta_b, that is, when the rotation angle of the steering wheel is greater than or equal to the preset minimum rotation angle threshold and less than or equal to the preset maximum rotation angle threshold, the trajectory line weight w_ll =k / wheel_angle is determined using the preset transformation coefficient k, and the background weight w_bg =1-k / wheel_angle.

[0127] In this embodiment, the steering wheel rotation angle, minimum rotation angle threshold, and maximum rotation angle threshold can be used to generate trajectory lines with different brightness at different stages of vehicle turning, thereby improving the driver's driving experience.

[0128] To more clearly illustrate the optimization calculation process of the auxiliary trajectory line, the following explanation is provided with reference to the accompanying diagram. Figure 8 This is a schematic diagram illustrating the optimized calculation of an auxiliary trajectory line provided in an embodiment of this application. Figure 8 As shown, let the midpoint of the vehicle's front be the origin of the coordinate system, the vehicle's direction of travel be the Y-axis, and the direction perpendicular to the direction of travel be the X-axis. The maximum horizontal illumination angle of the headlights can be set as follows: The distance between the headlights and the vehicle's centerline in the direction of travel is d. The field of view of the vehicle can be obtained according to formula (1).

[0129] Formula (1)

[0130] The vehicle in the diagram is preparing to turn left. Where a is the distance between the center line of the road and the center line of the vehicle in the direction of travel; t is the current rotation angle of the steering wheel. When the vehicle turns left, the left auxiliary trajectory line A of the forward-moving vehicle can be obtained according to formula (2), and the right auxiliary trajectory line of the forward-moving vehicle can be obtained according to formula (3).

[0131] Formula (2)

[0132] Formula (3)

[0133] After the left auxiliary trajectory line A intersects with the boundary of the field of view, the right auxiliary trajectory line is optimized. In this embodiment, the range of the first auxiliary trajectory line is defined as (Ya, Yb). Here, Ya represents the Y-coordinate value of the point on the first auxiliary trajectory line closest to the front of the vehicle, and Yb represents the Y-coordinate value of the point on the first auxiliary trajectory line furthest from the front of the vehicle. The intersection point of the first auxiliary trajectory line and the boundary of the field of view is then obtained, and the Y-coordinate value of the intersection point is defined as Y1. That is, the second distance between the intersection point and the front position of the vehicle is Yl.

[0134] Based on the second distance Yl and the preset transformation coefficient k, where k is a positive number less than 1, the Y coordinate value of the point on the right auxiliary trajectory line that is far from the front of the vehicle can be calculated according to formula (4).

[0135] Formula (4)

[0136] Continuing to use formula (3), based on the values ​​of Yr and Ya, we can obtain the corresponding value of X, and thus obtain the optimized right auxiliary trajectory line B'.

[0137] In this embodiment, the distance between the auxiliary trajectory line intersecting the boundary of the field of view and the position of the vehicle head can be used to optimize the second auxiliary trajectory line using a preset transformation coefficient, thereby making the two auxiliary trajectory lines equal in length. This improves the driver's perception and allows the driver to make driving decisions more quickly and accurately, reducing driving difficulty, enhancing the driving experience, and ensuring driving safety.

[0138] Figure 9 This is a schematic diagram of an auxiliary trajectory projection device provided in an embodiment of this application, as shown below. Figure 9 As shown, the auxiliary trajectory projection device includes:

[0139] The generation module 1000 is used to generate two auxiliary trajectory lines for a vehicle traveling forward, based on the information of the road where the vehicle is traveling and the rotation angle of the vehicle's steering wheel, if the vehicle is detected to meet the preset turning conditions.

[0140] Projection module 2000 is used to project two auxiliary trajectory lines onto the ground within the vehicle's field of view;

[0141] The optimization module 3000 is used to optimize the second auxiliary trajectory line based on the intersection point and the vehicle's front position if the first auxiliary trajectory line intersects with the boundary of the field of view, so that the optimized second auxiliary trajectory line is equal in length to the first auxiliary trajectory line.

[0142] The projection module 2000 is also used to reproject the first auxiliary trajectory line and the optimized second auxiliary trajectory line onto the ground within the field of view.

[0143] Optionally, the generation module 1000 is further used to generate two auxiliary trajectory lines for a forward-moving vehicle based on the centerline of the driving road, the centerline of the vehicle in the driving direction, and the rotation angle of the steering wheel.

[0144] Optionally, the generation module 1000 is further used to calculate a first distance between the centerline of the driving road and the centerline of the vehicle in the driving direction; and to generate two auxiliary trajectory lines for the forward-moving vehicle based on the first distance and the rotation angle of the steering wheel.

[0145] Optionally, the optimization module 3000 is further used to calculate the second distance between the intersection point and the vehicle's front position; and to optimize the second auxiliary trajectory line according to the second distance and the preset transformation coefficient, so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line, wherein the preset transformation coefficient is a positive number less than 1.

[0146] Optionally, the projection module 2000 is further used to perform a weighted sum operation on the preset trajectory line pixel values ​​and the preset background pixel values ​​to calculate the projection pixel values ​​of the two auxiliary trajectory lines; and to project the two auxiliary trajectory lines onto the ground within the vehicle's field of view based on the projection pixel values.

[0147] Optionally, the projection module 2000 is further used to determine the trajectory line weight and background weight based on the rotation angle of the steering wheel and a preset rotation angle threshold; and to perform a weighted sum operation on the preset trajectory line pixel values ​​and the preset background pixel values ​​based on the trajectory line weight and the background weight to calculate the projection pixel values ​​of the two auxiliary trajectory lines.

[0148] Optionally, the projection module 2000 is further configured to: when the rotation angle of the steering wheel is less than a preset minimum rotation angle threshold, determine the trajectory line weight as a first value and the background weight as a second value; wherein the first value is greater than the second value; when the rotation angle of the steering wheel is greater than a preset maximum rotation angle threshold, determine the trajectory line weight as the second value and the background weight as the first value; when the rotation angle of the steering wheel is greater than or equal to the preset minimum rotation angle threshold and less than or equal to the preset maximum rotation angle threshold, determine the trajectory line weight and the background weight using preset transformation coefficients.

[0149] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-on-a-Chip (SOC).

[0150] Figure 10 This is a schematic diagram of an auxiliary trajectory projection device provided in an embodiment of this application. The device may be a computing device or a server with computing processing capabilities.

[0151] The auxiliary trajectory projection device 10 includes a processor 11, a storage medium 12, and a bus 13. The storage medium 12 stores machine-readable instructions executable by the processor 11. When the auxiliary trajectory projection device 10 is executed, the processor 11 communicates with the storage medium 12 via the bus 13, and the processor 11 executes the machine-readable instructions to perform the above-described method embodiment. The specific implementation and technical effects are similar and will not be described in detail here.

[0152] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, including a program that, when executed by a processor, is used to perform the above-described method embodiments.

[0153] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0154] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0155] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0156] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0157] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An auxiliary trajectory line projection method, characterized in that, The method includes: If a vehicle is detected to meet the preset turning conditions, two auxiliary trajectory lines for the vehicle traveling forward are generated based on the information of the road where the vehicle is traveling and the rotation angle of the vehicle's steering wheel. The preset trajectory line pixel values ​​and the preset background pixel values ​​are weighted and summed to calculate the projected pixel values ​​of the two auxiliary trajectory lines; Based on the projected pixel values, the two auxiliary trajectory lines are projected onto the ground within the vehicle's field of view; If the first auxiliary trajectory line intersects the boundary of the field of view, calculate the second distance between the intersection point and the position of the vehicle's front end. Based on the second distance and a preset transformation coefficient, the second auxiliary trajectory line is optimized so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line, wherein the preset transformation coefficient is a positive number less than 1; The first auxiliary trajectory line and the optimized second auxiliary trajectory line are reprojected onto the ground within the field of view.

2. The method according to claim 1, characterized in that, The step of generating two auxiliary trajectory lines for the vehicle traveling forward, based on information about the road the vehicle is on and the rotation angle of the vehicle's steering wheel, includes: Based on the centerline of the driving road, the centerline of the vehicle in the driving direction, and the rotation angle of the steering wheel, two auxiliary trajectory lines of the vehicle traveling forward are generated.

3. The method according to claim 2, characterized in that, The step of generating two auxiliary trajectory lines for the forward-moving vehicle based on the centerline of the driving road, the centerline of the vehicle in the driving direction, and the rotation angle of the steering wheel includes: Calculate the first distance between the centerline of the driving road and the centerline of the vehicle in the driving direction; Based on the first distance and the rotation angle of the steering wheel, two auxiliary trajectory lines are generated for the vehicle traveling forward.

4. The method according to claim 1, characterized in that, Before performing a weighted sum operation on the preset trajectory line pixel values ​​and the preset background pixel values ​​to calculate the projected pixel values ​​of the two auxiliary trajectory lines, the method further includes: Based on the rotation angle of the steering wheel and the preset rotation angle threshold, the trajectory line weight and background weight are determined. Based on the trajectory line weight and the background weight, the preset trajectory line pixel values ​​and the preset background pixel values ​​are weighted and summed to calculate the projected pixel values ​​of the two auxiliary trajectory lines.

5. The method according to claim 4, characterized in that, The step of determining the trajectory line weight and background weight based on the rotation angle of the steering wheel and a preset rotation angle threshold includes: When the rotation angle of the steering wheel is less than a preset minimum rotation angle threshold, the weight of the trajectory line is determined to be a first value, and the weight of the background is determined to be a second value; wherein, the first value is greater than the second value; When the rotation angle of the steering wheel is greater than the preset maximum rotation angle threshold, the weight of the trajectory line is determined to be the second value, and the weight of the background is determined to be the first value; When the rotation angle of the steering wheel is greater than or equal to the preset minimum rotation angle threshold and less than or equal to the preset maximum rotation angle threshold, the trajectory line weight and the background weight are determined using preset transformation coefficients.

6. An auxiliary trajectory line projection device, characterized in that, The device includes: The generation module is used to generate two auxiliary trajectory lines for the vehicle traveling forward, based on the information of the road where the vehicle is traveling and the rotation angle of the vehicle's steering wheel, if the vehicle is detected to meet the preset turning conditions. The projection module is used to perform a weighted sum operation on the preset trajectory line pixel values ​​and the preset background pixel values ​​to calculate the projection pixel values ​​of the two auxiliary trajectory lines; and to project the two auxiliary trajectory lines onto the ground within the vehicle's field of view based on the projection pixel values. An optimization module is used to calculate a second distance between the intersection point and the front position of the vehicle if the first auxiliary trajectory line intersects with the boundary of the field of view; and to optimize the second auxiliary trajectory line according to the second distance and a preset transformation coefficient, so that the optimized second auxiliary trajectory line has the same length as the first auxiliary trajectory line, wherein the preset transformation coefficient is a positive number less than 1. The projection module is also used to reproject the first auxiliary trajectory line and the optimized second auxiliary trajectory line onto the ground within the field of view.

7. An auxiliary trajectory line projection device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores program instructions executable by the processor. When the auxiliary trajectory projection device is running, the processor communicates with the memory via the bus, and the processor executes the program instructions to perform the steps of the auxiliary trajectory projection method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, performs the steps of the auxiliary trajectory projection method as described in any one of claims 1 to 5.

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