A method and system for scene reconstruction rendering display of a vehicle

Abstract

The application provides a scene reconstruction rendering display method and system for a vehicle, which first screens stable target objects within a preset range, so as to reduce the number of target objects to be considered and the demand for computing power, then selects a first display target object from the stable target objects according to a first constraint condition, and after the first display target object is selected, selects a second display target object from the stable target objects according to a second constraint condition, so as to reconstruct and render a scene around the vehicle according to the acquisition data of the first display target object and the second display target object, and display the scene on a human-computer interface of the vehicle. The scene reconstruction rendering display method and system for the vehicle can reduce the computing power burden of scene reconstruction, reduce the display delay of scene reconstruction, and guarantee the effective reconstruction of high-impact target objects behind the vehicle in the reconstructed scene, improve the driving assistance effect, and improve the driving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a scene reconstruction rendering display method and system of a vehicle. BACKGROUND

[0002] The machine vision module is one of the core modules in the advanced driving assistance system (ADAS), and is used for identifying obstacle information around the vehicle.

[0003] The machine vision module includes a large number of sensors, and can identify dozens or even hundreds of obstacle information around the vehicle based on the multi-sensor fusion technology, which can greatly improve the obstacle identification accuracy and improve the assistance effect. However, in human-computer interaction, limited by the limited display space or computing power of the instrument or head-up display (HUD), all obstacle targets are output to the human-computer interface (HMI) for human-computer interaction display, the increase in the number of obstacles will make the display too concentrated, and will reduce the processing response speed of the scene reconstruction display, easily interfere with driving, cause misjudgment, and thus cause misoperation, and reduce driving safety. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a scene reconstruction rendering display method and system of a vehicle, to solve the problem that the vehicle scene reconstruction display in the prior art lacks effective planning for a large number of obstacles identified, resulting in poor display interaction effect, easy to cause misoperation, and insufficient safety.

[0005] In one aspect, the present application provides a scene reconstruction rendering display method of a vehicle, comprising:

[0006] identifying target objects from the collected data of the vehicle body multi-sensor, and screening out stable target objects within a preset range;

[0007] selecting first display target objects from the stable target objects according to a first constraint condition, the first constraint condition including: the target objects are behind the vehicle, the number of selected target objects on a single lane is less than or equal to a first number, and the total number of the first display target objects is less than or equal to a second number;

[0008] selecting second display target objects from the stable target objects according to a second constraint condition, the second constraint condition including: the target objects are in front of the vehicle, and the total number of the second display target objects and the first display target objects is less than or equal to a preset display number threshold;

[0009] Reconstruct a scene around the vehicle according to the acquisition data of the first display target and the second display target, and display on a human-machine interface of the vehicle.

[0010] Optionally, the step of selecting the second display target comprises:

[0011] Obtain the total number of the stable targets, and compare the total number with the display number threshold;

[0012] When the total number of the stable targets is less than or equal to the display number threshold, select all the targets in front of the vehicle from the stable targets as the second display target;

[0013] When the total number of the stable targets is greater than the display number threshold, obtain a third number according to the difference between the total number of the first display target and the display number threshold, and select the third number of targets as the second display target according to the second constraint condition and a preset priority condition.

[0014] Optionally, the judgment reference condition of the priority condition comprises at least one of a straight-line distance, a lateral distance, a vehicle steering wheel setting side, a target relative speed, and a target type of the target.

[0015] Optionally, the step of selecting the first display target from the stable targets according to the first constraint condition comprises: when the number of targets behind the vehicle is less than the first number, selecting all the targets behind the vehicle from the stable targets as the first display target.

[0016] Optionally, the method further comprises: taking a front bumper center of the vehicle as a reference center.

[0017] Optionally, the preset range is less than a maximum perception range of the multi-sensor.

[0018] Optionally, the step of fusing the acquisition data of the vehicle body multi-sensor to identify the targets and screening the stable targets in the preset range further comprises: before screening the stable targets, calculating an identification confidence of each target, and excluding the target with an identification confidence lower than a preset confidence threshold.

[0019] Optionally, the method further comprises: obtaining the display number threshold according to a scene reconstruction computing power of the vehicle and a real-time size of an effective display area of a vehicle display module.

[0020] Optionally, the method further comprises: comparing the display number threshold with a scene maximum target number threshold, and when the display number threshold is less than or equal to the scene maximum target number threshold, releasing the number limitation on the second display target.

[0021] The application further provides a scene reconstruction rendering display system of a vehicle, comprising:

[0022] a target object identification module, configured to identify target objects according to fusion of data collected by multiple sensors of the vehicle body and to screen out stable target objects within a preset range;

[0023] a first processing module, configured to select first display target objects from the stable target objects according to a first constraint condition, the first constraint condition comprising: the target objects are located behind the vehicle, the number of selected target objects on a single lane is less than or equal to a first number, and the total number of the first display target objects is less than or equal to a second number;

[0024] a second processing module, configured to select second display target objects from the stable target objects according to a second constraint condition, the second constraint condition comprising: the target objects are located in front of the vehicle, and the total number of the second display target objects and the first display target objects is less than or equal to a preset display number threshold;

[0025] a scene reconstruction display module, configured to reconstruct and render a scene around the vehicle according to collected data of the first display target objects and the second display target objects and to display the scene on a human-machine interface of the vehicle.

[0026] The scene reconstruction rendering display method of the vehicle provided by the application first screens out stable target objects within a preset range to reduce the number of target objects to be considered and the demand for computing power, then selects first display target objects from the stable target objects according to a first constraint condition, after the first display target objects are selected, selects second display target objects from the stable target objects according to a second constraint condition, to reconstruct and render a scene around the vehicle according to collected data of the first display target objects and the second display target objects and to display the scene on a human-machine interface of the vehicle, wherein the target objects corresponding to the first display target objects are located behind the vehicle, and the first display target objects located behind the vehicle are preferably selected, and then the second display target objects located in front of the vehicle are processed, and the total number does not exceed a preset display number threshold, to guarantee the processing reliability of scene reconstruction under limited computing power, guarantee reconstruction accuracy, and at the same time, the target objects behind the vehicle are preferentially confirmed to guarantee the reconstruction coverage reliability of the target objects behind the vehicle in the reconstructed scene which have a greater impact on driving safety, and guarantee the driving assistance effect. The scene reconstruction rendering display method of the vehicle can reduce the computing power burden of scene reconstruction, reduce display delay, effectively guarantee the reconstruction rendering quality of target objects behind the vehicle in the reconstructed scene, improve the driving assistance effect, improve driving safety, and limit the number of the first display target objects behind the vehicle, which can effectively avoid the problem that too many target objects are displayed behind the vehicle and too few target objects are displayed in front of the vehicle under the condition that the total display number is limited, thereby guaranteeing the effectiveness of perception of the road conditions in front of the vehicle and guaranteeing the effect of assisted driving.

[0027] The scene reconstruction rendering display system of the vehicle provided by the present application further screens stable target objects within a preset range after the target object recognition module identifies the target object, reduces the number of target objects that need to be considered, reduces the demand for computing power, selects a first display target and a second display target from the stable target objects through the first processing module and the second processing module in turn, and reconstructs and renders the scene around the vehicle according to the collection data of the first display target and the second display target through the scene reconstruction display module, and displays the scene on the human-computer interface of the vehicle. The first display target is located at the rear of the vehicle, and the rear target object is preferentially confirmed, so as to guarantee the reconstruction coverage reliability of the rear target object in the reconstructed scene which has a greater impact on driving safety, and guarantee the driving assistance effect. The scene reconstruction rendering display system of the vehicle provided by the present application can reduce the computing power burden of scene reconstruction, reduce display delay, effectively guarantee the reconstruction rendering quality of the rear target object in the reconstructed scene, improve the driving assistance effect, improve driving safety, and limit the number of the first display target at the rear, so as to effectively avoid the problem that the number of displayed target objects at the rear is too large and the number of displayed target objects at the front is too small under the condition that the total number of displayed target objects is limited, guarantee the effectiveness of the perception of the front road condition, and guarantee the auxiliary driving effect. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The main flowchart of the scene reconstruction rendering display method of the vehicle in the embodiment of the present application is shown in the figure.

[0029] Figure 2 The target object identification schematic diagram of the scene reconstruction rendering display method of the vehicle in the embodiment of the present application is shown in the figure.

[0030] The following specific embodiments will further illustrate the present application in combination with the above-mentioned figures. DETAILED DESCRIPTION

[0031] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the related drawings. Several embodiments of the present application are shown in the drawings. However, the present application can be realized in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0032] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can be a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be a middle element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0034] Based on the improvement of the obstacle recognition ability of the vehicle body multi-sensor in the prior art, the recognized target objects may be too many, increasing the computing power pressure of scene reconstruction rendering display, which is not conducive to the efficient implementation of scene reconstruction, and the improvement of the obstacle recognition ability may even reduce the auxiliary driving effect in some scenes.

[0035] The application provides a scene reconstruction rendering display method of a vehicle, as shown in the accompanying drawings, which comprises the following steps: Figure 1

[0036] Step S01: fusing the data collected by the vehicle body multi-sensor to recognize target objects, and screening out stable target objects within a preset range;

[0037] Step S02: selecting first display target objects from the stable target objects according to a first constraint condition, the first constraint condition comprising: the target objects are behind the vehicle, the number of selected target objects on a single lane is less than or equal to a first number, and the total number of the first display target objects is less than or equal to a second number;

[0038] Step S03: selecting second display target objects from the stable target objects according to a second constraint condition, the second constraint condition comprising: the target objects are in front of the vehicle, and the total number of the second display target objects and the first display target objects is less than or equal to a preset display number threshold;

[0039] Step S04: reconstructing and rendering the scene around the vehicle according to the data collected by the first display target objects and the second display target objects, and displaying the scene on the human-machine interface of the vehicle.

[0040] Firstly, the stable target objects within a preset range are screened out, which can reduce the number of target objects to be considered and reduce the demand for computing power.

[0041] ​The first display target and the second display target are selected from the stable targets according to corresponding constraint conditions, after all the targets meeting the conditions are selected, a scene around the vehicle is rendered according to the collection data of the selected first display target and the second display target, and is displayed on a human-computer interface of the vehicle, wherein the target corresponding to the first display target is located at the rear of the vehicle, preferably the first display target at the rear of the vehicle is selected, and then the second display target at the front of the vehicle is processed, and the total number does not exceed a preset display number threshold, so that the processing power requirement of scene reconstruction is within the system power range, the reconstruction efficiency is guaranteed, and the reconstruction coverage reliability of the rear target in the reconstructed scene which has a greater impact on driving safety is guaranteed, and the effect of driving assistance is guaranteed. The number of the first display target at the rear is limited, so that in the case that the total display number is limited, the problem that too many targets are displayed at the rear and too few targets are displayed at the front, which leads to insufficient perception of the front road condition, can be effectively avoided, the perception effectiveness of the front road condition is guaranteed, and the effect of auxiliary driving is guaranteed.

[0042] In step S01, the fusion of the collection data of the multiple sensors is mainly used to integrate the local data resources provided by multiple sensors of the same type or different types distributed in different positions, to analyze the local data resources by using computer technology, to eliminate the redundancy and contradictions between the multiple sensor information, to complement each other, to reduce the uncertainty, and to obtain consistent interpretation and description of the identified targets, so as to ensure the accuracy of the identified targets.

[0043] In step S03, the step of selecting the second display target includes:

[0044] The total number of stable targets is obtained and compared with the display number threshold;

[0045] When the total number of stable targets is less than or equal to the display number threshold, all the targets located at the front of the vehicle in the stable targets are selected as the second display target;

[0046] When the total number of stable targets is greater than the display number threshold, a third number is obtained according to the difference between the total number of the first display target and the display number threshold, and the third number of targets is selected as the second display target according to the second constraint condition and the preset priority condition.

[0047] The total number of stable targets is obtained and compared with the display number threshold, so that the specific selection mode of the second display target can be quickly determined, when the total number of stable targets is less than or equal to the display number threshold, the priority judgment program and other complex processing programs do not need to be enabled, the data processing amount of selecting the second display target is reduced, the processing speed is improved, and the scene reconstruction efficiency is improved.

[0048] The priority conditions for determination include at least one of the following: straight-line distance, lateral distance, vehicle steering wheel setting side, relative speed of the target object, and target object type.

[0049] Specifically, the closer the target is to the vehicle in a straight line, the higher its priority; when the straight-line distance is the same, the closer the lateral distance, the higher the priority; when the straight-line distance and lateral distance are the same, the side on the same side as the vehicle's steering wheel has a higher priority; the greater the relative speed of the target relative to the vehicle, the higher the priority; target types can include pedestrians, two-wheeled vehicles, three-wheeled vehicles, cars, medium-sized vehicles, and large vehicles. In busy urban areas, pedestrians, two-wheeled vehicles, and three-wheeled vehicles are prone to irregular behavior, which has a greater impact on driving safety, so their priority can be set higher. In main road areas, the overall condition of large vehicles is prone to misjudgment, so their priority can be set higher.

[0050] In step S02, the step of selecting the first display target from the stable targets according to the first constraint condition includes: when the number of targets behind the vehicle is less than or equal to the first number, selecting all targets behind the vehicle from the stable targets as the first display target.

[0051] Among them, the first quantity is, for example, 2, and the second quantity is, for example, 6, that is, in the selection of targets behind, no more than two targets are selected in a single lane, and the total number is no more than six.

[0052] To improve data fusion efficiency, a reference center needs to be determined. In this embodiment, the center of the vehicle's front bumper is used as the reference center, such as... Figure 2 As shown, the canvas size has a horizontal dimension of M meters and a vertical dimension of N meters. The position of the target object is represented by two-dimensional coordinates, which can be used for priority judgment based on distance. For example, the straight-line distance from target 1 to the vehicle is L1 = (dx1² + dy1²)¹ / ², and the straight-line distance from target 2 to the vehicle is L2 = (dx2² + dy2²)¹ / ². When L1 = L2, dx1 and dx2 are compared. |dx1| < |dx2|, that is, the priority of target 1 is greater than the priority of target 2. When the number is limited and only one of the two can be selected, target 1 is selected first.

[0053] The preset range can be adaptively selected according to the sensing range of the vehicle-mounted multi-sensor, and to ensure the reliability of the identified stable target, the preset range is smaller than the maximum sensing range of the multi-sensor. For example, in the positive direction of the front and right side, the maximum sensing capability range of the sensor mounted on a certain vehicle model is longitudinal: -100 meters to 180 meters, and lateral: -60 meters to 60 meters. After fusion, the stable recognition range is selected as longitudinal: -60 meters to 150 meters, and lateral: -30 meters to 30 meters. The lateral direction can cover most of the road width. During driving, based on the requirement of safe distance in traffic law, the range of 60 meters behind can ensure that the rear target first appearing in the stable recognition range has not reached the regular safe distance of 50 meters, and can be given sufficient response time to ensure the auxiliary effect. When there are more than six vehicles within 60 meters behind, the traffic environment is relatively crowded, and only the six nearest vehicles behind are displayed to fully show the road conditions behind that have an impact on the driving strategy, meet the driving assistance needs, and more resources can be used for reconstruction of the front target. The specific parameters can be flexibly selected according to the actual application scene.

[0054] To improve the recognition accuracy of the target, in the embodiment, step S01 further includes: before screening the stable target, calculating the recognition confidence of each target, and excluding the target whose recognition confidence is lower than the preset confidence threshold, so as to ensure the confidence of the stable target.

[0055] To improve the quality of the reconstructed scene, in the embodiment, it further includes: obtaining a display quantity threshold according to the scene reconstruction computing power of the vehicle and the real-time size of the effective display area of the vehicle display module. When the effective display area of the vehicle display module, i.e. the size of the human-machine interface, is adjustable, the display quantity threshold is adjusted according to the size, which can reduce the demand for computing power of scene reconstruction when the size of the human-machine interface is manually adjusted, and improve the efficiency of scene reconstruction; when the scene reconstruction computing power of the vehicle is sufficient, the display quantity threshold is increased, which can improve the quality of the reconstructed scene while ensuring the efficiency of scene reconstruction, for example, when the vehicle is in automatic driving mode, the quality of the reconstructed scene is reduced, the computing power used for scene reconstruction is reduced, and the system computing power can be more used for realization of other vehicle intelligent functions such as automatic driving, to ensure the reliability of vehicle intelligent driving.

[0056] To further improve the scene reconstruction effect, in the embodiment, further comprising: comparing the display quantity threshold and the scene maximum target quantity threshold, when the display quantity threshold is less than or equal to the scene maximum target quantity threshold, the quantity restriction on the second display target is removed. Wherein, due to physical restrictions, the number of target objects in the actual scene is limited within a certain range, and the scene maximum target quantity threshold can be obtained according to the restriction, and when the display quantity threshold can be adjusted according to the system computing power, the quantity restriction on the second display target can be removed when the system computing power is sufficient to meet the efficient reconstruction of all recognized target objects, the priority judgment program can be avoided, the redundant computing power burden can be excluded, and the scene reconstruction efficiency can be improved, so that different computing power systems can be compatible.

[0057] The application also provides a scene reconstruction rendering display system of a vehicle, which comprises:

[0058] A target object identification module is configured to identify target objects according to the fusion of the collected data of the multiple sensors of the vehicle body and to screen out stable target objects within a preset range;

[0059] A first processing module is configured to select first display targets from the stable target objects according to a first constraint condition, wherein the first constraint condition comprises that the target objects are located behind the vehicle, the number of selected target objects on a single lane is less than or equal to a first number, and the total number of the first display targets is less than or equal to a second number;

[0060] A second processing module is configured to select second display targets from the stable target objects according to a second constraint condition, wherein the second constraint condition comprises that the target objects are located in front of the vehicle, and the total number of the second display targets and the first display targets is less than or equal to a preset display quantity threshold;

[0061] A scene reconstruction display module is configured to reconstruct and render the scene around the vehicle according to the collected data of the first display targets and the second display targets and to display the scene on the human-machine interface of the vehicle.

[0062] The scene reconstruction rendering display system of the vehicle can reduce the computing power burden of scene reconstruction, reduce the display delay, effectively guarantee the reconstruction and rendering quality of the target objects behind the vehicle in the reconstructed scene, improve the driving assistance effect and driving safety, limit the number of the first display targets behind the vehicle, effectively avoid the problem that the number of displayed target objects behind the vehicle is too large and the number of displayed target objects in front of the vehicle is too small when the total display quantity is limited, and thus guarantee the effectiveness of the perception of the road conditions in front of the vehicle and the auxiliary driving effect.

[0063] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0064] The above-described embodiments only express several specific implementations of the present application, which are described in a more specific and detailed manner, but cannot be understood as a limitation on the scope of the patent of the present application. It should be noted that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for scene reconstruction, rendering, and display of a vehicle, characterized in that, include: The system integrates data collected by multiple sensors on the vehicle body to identify target objects and selects stable target objects within a preset range. A first display target is selected from the stable targets according to a first constraint condition, the first constraint condition including: the target is located behind the vehicle, the number selected on a single lane is less than or equal to a first number, and the total number of the first display targets is less than or equal to a second number, wherein the second number is greater than the first number; A second display target is selected from the stable targets according to a second constraint condition, the second constraint condition including: the target is in front of the vehicle, and the total number of the second display target and the first display target is less than or equal to a preset display number threshold. The scene around the vehicle is reconstructed and rendered based on the collected data of the first and second display targets, and then displayed on the vehicle's human-machine interface. The step of selecting the second display target includes: Obtain the total number of the stable target objects and compare it with the displayed number threshold; When the total number of stable targets is less than or equal to the display quantity threshold, all targets located in front of the vehicle among the stable targets are selected as the second display targets; When the total number of stable target objects is greater than the display quantity threshold, a third quantity is obtained based on the difference between the total number of the first display target objects and the display quantity threshold, and the target objects of the third quantity are selected as the second display target objects according to the second constraint condition and the preset priority condition; The priority conditions for determining priority include at least one of the following: straight-line distance, lateral distance, vehicle steering wheel setting side, relative speed of the target object, and target object type, and the corresponding priority rules are as follows: The closer the target is to the vehicle in a straight line, the higher its priority. When the straight-line distance is the same, the closer the horizontal distance, the higher the priority. When the straight-line distance and lateral distance are the same, the side that is on the same side as the vehicle steering wheel has higher priority. The greater the relative speed of the target object with respect to the vehicle itself, the higher its priority. In busy urban areas, pedestrians, two-wheeled vehicles, and three-wheeled vehicles are given higher priority; in main road areas, large vehicles are given higher priority.

2. The vehicle scene reconstruction rendering and display method according to claim 1, characterized in that, The step of selecting a first display target from the stable targets according to the first constraint includes: when the number of targets behind the vehicle is less than or equal to the first number, selecting all targets behind the vehicle from the stable targets as the first display target.

3. The vehicle scene reconstruction rendering and display method according to claim 1, characterized in that, Also includes: Use the center of the vehicle's front bumper as the reference center.

4. The vehicle scene reconstruction rendering and display method according to claim 1, characterized in that, The preset range is smaller than the maximum sensing range of the multiple sensors.

5. The vehicle scene reconstruction rendering and display method according to claim 1, characterized in that, The step of fusing data collected by multiple sensors on the vehicle body to identify target objects and selecting stable target objects within a preset range further includes: before selecting the stable target objects, calculating the identification confidence level of each target object and excluding target objects with identification confidence levels lower than a preset confidence threshold.

6. The vehicle scene reconstruction rendering and display method according to claim 1, characterized in that, Also includes: The display quantity threshold is obtained based on the vehicle's scene reconstruction computing power and the real-time size of the effective display area of ​​the vehicle's display module.

7. The vehicle scene reconstruction rendering and display method according to claim 6, characterized in that, Also includes: The display quantity threshold and the scene maximum target object quantity threshold are compared. When the display quantity threshold is less than or equal to the scene maximum target object quantity threshold, the quantity restriction on the second display target object is lifted.

8. A scene reconstruction rendering and display system for vehicles, characterized in that, include: The target object recognition module is used to fuse data collected by multiple sensors on the vehicle body to identify target objects and filter out stable target objects within a preset range. A first processing module is configured to select a first display target from the stable targets according to a first constraint condition, the first constraint condition including: the target is located behind the vehicle, the number selected on a single lane is less than or equal to a first number, and the total number of the first display targets is less than or equal to a second number, wherein the second number is greater than the first number; The second processing module is used to select a second display target from the stable targets according to a second constraint condition, the second constraint condition including: the target is in front of the vehicle, and the total number of the second display target and the first display target is less than or equal to a preset display number threshold. The scene reconstruction and display module is used to reconstruct and render the scene around the vehicle based on the collected data of the first display target and the second display target, and display it on the human-machine interface of the vehicle. The second processing module is further configured to: Obtain the total number of the stable target objects and compare it with the displayed number threshold; When the total number of stable targets is less than or equal to the display quantity threshold, all targets located in front of the vehicle among the stable targets are selected as the second display targets; When the total number of stable target objects is greater than the display quantity threshold, a third quantity is obtained based on the difference between the total number of the first display target objects and the display quantity threshold, and the target objects of the third quantity are selected as the second display target objects according to the second constraint condition and the preset priority condition; The priority conditions for determining priority include at least one of the following: straight-line distance, lateral distance, vehicle steering wheel setting side, relative speed of the target object, and target object type, and the corresponding priority rules are as follows: The closer the target is to the vehicle in a straight line, the higher its priority. When the straight-line distance is the same, the closer the horizontal distance, the higher the priority. When the straight-line distance and lateral distance are the same, the side that is on the same side as the vehicle steering wheel has higher priority. The greater the relative speed of the target object with respect to the vehicle itself, the higher its priority. In busy urban areas, pedestrians, two-wheeled vehicles, and three-wheeled vehicles are given higher priority; in main road areas, large vehicles are given higher priority.

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