Driving information display method and device and vehicle

Abstract

The invention discloses a driving information display method and device and a vehicle. Relates to the technical field of intelligent driving. The method comprises the following steps: acquiring the running speed of a vehicle running on a target road; determining a road contour of the target road and a driving distance corresponding to the driving speed, and generating a speed curve of the driving speed based on the road contour and the driving distance; and generating driving information according to the speed curve and the speed limiting speed of the target road, and displaying the driving information. According to the method, the historical, current and future driving speed change conditions of the vehicle can be displayed to the user, so that the somatosensory state of vehicle driving acceleration or deceleration is displayed to the user, the requirement of the user for obtaining the somatosensory performance of the vehicle driving state is met, misoperation of vehicle intelligent driving is reduced, the effectiveness of vehicle intelligent driving is improved, and the user experience is improved. Therefore, the control efficiency of intelligent driving of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method and device for displaying driving information, and a vehicle. Background Art

[0002] With the rapid development of intelligent driving technology, driverless vehicles will drive on the road according to the real-time planned path and speed. In particular, vehicles usually have speed limits for different roads during driving, such as speed limits on expressways, slow roads, or ramps. Therefore, it is necessary to adjust the speed of the vehicle according to the map or road conditions to ensure safe driving of the vehicle.

[0003] At present, when existing vehicles are limited in speed according to maps or road conditions, the speed of the vehicle is usually controlled directly. Users can only feel the changes in vehicle speed in real time, which affects the user experience. Summary of the invention

[0004] In view of this, the present application provides a method and device for displaying driving information, and a vehicle, the main purpose of which is to solve the problem that existing users can only feel the changes in vehicle speed in real time, affecting the user experience.

[0005] According to one aspect of the present application, a method for displaying driving information is provided, comprising:

[0006] Obtain the driving speed of the vehicle on the target road;

[0007] Determining a road profile of the target road and a driving distance corresponding to the driving speed, and generating a speed curve of the driving speed based on the road profile and the driving distance;

[0008] Driving information is generated according to the speed curve and the speed limit of the target road, and the driving information is displayed.

[0009] The embodiment of the present application generates a speed curve of driving speed to show the user the speed changes of the vehicle in history, current and future time periods, so as to show the user the physical state of the vehicle's acceleration or deceleration, meet the user's demand for physical perception of the vehicle's driving state, reduce misoperation of the vehicle's intelligent driving, improve the effectiveness of the vehicle's intelligent driving, and thus improve the control efficiency of the vehicle's intelligent driving.

[0010] Further, the generating the speed curve of the driving speed based on the road profile and the driving distance includes:

[0011] Determining a coordinate position corresponding to the travel distance based on the road profile, and constructing a curvature polynomial based on the coordinate position;

[0012] The curvature polynomial is solved based on the planning constraint and the driving speed to obtain the speed curve, wherein the planning constraint is a constraint condition for planning and solving the parameter matrix of the curvature polynomial according to an equality condition.

[0013] Further, generating driving information according to the speed curve and the speed limit of the target road, and displaying the driving information includes:

[0014] Determining a curvature extreme value from the speed curve according to the driving speed, and retrieving driving-related information corresponding to the curvature extreme value, wherein the driving-related information is used to characterize information affecting driving comfort attributes of the vehicle;

[0015] The driving information is generated based on the speed curve, the driving-related information, and the speed limit, and is displayed.

[0016] Further, the determining the road profile of the target road and the driving distance corresponding to the driving speed includes:

[0017] Acquire map data of the target road, and parse the road contour according to the road geographic information in the map data;

[0018] The driving rules of the target road and the planned path of the vehicle are obtained, and the road contour is split according to the driving rules and the planned path to determine the driving distance.

[0019] Furthermore, after generating the driving information according to the speed curve and the speed limit of the target road and displaying the driving information, the method further includes:

[0020] Under the condition that an event triggering output conversion of the driving information is detected, language prompt information of the driving information is output, so as to output the driving information based on the language prompt information; and / or,

[0021] Under the condition that a feedback event triggering the driving information is detected, historical driving data of the vehicle is obtained to adjust the driving information and / or the speed curve based on the historical behavior data.

[0022] Furthermore, before obtaining the historical driving data of the vehicle, the method further includes:

[0023] The feedback event and / or the output conversion event matching the driving information is configured and output to a display interface displaying the driving information, so that a user triggers the feedback event and / or the output conversion event.

[0024] According to another aspect of the present application, a driving information display device is provided, comprising:

[0025] An acquisition module is used to obtain the driving speed of the ego vehicle on the target road;

[0026] a determination module, configured to determine a road profile of the target road and a driving distance corresponding to the driving speed, and generate a speed curve of the driving speed based on the road profile and the driving distance;

[0027] The display module is used to generate driving information according to the speed curve and the speed limit of the target road, and display the driving information.

[0028] Furthermore, the determination module is specifically used to determine the coordinate position corresponding to the driving distance based on the road profile, and construct a curvature polynomial based on the coordinate position; solve the curvature polynomial based on the planning constraints and the driving speed to obtain the speed curve, and the planning constraints are constraints for planning and solving the parameter matrix of the curvature polynomial according to the equality conditions.

[0029] Furthermore, the display module is specifically used to determine the extreme curvature from the speed curve according to the driving speed, and retrieve driving-related information corresponding to the extreme curvature, wherein the driving-related information is used to characterize information affecting the driving comfort attributes of the vehicle; the driving information is generated based on the speed curve, the driving-related information, and the speed limit, and displayed.

[0030] Furthermore, the determination module is specifically used to obtain the map data of the target road and parse the road contour according to the road geographic information in the map data; obtain the driving rules of the target road and the planned path of the vehicle's expected travel, and split the road contour according to the driving rules and the planned path to determine the driving distance.

[0031] Furthermore, the device further comprises: an output module,

[0032] The output module is used to output the language prompt information of the driving information under the condition that an output conversion event of the driving information is detected, so as to output the driving information based on the language prompt information; and / or,

[0033] The acquisition module is further used to acquire the historical driving data of the vehicle under the condition of detecting a feedback event that triggers the driving information, so as to adjust the driving information and / or the speed curve based on the historical behavior data.

[0034] Furthermore, the device also includes:

[0035] A configuration module is used to configure the feedback event and / or the output conversion event that matches the driving information, and output it to a display interface that displays the driving information, so that a user can trigger the feedback event and / or the output conversion event.

[0036] According to one aspect of the present application, a vehicle is provided, comprising the above-mentioned display device for driving information.

[0037] According to another aspect of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method for displaying driving information as described above are implemented.

[0038] According to another aspect of the present application, a computer device is provided, comprising: at least one processor, the processor is coupled to a memory, the memory stores a program or instruction running on the processor, and the program or instruction, when executed by the processor, implements the steps of the method for displaying driving information as described above.

[0039] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0041] Figure 1 A flow chart of a method for displaying driving information provided by an embodiment of the present application is shown;

[0042] Figure 2 A schematic diagram of a speed curve provided in an embodiment of the present application is shown;

[0043] Figure 3 A ramp profile and a ramp driving schematic diagram provided in an embodiment of the present application are shown;

[0044] Figure 4 A block diagram showing the composition of a driving information display device provided by an embodiment of the present application is shown;

[0045] Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0047] The present application embodiment provides a method for displaying driving information, such as Figure 1 As shown, the method includes:

[0048] 101. Obtain the driving speed of the vehicle on the target road.

[0049] In the embodiment of the present application, during the trajectory planning process of the unmanned intelligent vehicle, the automatic driving processor as the current execution subject can be a processor configured on the vehicle side, or a cloud server matching the vehicle, etc. At this time, the current execution subject can perceive the target road expected to be driven by the self-vehicle (i.e., the current vehicle configured with the current execution subject) according to the planned driving path in real time based on the perception system. At this time, the target road can include but is not limited to ramps, curves, straight roads, etc., and then obtain the expected driving speed on this target road. Among them, the driving speed can be calculated based on the expected planned driving path, and can also be determined based on the pre-planned average speed, which is not specifically limited in the embodiment of the present application.

[0050] It should be noted that the vehicle is a vehicle with an automatic control system in the autonomous driving scenario, including passenger cars and commercial vehicles. Common models of passenger cars include but are not limited to sedans, sport utility vehicles, multi-person commercial vehicles, etc. Common models of commercial vehicles include but are not limited to pickup trucks, microvans, self-unloading vehicles, trucks, tractors, trailers and mining vehicles, etc. At this time, the vehicle can achieve autonomous driving based on the automatic control system.

[0051] 102. Determine a road profile of the target road and a driving distance corresponding to the driving speed, and generate a speed curve of the driving speed based on the road profile and the driving distance.

[0052] In the embodiment of the present application, under different road profiles, in order to drive safely, the vehicle needs to speed up or slow down according to the road conditions. For example, at a curve, it is necessary to slow down within the speed limit and then speed up so as to drive safely through the curve. Therefore, the current execution subject determines the driving distance of the vehicle based on the road profile and driving speed of the target road. At this time, the driving distance is the distance between the current position of the vehicle and the target position for changing the driving speed when driving on the target road, so as to generate a speed curve of the driving speed based on this driving distance and road profile. Among them, the driving distance is determined based on the target position for changing the driving speed when driving, so the driving distance can be one or more, and the embodiment of the present application does not make specific limitations.

[0053] It should be noted that, in the embodiment of the present application, the speed curve represents: the change of the vehicle speed over time in the predetermined driving section, which may include both the historical speed data of the section that the vehicle has already traveled through in the predetermined driving section and the future reference speed data of the remaining section that the vehicle is about to travel through, wherein the future reference speed data may be obtained through a vehicle speed prediction model, such as Figure 2 As shown, for driving on the ramp, the speed curve shows a curve drawn by the time lengths corresponding to different driving distances (such as ramp entrance, ramp middle, ramp exit) and the speed under this time length.

[0054] 103. Generate driving information according to the speed curve and the speed limit of the target road, and display the driving information.

[0055] In the embodiment of the present application, in order to realize efficient and flexible display of the speed curve to the user, the current execution subject generates driving information based on the speed curve and the speed limit in this target road to display the driving information in the vehicle. The driving information may include the speed curve, the speed limit, and may also include information used to characterize the driving comfort attributes that affect the vehicle, so that the user can feedback the expected driving speed of the vehicle based on the displayed driving information, which is not specifically limited in the embodiment of the present application. The speed limit includes the minimum speed and / or the maximum speed for driving on the target road. For example, the speed limit of the target ramp is 60km / h-40km / h, which is not specifically limited in the embodiment of the present application. In addition, the speed limit can be determined based on the speed specified by the map information of the road where the vehicle is located, and can also be determined based on the road speed limit identified by the global positioning system. Different target roads correspond to different driving speeds, which is not specifically limited in the embodiment of the present application. Figure 2 As shown, the dotted line is the speed curve and the straight line is the speed limit, which is displayed as driving information.

[0056] In another embodiment of the present application, the step of generating a speed curve of the driving speed based on the road profile and the driving distance comprises:

[0057] Determining a coordinate position corresponding to the travel distance based on the road profile, and constructing a curvature polynomial based on the coordinate position;

[0058] The curvature polynomial is solved based on the planning constraints and the driving speed to obtain the speed curve.

[0059] In order to accurately generate and display the speed curve of the vehicle and realize the display purpose of the intelligent speed limit of the vehicle, the current execution subject first constructs a curvature polynomial representing the speed change based on the coordinate position corresponding to the travel distance of the road contour. Figure 3 As shown, before the ego vehicle enters the ramp, the current executing subject can identify the road profile of the ramp as the target road through the perception system, and determine the coordinate position corresponding to the driving distance, such as a driving distance of 50 meters from point A at the ramp entrance, a driving distance of 200 meters from point B in the ramp, and a driving distance of 500 meters from point C at the ramp exit, until it exits the ramp at point D. Furthermore, the coordinate position of each driving distance can be determined according to the current driving position O of the ego vehicle as the origin position, so as to construct a curvature polynomial based on the coordinate position. After the current executing subject constructs the curvature polynomial, it solves the curvature polynomial according to the planning constraints and the driving speed as the initial speed to obtain a speed curve. The speed at any time in the solved speed curve can be expressed as Among them, a limit is the maximum constraint coefficient, κ is the curvature of the curvature polynomial solution, expressed as x, y are the coordinate positions of the vehicle, and the constructed P is a continuous matrix of slopes. In the embodiment of the present application, the corresponding P (1) is the first derivative of the slope P, P (2) is the second derivative of the slope P.

[0060] It should be noted that when constructing the curvature polynomial based on the coordinate position, the solution of the speed curve can be solved as a quadratic programming problem, which can be expressed as Among them, P is the slope matrix to be solved, q is the target vector, A is the coefficient matrix, l is the lowest constraint, u is the highest constraint, and x is the speed variable. Then, by dividing the coordinate position corresponding to the driving distance into equal intervals, multiple sub-intervals are obtained, which are expressed as [t i ,t i+1 ],i=0,...,k-1,[0,S max ]=[t0,t1)∪[t1,t2)∪...∪[t k-1 ,t k)∪[t k ],0=t0≤t1≤...≤t k-1 ≤t k =S max In the embodiment of the present application, a polynomial is defined for each subinterval, S(t)=P0(t), t0≤t≤t1, ....S(t)=P k-1 (t),t k-1 ≤t≤t k , t=(t0...t k ) is the node vector. At the same time, a fifth-order polynomial is constructed to describe the speed curve of each sub-interval. The x coordinate is expressed as Where A=[a0,a1,a2,a3,a4,a5] T ; Similarly, the y coordinate is expressed as

[0061] B=[b0,b1,b2,b3,b4,b5] T In the embodiment of the present application, the cost function of the x coordinate is constructed And converted to standard form P = SS T ,q=S·x i , the y coordinates are the same, and the embodiments of this application will not be repeated. In addition, in order to optimize the solution, a continuous matrix is ​​constructed, The continuous matrix is ​​normalized according to the third-order continuity. In the embodiment of the present application, the slope (first-order derivative) and curvature (second-order derivative) of the initial point S = 0.0 are constrained, and the slope is expressed as At this time, the planning constraint is the constraint condition for planning and solving the parameter matrix of the curvature polynomial according to the equality condition, that is, l = Ax = u, and the polynomial to be solved is constrained based on the planning constraint, curvature expression, and the coordinates corresponding to each sub-interval (the sub-interval of the average driving distance, the coordinates of each average can be calculated) and can be solved by the OSQP solver, which is not specifically limited in the embodiment of the present application. Furthermore, the curvature is expressed as Substitution get Get the curvature expression of the curvature polynomial It can also be expressed as the initial curvature point.

[0062] In another embodiment of the present application, the step of generating driving information according to the speed curve and the speed limit of the target road, and displaying the driving information includes:

[0063] determining a curvature extreme value from the speed curve according to the driving speed, and retrieving driving-related information corresponding to the curvature extreme value;

[0064] The driving information is generated based on the speed curve, the driving-related information, and the speed limit, and is displayed.

[0065] In order to flexibly display driving information to the user, the current execution subject first determines the curvature extreme value from the speed curve according to the driving speed, which may include the maximum curvature value and the minimum curvature value, so as to display the driving-related information according to this curvature extreme value. Among them, the driving-related information is used to characterize the information that affects the driving comfort attributes of the vehicle, including but not limited to the content of the driving comfort attributes of the text or numbers pre-configured for different curvature extreme values, for example, the text characterizing the comfort configured for the maximum curvature value, "There is a large speed increase here, please note", which is not specifically limited in the embodiments of the present application. In addition, the driving-related information can be pre-configured for different curvature extreme values ​​by the current execution subject, and can also be generated in real time for different curvature extreme values ​​based on the pre-configured association relationship, which is not specifically limited in the embodiments of the present application.

[0066] It should be noted that when generating driving information, the speed curve, speed limit, driving-related information and the user's basic information can be configured to generate driving information suitable for the user's perspective, including but not limited to the user's gender, user occupation, user age, user preferences, etc. For example, if the user prefers a cute style, a pink driving information with gentle text "Slow down here, please pay attention" is generated and displayed in the front-end interface of the vehicle. This embodiment of the present application does not make specific limitations. In addition, when displaying driving information, the speed curve and driving-related information can be flexibly visualized. For example, the length of the speed curve displayed, the amount of driving-related information, etc. can be set by pressing buttons. This embodiment of the present application does not make specific limitations.

[0067] In addition, in the embodiment of the present application, when the speed curve is displayed in the driving information, in order to better indicate the speed of the vehicle and to show the user the comfort caused by different speeds, the minimum curvature in the speed curve is calculated, so that the corresponding driving-related information is configured at this minimum curvature point. When calculating the minimum curvature, uniform deceleration can be used as the deceleration condition, and the speed and distance at the minimum curvature can be obtained by taking the derivative based on the speed limit curvature, which is expressed as Among them, v0 is the initial velocity, a0 is the highest order coefficient in the polynomial coefficient vector, j∈(0,5), and t represents time.

[0068] In another embodiment of the present application, the step of determining the road profile of the target road and the driving distance corresponding to the driving speed includes:

[0069] Acquire map data of the target road, and parse the road contour according to the road geographic information in the map data;

[0070] The driving rules of the target road and the planned path of the vehicle are obtained, and the road contour is split according to the driving rules and the planned path to determine the driving distance.

[0071] In order to accurately determine the speed curve based on the driving distance, the current execution subject first obtains the map data of the target road. At this time, the map data is the digital content that represents the geographical distribution of the target road, including but not limited to geographical coordinates, altitude, etc., which can be obtained through the national geographic database or based on the global positioning navigation system. The embodiment of this application does not make specific restrictions. Then, the current execution subject parses the road geographical information in the map data to obtain the road contour, such as Figure 3 As shown, the road where the ego vehicle is located and the ramp contour of the expected driving to the target road (ramp). At this time, the road geographic information includes the geographical location of the ramp, the width of the ramp, the entrance position of the ramp, etc., so that the road contour of the ramp is analyzed and calculated based on the geometric analysis method. The embodiment of the present application does not make specific limitations. At the same time, since different target roads can be configured with different driving rules for restricting vehicle driving conditions, the driving rules include the speed extremes of different vehicles driving on different driving roads, and the road contour is split based on the driving rules of the target road combined with the planned path of the expected driving to obtain the driving distance. Among them, the planned path can be planned based on the driving path between the destination and the starting point of the ego vehicle, or it can be obtained by adjusting the path in real time based on the perception system sensing the vehicles around the ego vehicle. The embodiment of the present application does not make specific limitations. The planned path includes the trajectory and position changed for different roads. Therefore, the road contour is split according to the driving rules and the planned path, such as Figure 3 For the ramp shown in the figure, the speed limit of the ramp entrance AB section is 60km / h, the speed limit of the ramp entrance BC section is 40km / h, and the speed limit of the ramp exit CD section is 60km / h. The road contour is divided to obtain the driving distance of three sections, which correspond to the distances between the position points A, B, and C and the current position O of the vehicle. At this time, different driving distances can be obtained according to different driving rules.

[0072] In a specific implementation scenario, the vehicle is in the right lane and is driving straight along the planned path, entering a tunnel ahead. The corresponding driving rules include a minimum speed limit of 40km / h and a maximum speed limit of 80km / h for entering the tunnel. Therefore, when the vehicle reaches the time node in front of the tunnel according to the planned path, the speed limit is switched from the current driving speed of 100km / h to a speed limit of 40km / h-80km / h, which is displayed in the front-end interface of the vehicle. This embodiment of the present application does not make any specific limitations.

[0073] In another embodiment of the present application, after the step of generating driving information according to the speed curve and the speed limit of the target road and displaying the driving information, the method further includes:

[0074] Under the condition that an event triggering output conversion of the driving information is detected, language prompt information of the driving information is output, so as to output the driving information based on the language prompt information; and / or,

[0075] Under the condition that a feedback event triggering the driving information is detected, historical driving data of the vehicle is obtained to adjust the driving information and / or the speed curve based on the historical behavior data.

[0076] In a specific implementation scenario, in order to meet the purpose of diversified display of driving information, the current execution subject can convert the driving information in the form of images into voice content for output, that is, the current execution subject displays the pre-configured output conversion event in the front-end interface. When the user clicks or voice triggers this output conversion event, the current execution subject retrieves the language prompt information of the converted driving information to output the driving information based on the voice prompt information. For example, after the user clicks the voice broadcast button, the voice content of the driving information broadcast in the vehicle is "at x time ahead, there is a deceleration operation y meters away from the current position, and the maximum speed limit is a".

[0077] In a specific implementation scenario, in order to meet the demand for efficient control of the vehicle, the current execution subject detects in real time whether the user triggers a feedback event on the driving information, that is, the expected satisfaction of the user with the vehicle under the expected speed limit is learned through the feedback event. For example, when the user is dissatisfied with the driving information viewed on the front-end interface of the vehicle, or with the speed limit of the vehicle after entering the ramp, the feedback button is clicked. After the current execution subject detects the feedback event, it obtains the historical behavior data of the vehicle, reports the historical data, marks the historical driving data as dissatisfied, and uses it as a label for big data learning to adjust the driving information and / or speed curve. At this time, the historical driving data includes all the driving data of the vehicle before the current moment, including but not limited to the driving path, driving speed, etc., so as to update and adjust the speed limit of other vehicles that repeat this route in the future, thereby improving the effectiveness of vehicle driving control.

[0078] It should be noted that in the embodiment of the present application, the adjustment of the future driving path and driving speed can be made by cleaning the historical driving data and marking it as unsatisfactory or satisfactory. Then, the speed limit in the future driving path can be adjusted based on big data mining technology or data-driven algorithm. The embodiment of the present application does not make specific limitations.

[0079] In another embodiment of the present application, before the step of obtaining the historical driving data of the vehicle, the method further includes:

[0080] The feedback event and / or the output conversion event matching the driving information is configured and output to a display interface displaying the driving information, so that a user triggers the feedback event and / or the output conversion event.

[0081] In another embodiment of the present application, in order to improve the feedback effect of the vehicle's driving conditions, the current execution subject pre-configures a feedback event for the vehicle to evaluate and feedback the driving information, and outputs and displays it on the display interface at the front of the vehicle so that the user can click to trigger it after viewing the driving information. The feedback event can be triggered by a button, a sliding track, etc., which is not specifically limited in this application.

[0082] In another embodiment of the present application, in order to meet the user's flexible information acquisition needs, the current execution subject pre-configures the vehicle with an output conversion event for output conversion of driving information, and outputs and displays it in the display interface at the front of the vehicle, so that after the user triggers it, the driving information in text or image is converted into voice content for broadcast. The output conversion event can be triggered by buttons, sliding tracks, etc., and this application does not make specific limitations.

[0083] An embodiment of the present application provides a method for displaying driving information. By generating a speed curve of driving speed, the speed changes of the vehicle's history, current and future driving are displayed to the user, so as to show the user the physical state of the vehicle's acceleration or deceleration, meet the user's demand for physical perception of the vehicle's driving state, reduce misoperation of the vehicle's intelligent driving, improve the effectiveness of the vehicle's intelligent driving, and thus improve the control efficiency of the vehicle's intelligent driving.

[0084] Furthermore, as a response to the above Figure 1 The embodiment of the present application provides a display device for driving information, such as Figure 4 As shown, the device comprises:

[0085] An acquisition module 21 is used to acquire the driving speed of the ego vehicle on the target road;

[0086] a determination module 22, configured to determine a road profile of the target road and a driving distance corresponding to the driving speed, and generate a speed curve of the driving speed based on the road profile and the driving distance;

[0087] The display module 23 is used to generate driving information according to the speed curve and the speed limit of the target road, and display the driving information.

[0088] Furthermore, the determination module is specifically used to determine the coordinate position corresponding to the driving distance based on the road profile, and construct a curvature polynomial based on the coordinate position; solve the curvature polynomial based on the planning constraints and the driving speed to obtain the speed curve, and the planning constraints are constraints for planning and solving the parameter matrix of the curvature polynomial according to the equality conditions.

[0089] Furthermore, the display module is specifically used to determine the extreme curvature from the speed curve according to the driving speed, and retrieve driving-related information corresponding to the extreme curvature, wherein the driving-related information is used to characterize information affecting the driving comfort attributes of the vehicle; the driving information is generated based on the speed curve, the driving-related information, and the speed limit, and displayed.

[0090] Furthermore, the determination module is specifically used to obtain the map data of the target road and parse the road contour according to the road geographic information in the map data; obtain the driving rules of the target road and the planned path of the vehicle's expected travel, and split the road contour according to the driving rules and the planned path to determine the driving distance.

[0091] Furthermore, the device further comprises: an output module,

[0092] The output module is used to output the language prompt information of the driving information under the condition that an output conversion event of the driving information is detected, so as to output the driving information based on the language prompt information; and / or,

[0093] The acquisition module is further used to acquire the historical driving data of the vehicle under the condition of detecting a feedback event that triggers the driving information, so as to adjust the driving information and / or the speed curve based on the historical behavior data.

[0094] Furthermore, the device also includes:

[0095] A configuration module is used to configure the feedback event and / or the output conversion event that matches the driving information, and output it to a display interface that displays the driving information, so that a user can trigger the feedback event and / or the output conversion event.

[0096] An embodiment of the present application provides a method for displaying driving information. By generating a speed curve of driving speed, the speed changes of the vehicle's history, current and future driving are displayed to the user, so as to show the user the physical state of the vehicle's acceleration or deceleration, meet the user's demand for physical perception of the vehicle's driving state, reduce misoperation of the vehicle's intelligent driving, improve the effectiveness of the vehicle's intelligent driving, and thus improve the control efficiency of the vehicle's intelligent driving.

[0097] According to one embodiment of the present application, a vehicle is provided, comprising the above-mentioned display device for driving information.

[0098] According to an embodiment of the present application, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method for displaying driving information as described above are implemented.

[0099] Figure 5 A schematic diagram of the structure of a computer device provided according to an embodiment of the present application is shown, comprising at least one processor, the processor and a memory are coupled, the memory stores a program or instruction running on the processor, and the program or instruction is executed by the processor to implement the steps of the above-mentioned method for displaying driving information. The specific embodiments of the present application do not limit the specific implementation of the computer device.

[0100] like Figure 5 As shown, the computer device may include: a processor (processor) 302 , a communication interface (Communications Interface) 304 , a memory (memory) 306 , and a communication bus 308 .

[0101] The processor 302 , the communication interface 304 , and the memory 306 communicate with each other via the communication bus 308 .

[0102] The communication interface 304 is used to communicate with other devices such as clients or other servers.

[0103] The processor 302 is used to execute the program 310, and specifically can execute the relevant steps in the above-mentioned embodiment of the method for displaying driving information.

[0104] Specifically, the program 310 may include program codes, which include computer operation instructions.

[0105] The processor 302 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the computer device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0106] The memory 306 is used to store the program 310. The memory 306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0107] The program 310 may be specifically configured to enable the processor 302 to perform the following operations:

[0108] Obtain the driving speed of the vehicle on the target road;

[0109] Determining a road profile of the target road and a driving distance corresponding to the driving speed, and generating a speed curve of the driving speed based on the road profile and the driving distance;

[0110] Driving information is generated according to the speed curve and the speed limit of the target road, and the driving information is displayed.

[0111] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0112] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for displaying driving information, characterized in that: include: Obtain the driving speed of the vehicle on the target road; Determining a road profile of the target road and a driving distance corresponding to the driving speed, and generating a speed curve of the driving speed based on the road profile and the driving distance; Driving information is generated according to the speed curve and the speed limit of the target road, and the driving information is displayed.

2. The method according to claim 1, characterized in that The generating of the speed curve of the driving speed based on the road profile and the driving distance comprises: Determining a coordinate position corresponding to the travel distance based on the road profile, and constructing a curvature polynomial based on the coordinate position; The curvature polynomial is solved based on the planning constraint and the driving speed to obtain the speed curve, wherein the planning constraint is a constraint condition for planning and solving the parameter matrix of the curvature polynomial according to an equality condition.

3. The method according to claim 2, characterized in that The generating driving information according to the speed curve and the speed limit of the target road, and displaying the driving information comprises: Determining a curvature extreme value from the speed curve according to the driving speed, and retrieving driving-related information corresponding to the curvature extreme value, wherein the driving-related information is used to characterize information affecting driving comfort attributes of the vehicle; The driving information is generated based on the speed curve, the driving-related information, and the speed limit, and is displayed.

4. The method according to claim 1, characterized in that: The determining of the road profile of the target road and the driving distance corresponding to the driving speed comprises: Acquire map data of the target road, and parse the road contour according to the road geographic information in the map data; The driving rules of the target road and the planned path of the vehicle are obtained, and the road contour is split according to the driving rules and the planned path to determine the driving distance.

5. The method according to any one of claims 1 to 4, characterized in that: After generating the driving information according to the speed curve and the speed limit of the target road and displaying the driving information, the method further includes: Under the condition that an event triggering output conversion of the driving information is detected, language prompt information of the driving information is output, so as to output the driving information based on the language prompt information; and / or, Under the condition that a feedback event triggering the driving information is detected, historical driving data of the vehicle is obtained to adjust the driving information and / or the speed curve based on the historical behavior data.

6. The method according to claim 5, characterized in that Before obtaining the historical driving data of the vehicle, the method further includes: The feedback event and / or the output conversion event matching the driving information is configured and output to a display interface displaying the driving information, so that a user triggers the feedback event and / or the output conversion event.

7. A driving information display device, characterized in that: include: An acquisition module is used to obtain the driving speed of the ego vehicle on the target road; a determination module, configured to determine a road profile of the target road and a driving distance corresponding to the driving speed, and generate a speed curve of the driving speed based on the road profile and the driving distance; The display module is used to generate driving information according to the speed curve and the speed limit of the target road, and display the driving information.

8. A vehicle, characterized in that: A display device comprising the driving information as claimed in claim 8.

9. A computer device, characterized in that: The method comprises at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the method for displaying driving information as described in any one of claims 1 to 6 are implemented.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the method for displaying driving information according to any one of claims 1 to 6 are implemented.

Images