Image display method, device, vehicle and computer-readable storage medium

Abstract

The present application provides an image display method, device, vehicle and computer-readable storage medium. The image display method is applied to the field of display technology. The image display method includes: obtaining a three-dimensional image including a first model of a vehicle and a second model of a target object in an external environment of the vehicle, and determining whether the display device of the vehicle can complete the rendering of all models in the three-dimensional image within a preset time; if so, rendering the three-dimensional image to the display interface of the vehicle; if not, rendering the first model to the display interface, and rendering part of the second models in all the second models to the display interface according to the distance of each second model relative to the first model. The image display method can display the model of the environmental object in the external environment that is closer to the vehicle in a short time under the premise of ensuring that the vehicle computer does not freeze, so that the driver can obtain the location of the environmental object that has a greater impact on the immediate driving decision, thereby improving the intelligent driving experience and ensuring driving safety.

Description

Technical Field

[0001] The present application relates to the field of display technology, and more specifically, to an image display method, device, vehicle and computer-readable storage medium in the field of display technology. Background Art

[0002] At present, as the hardware perception capability of intelligent driving systems continues to improve, the range of the external environment they detect is also significantly expanding. However, if the intelligent driving system processes all the collected data of the external environment and renders it to the vehicle's display interface, it will not only greatly increase the burden on the processor, causing the display interface to display unsmoothly and freeze, but also cause the display screen to be cluttered due to too many targets, thereby interfering with the driver's judgment and affecting the driver's driving decision and safety.

[0003] Therefore, it is urgent to propose effective solutions to the above problems. Summary of the invention

[0004] The present application provides an image display method, device, vehicle and computer-readable storage medium. The present application can display the model of environmental objects close to the vehicle in the external environment in a short time, while ensuring that the vehicle computer does not lag, so that the driver can obtain the position of environmental objects that have a greater impact on the immediate driving decision, thereby improving the intelligent driving experience and ensuring driving safety.

[0005] In a first aspect, an image display method is provided, which includes: constructing a three-dimensional image of an external environment of a vehicle, the three-dimensional image including a first model of the vehicle and a second model of a target object in the external environment of the vehicle; determining whether a display device of the vehicle can complete the rendering of the first model and all second models in the three-dimensional image within a preset time length; if so, rendering the three-dimensional image to a display interface of the vehicle; if not, rendering the first model to the display interface, and rendering part of all second models to the display interface based on the distance of each second model relative to the first model.

[0006] Through the above technical solution, a three-dimensional image including a first model of the vehicle and a second model of a target object in the external environment of the vehicle is obtained, and it is determined whether the display device of the vehicle can complete the rendering of the first model and all the second models in the three-dimensional image within a preset time length; if it is determined that the display device of the vehicle can complete the rendering of all the models in the three-dimensional image within the preset time length, the three-dimensional image is rendered to the display interface of the vehicle; if it is determined that the display device of the vehicle cannot complete the rendering of all the models in the three-dimensional image within the preset time length, the first model is rendered to the display interface, and according to the distance of each second model relative to the first model, part of the second models in all the second models are rendered to the display interface. Based on the display method provided by the present application, when the display device of the vehicle cannot render all the models in the three-dimensional image to the display interface of the vehicle in a short time, the model of the environmental object in the three-dimensional image can be reasonably screened based on the distance of the model relative to the vehicle, and the model of the environmental object closer to the vehicle is preferentially rendered to balance the processing capacity and the demand for display in a short time. Under the premise of ensuring that the vehicle computer is not stuck, the model of the environmental object closer to the vehicle in the external environment is displayed in a short time, so that the driver can obtain the position of the environmental object that has a greater impact on the immediate driving decision, thereby improving the intelligent driving experience and ensuring driving safety.

[0007] In combination with the first aspect, in some possible implementations, determining whether the display device of the vehicle can complete the rendering of the first model and all the second models in the three-dimensional image within a preset time length includes: obtaining the number of faces of the geometric faces used to construct the first model and each second model to obtain the first total number of faces corresponding to the first model and all the second models; determining whether the first total number of faces is greater than the first total number of faces threshold; if not, determining that the display device can complete the rendering of the first model and all the second models in the three-dimensional image within the preset time length; if so, determining that the display device cannot complete the rendering of the first model and all the second models in the three-dimensional image within the preset time length. Based on the above technical solution, by checking the relationship between the total number of faces of all models in the three-dimensional image and the first total number of faces threshold, it is checked whether the display device of the vehicle can complete the rendering of all models in the three-dimensional image in a short time. It can prevent processor overload caused by processing too much model data, ensure that all models can be rendered within the specified time, reduce display delay, and improve the real-time performance of the system.

[0008] In combination with the first aspect and the above implementation, in some possible implementations, the number of all second models is M, M≥2; according to the distance of each second model relative to the first model, some of the second models in all the second models are rendered to the display interface, including: obtaining the distance value of each second model relative to the first model to obtain M distance values; sorting the M distance values ​​from small to large to obtain a first sorting result; accumulating the number of faces of the second model corresponding to each distance value in the first sorting result in turn to obtain a second total face number; when the second total face number is initially greater than the second total face number threshold, the second model and the first model corresponding to the first distance value and the distance value after the first distance value in the first sorting result are deleted from the three-dimensional image to obtain a target image, and the target image is rendered to the display interface; wherein the first distance value is the last distance value accumulated in the first sorting result, and the second total face number threshold is less than the first total face number threshold. Based on the above technical solution, the models of environmental objects in the three-dimensional image are reasonably screened based on the distance of the models relative to the vehicle, and the models of environmental objects closer to the vehicle can be rendered preferentially, so that the driver can obtain the location of environmental objects that have a greater impact on the immediate driving decision, thereby improving the intelligent driving experience and ensuring driving safety.

[0009] In combination with the first aspect and the above-mentioned implementation method, in some possible implementation methods, the number of all second models is M, M≥2; according to the distance of each second model relative to the first model, some second models in all second models are rendered to the display interface, including: obtaining the distance values ​​of M second models relative to the first model to obtain M distance values; sorting the M distance values ​​from large to small to obtain a first sorting result; using the third total number of faces to successively subtract the number of faces of the second model corresponding to each distance value in the first sorting result to obtain a fourth total number of faces; wherein the third total number of faces is the sum of the number of faces corresponding to all second models; when the fourth total number of faces is less than or equal to the second total number of faces threshold for the first time, the second model and the first model corresponding to the second distance value and the distance value before the second distance value in the first sorting result are deleted from the three-dimensional image to obtain a target image, and the target image is rendered to the display interface; wherein the second distance value is the last distance value to be subtracted in the first sorting result. Based on the above technical solution, the models of environmental objects in the three-dimensional image are reasonably screened based on their distance from the vehicle, and the models of environmental objects farther away from the vehicle are deleted. The models of environmental objects closer to the vehicle can be rendered preferentially, so that the driver can obtain the positions of environmental objects that have a greater impact on immediate driving decisions, thereby improving the intelligent driving experience and ensuring driving safety.

[0010] In combination with the first aspect and the above-mentioned implementation, in some possible implementations, the second model corresponding to each distance value in the M distance values ​​has a rendering priority order; when there is at least one group of identical distance values ​​in the M distance values, the M distance values ​​are sorted from small to large to obtain a first sorting result, including: sorting each distance value in each group of identical distance values ​​according to the rendering priority order. Based on the above-mentioned technical solution, by sorting each distance value in each group of identical distance values ​​according to the rendering priority order from high to low, the model of the environmental object that has a greater impact on the driver's immediate driving decision can be preferentially rendered, so that the driver can obtain the location of the environmental object that has a greater impact on the immediate driving decision, thereby improving the intelligent driving experience and ensuring driving safety.

[0011] In combination with the first aspect and the above implementation, in some possible implementations, the number of all second models is T, T ≥ 2; according to the distance of each second model relative to the first model, rendering part of the second models in all the second models to the display interface, including: obtaining the distance values ​​of T second models relative to the first model to obtain T distance values; screening the T distance values ​​according to the first distance threshold to obtain X distance values ​​less than the first distance threshold, 1≤X≤T; obtaining the total number of faces of the second models corresponding to the X distance values ​​to obtain a fifth total number of faces; judging whether the fifth total number of faces is greater than the second total number of faces threshold; if not, filtering the second model corresponding to the distance value screened out from the T distance values and the first model are deleted from the three-dimensional image to obtain the target image; if so, the X distance values ​​are divided into Z groups according to the relative orientation relationship between the second model corresponding to the X distance values ​​and the first model; wherein each group of distance values ​​has a priority, Z ≥ 1; according to the second distance threshold, the second model corresponding to the lowest priority distance value group in the second sorting result to the second model corresponding to the highest priority distance value group are screened out in turn until the total number of faces of the retained second model is less than or equal to the second total face number threshold, and the target image is obtained; wherein the second sorting result is the sorting result of the priority of the Z group of distance values, and the second distance threshold is less than the first distance threshold; the target image is rendered to the display interface. Based on the above technical solution, the models of environmental objects in the three-dimensional image are reasonably screened based on the distance relative to the vehicle, and the models of environmental objects farther away from the vehicle are deleted, so that the models of environmental objects closer to the vehicle can be rendered preferentially, so that the driver can obtain the location of environmental objects that have a greater impact on immediate driving decisions, thereby improving the intelligent driving experience and ensuring driving safety.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, according to the second distance threshold, the second model corresponding to the lowest priority distance value group in the second sorting result to the second model corresponding to the highest priority distance value group are screened out in sequence until the total number of faces of the retained second models is less than or equal to the second total face number threshold, and obtaining the target image includes: setting the first count value of the first counter to the fifth total face number; obtaining the number of faces of the pre-filtered model in the target group distance value to obtain the sixth total face number corresponding to all pre-filtered models in the target group distance value; wherein the target group distance value is a group of distance values ​​with the lowest priority in the second sorting result, and the pre-filtered model is a group of distance values ​​in the target group that is greater than or equal to the second distance threshold. a second model corresponding to the distance value; determining the difference between the first count value and the sixth total number of faces to obtain a second count value; judging whether the second count value is greater than the second total number of faces threshold; if not, deleting the pre-filtering model and the first model from the three-dimensional image to obtain the target image; if so, deleting the pre-filtering model and the first model from the three-dimensional image, and updating the second sorting result to a third sorting result; wherein the third sorting result includes all group distance values ​​in the second sorting result except the target group distance value; taking the second count value as the first count value, taking the third sorting result as the second sorting result, and executing the steps of obtaining the number of faces of the pre-filtering model in the target group distance value to determining the difference between the first count value and the sixth total number of faces to obtain the second count value.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, before determining whether the first total number of faces is greater than the first total number of faces threshold, the image display method also includes: obtaining the first total number of faces threshold from a preset mapping relationship based on the current performance parameters of the display device; wherein the preset mapping relationship includes multiple preset performance parameters and preset total number of faces thresholds corresponding to each of the multiple preset performance parameters; the performance parameters of the display device are used to characterize the rendering capability of the display device, and the stronger the rendering capability of the display device, the more models the display device can render within a preset time length.

[0014] In a second aspect, an image display device is provided, the image display device comprising:

[0015] A construction module, used to construct a three-dimensional image of the environment outside the vehicle, the three-dimensional image including a first model of the vehicle and a second model of a target object in the environment outside the vehicle;

[0016] A rendering module, used to determine whether the display device of the vehicle can complete the rendering of the first model and all the second models in the three-dimensional image within a preset time length;

[0017] If so, rendering the three-dimensional image to a display interface of the vehicle;

[0018] If not, the first model is rendered to the display interface, and according to the distance of each second model relative to the first model, part of the second models in all the second models are rendered to the display interface.

[0019] In a third aspect, a vehicle is provided, the vehicle comprising: a memory for storing executable program code;

[0020] A processor is used to call and run executable program code from a memory so that the vehicle executes the image display method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0021] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the image display method in the first aspect or any possible implementation of the first aspect.

[0022] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the image display method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic flow chart of an image display method provided in an embodiment of the present application is shown;

[0024] Figure 2 A schematic diagram of a three-dimensional image provided by an embodiment of the present application is shown;

[0025] Figure 3 A schematic structural diagram of an image display device provided in an embodiment of the present application is shown;

[0026] Figure 4 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0027] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0028] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0029] At present, as the hardware perception capability of intelligent driving systems continues to improve, the range of the external environment they detect is also significantly expanding. However, if the intelligent driving system processes all the collected data of the target objects and renders them to the vehicle's display interface, it will not only greatly increase the burden on the processor, causing the display interface to display unsmoothly and freeze, but also cause the display screen to be cluttered due to too many targets, thereby interfering with the driver's judgment and affecting the driver's driving decision and safety.

[0030] Therefore, it is urgent to propose effective solutions to the above problems.

[0031] Based on the problems existing in the above-mentioned related technologies, the embodiments of the present application provide an image display method, device, vehicle and computer-readable storage medium. The present application can reasonably screen the models of environmental objects in the three-dimensional image based on the distance of the model relative to the vehicle when the display device of the vehicle cannot render all the models in the three-dimensional image to the display interface of the vehicle in a short time, and give priority to rendering the models of environmental objects closer to the vehicle to balance the processing power and the demand for display in a short time. Under the premise of ensuring that the vehicle computer does not freeze, the models of environmental objects in the external environment that are closer to the vehicle are displayed in a short time, so that the driver can obtain the location of environmental objects that have a greater impact on the immediate driving decision, thereby improving the intelligent driving experience and ensuring driving safety.

[0032] The following is an embodiment of an image display method provided in an embodiment of the present application.

[0033] Figure 1 A schematic flow chart of an image display method provided in an embodiment of the present application is shown, such as Figure 1 As shown, an embodiment of the present application provides an image display method, which includes the following schemes:

[0034] S110: Constructing a three-dimensional image of the environment outside the vehicle.

[0035] S120: Determine whether the display device of the vehicle can complete the rendering of the first model and all second models in the three-dimensional image within a preset time length; if so, execute S130; if not, execute S140.

[0036] S130: Rendering the three-dimensional image to a display interface of the vehicle.

[0037] S140: Rendering the first model to a display interface, and rendering part of the second models in all the second models to the display interface according to the distance of each second model relative to the first model.

[0038] In the embodiment of the present application, the three-dimensional image is an image generated by three-dimensional modeling of the vehicle exterior environment scene. Exemplarily, the image of the vehicle exterior environment scene can be acquired by a sensor module (such as a camera, a laser radar, etc.) configured on the vehicle (which can be understood as the vehicle itself). Then, the acquired image of the vehicle exterior environment scene is three-dimensionally modeled by modeling software to obtain a three-dimensional image. The three-dimensional image includes a first model of the vehicle and a second model of the target object in the vehicle exterior environment. Figure 2 A schematic diagram of a three-dimensional image provided by an embodiment of the present application is shown. Figure 2 In the vehicle exterior environment scene shown, the targets in the vehicle exterior environment include target A, target B, target C, target D, target E, target F, target G, target H and target I. The targets in the vehicle exterior environment include, for example, pedestrians, buildings and other vehicles.

[0039] It should be understood that the larger the range of the external environment detected by the sensor module configured on the vehicle, the more second models of the target objects in the external environment included in the three-dimensional image. However, the processing capacity of the display device of the vehicle is limited. The more models the display device needs to render, the longer it takes. In the case where there are a large number of second models in the three-dimensional image, if the display device renders all the second models in the three-dimensional image to the display interface, the longer the time required for the display device, the more likely it is that the display interface will freeze, and the environmental object model in the external environment scene displayed on the display interface is not synchronized with the environmental object in the actual external environment scene. For example, during the driving process of the vehicle, when the vehicle is at position A, the three-dimensional image corresponding to the external environment scene is obtained. Due to the large number of second models in the three-dimensional image, the rendering time required by the display device is longer, resulting in the vehicle driving to position B. The display device only completes the rendering of the environmental objects in the external environment scene corresponding to position A, that is, the environmental object model in the external environment scene displayed on the display interface is not synchronized with the environmental objects in the actual external environment scene.

[0040] Therefore, in the embodiment of the present application, in order to avoid the display interface from freezing when rendering the model, resulting in the environment object model in the vehicle exterior environment scene displayed on the display interface being out of sync with the environment object in the vehicle exterior environment scene, after acquiring the three-dimensional image, it is not directly displayed, but the three-dimensional image is used to determine whether the display device of the vehicle can complete the rendering of all models (i.e., the first model and all second models) in the three-dimensional image within a preset time length, that is, to determine whether the display interface of the vehicle can display the environment object model in the vehicle exterior environment scene in a short time. The display interface of the vehicle can display the environment object model in the vehicle exterior environment scene in a short time, and can ensure that the environment object model in the vehicle exterior environment scene displayed on the display interface is synchronized with the environment object in the actual vehicle exterior environment scene. If the display device of the vehicle can complete the rendering of all models in the three-dimensional image within the preset time length, it means that the display interface of the vehicle can display the environment object model in the vehicle exterior environment scene in a short time. If the display device of the vehicle cannot complete the rendering of all models in the three-dimensional image within the preset time length, it means that the display interface of the vehicle cannot display the environment object model in the vehicle exterior environment scene in a short time. When it is determined that the display interface can display the three-dimensional image in a short time, S130 is executed. If it is determined that the display interface cannot display the three-dimensional image within a short period of time, S140 is executed.

[0041] It should be understood that in the real environment, the target objects that are far away from the vehicle have less impact on the driver's immediate driving decision. Therefore, the reference significance provided by the second model of the target object that is far away from the vehicle is not great. Therefore, in the case of determining that the display device of the vehicle cannot complete the rendering of all models in the three-dimensional image within a preset time, in order to reduce the data of the environmental object models in the external environment scene that the display device of the vehicle needs to process, the second model of the target object that is far away from the vehicle can be screened out, and only the second model that has a greater impact on the driver's immediate driving decision is displayed, that is, the second model of the target object that is closer to the vehicle is displayed, which can ensure that the display interface displays the environmental object model in the external environment scene in a short time, and at the same time, give priority to displaying the second model of the target object that has a greater impact on the driver's immediate driving decision. Exemplarily, the second model that is farther from the first model in the second model is deleted from the three-dimensional image, and the second model that is closer to the first model in the second model is displayed. That is, the second model of the target object that is farther from the vehicle in the real environment is screened out, and only the second model of the target object that is closer to the vehicle in the real environment is displayed, so as to reduce the need for the vehicle's display device to process data of environmental object models in the external environment scene, so that the three-dimensional image can be displayed on the display interface in real time in a short time, ensuring that the content displayed on the display interface is synchronized with the actual external environment scene.

[0042] Based on the image display method provided by the present application, when the vehicle's display device cannot render all the models in the three-dimensional image to the vehicle's display interface in a short time, the models of the environmental objects in the three-dimensional image can be reasonably screened based on the distance of the model relative to the vehicle, and the models of the environmental objects closer to the vehicle can be rendered first, so as to balance the processing power and the need for display in a short time. Under the premise of ensuring that the vehicle computer does not freeze, the models of the environmental objects in the external environment that are closer to the vehicle can be displayed in a short time, so that the driver can obtain the location of the environmental objects that have a greater impact on the immediate driving decision, thereby improving the intelligent driving experience and ensuring driving safety.

[0043] In a possible implementation, the above-mentioned determining whether the display device of the vehicle can complete the rendering of the first model and all the second models in the three-dimensional image within a preset time period includes:

[0044] Obtaining the number of geometric faces used to construct the first model and each second model, so as to obtain a first total number of faces corresponding to the first model and all the second models;

[0045] Determine whether the first total face number is greater than a first total face number threshold;

[0046] If not, determining that the display device can complete rendering of the first model and all second models in the three-dimensional image within a preset time period;

[0047] If so, it is determined that the display device cannot complete the rendering of the first model and all the second models in the three-dimensional image within the preset time period.

[0048] It should be understood that three-dimensional (3D) modeling relies on three basic elements: vertices, edges, and faces to build models. Among them, vertices are points in 3D space, usually represented by X, Y, and Z coordinates; edges are line segments connecting two vertices, which are used to form the outline and structure of the model; faces are planes composed of multiple adjacent vertices and edges, which are the basic units that constitute the surface of a three-dimensional model, among which triangles and quadrilaterals are the most common forms. These basic elements work together to build a complex 3D model. That is, in three-dimensional rendering, each model consists of multiple geometric faces (such as polygons such as triangles and quadrilaterals). For example, a pedestrian model may have 500 faces, and a vehicle model may have 2,000 faces. The number of these geometric faces directly affects the complexity and time required for rendering. The more faces a model has, the longer it takes for the display device of the vehicle to render. If the model has too many faces, the rendering time may be too long, resulting in display delays or freezes. Therefore, this application sets a preset duration to limit the number of faces of the model that the display device of the vehicle can render. The preset duration refers to a time limit set by the system to ensure the real-time and smoothness of the environmental object models in the display interface displaying the external environment scene. For example, this time can be 50 milliseconds, 100 milliseconds, etc. Exemplarily, the first total face number threshold that the vehicle's display device can render within the preset duration is determined through system testing. The first total face number threshold represents the maximum number of model faces that the vehicle's display device can render in a short period of time. For example, assuming that the preset duration is 50 milliseconds, the first total face number threshold corresponding to the vehicle's display device may be 4000. During vehicle driving, in order to ensure the real-time display of the three-dimensional image of the external environment, the sum of the number of faces of all models in the three-dimensional image is obtained to obtain the first total face number, and the first total face number threshold is compared. If the first total face number is greater than the first total face number threshold, it indicates that the vehicle's display device can complete the rendering of all models in the three-dimensional image within the preset duration; if the first total face number is less than or equal to the first total face number threshold, it indicates that the vehicle's display device cannot complete the rendering of all models in the three-dimensional image within the preset duration. For example, assuming that Figure 2 In the vehicle exterior environment scene shown, the sum of the number of faces of the vehicle and the number of faces of all target objects in the vehicle exterior environment is 3000, that is, the first total number of faces is 3000. If the first total number of faces threshold is 5000, it can be seen that the first total number of faces is less than the first total number of faces threshold, which means that the vehicle display device can complete the rendering of all models in the three-dimensional image within the preset time. If the first total number of faces threshold is 2000, it can be seen that the first total number of faces is greater than the first total number of faces threshold, which means that the vehicle display device cannot complete the rendering of all models in the three-dimensional image within the preset time.

[0049] Based on the above technical solution, by checking the relationship between the total number of faces of all models in the three-dimensional image and the first total number of faces threshold, it is checked whether the display device of the vehicle can complete the rendering of all models in the three-dimensional image in a short time. This can prevent the processor from being overloaded due to processing too much model data, ensure that all models can be rendered within the specified time, reduce display delay, and improve the real-time performance of the system.

[0050] Exemplarily, when it is determined that the display device of the vehicle cannot complete the rendering of the first model and all the second models in the three-dimensional image within a preset time, it is necessary to render the first model to the display interface, and according to the distance of each second model relative to the first model, render part of the second models in all the second models to the display interface. In the embodiment of the present application, according to the distance of each second model relative to the first model, rendering part of the second models in all the second models to the display interface includes three methods:

[0051] Implementation method 1

[0052] In a possible implementation, the number of all second models is M, M≥2, and the above-mentioned rendering of part of the second models among all the second models to the display interface according to the distance of each second model relative to the first model includes:

[0053] Obtaining the distance value of each second model relative to the first model to obtain M distance values;

[0054] Sort the M distance values ​​from small to large to obtain a first sorting result;

[0055] The number of faces of the second model corresponding to each distance value in the first sorting result is accumulated in sequence to obtain a second total number of faces;

[0056] When the second total number of faces is greater than the second total number of faces threshold for the first time, the second model and the first model corresponding to the first distance value and the distance value after the first distance value in the first sorting result are deleted from the three-dimensional image to obtain the target image, and the target image is rendered to the display interface; wherein the first distance value is the last accumulated distance value in the first sorting result, and the second total number of faces threshold is less than the first total number of faces threshold.

[0057] Exemplarily, the distance values ​​of M second models relative to the first model are obtained to obtain M distance values; the M distance values ​​are sorted from small to large to obtain a first sorting result, and the third count value of the second counter is set to 0; the sum of the number of faces of the second model corresponding to the i-th distance value in the first sorting result and the third count value is determined to obtain a fourth count value. Wherein, the fourth count value is the second total number of faces, 1≤i≤M; it is determined whether the fourth count value is greater than the second total number of faces threshold; if the fourth count value is greater than the second total number of faces threshold, the second model and the first model corresponding to the i-th distance value and the distance value after the i-th distance value are deleted from the three-dimensional image to obtain a target image, and the target image is rendered to the display interface; if the fourth count value is less than or equal to the second total number of faces threshold, the i+1th distance value is used as the i-th distance value, the fourth count value is used as the third count value, and the step of determining the sum of the number of faces of the second model corresponding to the i-th distance value in the first sorting result and the third count value is performed to obtain the fourth count value.

[0058] It should be understood that objects closer to the vehicle have a greater impact on the driver's immediate driving decision. Therefore, if the display device of the vehicle cannot complete the rendering of the first model and all second models in the three-dimensional image within a preset time, the rendering can start from the first model of the vehicle and gradually spread outward, giving priority to rendering objects closer to the vehicle. Exemplarily, the distance values ​​of all models in the three-dimensional image relative to the first model are obtained to obtain M distance values. For example, Figure 2As shown, the three-dimensional image includes a first model and 9 second models, and 9 distance values ​​are obtained. The 9 distance values ​​are sorted from small to large to obtain a first sorting result. Starting from the first distance value in the first sorting result, the number of faces of the model corresponding to each distance value in the first sorting result is accumulated in sequence to obtain a second total number of faces. Until the second total number of faces is greater than the second total number of faces threshold, the second model and the first model corresponding to the last accumulated distance value and the distance value after the distance value are deleted from the three-dimensional image to obtain a target image, and the target image is rendered to the display interface. For example, the 9 distance values ​​are sorted from small to large to obtain a first sorting result of 1, 2, 2, 2, 3, 3.4, 4.5, 6, 6.7. The number of faces of the model corresponding to each distance value in the first sorting result is shown in Table 1. Assuming that the second total face number threshold is 3000, starting from the first distance value in the first sorting result, the number of faces of the model corresponding to each distance value in the first sorting result is accumulated in sequence. When the number of faces of the model corresponding to the 6th distance value is accumulated, the second total number of faces is 2100, and the second total number of faces is less than the second total number of faces threshold, then the number of faces of the model corresponding to the next distance value is continued to be superimposed; when the number of faces of the model corresponding to the 7th distance value is accumulated, the second total number of faces is 3100, and the second total number of faces is greater than the second total number of faces threshold, the second models and the first model corresponding to the 7th distance value to the 9th distance value are deleted from the three-dimensional image to obtain the target image, and the target image includes the second models of target E, target A, target F, target C, target D and target G, and the target image is rendered to the display interface.

[0059] Table 1

[0060]

[0061] Based on the above technical solution, the models of environmental objects in the three-dimensional image are reasonably screened based on their distance from the vehicle, and the models of environmental objects closer to the vehicle can be rendered preferentially, so that the driver can obtain the positions of environmental objects that have a greater impact on immediate driving decisions, thereby improving the intelligent driving experience and ensuring driving safety.

[0062] Implementation method 2

[0063] In a possible implementation, the number of all second models is M, M≥2, and the above-mentioned rendering of part of the second models among all the second models to the display interface according to the distance of each second model relative to the first model includes:

[0064] Obtaining M distance values ​​of the second model relative to the first model to obtain M distance values;

[0065] Sort the M distance values ​​from large to small to obtain the first sorting result;

[0066] The number of faces of the second model corresponding to each distance value in the first sorting result is subtracted from the third total number of faces in sequence to obtain a fourth total number of faces;

[0067] When the fourth total number of faces is less than or equal to the second total number of faces threshold for the first time, the second model and the first model corresponding to the second distance value and the distance value before the second distance value in the first sorting result are deleted from the three-dimensional image to obtain the target image, and the target image is rendered to the display interface; wherein the second distance value is the last distance value accumulated in the first sorting result.

[0068] Exemplarily, the distance values ​​of M second models relative to the first model are obtained to obtain M distance values; the M distance values ​​are sorted from large to small to obtain a first sorting result, and the fifth count value of the third counter is set as the third total number of faces; the difference between the fifth count value and the number of faces of the second model corresponding to the jth distance value in the first sorting result is determined to obtain a sixth count value. Among them, the sixth count value is the fourth total number of faces, 1≤j≤M; it is determined whether the sixth count value is greater than the second total number of faces threshold; if the sixth count value is less than or equal to the second total number of faces threshold, the second model and the first model corresponding to the jth distance value and the distance value before the jth distance value are deleted from the three-dimensional image to obtain a target image, and the target image is rendered to the display interface; if the sixth count value is greater than the second total number of faces threshold, the j+1th distance value is used as the jth distance value, the sixth count value is used as the fifth count value, and the step of determining the difference between the fifth count value and the number of faces of the second model corresponding to the jth distance value in the first sorting result to obtain the sixth count value is performed.

[0069] It should be understood that targets that are farther away from the vehicle have less impact on the driver's immediate driving decision. Therefore, when the vehicle's display device cannot complete the rendering of the first model and all second models in the three-dimensional image within a preset time, the screening can start from the second model farthest from the first model, and gradually delete the rendering targets that are farther away from the vehicle until the total number of faces of the remaining second models in the three-dimensional image is less than or equal to the second total face number threshold. Exemplarily, the distance values ​​of M second models in the three-dimensional image relative to the first model are obtained to obtain M distance values. For example, Figure 2As shown, the three-dimensional image includes 9 second models, and 9 distance values ​​are obtained. The 9 distance values ​​are sorted from large to small to obtain a first sorting result. Starting from the first distance value in the first sorting result, the second model corresponding to each distance value in the first sorting result is deleted in sequence until the total number of faces of the remaining second models in the three-dimensional image is less than or equal to the second total face number threshold. For example, the 9 distance values ​​are sorted from large to small, and the first sorting results are 6.7, 6, 4.5, 3.4, 3, 2, 2, 2, 1. The number of faces of the model corresponding to each distance value in the first sorting result is shown in Table 2. Assuming that the second total face number threshold is 3000, starting from the first distance value in the first sorting result, the number of faces of the second model corresponding to each distance value in the first sorting result is subtracted from the third total face number in sequence to obtain the fourth total face number. Among them, the third total face number is the sum of the number of faces corresponding to all second models. Among them, the third total number of faces is 5200, and when it is accumulated to the number of faces of the model corresponding to the third distance value in the first sorting result, the fourth total number of faces is 2900. If the fourth total number of faces is less than the second total number of faces threshold, the second model and the first model corresponding to the first distance value to the third distance value are deleted from the three-dimensional image to obtain the target image, and the target image includes the second model of the target object E, the target object A, the target object F, the target object C, the target object D and the target object G, and the target image is rendered to the display interface.

[0070] Table 2

[0071]

[0072] Based on the above technical solution, the models of environmental objects in the three-dimensional image are reasonably screened based on their distance from the vehicle, and the models of environmental objects farther away from the vehicle are deleted. The models of environmental objects closer to the vehicle can be rendered preferentially, so that the driver can obtain the positions of environmental objects that have a greater impact on immediate driving decisions, thereby improving the intelligent driving experience and ensuring driving safety.

[0073] In a possible implementation, the second model corresponding to each distance value in the M distance values ​​has a rendering priority order; when there is at least one group of identical distance values ​​in the M distance values, the M distance values ​​are sorted from small to large to obtain a first sorting result, including:

[0074] Sort each distance value in each group of identical distance values ​​in rendering priority order.

[0075] Exemplarily, in the embodiment of the present application, the rendering priority includes the first to fourth priorities, the first priority> the second priority> the third priority> the fourth priority, the second model located in front of the first model corresponds to the first priority, the second model located to the right of the first model corresponds to the second priority, the second model located to the left of the first model corresponds to the third priority, and the second model located behind the first model corresponds to the fourth priority. Figure 2 In the scene outside the vehicle shown, the distance values ​​of the models of target A, target C, and target F relative to the first model are the same. The model of target A is located in front of the first model, the model of target C is located on the left side of the first model, and the model of target F is located on the right side of the first model. According to the rendering priority, the rendering priority corresponding to the model of target A> the rendering priority corresponding to the model of target F> the rendering priority corresponding to the model of target C. Therefore, the distance values ​​of the models of target A, target C, and target F are ranked as target A, target F, and target C in the first sorting result.

[0076] It should be understood that the target object located in front of the vehicle has the greatest impact on the driver's immediate decision, and the target object located behind the vehicle has the least impact on the driver's immediate decision. Therefore, the rendering priority corresponding to the second model located in front of the vehicle is set to the first priority; the rendering priority corresponding to the second model located behind the vehicle is set to the fourth priority. In addition, since the driving seat is generally located on the left, the driver can more easily obtain information about the target object on the left side of the vehicle during driving, while it is more difficult to obtain information about the target object on the right side of the vehicle. Therefore, the rendering priority corresponding to the second model located on the right side of the vehicle should be higher than the rendering priority corresponding to the second model located on the left side of the vehicle, that is, the rendering priority corresponding to the second model located on the right side of the vehicle is set to the second priority, and the rendering priority corresponding to the second model located on the left side of the vehicle is set to the third priority.

[0077] Based on the above technical solution, by sorting each distance value in each group of the same distance values ​​according to the rendering priority order from high to low, the models of environmental objects that have a greater impact on the driver's immediate driving decision can be rendered first, so that the driver can obtain the position of environmental objects that have a greater impact on the driver's immediate driving decision, thereby improving the intelligent driving experience and ensuring driving safety.

[0078] Implementation method three

[0079] In a possible implementation, the number of all second models is T, T≥2, and the rendering of part of the second models among all second models to the display interface according to the distance of each second model relative to the first model includes:

[0080] Obtain T distance values ​​of the second model relative to the first model to obtain T distance values;

[0081] According to the first distance threshold, T distance values ​​are screened to obtain X distance values ​​less than the first distance threshold, 1≤X≤T;

[0082] Obtain the total number of faces of the second model corresponding to the X distance values ​​to obtain a fifth total number of faces;

[0083] Determine whether the fifth total face count is greater than the second total face count threshold;

[0084] If not, the second model and the first model corresponding to the distance value screened out from the T distance values ​​are deleted from the three-dimensional image to obtain the target image;

[0085] If yes, the X distance values ​​are divided into Z groups according to the relative position relationship between the second model and the first model corresponding to the X distance values; wherein each group of distance values ​​has a priority, Z ≥ 1;

[0086] According to the second distance threshold, the second model corresponding to the lowest priority distance value group in the second sorting result is screened out in sequence to the second model corresponding to the highest priority distance value group, until the total number of faces of the retained second model is less than or equal to the second total face number threshold, thereby obtaining a target image;

[0087] Render the target image to the display interface.

[0088] It should be understood that targets that are farther away from the vehicle have less impact on the driver's immediate driving decision. Therefore, when the vehicle's display device cannot complete the rendering of the first model and all second models in the three-dimensional image within a preset time, the screening can start from the second model farthest from the first model, and gradually delete the rendered targets that are farther away from the vehicle until the total number of faces of the remaining models in the three-dimensional image is less than or equal to the second total face number threshold. Exemplarily, the distance values ​​of T second models in the three-dimensional image relative to the first model are obtained to obtain T distance values. For example, Figure 2As shown, the three-dimensional image includes 9 second models, and 9 distance values ​​are obtained: 1, 2, 2, 2, 3, 3.4, 4.5, 6 and 6.7. Assuming that the first distance threshold is 3.5, the 9 distance values ​​are screened according to the first distance threshold to obtain 6 distance values ​​less than 3.5: 1, 2, 2, 2, 3, 3.4. The total number of faces of the second models corresponding to the 6 distance values ​​is obtained to obtain the fifth total number of faces, which is 2900. The fifth total number of faces is less than the second total number of faces threshold, and the second models and the first models corresponding to the distance values ​​4.5, 6 and 6.7 are deleted from the three-dimensional image to obtain the target image; the target image includes the second models of the target E, the target A, the target F, the target C, the target D and the target G, and the target image is rendered to the display interface.

[0089] Exemplarily, assuming that the first distance threshold is 5, the 9 distance values ​​are screened according to the first distance threshold to obtain 7 distance values ​​less than 5: 1, 2, 2, 2, 3, 3.4 and 4.5. The total number of faces of the second model corresponding to the 7 distance values ​​is obtained to obtain the fifth total number of faces, and the fifth total number of faces is 3900. When the second total number of faces threshold is 3000, the fifth total number of faces is greater than the second total number of faces threshold, and the 7 distance values ​​are grouped according to the relative orientation relationship between the second model and the first model corresponding to the 7 distance values ​​to obtain multiple groups of distance values. The multiple groups of distance values ​​are sorted in order of priority from low to high to obtain a second sorting result. Among them, the second sorting result is the sorting result of the priority of the Z group of distance values. According to the second distance threshold, the second models in the multiple groups of distance values ​​in the second sorting result are screened out in turn until the total number of faces of the retained second model is less than or equal to the second total number of faces threshold, and the target image is obtained, and the target image is rendered to the display interface. Among them, the second distance threshold is less than the first distance threshold.

[0090] In a possible implementation, the second model corresponding to the distance value group with the lowest priority to the second model corresponding to the distance value group with the highest priority in the second sorting result is sequentially screened out according to the second distance threshold until the total number of faces of the retained second model is less than or equal to the second total face number threshold, and the target image is obtained, including:

[0091] Setting the first count value of the first counter to the fifth total number of faces;

[0092] Obtaining the number of faces of the pre-filtered model in the target group distance value to obtain a sixth total number of faces corresponding to all pre-filtered models in the target group distance value;

[0093] Determine the difference between the first count value and the sixth total number of faces to obtain a second count value;

[0094] Determine whether the second count value is greater than a second total face count threshold;

[0095] If not, the pre-filtering model and the first model are deleted from the three-dimensional image to obtain a target image;

[0096] If so, the pre-filtering model and the first model are deleted from the three-dimensional image, and the second sorting result is updated to the third sorting result;

[0097] The second count value is used as the first count value, the third sorting result is used as the second sorting result, and the step of obtaining the number of faces of the pre-filtered model in the target group distance value to determine the difference between the first count value and the sixth total number of faces is performed to obtain the second count value.

[0098] It should be understood that in the embodiments of the present application, the rendering priority can be determined according to the driving scene of the vehicle. For example, when the vehicle is moving forward, the priority of the second model located in front of the vehicle is > the priority of the second model located on the right side of the vehicle > the priority of the second model located on the left side of the vehicle > the priority of the second model located behind the vehicle; when the vehicle is reversing, the priority of the second model located behind the vehicle is > the priority of the second model located on the right side of the vehicle > the priority of the second model located on the left side of the vehicle > the priority of the second model located in front of the vehicle. The rendering priority can also be determined according to the driving habits of the driver, which is not limited to the embodiments of the present application.

[0099] Exemplarily, the rendering priority includes first to fourth priorities, the first priority > second priority > third priority > fourth priority, the second model located in front of the first model corresponds to the first priority, the second model located on the right side of the first model corresponds to the second priority, the second model located on the left side of the first model corresponds to the third priority, and the second model located behind the first model corresponds to the fourth priority.

[0100] According to the relative orientation relationship between the second model and the first model corresponding to the X distance values, the X distance values ​​can be divided into 4 groups; wherein the second model corresponding to the first group of distance values ​​is located in front of the first model, the second model corresponding to the second group of distance values ​​is located on the right side of the first model, the second model corresponding to the third group of distance values ​​is located on the left side of the first model, and the second model corresponding to the fourth group of distance values ​​is located behind the first model; the distance values ​​from the first group to the fourth group are sorted according to the rendering priority order from high to low to obtain a second sorting result. And set the first count value of the first counter to the fifth total number of faces; obtain the number of faces of the pre-filtering model in the target group distance value in the second sorting result to obtain the sixth total number of faces corresponding to all pre-filtering models in the target group distance value; wherein the target group distance value is a group of distance values ​​with the lowest priority in the second sorting result, that is, the target group distance value is the fourth group of distance values, and the pre-filtering model is the second model corresponding to the distance value greater than or equal to the second distance threshold in the fourth group of distance values, and the second distance threshold is less than the first distance threshold; determine the difference between the first count value and the sixth total number of faces to obtain the second count value; determine whether the second count value is greater than the second total number of faces threshold; if not, remove the pre-filtering model and the first model from the three-dimensional image to obtain the target image; if so, delete the pre-filtering model and the first model from the three-dimensional image, filter out the target group distance value in the second sorting result, and obtain a third sorting result, wherein the third sorting result includes all group distance values ​​in the second sorting result except the target group distance value, that is, the third sorting result includes the first to third groups of distance values ​​arranged in descending order of rendering priority; use the third sorting result as the second sorting result, that is, the target group distance value is the third group distance value, use the second count value as the first count value, and execute the steps of obtaining the number of faces of the pre-filtering model in the third group distance value to determine the difference between the first count value and the sixth total number of faces to obtain the second count value.

[0101] Exemplarily, assuming that the three-dimensional image includes 9 second models, 9 distance values ​​are obtained: 1, 2, 2, 2, 3, 3.4, 4.5, 6 and 6.7. The first distance threshold is 5, then the 9 distance values ​​are screened according to the first distance threshold, and 7 distance values ​​less than 5 are obtained: 1, 2, 2, 2, 3, 3.4 and 4.5. The total number of faces of the second models corresponding to the 7 distance values ​​is obtained to obtain the fifth total number of faces, and the fifth total number of faces is 3900. When the second total number of faces threshold is 3000, the 7 distance values ​​are divided into 4 groups according to the relative orientation relationship between the second models corresponding to the 7 distance values ​​and the first model. Among them, the second model corresponding to the first group of distance values ​​is located in front of the first model, the second model corresponding to the second group of distance values ​​is located on the right side of the first model, the second model corresponding to the third group of distance values ​​is located on the left side of the first model, and the second model corresponding to the fourth group of distance values ​​is located behind the first model. By Figure 2It can be seen that the second model located in front of the first model includes the second model of A, and the first group of distance values ​​is 2. The second model located on the right side of the first model includes the second models of target G and target F, and the second group of distance values ​​is 3.4, 2. The second model located on the left side of the first model includes the second models of target B, target C and target D, and the third group of distance values ​​is 4.5, 2, 3. The second model located behind the first model includes the second model of target E, and the fourth group of distance values ​​is 1. The first to fourth groups of distance values ​​are sorted according to the rendering priority order from high to low to obtain a second sorting result, and the second sorting result is the first group of distance values ​​(2), the second group of distance values ​​(3.4, 2), the third group of distance values ​​(4.5, 2, 3), and the fourth group of distance values ​​(1). In the four groups of distance values, the pre-filtered models in the second model corresponding to each group of distance values ​​are filtered in sequence from the fourth group of distance values. Exemplarily, it is assumed that the second distance threshold is 4. Then, in the fourth group of distance values, there is no distance value greater than or equal to 4, that is, there is no pre-filtering model in the fourth group of distance values. Continue to obtain the pre-filtering model in the third group of distance values. The distance value 4.5 in the third group of distance values ​​is greater than 4. The second model corresponding to the distance value 4.5 is the pre-filtering model, that is, the second model of the target object B is the pre-filtering model, and the number of faces of the second model of the target object B is taken as the sixth total number of faces, and the sixth total number of faces is 1000. Calculate the difference between the fifth total number of faces (the first count value) and the sixth total number of faces to obtain the second count value, the second count value is 2900, and the second count value is less than the second total number of faces threshold, then delete the second model and the first model of the target object B from the three-dimensional image to obtain the target image, then the target image includes the second models of the target objects E, A, F, C, D, and G, and render the target image to the display interface.

[0102] Based on the above technical solution, the models of environmental objects in the three-dimensional image are reasonably screened based on their distance from the vehicle, and the models of environmental objects farther away from the vehicle are deleted. The models of environmental objects closer to the vehicle can be rendered preferentially, so that the driver can obtain the positions of environmental objects that have a greater impact on immediate driving decisions, thereby improving the intelligent driving experience and ensuring driving safety.

[0103] In a possible implementation, before determining whether the first total number of faces is greater than the first total number of faces threshold, the image display method further includes:

[0104] A first total face count threshold is obtained from a preset mapping relationship according to current performance parameters of the display device; the performance parameters of the display device are used to characterize the rendering capability of the display device. The stronger the rendering capability of the display device, the greater the number of models that the display device can render within a preset time.

[0105] It should be understood that the first total face number threshold represents the maximum number of model faces that the display device can render within a preset duration. The rendering capability of the display device depends on the performance parameters, and the rendering capability of the display device can be quantified by the first total face number threshold that the display device can render within a preset duration. Therefore, in an embodiment of the present application, the first total face number threshold can be found from a preset mapping relationship based on the performance parameters of the display device. The preset mapping relationship includes a plurality of preset performance parameters and a preset total face number threshold corresponding to each of the plurality of preset performance parameters.

[0106] Exemplarily, the preset mapping relationship between the preset performance parameter and the preset total face number threshold is shown in Table 3.

[0107] Table 3

[0108]

[0109] Exemplarily, according to the current performance parameter of the display device, the first total face number threshold value corresponding to the current performance parameter of the display device is searched from the preset mapping relationship shown in Table 3. For example, if the current performance parameter of the display device is A, the first total face number threshold value corresponding to the current performance parameter of the display device is a.

[0110] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0111] The following is an embodiment of an image display device provided in the embodiments of the present application.

[0112] Figure 3 An exemplary structural diagram of an image display device provided in an embodiment of the present application is shown. Figure 3 As shown, the image display device 300 includes:

[0113] A construction module 310 is used to construct a three-dimensional image of the environment outside the vehicle, where the three-dimensional image includes a first model of the vehicle and a second model of a target object in the environment outside the vehicle;

[0114] A rendering module 320, used to determine whether the display device of the vehicle can complete the rendering of the first model and all the second models in the three-dimensional image within a preset time length;

[0115] If so, rendering the three-dimensional image to a display interface of the vehicle;

[0116] If not, the first model is rendered to the display interface, and according to the distance of each second model relative to the first model, part of the second models in all the second models are rendered to the display interface.

[0117] In a possible implementation, the rendering module 320 includes:

[0118] An acquisition unit, used for acquiring the number of geometric faces used to construct the first model and each second model, so as to obtain a first total number of faces corresponding to the first model and all the second models;

[0119] A judging unit, configured to judge whether the first total face number is greater than a first total face number threshold;

[0120] If not, determining that the display device can complete rendering of the first model and all second models in the three-dimensional image within a preset time period;

[0121] If so, it is determined that the display device cannot complete the rendering of the first model and all the second models in the three-dimensional image within the preset time period.

[0122] In a possible implementation, the rendering module 320 is specifically used to:

[0123] Obtaining the distance value of each second model relative to the first model to obtain M distance values;

[0124] Sort the M distance values ​​from small to large to obtain a first sorting result;

[0125] The number of faces of the second model corresponding to each distance value in the first sorting result is accumulated in sequence to obtain a second total number of faces;

[0126] When the second total number of faces is greater than the second total number of faces threshold for the first time, the second model and the first model corresponding to the first distance value and the distance value after the first distance value in the first sorting result are deleted from the three-dimensional image to obtain the target image, and the target image is rendered to the display interface; wherein the first distance value is the last accumulated distance value in the first sorting result, and the second total number of faces threshold is less than the first total number of faces threshold.

[0127] In a possible implementation, the rendering module 320 is specifically used to:

[0128] Obtaining M distance values ​​of the second model relative to the first model to obtain M distance values;

[0129] Sort the M distance values ​​from large to small to obtain the first sorting result;

[0130] The number of faces of the second model corresponding to each distance value in the first sorting result is sequentially subtracted from the third total number of faces to obtain a fourth total number of faces; wherein the third total number of faces is the sum of the numbers of faces corresponding to all second models;

[0131] When the fourth total number of faces is less than or equal to the second total number of faces threshold for the first time, the second model and the first model corresponding to the second distance value and the distance value before the second distance value in the first sorting result are deleted from the three-dimensional image to obtain the target image, and the target image is rendered to the display interface; wherein the second distance value is the last distance value accumulated in the first sorting result.

[0132] In a possible implementation, the acquisition unit is specifically used to:

[0133] Sort each distance value in each group of identical distance values ​​in rendering priority order.

[0134] In a possible implementation, the rendering module 320 is specifically used to:

[0135] Obtain T distance values ​​of the second model relative to the first model to obtain T distance values;

[0136] According to the first distance threshold, T distance values ​​are screened to obtain X distance values ​​less than the first distance threshold, 1≤X≤T;

[0137] Obtain the total number of faces of the second model corresponding to the X distance values ​​to obtain a fifth total number of faces;

[0138] Determine whether the fifth total face count is greater than the second total face count threshold;

[0139] If not, the second model and the first model corresponding to the distance value screened out from the T distance values ​​are deleted from the three-dimensional image to obtain the target image;

[0140] If yes, the X distance values ​​are divided into Z groups according to the relative position relationship between the second model and the first model corresponding to the X distance values; wherein each group of distance values ​​has a priority, Z ≥ 1;

[0141] According to the second distance threshold, the second model corresponding to the distance value group with the lowest priority to the second model corresponding to the distance value group with the highest priority in the second sorting result is screened out in sequence until the total number of faces of the retained second model is less than or equal to the second total face number threshold, thereby obtaining a target image; wherein the second sorting result is a sorting result of the priority of the Z group distance value, and the second distance threshold is less than the first distance threshold;

[0142] Render the target image to the display interface.

[0143] In a possible implementation, the rendering module 320 is specifically used to:

[0144] Setting the first count value of the first counter to the fifth total number of faces;

[0145] Obtaining the number of faces of the pre-filtering model in the target group distance value to obtain a sixth total number of faces corresponding to all pre-filtering models in the target group distance value; wherein the target group distance value is a group of distance values ​​with the lowest priority in the second sorting result, and the pre-filtering model is a second model corresponding to a distance value in the target group distance value that is greater than or equal to the second distance threshold;

[0146] Determine the difference between the first count value and the sixth total number of faces to obtain a second count value;

[0147] Determine whether the second count value is greater than a second total face count threshold;

[0148] If not, the pre-filtering model and the first model are deleted from the three-dimensional image to obtain a target image;

[0149] If so, the pre-filtering model and the first model are deleted from the three-dimensional image, and the second sorting result is updated to a third sorting result; wherein the third sorting result includes all group distance values ​​in the second sorting result except the target group distance value;

[0150] The second count value is used as the first count value, the third sorting result is used as the second sorting result, and the step of obtaining the number of faces of the pre-filtered model in the target group distance value to determine the difference between the first count value and the sixth total number of faces is performed to obtain the second count value.

[0151] In a possible implementation, the acquisition unit is further configured to:

[0152] A first total face count threshold is obtained from a preset mapping relationship according to current performance parameters of the display device; wherein the preset mapping relationship includes multiple preset performance parameters and preset total face count thresholds corresponding to each of the multiple preset performance parameters; the performance parameters of the display device are used to characterize the rendering capability of the display device, and the stronger the rendering capability of the display device, the greater the number of models that the display device can render within a preset time length.

[0153] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0154] For example, Figure 4 As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform an image display method.

[0155] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0156] In the case of dividing each functional module according to each function, the vehicle may include: an acquisition module, a processing module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0157] The vehicle provided in this embodiment is used to execute the above-mentioned image display method, so the same effect as the above-mentioned implementation method can be achieved.

[0158] In the case of an integrated unit, the vehicle may include a construction module and a rendering module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes and data.

[0159] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0160] This embodiment further provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement an image display method in the above-mentioned embodiment.

[0161] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement an image display method in the above-mentioned embodiment.

[0162] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes an image display method in the above-mentioned embodiments.

[0163] The vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding image display method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding image display method provided above, and will not be repeated here.

[0164] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0165] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0166] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An image display method, characterized in that: The image display method comprises: Constructing a three-dimensional image of an environment outside the vehicle, the three-dimensional image comprising a first model of the vehicle and a second model of a target object in the environment outside the vehicle; Determining whether the display device of the vehicle can complete rendering of the first model and all the second models in the three-dimensional image within a preset time length; If so, rendering the three-dimensional image to a display interface of the vehicle; If not, rendering the first model to the display interface, and rendering part of the second models in all the second models to the display interface according to the distance of each of the second models relative to the first model; The determining whether the display device of the vehicle can complete the rendering of the first model and all the second models in the three-dimensional image within a preset time period includes: Obtaining the number of geometric faces used to construct the first model and each of the second models, so as to obtain a first total number of faces corresponding to the first model and all of the second models; Determine whether the first total number of faces is greater than a first total number of faces threshold; If not, determining that the display device can complete rendering of the first model and all the second models in the three-dimensional image within the preset time length; If so, it is determined that the display device cannot complete the rendering of the first model and all the second models in the three-dimensional image within the preset time period.

2. The image display method according to claim 1, characterized in that: The number of all the second models is M, M≥2; Rendering part of the second models in all the second models to the display interface according to the distance of each of the second models relative to the first model includes: Obtaining a distance value of each of the second models relative to the first model to obtain M distance values; Sorting the M distance values ​​from small to large to obtain a first sorting result; Accumulating the number of faces of the second model corresponding to each distance value in the first sorting result in sequence to obtain a second total number of faces; When the second total number of faces is greater than the second total number of faces threshold for the first time, the second model and the first model corresponding to the first distance value and the distance value after the first distance value in the first sorting result are deleted from the three-dimensional image to obtain a target image, and the target image is rendered to the display interface; wherein the first distance value is the last accumulated distance value in the first sorting result, and the second total number of faces threshold is less than the first total number of faces threshold.

3. The image display method according to claim 1, characterized in that: The number of all the second models is M, M≥2; Rendering part of the second models in all the second models to the display interface according to the distance of each of the second models relative to the first model includes: Obtaining M distance values ​​of the second model relative to the first model to obtain M distance values; Sorting the M distance values ​​from large to small to obtain a first sorting result; The number of faces of the second model corresponding to each distance value in the first sorting result is sequentially subtracted from the third total number of faces to obtain a fourth total number of faces; wherein the third total number of faces is the sum of the numbers of faces corresponding to all the second models; When the fourth total number of faces is less than or equal to the second total number of faces threshold for the first time, the second model and the first model corresponding to the second distance value and the distance value before the second distance value in the first sorting result are deleted from the three-dimensional image to obtain a target image, and the target image is rendered to the display interface; wherein the second distance value is the last distance value accumulated in the first sorting result.

4. The image display method according to claim 2 or 3, characterized in that: The second model corresponding to each distance value in the M distance values ​​has a rendering priority order; when there is at least one group of identical distance values ​​in the M distance values, the M distance values ​​are sorted from small to large to obtain a first sorting result, including: Each distance value in each group of identical distance values ​​is sorted according to the rendering priority order.

5. The image display method according to claim 1, characterized in that: The number of all the second models is T, T≥2; Rendering part of the second models in all the second models to the display interface according to the distance of each of the second models relative to the first model includes: Obtain T distance values ​​of the second model relative to the first model to obtain T distance values; The T distance values ​​are screened according to a first distance threshold to obtain X distance values ​​that are smaller than the first distance threshold, where 1≤X≤T; Obtaining the total number of faces of the second model corresponding to the X distance values ​​to obtain a fifth total number of faces; Determining whether the fifth total face number is greater than a second total face number threshold; If not, deleting the second model and the first model corresponding to the distance value screened out from the T distance values ​​from the three-dimensional image to obtain a target image; If yes, the X distance values ​​are divided into Z groups according to the relative position relationship between the second model and the first model corresponding to the X distance values; wherein each group of distance values ​​has a priority, Z≥1; According to the second distance threshold, the second model corresponding to the distance value group with the lowest priority to the second model corresponding to the distance value group with the highest priority in the second sorting result is screened out in sequence until the total number of faces of the retained second model is less than or equal to the second total face number threshold, thereby obtaining the target image; wherein the second sorting result is a sorting result of the priority of the Z group distance value, and the second distance threshold is less than the first distance threshold; Rendering the target image to the display interface.

6. The image display method according to claim 5, characterized in that: The step of screening out, according to the second distance threshold, the second model corresponding to the distance value group with the lowest priority to the second model corresponding to the distance value group with the highest priority in the second sorting result in sequence until the total number of faces of the retained second model is less than or equal to the second total number of faces threshold, and obtaining the target image includes: Setting a first count value of the first counter to the fifth total number of pages; Obtaining the number of faces of the pre-filtering model in the target group distance value to obtain a sixth total number of faces corresponding to all the pre-filtering models in the target group distance value; wherein the target group distance value is a group of distance values ​​with the lowest priority in the second sorting result, and the pre-filtering model is a second model corresponding to a distance value greater than or equal to a second distance threshold in the target group distance value; Determine a difference between the first count value and the sixth total number of faces to obtain a second count value; Determine whether the second count value is greater than the second total face number threshold; If not, deleting the pre-filtering model and the first model from the three-dimensional image to obtain the target image; If yes, the pre-filtering model and the first model are deleted from the three-dimensional image, and the second sorting result is updated to a third sorting result; wherein the third sorting result includes all group distance values ​​in the second sorting result except the target group distance value; The second count value is used as the first count value, the third sorting result is used as the second sorting result, and the step of obtaining the number of faces of the pre-filtered model in the target group distance value is performed to determine the difference between the first count value and the sixth total number of faces to obtain the second count value.

7. The image display method according to claim 1, characterized in that: Before determining whether the first total number of faces is greater than a first total number of faces threshold, the image display method further includes: The first total face number threshold is obtained from a preset mapping relationship according to the performance parameters of the display device; wherein the preset mapping relationship includes multiple preset performance parameters and preset total face number thresholds corresponding to each of the multiple preset performance parameters; the performance parameters of the display device are used to characterize the rendering capability of the display device, and the stronger the rendering capability of the display device, the greater the number of models that the display device can render within the preset time length.

8. An image display device, characterized in that: The image display device comprises: A construction module, used to construct a three-dimensional image of an environment outside the vehicle, wherein the three-dimensional image includes a first model of the vehicle and a second model of a target object in the environment outside the vehicle; A rendering module, used to determine whether the display device of the vehicle can complete the rendering of the first model and all the second models in the three-dimensional image within a preset time length; if so, render the three-dimensional image to the display interface of the vehicle; if not, render the first model to the display interface, and render part of the second models in all the second models to the display interface according to the distance of each second model relative to the first model; the determination of whether the display device of the vehicle can complete the rendering of the first model and all the second models in the three-dimensional image within the preset time length includes: obtaining the number of geometric faces used to construct the first model and each of the second models to obtain a first total number of faces corresponding to the first model and all of the second models; determining whether the first total number of faces is greater than a first total number of faces threshold; if not, determining that the display device can complete the rendering of the first model and all of the second models in the three-dimensional image within the preset time length; if so, determining that the display device cannot complete the rendering of the first model and all of the second models in the three-dimensional image within the preset time length.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the image display method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the image display method according to any one of claims 1 to 7 is implemented.

Images