Vehicle position display method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle position display method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining road perception data; the road sensing data comprises vehicle position data of a target vehicle; determining a relative position relationship between the target vehicle and a navigation road surface according to the vehicle position data and navigation map data; the navigation map data comprises information of a navigation route, and the navigation road surface is a road surface corresponding to the navigation route; if the relative position relationship indicates that the vehicle position of the target vehicle deviates from the navigation road surface, determining road surface supplementary data corresponding to the navigation road surface according to the road surface scene type of the navigation road surface; rendering and displaying the navigation map according to the road surface supplementary data and the original road surface data of the navigation road surface; wherein a supplementary road surface corresponding to the road surface supplementary data is adjacent to a navigation road surface corresponding to the original road surface data.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle position display method, device, computer equipment, and storage medium. Background Art

[0002] While driving, a navigation map can be displayed on the vehicle interface. At the same time, in order to facilitate the driver to observe the real-time position of the driving vehicle on the road, a vehicle model representing the vehicle can also be displayed on the navigation map of the vehicle interface. The position of the vehicle model on the navigation map changes with the changes in the real-time position of the vehicle.

[0003] In some cases, due to the limited accuracy of the navigation map itself or inaccurate vehicle positioning, the vehicle model may be displayed outside the road and the display effect may not match the actual situation, thereby affecting the driver's driving experience and misleading and distressing the driver. Summary of the invention

[0004] The embodiments of the present disclosure at least provide a vehicle position display method, device, electronic device and storage medium.

[0005] In a first aspect, an embodiment of the present disclosure provides a vehicle position display method, the method comprising:

[0006] Acquiring road perception data; the road perception data including vehicle position data of the target vehicle;

[0007] Determine the relative position relationship between the target vehicle and the navigation road surface according to the vehicle position data and the navigation map data; the navigation map data includes information of the navigation route, and the navigation road surface is the road surface corresponding to the navigation route;

[0008] If the relative position relationship indicates that the vehicle position of the target vehicle deviates from the navigation road surface, determining road surface supplementary data corresponding to the navigation road surface according to the road surface scene type of the navigation road surface;

[0009] The navigation map is rendered and displayed according to the road surface supplementary data and the original road surface data of the navigation road surface; wherein the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

[0010] By adopting the embodiments of the present disclosure, after acquiring the road perception data, if it is detected that the perceived vehicle position deviates from the navigation road surface, the navigation road surface can be supplemented with road surface processing according to the road surface scene type of the navigation road surface, so that the vehicle model is located above the navigation road surface; on the one hand, it can avoid the abnormal display situation where the vehicle model is displayed outside the road surface; on the other hand, this processing method does not need to introduce too much position data processing process in the algorithm, and can achieve a display effect that conforms to the user's conventional cognition without consuming more computing resources, and can avoid unnecessary troubles and misleading to the driver due to road display problems.

[0011] In one implementation manner, the road scene type is an intersection scene, and determining the road supplementary data corresponding to the navigation road surface according to the road scene type of the navigation road surface includes:

[0012] Determine first deviation information based on the vehicle position data and the position of the edge road line of the road surface of the intersection; the first deviation information indicates the deviation distance of the vehicle position relative to the nearest edge road line of the intersection;

[0013] According to the first deviation information, first road surface supplementary data corresponding to the intersection road surface is determined, and the first road surface supplementary data indicates the distance between the outer edge of the supplemented road surface and the original edge road line of the intersection road surface.

[0014] Here, in the intersection scenario, the deviation distance of the vehicle from the nearest edge road line can be determined. Based on the deviation distance, the road surface data of the intersection road surface can be supplemented so that when the road surface is rendered, the vehicle can be displayed on the nearest lane surface.

[0015] In one implementation manner, the road scene type is a roundabout scene, and determining the road supplementary data corresponding to the navigation road surface according to the road scene type of the navigation road surface includes:

[0016] Determining second deviation information based on the vehicle position data and the inner and outer road line positions of the road surface of the roundabout; the second deviation information indicates the deviation distance of the vehicle position relative to the outer edge or the inner edge of the road surface of the roundabout;

[0017] Based on the second deviation information, the second road surface supplementary data corresponding to the roundabout road surface is determined, and the second road surface supplementary data indicates the distance between the outer edge of the supplemented road surface and the outer edge of the roundabout road surface, or indicates the distance between the inner edge of the supplemented road surface and the inner edge of the roundabout road surface.

[0018] Here, in the roundabout scene, since the road surface of the roundabout is hollowed out internally (non-road internally), when a vehicle is traveling on the roundabout road, it may be displayed outside the road surface or in the non-road area inside the road surface. Therefore, the deviation distance of the vehicle position relative to the outer edge or inner edge of the roundabout road surface can be determined. Based on the deviation distance, the road surface data of the roundabout road surface can be supplemented so that when the road surface is rendered, the vehicle can be displayed on the roundabout road surface.

[0019] In one implementation, the road scene type is a non-intersection scene, and determining the road supplementary data corresponding to the navigation road surface according to the road scene type of the navigation road surface includes:

[0020] Determine third deviation information based on the vehicle position data and the positions of the road lines on both sides of the non-intersection road surface; the third deviation information indicates the deviation distance of the vehicle position relative to the nearest side edge of the non-intersection road surface;

[0021] According to the third deviation information, third road surface supplementary data corresponding to the non-intersection road surface is determined, and the third road surface supplementary data indicates the distance of the side edge of the supplementary road surface relative to the nearest side edge of the non-intersection road surface.

[0022] Here, in a non-intersection scenario, when a vehicle is traveling in a lane, it may appear to deviate from the lane surface, specifically, it may deviate to the left or to the right. Therefore, the deviation distance of the vehicle relative to the nearest side edge of the corresponding lane can be determined. Based on the deviation distance, the road surface data of the non-intersection lane surface can be supplemented so that when the road surface is rendered, the vehicle can be displayed on the lane surface of the corresponding lane.

[0023] In one implementation, rendering and displaying the navigation map according to the road surface supplementary data and the original road surface data of the navigation road surface includes:

[0024] The original road surface data and the road surface supplementary data are fused and rendered in a manner of blurring the supplementary road surface indicated by the road surface supplementary data, so as to display the supplemented navigation road surface on the navigation map.

[0025] Here, the supplementary road surface is rendered in a blurred manner, so that the displayed supplemented navigation road surface can not only distinguish the original road surface and the supplemented road surface information, but also meet the requirement of the vehicle not deviating from the road surface, and play a certain reminder role when the user needs it (for example, reminding the user that there is a certain error in the current map data).

[0026] In one implementation, the navigation road surface includes a first lane surface; and the method further includes:

[0027] If there is a second lane surface adjacent to the first lane surface, and the second lane surface is located on the side of the first lane surface where the road surface is supplemented, the second lane surface is translated, wherein the translated second lane surface is adjacent to the first lane surface after the road surface is supplemented.

[0028] Under this implementation, when there are two adjacent lanes, if the road surface is supplemented on the side of one of the lanes adjacent to the adjacent lane, the supplemented road surface will occupy the lane surface of the adjacent lane, making the lane surface of the adjacent lane narrower and appearing unnatural; to avoid this situation, the adjacent lane surface can be translated so that the lane surface is adjacent to the supplemented road surface after translation.

[0029] In one implementation, the target vehicle includes a currently driven vehicle, and other vehicles within a display range of the navigation map and within a set distance range from the currently driven vehicle.

[0030] In the specific implementation, in addition to supplementing the road surface when the vehicle deviates from the road surface, correction processing can also be performed on the deviation display of other vehicles close to the vehicle, so that the display of each vehicle within the user's attention range is consistent with normal cognition, thereby improving the driving experience.

[0031] In a second aspect, the embodiment of the present disclosure further provides a vehicle position display device, comprising:

[0032] An acquisition module, used to acquire road perception data; the road perception data includes vehicle position data of the target vehicle;

[0033] A determination module, used to determine the relative position relationship between the target vehicle and the navigation road surface according to the vehicle position data and the navigation map data; the navigation map data includes information of the navigation route, and the navigation road surface is the road surface corresponding to the navigation route;

[0034] A supplementing module, configured to determine road surface supplementary data corresponding to the navigation road surface according to a road surface scene type of the navigation road surface if the relative position relationship indicates that the vehicle position of the target vehicle deviates from the navigation road surface;

[0035] A display module is used to render and display the navigation map according to the road surface supplementary data and the original road surface data of the navigation road surface; wherein the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

[0036] In one implementation, the road scene type is an intersection scene, and the supplementary module is specifically used to:

[0037] Determine first deviation information based on the vehicle position data and the position of the edge road line of the road surface of the intersection; the first deviation information indicates the deviation distance of the vehicle position relative to the nearest edge road line of the intersection;

[0038] According to the first deviation information, first road surface supplementary data corresponding to the intersection road surface is determined, and the first road surface supplementary data indicates the distance between the outer edge of the supplemented road surface and the original edge road line of the intersection road surface.

[0039] In one implementation, the road scene type is a roundabout scene, and the supplementary module is specifically used to:

[0040] Determining second deviation information based on the vehicle position data and the inner and outer road line positions of the road surface of the roundabout; the second deviation information indicates the deviation distance of the vehicle position relative to the outer edge or the inner edge of the road surface of the roundabout;

[0041] Based on the second deviation information, the second road surface supplementary data corresponding to the roundabout road surface is determined, and the second road surface supplementary data indicates the distance between the outer edge of the supplemented road surface and the outer edge of the roundabout road surface, or indicates the distance between the inner edge of the supplemented road surface and the inner edge of the roundabout road surface.

[0042] In one implementation, the road scene type is a non-intersection scene, and the supplementary module is specifically used to:

[0043] Determine third deviation information based on the vehicle position data and the positions of the road lines on both sides of the non-intersection road surface; the third deviation information indicates the deviation distance of the vehicle position relative to the nearest side edge of the non-intersection road surface;

[0044] According to the third deviation information, third road surface supplementary data corresponding to the non-intersection road surface is determined, and the third road surface supplementary data indicates the distance of the side edge of the supplementary road surface relative to the nearest side edge of the non-intersection road surface.

[0045] In one embodiment, the display module is specifically used for:

[0046] The original road surface data and the road surface supplementary data are fused and rendered in a manner of blurring the supplementary road surface indicated by the road surface supplementary data, so as to display the supplemented navigation road surface on the navigation map.

[0047] In one implementation, the navigation road surface includes a first lane surface; and the supplementary module is further configured to:

[0048] If there is a second lane surface adjacent to the first lane surface, and the second lane surface is located on the side of the first lane surface where the road surface is supplemented, the second lane surface is translated, wherein the translated second lane surface is adjacent to the first lane surface after the road surface is supplemented.

[0049] In a third aspect, an embodiment of the present disclosure further provides a computer device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the vehicle position display method in the above-mentioned first aspect, or any possible implementation manner of the first aspect are performed.

[0050] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle position display method in the above-mentioned first aspect, or any possible implementation manner in the first aspect are executed.

[0051] The implementation effects of the above-mentioned apparatus, computer device and computer-readable storage medium are detailed in the relevant description of the method of the first aspect and will not be repeated here.

[0052] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0054] Figure 1 A schematic diagram showing deviation of vehicle model display in the vehicle position display method provided by an embodiment of the present disclosure is shown;

[0055] Figure 2 A flow chart of a vehicle position display method provided by an embodiment of the present disclosure is shown;

[0056] Figure 3a A schematic diagram before supplementary rendering in an intersection scene provided by an embodiment of the present disclosure is shown;

[0057] Figure 3b A schematic diagram showing supplementary rendering in an intersection scene provided by an embodiment of the present disclosure is shown;

[0058] Figure 4a A schematic diagram before supplementary rendering in a roundabout scene provided by an embodiment of the present disclosure is shown;

[0059] Figure 4b A schematic diagram showing supplementary rendering in a roundabout scene provided by an embodiment of the present disclosure is shown;

[0060] Figure 5a A schematic diagram before supplementary rendering in a non-intersection one-way lane scenario provided by an embodiment of the present disclosure is shown;

[0061] Figure 5b A schematic diagram showing a supplementary rendering in a non-intersection one-way lane scenario provided by an embodiment of the present disclosure is shown;

[0062] Figure 6a A schematic diagram before supplementary rendering in a non-intersection two-way lane scenario provided by an embodiment of the present disclosure is shown;

[0063] Figure 6b A schematic diagram showing supplementary rendering in a non-intersection two-way lane scenario provided by an embodiment of the present disclosure is shown;

[0064] Figure 7 A schematic diagram of a vehicle position display device provided by an embodiment of the present disclosure is shown;

[0065] Figure 8 A schematic diagram of a computer device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0067] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0068] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0069] In order to facilitate drivers to observe the real-time position of the vehicle on the road, the vehicle's movement information can be displayed on the navigation map of the vehicle interface based on the real-time position data of the vehicle, and vehicle models are usually used to represent each vehicle. In some cases, due to the limited accuracy of the navigation map or the deviation of the detected real-time position data of the vehicle, the vehicle model is sometimes displayed outside the road; since it is unlikely to drive off the road during normal driving, this display effect does not match the actual situation.

[0070] like Figure 1 As shown, it is a schematic diagram of the vehicle model corresponding to the target vehicle displayed outside the road surface. The shaded area marked with oblique lines in the figure is the road surface area, and the white area is the area outside the road. The vehicle model is displayed outside the road surface in the vehicle interface. The reason for this situation may be that the map data itself is not accurate, or there may be deviations in the collected real-time vehicle position data.

[0071] Based on the above research, the disclosed embodiment provides a method for displaying vehicle position: after acquiring the road perception data, the road perception data and the navigation map data are not immediately fused and displayed, but the vehicle position data of the target vehicle is extracted. If the vehicle position of the target vehicle is determined to be offset from the navigation road surface based on the vehicle position data and the navigation map data, then the road surface supplementary data corresponding to the navigation road surface is determined based on the road surface scene type of the navigation road surface, that is, the data for rendering the road surface, including road position point information. In this way, the road surface supplementary data and the original road surface data of the navigation road surface can be fused and rendered. In the navigation map after fusion rendering, the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

[0072] The defects existing in the above solutions are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the present disclosure for the above problems below should be the contributions made by the inventor to the present disclosure during the disclosure process.

[0073] The technical solutions in the present disclosure will be clearly and completely described below in conjunction with the drawings in the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the present disclosure generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure claimed for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0074] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0075] To facilitate understanding of this embodiment, a vehicle position display method disclosed in the embodiment of the present disclosure is first introduced in detail. The execution subject of the vehicle position display method provided in the embodiment of the present disclosure is a processing device with certain computing capabilities, such as an on-board terminal in a vehicle, which can be integrated into a domain controller. The processing device has a connected display screen to display a related interactive interface. In some possible implementations, the vehicle position display method can be implemented by a processor in the processing device calling a computer-readable instruction stored in a memory.

[0076] The vehicle position display method provided by the embodiment of the present disclosure is described below.

[0077] See also Figure 2 FIG. 2 is a flow chart of a vehicle position display method provided by an embodiment of the present disclosure, wherein the method comprises steps S201 to S204, wherein:

[0078] S201: Acquire road perception data; the road perception data includes vehicle position data of a target vehicle.

[0079] Here, the road perception data may come from a variety of sources, such as laser radar, millimeter wave radar, ultrasonic radar, global positioning system (GPS), camera device and other sensor devices installed on the vehicle to collect road perception data in real time.

[0080] In the disclosed embodiment, the road perception data needs to include at least the vehicle position data of the target vehicle. In addition, it may also include other data perceived in real time, such as pedestrians, objects around the road (trees, buildings, etc.), and perceived lane line data (different from pre-set navigation map data).

[0081] Here, the target vehicle may include the currently driven vehicle, and may also include other vehicles that are within the display range of the navigation map and whose distance from the currently driven vehicle is within a set distance range. Generally, other vehicles may include vehicles that are located in the same lane and / or adjacent lanes as the currently driven vehicle.

[0082] S202: Determine the relative position relationship between the target vehicle and the navigation road surface according to the vehicle position data and the navigation map data; the navigation map data includes information of the navigation route, and the navigation road surface is the road surface corresponding to the navigation route.

[0083] Here, the navigation map data includes road topology data, and the road topology data can indicate the edge line position information of each road; specifically, for a road divided into multiple lane lines, the edge line position information here may include lane edge line position information of each lane in the road; there are some roads without lane divisions, such as a road with only one lane, and the edge line position information here may refer to the edge line position information of the entire road.

[0084] In the disclosed embodiment, it is possible to determine whether the target vehicle position deviates from the corresponding navigation road surface based on the edge line position information of the road on which the target vehicle is traveling and the sensed vehicle position information.

[0085] Here, when the target vehicle is the self-vehicle, that is, the currently driven vehicle, the navigation road surface of the currently driven vehicle is the road surface on the navigation route corresponding to the self-vehicle; when the target vehicle is another vehicle, that is, another vehicle other than the currently driven vehicle, the navigation road surface may refer to the road surface on the navigation route corresponding to the other vehicle. In actual implementation, if the navigation route of the other vehicle is not convenient to obtain, the corresponding road surface whose direction is consistent with the driving direction of the other vehicle and is closest to the other vehicle may be used as the navigation road surface of the other vehicle.

[0086] In the specific implementation, since the position of the target vehicle changes in real time, when determining the above relative position relationship, the position relationship calculation is actually based on the predicted future position information of the target vehicle. When predicting the position information of the target vehicle, it is generally based on the current position of the vehicle to predict the position information within the near future time range. Generally, the longer the predicted time is, the greater the error of the predicted position information will be. In addition, the navigation route of the target vehicle is relatively long, and the navigation route actually displayed on the vehicle interface is only the part of the navigation route within the field of view. Therefore, when processing road surface data, only the road surface of the part of the navigation route within the near future time can be processed.

[0087] Specifically, based on the vehicle position data and the navigation map data, the target navigation route corresponding to the target vehicle within a preset time period in the future starting from the current time is determined; based on the vehicle position data and the position data of the navigation road surface corresponding to the target navigation route, the relative position relationship between the target vehicle and the navigation road surface is determined.

[0088] Here, the future preset time period can specifically be a preset time period, or a predicted driving time determined based on the speed of the target vehicle (which can be the actual speed, the estimated speed, or the general speed estimated based on road traffic conditions), and the length of the navigation route displayed on the vehicle interface or the preset driving distance.

[0089] S203: If the relative position relationship indicates that the vehicle position of the target vehicle deviates from the navigation road surface, determine road surface supplementary data corresponding to the navigation road surface according to the road surface scene type of the navigation road surface.

[0090] When it is predicted that the target vehicle will be displayed outside the navigation road surface based on the relative position relationship, the road surface supplementary data can be determined according to the road surface scene type of the navigation road surface using the corresponding road surface supplementary data determination method. Specifically, the deviation distance relative to the road edge line can be determined first, and then the road surface supplementary data can be determined based on the deviation distance. For example, in non-intersection scenes, intersection scenes, and roundabout scenes, the reference edge lines when determining the deviation distance are different. These scenes are explained below.

[0091] Scene 1: intersection scene;

[0092] In this scenario, according to the road surface scene type of the navigation road surface, the road surface supplementary data corresponding to the navigation road surface is determined, including: determining first deviation information based on the vehicle position data and the edge road line position of the intersection road surface; the first deviation information indicates the deviation distance of the vehicle position relative to the nearest edge road line of the intersection; based on the first deviation information, determining the first road surface supplementary data corresponding to the intersection road surface, the first road surface supplementary data indicating the distance of the outer edge of the supplemented road surface relative to the original edge road line of the intersection road surface.

[0093] Here, when the road scene type where the target vehicle is located is an intersection scene, the deviation information between the target vehicle and the intersection where the target vehicle is located can be determined based on the position information of the target vehicle and the position of the edge line of the road surface of the intersection where the target vehicle is located. Here, the deviation information is used to indicate the distance that the target vehicle deviates from the nearest edge line of the intersection road surface. Then, the road surface supplementary data corresponding to the intersection road surface can be determined based on the above deviation distance. Here, the road surface supplementary data is used to indicate the distance between the outer edge of the supplemented road surface and the original edge line of the intersection road surface, that is, the width of the supplemented road surface.

[0094] Here, when there are multiple lane lines on the road at the intersection, the deviation distance of the vehicle from the edge of the lane line of the nearest lane (that is, the above-mentioned edge road line) can be determined. Based on the deviation distance, the road surface data of the intersection road surface can be supplemented so that when the road surface is rendered, the vehicle can be displayed on the nearest lane surface.

[0095] In actual implementation, in order to display the symmetry of the effect, the road surfaces corresponding to the intersections can be synchronously supplemented according to the above-mentioned road surface supplementation data.

[0096] like Figure 3a As shown, it is a schematic diagram before the road surface is supplemented at the intersection. At this time, the vehicle model is displayed outside the road surface of the intersection; Figure 3a In the figure, the shaded area marked with diagonal lines is the road surface of the intersection, and the white area is the area outside the road surface of the intersection.

[0097] like Figure 3b As shown, it is a schematic diagram of the road surface of the intersection after the road surface is supplemented. Here, the road surfaces in four directions of the intersection are supplemented symmetrically; at this time, the vehicle model is displayed on the road surface of the intersection after the road surface is supplemented; Figure 3bIn the figure, the shaded area marked with oblique lines corresponds to the road surface of the intersection after supplementation. At this time, the road width is supplemented from 3.5m to 5m, and the right angles at the corners of the intersection are also processed into rounded corners through road surface supplementation. In this way, the vehicle model can be naturally displayed inside the road surface in the car interface. It should be noted that the above road width values ​​are all used as examples. The actual situation shall prevail in actual application.

[0098] Scene 2: Roundabout scene;

[0099] In this scenario, the road surface supplementary data corresponding to the navigation road surface is determined according to the road surface scene type of the navigation road surface, including: determining second deviation information based on the vehicle position data and the inner and outer road line positions of the roundabout road surface; the second deviation information indicates the deviation distance of the vehicle position relative to the outer edge or inner edge of the roundabout road surface; based on the second deviation information, determining the second road surface supplementary data corresponding to the roundabout road surface, the second road surface supplementary data indicating the distance of the outer edge of the supplemented road surface relative to the outer edge of the roundabout road surface, or indicating the distance of the inner edge of the supplemented road surface relative to the inner edge of the roundabout road surface.

[0100] Here, when the road scene type where the target vehicle is located is a roundabout scene, the deviation information of the target vehicle from the roundabout where it is located can be determined based on the vehicle position information of the target vehicle and the inner and outer road line positions of the roundabout road surface where it is located. Here, the deviation information is used to indicate the distance of the target vehicle from the inner edge line or outer edge line of the roundabout road surface closest to it. Then, the road surface supplementary data of the roundabout road surface can be determined based on the above deviation distance. Here, the road surface supplementary data is used to indicate the distance of the outer edge of the supplemented road surface relative to the outer edge of the roundabout road surface, or the distance of the inner edge of the supplemented road surface relative to the inner edge of the roundabout road surface, that is, the width of the supplemented road surface.

[0101] Here, in the roundabout scene, since the road surface of the roundabout is hollowed out internally (non-road internally), when a vehicle is traveling on the roundabout road, it may be displayed outside the road surface or in the non-road area inside the road surface. Therefore, the deviation distance of the vehicle position relative to the outer edge or inner edge of the roundabout road surface can be determined. Based on the deviation distance, the road surface data of the roundabout road surface can be supplemented so that when the road surface is rendered, the vehicle can be displayed on the roundabout road surface.

[0102] like Figure 4aAs shown, it is a schematic diagram before the road surface is supplemented at the roundabout. At this time, the vehicle model 1 is partially displayed outside the road surface of the roundabout, and the vehicle model 2 is partially displayed in the safety island area (non-road area) inside the roundabout; Figure 4a In the figure, the shaded area marked with slashes is the road surface of the roundabout, and the white area is the area outside the road surface of the roundabout. The road width between the outer safety islands in the roundabout is 4m, and the diameter of the middle circular safety island area is 10m. It should be noted that the road width here is only for example, and the actual situation shall prevail in actual application.

[0103] like Figure 4b As shown in FIG. 1 , it is a schematic diagram of the road surface of the roundabout after the road surface is supplemented. In order to display the vehicle model 1 on the road surface, the roundabout is widened outwards. At the same time, in order to display the vehicle model 2 on the road surface, the roundabout is widened inwards. Figure 3b In the figure, the shaded area marked with slashes corresponds to the road surface of the roundabout after the supplement is completed. At this time, the road width between the outer safety islands in the roundabout is supplemented from 4m to 5.5m, and the middle safety island is occupied and widened inward, shortening the diameter of the circular safety island in the middle of the roundabout from 10m to 8m. In this way, the vehicle model can be displayed inside the road surface in the car-computer interface. It should be noted that the above road width and the diameter of the central safety island of the roundabout are all examples. The actual situation shall prevail in actual application.

[0104] Scenario 3: Non-intersection scenario;

[0105] In this scenario, according to the road surface scene type of the navigation road surface, the road surface supplementary data corresponding to the navigation road surface is determined, including: based on the vehicle position data and the positions of the road lines on both sides of the non-intersection road surface, third deviation information is determined; the third deviation information indicates the deviation distance of the vehicle position relative to the nearest side edge of the non-intersection road surface; according to the third deviation information, the third road surface supplementary data corresponding to the non-intersection road surface is determined, and the third road surface supplementary data indicates the distance of the side edge of the supplemented road surface relative to the nearest side edge of the non-intersection road surface.

[0106] Here, the navigation road surface of the non-intersection scene is a single-lane surface, and the edge road lines are the road lines on both sides of the single lane. When the road scene type where the target vehicle is located is a non-intersection scene, the deviation information of the target vehicle and the road line positions on both sides of the non-intersection road surface where it is located can be determined based on the vehicle position of the target vehicle and the road line positions on both sides of the non-intersection road surface where it is located. Here, the deviation information is used to indicate the deviation distance of the target vehicle from the road line position on the side of the non-intersection road surface closest to it. Then, according to the above deviation distance, the road surface supplementary data corresponding to the non-intersection road surface where the target vehicle is located can be determined. Here, the road surface supplementary data is used to indicate the distance of the side edge of the supplemented road surface relative to the nearest side edge of the non-intersection road surface, that is, the width of the supplemented road surface.

[0107] Here, in a non-intersection scenario, when a vehicle is traveling in a lane, it may appear to deviate from the lane surface, specifically, it may deviate to the left or to the right. Therefore, the deviation distance of the vehicle relative to the nearest side edge of the corresponding lane can be determined. Based on the deviation distance, the road surface data of the non-intersection lane surface can be supplemented so that when the road surface is rendered, the vehicle can be displayed on the lane surface of the corresponding lane.

[0108] like Figure 5a As shown, it is a schematic diagram before the road surface of the straight lane is supplemented. At this time, the vehicle model is displayed outside the road surface of the straight lane; Figure 5a In the figure, the shaded area marked with oblique lines is the road surface area in the non-intersection scene, and the road surface width is 4m. The white area is the area outside the road surface, and the dotted line part is the lane centerline.

[0109] like Figure 5b , which is a schematic diagram of the straight lane after the road surface is supplemented. At this time, the vehicle model is displayed on the road surface of the straight lane after the road surface is supplemented. Figure 5b In the figure, the shaded area marked with slashes corresponds to the road surface of the straight lane after supplementation. At this time, the road surface width of the straight lane is increased from 4m to 5.5m. In this way, the vehicle model can be displayed inside the road surface in the vehicle interface. It should be noted that the above road width values ​​are all for example. The actual situation shall prevail in actual application.

[0110] S204: Rendering and displaying the navigation map according to the road surface supplementary data and the original road surface data of the navigation road surface; wherein the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

[0111] In a specific implementation, the road surface supplementation data and the original road surface data of the navigation road surface, that is, the data of the entire navigation road surface after supplementation, can directly perform road surface rendering and display based on the data of the entire navigation road surface after supplementation. In the rendered and displayed navigation road surface, the supplemented road surface portion is adjacent to the original road surface, so that the entire navigation road surface after supplementation is integrated as a whole.

[0112] In one embodiment, when rendering and displaying a navigation map based on the road surface supplementary data and the original road surface data of the navigation road surface, the original road surface data and the road surface supplementary data can be fused and rendered in a manner such that the supplementary road surface indicated by the road surface supplementary data is blurred, so as to display the supplemented navigation road surface on the navigation map.

[0113] Here, the supplementary road surface is rendered in a virtual manner, so that the displayed supplemented navigation road surface can not only distinguish the original road surface and the supplemented road surface information, but also meet the requirement that the vehicle does not deviate from the road surface.

[0114] During implementation, the supplemented road surface can be subjected to edge blurring processing, and the degree of edge blurring of each position point on the supplemented navigation road surface increases with the increase of the distance between the position point and the navigation road surface before the supplementation, thereby being able to reflect the rendering effect of increased blurring of the supplemented road surface in the road display.

[0115] In some embodiments, the navigation road surface may include a first lane surface; if there is a second lane surface adjacent to the first lane surface, and the second lane surface is located on the side where the first lane surface is supplemented with the road surface, the second lane surface can be translated so that the translated second lane surface is adjacent to the first lane surface after the road surface is supplemented.

[0116] Under this implementation, when there are two adjacent lanes, if the road surface is supplemented on the side of one of the lanes adjacent to the adjacent lane, the supplemented road surface will occupy the lane surface of the adjacent lane, making the lane surface of the adjacent lane narrower and appearing unnatural; to avoid this situation, the adjacent lane surface can be translated so that the lane surface is adjacent to the supplemented road surface after translation.

[0117] like Figure 6a As shown, it is a schematic diagram before the non-intersection road surface is supplemented, and the vehicle model is displayed on the left outer side of lane A corresponding to the navigation route; there is also lane B adjacent to lane A on the left side of lane A. Figure 6a The shaded area marked with a middle oblique line corresponds to the interior of the road. The dotted line in the middle of the road represents the center line of the road where the vehicle is located. The direction of the arrow above the dotted line represents the lane direction of the lane, that is, the direction of vehicle travel. The road width is 4m.

[0118] like Figure 6b As shown, it is a schematic diagram before and after the non-intersection road surface is supplemented. Lane A has been supplemented, that is, the lane surface has been widened. At this time, the widened road surface occupies part of the road surface of lane B, so lane B is shifted to the left. After the shift, lane B is adjacent to lane A after the road surface supplement. Figure 6b The shaded area marked with a middle oblique line corresponds to the inside of the road. The dotted line in the middle of the road indicates the center line of the road where the vehicle is located. The direction of the arrow above the dotted line indicates the lane direction of the lane, that is, the direction of vehicle travel. The width of lane A is increased from 4m to 5.5m, and lane B is adaptively shifted to the left by 1.5m. It should be noted here that the above road width values ​​are all examples, and the actual situation shall prevail in actual application.

[0119] In some embodiments, during vehicle driving, the target navigation route of the vehicle within a preset time period in the future (which may be determined based on a preset driving distance interval) can be determined according to preset time intervals or preset driving distance intervals; and based on the vehicle position data and the position data of the navigation road surface corresponding to the target navigation route, it is predicted whether the target vehicle will deviate from the navigation road surface within the preset time period in the future, and in the event of deviation, the above-mentioned road surface supplementation processing process is performed. Compared with the real-time processing method, while ensuring the road surface display effect, it can also reduce the processing resource consumption.

[0120] Here, the target navigation routes corresponding to two adjacent road surface supplement processing processes can overlap to ensure the continuity of the processing effect and avoid the problem of deviation or road surface failure due to intermittent unprocessed navigation road surfaces (that is, the current road surface supplement processing process has not been completed, and the vehicle has already driven to the navigation route being processed) caused by a long processing process.

[0121] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0122] Based on the same inventive concept, a vehicle position display device corresponding to the vehicle position display method is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the above-mentioned vehicle position display method in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0123] Reference Figure 7 , which is a schematic diagram of a vehicle position display device provided by an embodiment of the present disclosure, the device includes an acquisition module, a determination module, a supplementation module, and a display module; wherein,

[0124] The acquisition module 701 is used to acquire road perception data; the road perception data includes vehicle position data of the target vehicle;

[0125] The determination module 702 is used to determine the relative position relationship between the target vehicle and the navigation road surface according to the vehicle position data and the navigation map data; the navigation map data includes information of the navigation route, and the navigation road surface is the road surface corresponding to the navigation route;

[0126] A supplementing module 703 is used to determine road surface supplementary data corresponding to the navigation road surface according to the road surface scene type of the navigation road surface if the relative position relationship indicates that the vehicle position of the target vehicle deviates from the navigation road surface;

[0127] The display module 704 is used to render and display the navigation map according to the road surface supplementary data and the original road surface data of the navigation road surface; wherein the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

[0128] The disclosed embodiment obtains road perception data, wherein the road perception data includes vehicle position data of the target vehicle, and then determines the relative position relationship between the target vehicle and the navigation road surface based on the vehicle position data and the navigation map data. Next, if the relative position relationship indicates that the vehicle position of the target vehicle is offset from the navigation road surface, the road surface supplementary data corresponding to the navigation road surface is determined based on the road surface scene type of the navigation road surface. Finally, the navigation map is rendered and displayed based on the road surface supplementary data and the original road surface data of the navigation road surface, wherein the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

[0129] In this way, on the one hand, the abnormal display of the vehicle model outside the road surface can be avoided, and on the other hand, the display effect under the user's normal cognition can be achieved without consuming more computing resources, which can avoid unnecessary troubles and misleading to drivers due to road display problems.

[0130] In addition, the vehicle position display method provided by the embodiment of the present disclosure can also correct the deviation display of other vehicles adjacent to the currently driven vehicle, so that the display of each vehicle within the user's attention range on the vehicle interface is consistent with common cognition, thereby improving the driver's driving experience.

[0131] In one implementation, the road scene type is an intersection scene, and the supplementary module is specifically used to:

[0132] Determine first deviation information based on the vehicle position data and the position of the edge road line of the road surface of the intersection; the first deviation information indicates the deviation distance of the vehicle position relative to the nearest edge road line of the intersection;

[0133] According to the first deviation information, first road surface supplementary data corresponding to the intersection road surface is determined, and the first road surface supplementary data indicates the distance between the outer edge of the supplemented road surface and the original edge road line of the intersection road surface.

[0134] In one implementation, the road scene type is a roundabout scene, and the supplementary module is specifically used to:

[0135] Determining second deviation information based on the vehicle position data and the inner and outer road line positions of the road surface of the roundabout; the second deviation information indicates the deviation distance of the vehicle position relative to the outer edge or the inner edge of the road surface of the roundabout;

[0136] Based on the second deviation information, the second road surface supplementary data corresponding to the roundabout road surface is determined, and the second road surface supplementary data indicates the distance between the outer edge of the supplemented road surface and the outer edge of the roundabout road surface, or indicates the distance between the inner edge of the supplemented road surface and the inner edge of the roundabout road surface.

[0137] In one implementation, the road scene type is a non-intersection scene, and the supplementary module is specifically used to:

[0138] Determine third deviation information based on the vehicle position data and the positions of the road lines on both sides of the non-intersection road surface; the third deviation information indicates the deviation distance of the vehicle position relative to the nearest side edge of the non-intersection road surface;

[0139] According to the third deviation information, third road surface supplementary data corresponding to the non-intersection road surface is determined, and the third road surface supplementary data indicates the distance of the side edge of the supplementary road surface relative to the nearest side edge of the non-intersection road surface.

[0140] In one embodiment, the display module is specifically used for:

[0141] The original road surface data and the road surface supplementary data are fused and rendered in a manner of blurring the supplementary road surface indicated by the road surface supplementary data, so as to display the supplemented navigation road surface on the navigation map.

[0142] In one implementation, the navigation road surface includes a first lane surface; and the supplementary module is further configured to:

[0143] If there is a second lane surface adjacent to the first lane surface, and the second lane surface is located on the side of the first lane surface where the road surface is supplemented, the second lane surface is translated, wherein the translated second lane surface is adjacent to the first lane surface after the road surface is supplemented.

[0144] Corresponds to Figure 2 The vehicle position display method in the present disclosure also provides a computer device 800, such as Figure 8 FIG. 9 is a schematic diagram of the structure of a computer device 900 provided in an embodiment of the present disclosure, including:

[0145] Processor 81, memory 82, and bus 83; memory 82 is used to store execution instructions, including internal memory 821 and external memory 822; the internal memory 821 is also called internal memory, which is used to temporarily store the operation data in the processor 81 and the data exchanged with the external memory 822 such as a hard disk. The processor 81 exchanges data with the external memory 822 through the internal memory 821. When the computer device 800 is running, the processor 81 communicates with the memory 82 through the bus 83, so that the processor 81 executes the following instructions:

[0146] Acquiring road perception data; the road perception data including vehicle position data of the target vehicle;

[0147] Determine the relative position relationship between the target vehicle and the navigation road surface according to the vehicle position data and the navigation map data; the navigation map data includes information of the navigation route, and the navigation road surface is the road surface corresponding to the navigation route;

[0148] If the relative position relationship indicates that the vehicle position of the target vehicle deviates from the navigation road surface, determining road surface supplementary data corresponding to the navigation road surface according to the road surface scene type of the navigation road surface;

[0149] The navigation map is rendered and displayed according to the road surface supplementary data and the original road surface data of the navigation road surface; wherein the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

[0150] The specific execution process of the above instructions can refer to the steps of the vehicle position display method described in the embodiment of the present disclosure, which will not be repeated here.

[0151] The embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle position display method described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0152] The disclosed embodiment also provides a computer program product, which carries a program code. The program code includes instructions that can be used to execute the steps of the vehicle position display method described in the above method embodiment. For details, please refer to the above method embodiment, which will not be repeated here.

[0153] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is implemented as a computer storage medium. In another optional embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0154] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, 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 communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0155] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0156] In addition, each functional module in each embodiment of the present disclosure may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0157] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that can be executed by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0158] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be based on the protection scope of the claims.

Claims

1. A vehicle position display method, characterized in that: include: Acquire road perception data; The road perception data includes vehicle position data of the target vehicle; Determining the relative position relationship between the target vehicle and the navigation road surface according to the vehicle position data and the navigation map data; The navigation map data includes information of a navigation route, and the navigation road surface is a road surface corresponding to the navigation route; If the relative position relationship indicates that the vehicle position of the target vehicle deviates from the navigation road surface, determining road surface supplementary data corresponding to the navigation road surface according to the road surface scene type of the navigation road surface; The navigation map is rendered and displayed according to the road surface supplementary data and the original road surface data of the navigation road surface; wherein the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

2. The method according to claim 1, characterized in that The road surface scene type is an intersection scene, and determining the road surface supplementary data corresponding to the navigation road surface according to the road surface scene type of the navigation road surface includes: Determine first deviation information based on the vehicle position data and the position of the edge road line of the road surface of the intersection; the first deviation information indicates the deviation distance of the vehicle position relative to the nearest edge road line of the intersection; According to the first deviation information, first road surface supplementary data corresponding to the intersection road surface is determined, and the first road surface supplementary data indicates the distance between the outer edge of the supplemented road surface and the original edge road line of the intersection road surface.

3. The method according to claim 1, characterized in that: The road scene type is a roundabout scene, and determining the road supplementary data corresponding to the navigation road surface according to the road scene type of the navigation road surface includes: Determining second deviation information based on the vehicle position data and the inner and outer road line positions of the road surface of the roundabout; the second deviation information indicates the deviation distance of the vehicle position relative to the outer edge or the inner edge of the road surface of the roundabout; Based on the second deviation information, the second road surface supplementary data corresponding to the roundabout road surface is determined, and the second road surface supplementary data indicates the distance between the outer edge of the supplemented road surface and the outer edge of the roundabout road surface, or indicates the distance between the inner edge of the supplemented road surface and the inner edge of the roundabout road surface.

4. The method according to claim 1, characterized in that The road surface scene type is a non-intersection scene, and determining the road surface supplementary data corresponding to the navigation road surface according to the road surface scene type of the navigation road surface includes: Determine third deviation information based on the vehicle position data and the positions of the road lines on both sides of the non-intersection road surface; the third deviation information indicates the deviation distance of the vehicle position relative to the nearest side edge of the non-intersection road surface; According to the third deviation information, third road surface supplementary data corresponding to the non-intersection road surface is determined, and the third road surface supplementary data indicates the distance of the side edge of the supplementary road surface relative to the nearest side edge of the non-intersection road surface.

5. The method according to claim 1, characterized in that Rendering and displaying the navigation map according to the road surface supplementary data and the original road surface data of the navigation road surface includes: The original road surface data and the road surface supplementary data are fused and rendered in a manner of blurring the supplementary road surface indicated by the road surface supplementary data, so as to display the supplemented navigation road surface on the navigation map.

6. The method according to claim 1, characterized in that The navigation road surface includes a first lane surface; the method further includes: If there is a second lane surface adjacent to the first lane surface, and the second lane surface is located on the side of the first lane surface where the road surface is supplemented, the second lane surface is translated, wherein the translated second lane surface is adjacent to the first lane surface after the road surface is supplemented.

7. The method according to claim 1, characterized in that The target vehicles include the currently driven vehicle, and other vehicles located within the display range of the navigation map and within a set distance range from the currently driven vehicle.

8. A vehicle position display device, characterized in that: include: An acquisition module, used for acquiring road perception data; The road perception data includes vehicle position data of the target vehicle; A determination module, used to determine the relative position relationship between the target vehicle and the navigation road surface according to the vehicle position data and the navigation map data; The navigation map data includes information of a navigation route, and the navigation road surface is a road surface corresponding to the navigation route; A supplementing module, configured to determine road surface supplementary data corresponding to the navigation road surface according to a road surface scene type of the navigation road surface if the relative position relationship indicates that the vehicle position of the target vehicle deviates from the navigation road surface; A display module is used to render and display the navigation map according to the road surface supplementary data and the original road surface data of the navigation road surface; wherein the supplementary road surface corresponding to the road surface supplementary data is adjacent to the navigation road surface corresponding to the original road surface data.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the vehicle position display method as described in any one of claims 1 to 7 are performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program. When the computer program is executed by an electronic device, the electronic device executes the vehicle position display method according to any one of claims 1 to 7.

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