Vehicle and display method thereof

Abstract

The invention discloses a vehicle and a display method thereof, and relates to the technical field of vehicles. After a vehicle detects that a target object exists around the vehicle through a perception sensor, a second position of each contour point in a target simulation view field of a driver can be determined based on a first mapping relation and a first position of a plurality of contour points of the target object in a view field of the perception sensor; and then determining the display position of each contour point in the glass display screen based on the second mapping relation, and then displaying the contour of the target object in the glass display screen based on the display positions of the plurality of contour points. Therefore, on one hand, the content displayed by the vehicle is enriched, on the other hand, the display mode of the vehicle is enriched, and on the other hand, a driver can observe the virtual picture (namely the outline) and the real environment (namely the target object) through the glass display screen, so that superposition and fusion between the virtual picture and the real environment are achieved, and the effect of augmented reality is achieved. Therefore, the driver is effectively reminded.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle and a display method thereof. Background Art

[0002] Currently, vehicles may include a head up display (HUD). Vehicles may project and display more important driving data (such as vehicle speed, rotation speed, and turn signs) in the HUD.

[0003] However, the content displayed by the vehicle is currently relatively simple. Summary of the invention

[0004] The present application provides a vehicle and a display method thereof, which can solve the technical problem that the content displayed by the vehicle in the related art is relatively single. The technical solution is as follows:

[0005] In one aspect, a display method for a vehicle is provided, wherein the vehicle comprises: a glass display screen and a perception sensor; the method comprises:

[0006] If the perception sensor detects that there is a target object around the vehicle, obtaining a first position of each contour point among a plurality of contour points of the target object in the field of view of the perception sensor;

[0007] Based on a first target mapping relationship and a first position of each of the contour points, determining a second position of each of the contour points in a target simulated field of view of the driver, wherein the first target mapping relationship is a mapping relationship between a position in the target simulated field of view and a position in the field of view of the perception sensor, and the target simulated field of view is determined according to a field of view angle of the driver's eyes and a target position of the eyes;

[0008] Determining the display position of each of the contour points in the glass display screen based on a second target mapping relationship and a second position of each of the contour points, wherein the second target mapping relationship is a mapping relationship between the position in the target simulated field of view and the position in the glass display screen;

[0009] Based on each of the display positions, the outline of the target object is displayed on the glass display screen.

[0010] Optionally, before determining the second position of each contour point in the target simulation field of view of the driver based on the first target mapping relationship and the first position of each contour point, the method further includes:

[0011] Obtaining the target location;

[0012] A target mapping relationship corresponding to the target position is determined from the correspondence between the position and the mapping relationship, where the target mapping relationship is the first target mapping relationship or the second target mapping relationship.

[0013] Optionally, the vehicle includes: an in-vehicle camera; and obtaining the target position includes:

[0014] Acquire the image of the driver captured by the in-vehicle camera;

[0015] The target location is determined based on the image.

[0016] Optionally, after displaying the outline of the target object on the glass display screen based on each of the display positions, the method further includes:

[0017] If the target position changes, updating the target mapping relationship based on the changed target position;

[0018] The updated target mapping relationship is determined based on the changed target position.

[0019] Optionally, updating the target mapping relationship includes:

[0020] If the target position changes, and the distance between the target position after the change and the target position before the change is greater than a distance threshold, the target mapping relationship is updated based on the target position after the change.

[0021] Optionally, the glass display screen includes: a plurality of light emitting diodes (LEDs) arranged in an array, and any two of the LEDs are located at different positions in the glass display screen; and displaying the outline of the target object in the glass display screen based on the respective display positions includes:

[0022] Determine, among the plurality of LEDs, an LED whose position is the same as each of the display positions as a target LED;

[0023] The target LED is illuminated to display the outline of the target object.

[0024] In another aspect, a vehicle is provided, the vehicle comprising: a controller, a glass display screen, and a perception sensor; the controller is used to:

[0025] If the perception sensor detects that there is a target object around the vehicle, obtaining a first position of each contour point among a plurality of contour points of the target object in the field of view of the perception sensor;

[0026] Based on a first target mapping relationship and a first position of each of the contour points, determining a second position of each of the contour points in a target simulated field of view of the driver, wherein the first target mapping relationship is a mapping relationship between a position in the target simulated field of view and a position in the field of view of the perception sensor, and the target simulated field of view is determined according to a field of view angle of the driver's eyes and a target position of the eyes;

[0027] Determining the display position of each of the contour points in the glass display screen based on a second target mapping relationship and a second position of each of the contour points, wherein the second target mapping relationship is a mapping relationship between the position in the target simulated field of view and the position in the glass display screen;

[0028] Based on each of the display positions, the outline of the target object is displayed on the glass display screen.

[0029] Optionally, the glass display screen includes: an inner layer of glass, a display layer and an outer layer of glass stacked in sequence.

[0030] Optionally, the controller is further used for:

[0031] Obtaining the target location;

[0032] A target mapping relationship corresponding to the target position is determined from the correspondence between the position and the mapping relationship, where the target mapping relationship is the first target mapping relationship or the second target mapping relationship.

[0033] Optionally, the vehicle includes: an in-vehicle camera; and the controller is used for:

[0034] Acquire the image of the driver captured by the in-vehicle camera;

[0035] The target location is determined based on the image.

[0036] Optionally, the controller is further used for:

[0037] If the target position changes, updating the target mapping relationship based on the changed target position;

[0038] The updated target mapping relationship is determined based on the changed target position.

[0039] Optionally, the controller is further used for:

[0040] If the target position changes, and the distance between the target position after the change and the target position before the change is greater than a distance threshold, the target mapping relationship is updated based on the target position after the change.

[0041] Optionally, the display layer comprises: a plurality of light emitting diodes (LEDs) arranged in an array, and any two of the LEDs are located in different positions in the display layer; and the controller is used for:

[0042] Determine, among the plurality of LEDs, an LED whose position is the same as each of the display positions as a target LED;

[0043] The target LED is illuminated to display the outline of the target object.

[0044] On the other hand, a vehicle is provided, comprising: a memory, a controller, and a computer program stored in the memory and executable on the controller, wherein the controller implements the vehicle display method as described in the above aspects when executing the computer program.

[0045] On the other hand, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is loaded by a processor and executes the vehicle display method as described in the above aspects.

[0046] On the other hand, a computer program product comprising instructions is provided. When the computer program product is executed on the computer, the computer is caused to execute the vehicle display method as described in the above aspects.

[0047] The beneficial effects brought about by the technical solution provided by this application include at least:

[0048] The present application provides a vehicle and a display method thereof. After the vehicle detects the existence of a target object around the vehicle through a perception sensor, the vehicle can determine the second position of each contour point in the target simulation field of view of the driver based on a first mapping relationship and a first position of multiple contour points of the target object in the field of view of the perception sensor, and then determine the display position of each contour point in the glass display screen based on the second mapping relationship, and then display the contour of the target object in the glass display screen based on the display position of the multiple contour points. Since the vehicle can display the contour of the target object in the glass display screen, on the one hand, the content displayed by the vehicle is enriched, on the other hand, the display method of the vehicle is enriched, and on the other hand, the driver can observe the virtual picture (i.e., the contour) and the real environment (i.e., the target object) through the glass display screen, thereby realizing the superposition and fusion between the virtual picture and the real environment, achieving the effect of augmented reality, and realizing effective reminder to the driver. In addition, since the vehicle can determine the display position of each contour point of the target object in the glass display screen according to the first mapping relationship and the second mapping relationship, it can ensure that the display position is determined with high efficiency, thereby ensuring that the vehicle displays the contour of the target object with high efficiency.

[0049] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the structure of a vehicle according to an embodiment of the present application;

[0051] Figure 2 is a structural schematic diagram of a glass display screen provided in an embodiment of the present application;

[0052] Figure 3 is a schematic diagram of the structure of a display panel provided in an embodiment of the present application;

[0053] Figure 4 is a schematic diagram of the structure of another display panel provided in an embodiment of the present application;

[0054] Figure 5 is a flow chart of a vehicle display method provided in an embodiment of the present application;

[0055] Figure 6 is a flow chart of another vehicle display method provided in an embodiment of the present application;

[0056] Figure 7 It is a schematic diagram of the position of a test object, its position in a simulated field of view, and its position in a glass display screen in a mapping relationship provided in an embodiment of the present application;

[0057] Figure 8 It is a schematic diagram of a driver's target simulation field of view provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0059] The present application embodiment provides a vehicle, see Figure 1 , the vehicle includes: a controller ( Figure 1 ), a glass display screen 100 and a sensing sensor 200. The controller may be connected to the glass display screen 100 and the sensing sensor 200. The controller may sense whether there is a target object around the vehicle through the sensing sensor 200, and may drive the glass display screen 100 to display the outline of the target object when it is determined that there is a target object around the vehicle.

[0060] Optionally, the controller may be an electronic control unit (ECU) of the vehicle. The number of the sensing sensors may be one or more. Each sensing sensor may be a camera or a radar. Figure 1 As shown, the perception sensor 200 may be a camera. The radar may be a millimeter wave radar or a laser radar.

[0061] The number of the glass display screens 100 can be one or more. Each glass display screen 100 can be a front windshield display screen, a rear windshield display screen, a left window glass display screen or a right window glass display screen of the vehicle. Figure 1 As shown, the glass display screen 100 may be a front windshield display screen.

[0062] Figure 2 is a structural schematic diagram of a glass display screen provided in an embodiment of the present application. Figure 2 The glass display screen 100 includes: a display panel 110 and a driving circuit 120. The driving circuit 120 can be connected to the display panel 110 and a controller of the vehicle respectively, and can drive the display panel 110 to display under the action of the controller.

[0063] Figure 3 is a schematic diagram of the structure of a display panel provided by an embodiment of the present application. Figure 3 The display panel 110 may include: an inner glass layer 01, a display layer 02 and an outer glass layer 03 stacked in sequence.

[0064] Optionally, the display layer 02 is a flexible film layer. And the area of ​​the display layer 02 may be less than or equal to the area of ​​the outer glass 03. For example, the area of ​​the display layer 02 may be equal to the area of ​​the outer glass 03. In this case, the entire display panel 110 can display under the driving action of the driving circuit 120.

[0065] The display panel 110 may be a liquid crystal display (LCD) panel. Accordingly, the glass display screen 100 is an LCD display screen. Alternatively, the display panel 110 may be a light-emitting diode (LED) display panel. Accordingly, the glass display screen 100 is an LED display screen. In this case, the display layer 02 may include a plurality of LEDs arranged in an array. Any two LEDs are located at different positions in the glass display screen.

[0066] Figure 4 is a schematic diagram of the structure of another display panel provided in an embodiment of the present application. Figure 4 The display panel 110 may further include: an explosion-proof film layer 04. Figure 4 It can be seen that the explosion-proof film layer 04 can be located on the side of the display layer 02 close to the outer glass 03. Since the explosion-proof film layer 04 is provided, the safety of the display panel 110 can be improved, thereby improving the safety of the glass display screen 100.

[0067] like Figure 4 As shown, the display panel 110 may also include: a plurality of optical adhesive layers 05. An optical adhesive layer 05 is provided between the inner glass layer 01 and the display layer 02, an optical adhesive layer 05 is provided between the display layer 02 and the explosion-proof film layer 04, and an optical adhesive layer 05 is provided between the explosion-proof film layer 04 and the outer glass layer 03. Each optical adhesive layer 05 is used to bond two adjacent film layers together. For example, the optical adhesive layer 05 between the inner glass layer 01 and the display layer 02 is used to bond the inner glass layer 01 and the display layer 02 together. The optical adhesive layer 05 between the explosion-proof film layer 04 and the outer glass layer 03 is used to bond the explosion-proof film layer 04 and the outer glass layer 03 together.

[0068] The transparency of each optical adhesive layer 05 can be greater than the transparency threshold, so that the transparency of the display panel 110 can be ensured to be high, thereby ensuring that the driver's field of vision is clearer under the premise that the glass display screen 100 can display the outline of the target object.

[0069] Optionally, the optical adhesive layer 05 may be an optically clear adhesive (OCA) layer.

[0070] The present application embodiment provides a vehicle display method. The method can be applied to a vehicle (such as a vehicle controller), for example, the vehicle can be Figure 1 The vehicle shown in FIG. 1 includes a glass display screen 100 and a perception sensor 200. Figure 5 , the method comprising:

[0071] Step 101: If a target object is detected around the vehicle by the perception sensor, a first position of each contour point among a plurality of contour points of the target object in the field of view of the perception sensor is obtained.

[0072] The target object may refer to pedestrians, vehicles or traffic lights that may affect the driving behavior of the vehicle during the driving process of the vehicle. The multiple contour points may be some of the contour points on the contour line, or may be all the contour points on the contour line.

[0073] The field of view of the perception sensor refers to the range that the perception sensor can observe. The first position of each contour point in the field of view of the perception sensor among the multiple contour points refers to: the coordinates of the contour point in the coordinate system where the perception sensor is located. The coordinate system where the perception sensor is located can be a three-dimensional coordinate system established with any point in the perception sensor as the origin. The X-axis of the three-dimensional coordinate system can be parallel to the width direction of the vehicle, the Y-axis can be parallel to the length direction of the vehicle, and the Z-axis can be parallel to the height direction of the vehicle.

[0074] Step 102: Based on the first target mapping relationship and the first position of each contour point, determine the second position of each contour point in the simulated field of view of the driver.

[0075] The first target mapping relationship is a mapping relationship between a position in the target simulated field of view and a position in the field of view of the perception sensor. The target simulated field of view is determined according to the field of view angle of the driver's eyes and the target position of the eyes. The field of view angle may include: a field of view angle in the horizontal direction and a field of view angle in the vertical direction.

[0076] In the embodiment of the present application, a first target mapping relationship is pre-stored in the vehicle. After the vehicle obtains the first positions of multiple contour points of the target object in the field of view of the perception sensor, for each contour point, the vehicle can determine the second position of the contour point in the target simulation field of view of the driver from the first target mapping relationship based on the first position of the contour point.

[0077] Step 103: Determine the display position of each contour point in the glass display screen based on the second target mapping relationship and the second position of each contour point.

[0078] The second target mapping relationship is a mapping relationship between a position in the target simulation field of view and a position in the glass display screen.

[0079] In the embodiment of the present application, a second target mapping relationship is pre-stored in the vehicle. After the vehicle obtains the second positions of multiple contour points of the target object in the simulated field of view, for each contour point, the vehicle can determine the display position of the contour point in the glass display screen from the second target mapping relationship based on the second position of the contour point.

[0080] The display position of each contour point in the glass display screen refers to the coordinates of the contour point in the coordinate system of the glass display screen. The coordinate system of the glass display screen may be a three-dimensional coordinate system established with any point on the glass display screen as the origin, and the X axis of the three-dimensional coordinate system may be parallel to the width direction of the vehicle, the Y axis may be parallel to the length direction of the vehicle, and the Z axis may be parallel to the height direction of the vehicle.

[0081] Step 104: Based on the multiple display positions, display the outline of the target object on the glass display screen.

[0082] In an embodiment of the present application, if the glass display screen is an LCD display screen, the vehicle can determine the target pixels at the multiple display positions in the LCD display screen and light up the target pixels to display the outline of the target object in the glass display screen.

[0083] If the glass display screen is an LED display screen, the vehicle can determine the LED in the same position as the display position among the multiple LEDs as the target LED. After that, the vehicle can light up the target LED to display the outline of the target object in the glass display screen.

[0084] In summary, the embodiment of the present application provides a display method for a vehicle. After the vehicle detects the existence of a target object around the vehicle through a perception sensor, the vehicle can determine the second position of each contour point in the target simulation field of view of the driver based on the first mapping relationship and the first position of multiple contour points of the target object in the field of view of the perception sensor, and then determine the display position of each contour point in the glass display screen based on the second mapping relationship, and then display the contour of the target object in the glass display screen based on the display position of multiple contour points. Since the vehicle can display the contour of the target object in the glass display screen, on the one hand, the content displayed by the vehicle is enriched, on the other hand, the display method of the vehicle is enriched, and on the other hand, the driver can observe the virtual picture (i.e., the contour) and the real environment (i.e., the target object) through the glass display screen, thereby realizing the superposition and fusion between the virtual picture and the real environment, achieving the effect of augmented reality, and realizing effective reminder to the driver. In addition, since the vehicle can determine the display position of each contour point of the target object in the glass display screen according to the first mapping relationship and the second mapping relationship, it can ensure that the display position is determined with high efficiency, thereby ensuring that the vehicle displays the contour of the target object with high efficiency.

[0085] Figure 6 is a flow chart of another vehicle display method provided in an embodiment of the present application. The method can be applied to a vehicle, for example Figure 1 The vehicle includes a glass display screen 100 and a perception sensor 200. Figure 6 , the method may include:

[0086] Step 201: If a target object is detected around the vehicle by the perception sensor, a first position of each contour point among a plurality of contour points of the target object in the field of view of the perception sensor is obtained.

[0087] In the embodiment of the present application, the vehicle can collect data around the vehicle through the perception sensor and process the data to detect whether there is a target object around the vehicle. Afterwards, the vehicle can obtain the first position of each contour point of the target object in the field of view of the perception sensor when determining that there is a target object around it.

[0088] The target object may be a pedestrian, a vehicle or a traffic light that may affect the driving behavior of the vehicle during the driving process of the vehicle. The multiple contour points may be some of the contour points on the contour line, or may be all of the contour points on the contour line.

[0089] The field of view of the perception sensor refers to the range that the perception sensor can observe. The first position of each contour point in the field of view refers to the coordinates of the contour point in the coordinate system where the perception sensor is located. The coordinate system where the perception sensor is located can be a three-dimensional coordinate system established with any point in the perception sensor as the origin. The X-axis of the three-dimensional coordinate system can be parallel to the width direction of the vehicle, the Y-axis can be parallel to the length direction of the vehicle, and the Z-axis can be parallel to the height direction of the vehicle.

[0090] Step 202: Acquire the target position of the driver's eyes.

[0091] The target position refers to the position of the center of the driver's eyes.

[0092] In an embodiment of the present application, the vehicle includes: an in-vehicle camera. The vehicle can capture an image of the driver through the in-vehicle camera, and then determine the target position of the driver's eyes based on the image. Among them, the target position of the eye can be: the coordinates of the eye in the coordinate system where the in-vehicle camera is located. The coordinate system where the in-vehicle camera is located can be a three-dimensional coordinate system established with any point in the in-vehicle camera as the origin. The X-axis of the three-dimensional coordinate system can be parallel to the width direction of the vehicle, the Y-axis can be parallel to the length direction of the vehicle, and the Z-axis can be parallel to the height direction of the vehicle.

[0093] Optionally, the in-vehicle camera may be a 3-dimensional (D) camera, and the number of the in-vehicle cameras may be one or more. Each in-vehicle camera may be arranged on an A-pillar of the vehicle.

[0094] Step 203: According to the target position of the eye, determine the target mapping relationship from the correspondence between the position and the mapping relationship.

[0095] The corresponding relationship may be determined by the developer through a large number of tests before the vehicle leaves the factory and stored in the vehicle in advance. The corresponding relationship may be a corresponding relationship between the position and the first mapping relationship. In this case, the target mapping relationship determined by the vehicle may be the first target mapping relationship. Alternatively, the corresponding relationship may be a corresponding relationship between the position and the second mapping relationship, in which case the target mapping relationship determined by the vehicle may be the second target mapping relationship.

[0096] Taking the correspondence between the position and the first mapping relationship as an example, the implementation process of the vehicle executing step 203 is exemplarily described:

[0097] After the vehicle determines the target position of the driver's eyes, it can determine the first mapping relationship corresponding to the target position recorded in the correspondence between the position and the first mapping relationship, and determine the first mapping relationship as the first target mapping relationship.

[0098] In the embodiment of the present application, the glass display screen is a front windshield display screen, and the target object is an object in front of the vehicle. Figure 7 , an exemplary description of the process by which developers determine the correspondence between locations and mapping relationships is given:

[0099] Before the vehicle leaves the factory, for each of the multiple eye positions, the developer can determine the target connection line (such as Figure 7 l1 or l2 as shown) and the first intersection point of the simulated field of view 300 at the position (as shown Figure 7 The coordinates of a under l1 or b under l2) in the simulated field of view 300, and the second intersection point of the target line and the glass display screen 100 (as shown in FIG. Figure 7 The target line is the line between the contour point of the test object and the position. For example, the target line l1 is the line between the contour point p of the test object and the position, and the target line l2 is the line between the contour point q of the test object and the position.

[0100] Afterwards, the developer can record the coordinates of the contour point in the coordinate system of the perception sensor and the coordinates of the first intersection point in the simulated field of view 300 in a first mapping relationship corresponding to the position. In addition, the developer can record the coordinates of the first intersection point in the simulated field of view 300 and the coordinates of the second intersection point in the glass display screen in a second mapping relationship corresponding to the position.

[0101] Wherein, the simulated field of view at each position refers to: when the driver's eyes are located at the position, the driver's simulated field of view, and the simulated field of view can be determined according to the field of view angle of the driver's eyes (such as the field of view angle of the human eye) and the position. The field of view angle may include: the field of view angle in the horizontal direction and the field of view angle in the vertical direction. For example, the simulated field of view is a virtual visible area determined from a simulated sphere based on the field of view angle. The center of the simulated sphere can be the position, and the radius can be a specified radius. That is, the simulated field of view refers to the range on the simulated sphere reached by the driver's line of sight. Correspondingly, the coordinates of the first intersection in the simulated field of view refer to: the coordinates of the first intersection in the spherical coordinate system where the simulated field of view is located. The spherical coordinate system is a coordinate system established with the position as the origin and the specified radius as the radius. The specified radius can be 30 centimeters (cm).

[0102] The coordinates of the second intersection in the glass display screen refer to: the coordinates of the second intersection in the coordinate system where the glass display screen is located. The coordinate system where the glass display screen is located may be a three-dimensional coordinate system established with any point on the glass display screen as the origin, and the X axis of the three-dimensional coordinate system may be parallel to the width direction of the vehicle, the Y axis may be parallel to the length direction of the vehicle, and the Z axis may be parallel to the height direction of the vehicle.

[0103] In this way, each of the multiple contour points of the multiple test objects can be tested in the manner described above, thereby obtaining a first mapping relationship between a position in a simulated field of view and a position in the field of view of the perception sensor, and a second mapping relationship between a position in a simulated field of view and a position in the glass display screen.

[0104] Furthermore, for each of the multiple positions, the test is performed according to the method described above, so that the first mapping relationship and the second mapping relationship corresponding to each position can be obtained. After that, the developer can store the first mapping relationship and the second mapping relationship corresponding to each of the multiple positions in the vehicle.

[0105] It can be understood that since the contour point, the first intersection point, the second intersection point and a position of the test object are located on the same straight line (i.e., the line of sight of the eye at that position), it can be ensured that the display position of the contour point determined by the vehicle according to the first target mapping relationship and the second target mapping relationship, that is, the position of the intersection of the driver's line of sight toward the contour point and the glass display screen, thereby ensuring that the distortion of the contour of the target object displayed based on the display position is small, that is, ensuring that the display effect of the contour is better, thereby effectively improving the driver's driving experience.

[0106] Optionally, the multiple positions may include: a reference position and at least two other positions. The at least two other positions may be evenly distributed around the reference position. The reference position may be the position where the eyes of most drivers are located when they are in the main driving seat of the vehicle.

[0107] Step 204 : Based on the first target mapping relationship and the first position of each contour point, determine the second position of each contour point in the target simulation field of view of the driver.

[0108] Among them, the first target mapping relationship is a mapping relationship between the position in the target simulation field of view and the position in the field of view of the perception sensor. The target simulation field of view is determined according to the field of view angle of the driver's eyes and the target position of the eyes. For example, the target simulation field of view is a virtual visible area determined from the target simulation sphere according to the field of view angle. The second position of each contour point in the target simulation field of view refers to: the coordinates of the contour point in the spherical coordinate system where the target simulation field of view is located. The spherical coordinate system is a coordinate system established with the target position of the driver's eyes as the origin and the specified radius as the radius.

[0109] For example, see Figure 8 , assuming that based on the target position of the eye, the target simulation sphere is determined as Figure 8 Assume that the horizontal viewing angle of the driver's eyes is α, and the vertical viewing angle is β, then Figure 8 As shown, the target simulated field of view of the driver may be an area 410 on the sphere 400 .

[0110] In the embodiment of the present application, after the vehicle obtains the first positions of multiple contour points of the target object in the field of view of the perception sensor, for each contour point, the vehicle can determine the position corresponding to the first position from the first target mapping relationship based on the first position of the contour point, and determine the position as the second position of the contour point in the target simulated field of view of the driver. That is, the vehicle can map each contour point to the target simulated field of view of the driver through the first target mapping relationship and the first position of each contour point.

[0111] Step 205: Determine the display position of each contour point in the glass display screen based on the second target mapping relationship and the second position of each contour point.

[0112] The second target mapping relationship is a mapping relationship between the position in the target simulation field of view and the position in the glass display screen. The display position of each contour point in the glass display screen refers to: the coordinates of the contour point in the coordinate system where the glass display screen is located.

[0113] In the embodiment of the present application, after the vehicle obtains the second positions of multiple contour points of the target object in the target simulation field of view of the driver, for each contour point, the vehicle can determine the position corresponding to the second position from the second target mapping relationship based on the second position of the contour point, and determine the position as the display position of the contour point in the glass display screen. That is, the vehicle can map each contour point to the glass display screen through the second target mapping relationship and the second position of each contour point to obtain the display position of each contour point in the glass display screen.

[0114] Step 206: Based on the multiple display positions, display the outline of the target object on the glass display screen.

[0115] Since the vehicle can display the outline of the target object on the glass display screen, the driver can observe the virtual image (i.e., the outline) and the real environment (i.e., the target object) through the glass display screen, thereby realizing the superposition and fusion of the virtual image and the real environment, achieving the effect of augmented reality (AR), and realizing effective reminders to the driver.

[0116] Taking the display panel of the glass display screen as an LED display panel as an example, an exemplary description is given of displaying the outline of a target object on the glass display screen based on multiple display positions of a vehicle:

[0117] After the vehicle obtains the display positions of the multiple contour points on the glass display screen, for each display position of the contour point, the vehicle can determine the LED in the multiple LEDs that has the same position as the display position as the target LED. Afterwards, the vehicle can light up the target LED to display the contour of the target object on the glass display screen. For example, the vehicle can send a driving signal to the LED display panel according to the position of the target LED, so that the LED display panel drives the target LED to emit light, thereby lighting up the target LED.

[0118] In an embodiment of the present application, the position of the driver's eyes may change. At this time, if the target mapping relationship determined according to the position of the eyes acquired last time is still used to display the outline of the target object on the glass display screen, it will cause the displayed outline to deviate and may cause distortion problems. Based on this, the vehicle can also update the target mapping relationship based on the changed target position when detecting that the target position of the driver's eyes has changed, and then realize the display of the outline of the target object based on the updated target mapping relationship. Among them, the updated target mapping relationship is determined based on the changed target position. In this way, it can be ensured that the display effect of the outline of the displayed target object is better.

[0119] It can be understood that the implementation process of the updated target mapping relationship determined by the vehicle based on the changed target position can refer to the implementation process of the vehicle executing step 203, and the embodiments of the present application will not be repeated here.

[0120] Optionally, when the vehicle determines that the target position of the driver's eyes has changed and the distance between the target position after the change and the target position before the change is greater than a distance threshold, the target mapping relationship can be updated based on the target position after the change. The distance threshold can be pre-stored by the vehicle. The distance threshold can be greater than or equal to 0.5 centimeters (cm) and less than or equal to 3 cm. For example, the distance threshold can be 1 cm.

[0121] Since the vehicle can update the target mapping relationship only when the distance between the target position after the change and the target position before the change is greater than the distance threshold, that is, when the target position changes significantly, the processing resources of the vehicle can be effectively saved.

[0122] It can be understood that if the glass display screen of the vehicle is a front windshield display screen, the glass display screen can display the outline of the target object located in front of the vehicle. If the glass display screen of the vehicle is a rear windshield display screen, the glass display screen can display the outline of the target object located behind the vehicle. If the glass display screen of the vehicle is a left window glass display screen, the glass display screen can display the outline of the target object located on the left side of the vehicle. If the glass display screen of the vehicle is a right window glass display screen, the glass display screen can display the outline of the target object located on the right side of the vehicle.

[0123] It is also understandable that the order of the steps of the vehicle display method provided in the embodiment of the present application can be adjusted appropriately, and the steps can be increased or decreased accordingly. For example, step 203 can also be deleted according to the circumstances. Any technician familiar with the technical field can easily think of a method of variation within the technical scope disclosed in this application, and it should be included in the protection scope of this application, so it will not be repeated here.

[0124] In summary, the embodiment of the present application provides a display method for a vehicle. After the vehicle detects the existence of a target object around the vehicle through a perception sensor, the vehicle can determine the second position of each contour point in the target simulation field of view of the driver based on the first mapping relationship and the first position of multiple contour points of the target object in the field of view of the perception sensor, and then determine the display position of each contour point in the glass display screen based on the second mapping relationship, and then display the contour of the target object in the glass display screen based on the display position of multiple contour points. Since the vehicle can display the contour of the target object in the glass display screen, on the one hand, the content displayed by the vehicle is enriched, on the other hand, the display method of the vehicle is enriched, and on the other hand, the driver can observe the virtual picture (i.e., the contour) and the real environment (i.e., the target object) through the glass display screen, thereby realizing the superposition and fusion between the virtual picture and the real environment, achieving the effect of augmented reality, and realizing effective reminder to the driver. In addition, since the vehicle can determine the display position of each contour point of the target object in the glass display screen according to the first mapping relationship and the second mapping relationship, it can ensure that the display position is determined with high efficiency, thereby ensuring that the vehicle displays the contour of the target object with high efficiency.

[0125] The embodiment of the present application provides a vehicle, which can execute the vehicle display method provided by the above method embodiment. Figure 1 , the vehicle includes: a controller ( Figure 1 ), a glass display screen 100 and a sensing sensor 200. The controller is used for:

[0126] If the perception sensor detects that there is a target object around the vehicle, then obtaining a first position of each contour point among a plurality of contour points of the target object in the field of view of the perception sensor;

[0127] Based on the first target mapping relationship and the first position of each contour point, determining the second position of each contour point in the target simulated field of view of the driver, wherein the first target mapping relationship is a mapping relationship between the position in the target simulated field of view and the position in the field of view of the perception sensor, and the target simulated field of view is determined according to the field of view angle of the driver's eyes and the target position of the eyes;

[0128] Based on the second target mapping relationship and the second position of each contour point, determining the display position of each contour point in the glass display screen, the second target mapping relationship being a mapping relationship between the position in the target simulated field of view and the position in the glass display screen;

[0129] Depending on the respective display position, the outline of the object is displayed on the glass display.

[0130] Optionally, the glass display screen 100 includes: an inner glass layer, a display layer and an outer glass layer stacked in sequence.

[0131] Optionally, the controller can also be used to:

[0132] Get the target location;

[0133] From the correspondence between the position and the mapping relationship, a target mapping relationship corresponding to the target position is determined, and the target mapping relationship is a first target mapping relationship or a second target mapping relationship.

[0134] Optionally, the vehicle includes: an in-vehicle camera; and a controller for:

[0135] Obtaining the image of the driver captured by the in-vehicle camera;

[0136] The target location is determined based on the image.

[0137] Optionally, the controller can also be used to:

[0138] If the target position changes, the target mapping relationship is updated based on the changed target position;

[0139] The updated target mapping relationship is determined based on the changed target position.

[0140] Optionally, the controller can also be used to:

[0141] If the target position changes, and the distance between the target position after the change and the target position before the change is greater than a distance threshold, the target mapping relationship is updated based on the target position after the change.

[0142] Optionally, the display layer includes: a plurality of light emitting diodes (LEDs) arranged in an array, and any two LEDs are located in different positions in the display layer. The controller may also be used for:

[0143] Determine an LED among the multiple LEDs, whose position is the same as each display position, as a target LED;

[0144] Light up the target LED to show the outline of the target object.

[0145] In summary, the embodiment of the present application provides a vehicle, after the vehicle detects the existence of a target object around the vehicle through a perception sensor, the vehicle can determine the second position of each contour point in the target simulation field of view of the driver based on the first mapping relationship and the first position of multiple contour points of the target object in the field of view of the perception sensor, and then determine the display position of each contour point in the glass display screen based on the second mapping relationship, and then display the contour of the target object in the glass display screen based on the display position of multiple contour points. Since the vehicle can display the contour of the target object in the glass display screen, on the one hand, the content displayed by the vehicle is enriched, on the other hand, the display method of the vehicle is enriched, and on the other hand, the driver can observe the virtual picture (i.e., the contour) and the real environment (i.e., the target object) through the glass display screen, thereby realizing the superposition and fusion between the virtual picture and the real environment, achieving the effect of augmented reality, and realizing effective reminder to the driver. In addition, since the vehicle can determine the display position of each contour point of the target object in the glass display screen according to the first mapping relationship and the second mapping relationship, it can ensure that the display position is determined with high efficiency, thereby ensuring that the vehicle displays the contour of the target object with high efficiency.

[0146] The present application also provides a vehicle, which includes: a memory, a controller, and a computer program stored in the memory and executable on the controller, wherein the controller implements the vehicle display method provided in the above method embodiment when executing the computer program. For example, Figure 5 or Figure 6 The method shown.

[0147] The present application embodiment provides a computer-readable storage medium, in which a computer program is stored, and the computer program is loaded by a processor and executes the vehicle display method provided by the above method embodiment. For example, Figure 5 or Figure 6 The method shown.

[0148] The embodiment of the present application provides a computer program product including instructions, and when the computer program product is run on a computer, the computer executes the vehicle display method provided by the above method embodiment. For example, Figure 5 or Figure 6 The method shown.

[0149] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0150] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0151] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0152] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0153] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0154] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle display method, characterized in that: The vehicle comprises: a glass display screen and a perception sensor; the method comprises: If the perception sensor detects that there is a target object around the vehicle, obtaining a first position of each contour point among a plurality of contour points of the target object in the field of view of the perception sensor; Based on a first target mapping relationship and a first position of each of the contour points, determining a second position of each of the contour points in a target simulated field of view of the driver, wherein the first target mapping relationship is a mapping relationship between a position in the target simulated field of view and a position in the field of view of the perception sensor, and the target simulated field of view is determined according to a field of view angle of the driver's eyes and a target position of the eyes; Determining the display position of each of the contour points in the glass display screen based on a second target mapping relationship and a second position of each of the contour points, wherein the second target mapping relationship is a mapping relationship between the position in the target simulated field of view and the position in the glass display screen; Based on each of the display positions, the outline of the target object is displayed on the glass display screen.

2. The method according to claim 1, characterized in that Before determining the second position of each contour point in the target simulation field of view of the driver based on the first target mapping relationship and the first position of each contour point, the method further includes: Obtaining the target location; A target mapping relationship corresponding to the target position is determined from the correspondence between the position and the mapping relationship, where the target mapping relationship is the first target mapping relationship or the second target mapping relationship.

3. The method according to claim 2, characterized in that The vehicle includes: an in-vehicle camera; the obtaining of the target position includes: Acquire the image of the driver captured by the in-vehicle camera; The target location is determined based on the image.

4. The method according to claim 2, characterized in that: After displaying the outline of the target object on the glass display screen based on each of the display positions, the method further includes: If the target position changes, updating the target mapping relationship based on the changed target position; The updated target mapping relationship is determined based on the changed target position.

5. The method according to claim 4, characterized in that The updating of the target mapping relationship includes: If the target position changes, and the distance between the target position after the change and the target position before the change is greater than a distance threshold, the target mapping relationship is updated based on the target position after the change.

6. The method according to any one of claims 1 to 5, characterized in that: The glass display screen comprises: a plurality of light emitting diodes (LEDs) arranged in an array, and positions of any two of the LEDs in the glass display screen are different; and displaying the outline of the target object in the glass display screen based on the respective display positions comprises: Determine, among the plurality of LEDs, an LED whose position is the same as each of the display positions as a target LED; The target LED is illuminated to display the outline of the target object.

7. A vehicle, characterized in that: The vehicle comprises: a controller, a glass display screen and a perception sensor; the controller is used to: If the perception sensor detects that there is a target object around the vehicle, obtaining a first position of each contour point among a plurality of contour points of the target object in the field of view of the perception sensor; Based on a first target mapping relationship and a first position of each of the contour points, determining a second position of each of the contour points in a target simulated field of view of the driver, wherein the first target mapping relationship is a mapping relationship between a position in the target simulated field of view and a position in the field of view of the perception sensor, and the target simulated field of view is determined according to a field of view angle of the driver's eyes and a target position of the eyes; Determining the display position of each of the contour points in the glass display screen based on a second target mapping relationship and a second position of each of the contour points, wherein the second target mapping relationship is a mapping relationship between the position in the target simulated field of view and the position in the glass display screen; Based on each of the display positions, the outline of the target object is displayed on the glass display screen.

8. The vehicle according to claim 7, characterized in that The glass display screen comprises: an inner glass layer, a display layer and an outer glass layer which are stacked in sequence.

9. The vehicle according to claim 7, characterized in that The controller is also used for: Obtaining the target location; A target mapping relationship corresponding to the target position is determined from the correspondence between the position and the mapping relationship, where the target mapping relationship is the first target mapping relationship or the second target mapping relationship.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is loaded by a processor and executes the vehicle display method according to any one of claims 1 to 6.

Images