Vehicles and their display methods

Abstract

This application discloses a vehicle and its display method, relating to the field of vehicle technology. After a vehicle detects a target object in its vicinity using a perception sensor, it can determine the second position of each contour point in the driver's simulated target field of view based on a first mapping relationship and the first positions of multiple contour points of the target object within the perception sensor's field of view. Then, based on the second mapping relationship, it determines the display position of each contour point on a glass display screen, and subsequently displays the outline of the target object on the glass display screen based on the display positions of the multiple contour points. This enriches the content displayed by the vehicle, enhances the display methods, and allows the driver to observe both a virtual image (i.e., the outline) and the real environment (i.e., the target object) through the glass display screen, achieving a superimposed fusion of the virtual image and the real environment, thus enhancing reality and providing effective reminders to the driver.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle and a display method thereof. Background Technology

[0002] Currently, vehicles may include head-up displays (HUDs). Vehicles can project and display important driving data (such as vehicle speed, engine speed, and turn signals) onto the HUD.

[0003] However, the information displayed on the vehicle is currently quite limited. Summary of the Invention

[0004] This application provides a vehicle and its display method, which can solve the technical problem that the content displayed on the vehicle is relatively limited in related technologies. The technical solution is as follows:

[0005] On one hand, a display method for a vehicle is provided, the vehicle including: a glass display screen and a sensing sensor; the method includes:

[0006] If the sensing sensor detects that there is a target object around the vehicle, then the first position of each of the multiple contour points of the target object in the field of view of the sensing sensor is obtained.

[0007] Based on the first target mapping relationship and the first position of each of the contour points, the second position of each of the contour points in the driver's target simulated field of view is determined, wherein the first target mapping relationship is the 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.

[0008] Based on the second target mapping relationship and the second position of each of the contour points, the display position of each of the contour points in the glass display screen is determined. The second target mapping relationship is the mapping relationship between the position in the target simulated field of view and the position in the glass display screen.

[0009] The outline of the target object is displayed on the glass display screen based on each of the aforementioned display positions.

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

[0011] Obtain the target location;

[0012] From the correspondence between position and mapping relationship, determine the target mapping relationship corresponding to the target position, wherein the target mapping relationship is either the first target mapping relationship or the second target mapping relationship.

[0013] Optionally, the vehicle includes: an in-vehicle camera; acquiring the target location 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 in the glass display screen based on each of the stated display positions, the method further includes:

[0017] If the target location changes, the target mapping relationship is updated based on the changed target location;

[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 location changes, and the distance between the changed target location and the original target location is greater than a distance threshold, then the target mapping relationship is updated based on the changed target location.

[0021] Optionally, the glass display screen includes: a plurality of light-emitting diodes (LEDs) arranged in an array, wherein any two LEDs are positioned differently in the glass display screen; the step of displaying the outline of the target object in the glass display screen based on each of the display positions includes:

[0022] Among the plurality of LEDs, the LED whose position is the same as each of the aforementioned display positions is identified as the target LED;

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

[0024] On the other hand, a vehicle is provided, the vehicle including: a controller, a glass display screen, and sensing sensors; the controller is used for:

[0025] If the sensing sensor detects that there is a target object around the vehicle, then the first position of each of the multiple contour points of the target object in the field of view of the sensing sensor is obtained.

[0026] Based on the first target mapping relationship and the first position of each of the contour points, the second position of each of the contour points in the driver's target simulated field of view is determined, wherein the first target mapping relationship is the 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.

[0027] Based on the second target mapping relationship and the second position of each of the contour points, the display position of each of the contour points in the glass display screen is determined. The second target mapping relationship is the mapping relationship between the position in the target simulated field of view and the position in the glass display screen.

[0028] The outline of the target object is displayed on the glass display screen based on each of the aforementioned display positions.

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

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

[0031] Obtain the target location;

[0032] From the correspondence between position and mapping relationship, determine the target mapping relationship corresponding to the target position, wherein the target mapping relationship is either the first target mapping relationship or the second target mapping relationship.

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

[0037] If the target location changes, the target mapping relationship is updated based on the changed target location;

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

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

[0040] If the target location changes, and the distance between the changed target location and the original target location is greater than a distance threshold, then the target mapping relationship is updated based on the changed target location.

[0041] Optionally, the display layer includes: a plurality of light-emitting diodes (LEDs) arranged in an array, wherein any two LEDs are positioned differently in the display layer; the controller is used for:

[0042] Among the plurality of LEDs, the LED whose position is the same as each of the aforementioned display positions is identified as the target LED;

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

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

[0045] In another aspect, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program being loaded by a processor and executed as described above regarding the vehicle display method.

[0046] In another aspect, a computer program product containing instructions is provided, which, when executed on the computer, causes the computer to perform the vehicle display method as described above.

[0047] The beneficial effects of the technical solution provided in this application include at least the following:

[0048] This application provides a vehicle and its display method. After the vehicle detects a target object in its vicinity through a perception sensor, it can determine the second position of each contour point in the driver's simulated target field of view based on a first mapping relationship and the first positions of multiple contour points of the target object in the field of view of the perception sensor. Then, based on the second mapping relationship, it determines the display position of each contour point in a glass display screen, and subsequently displays the contour of the target object in the glass display screen based on the display positions of the multiple contour points. Since the vehicle can display the contour of the target object in the glass display screen, it enriches the content displayed by the vehicle and the display methods. Furthermore, it allows the driver to observe the virtual image (i.e., the contour) and the real environment (i.e., the target object) through the glass display screen, thereby achieving the superposition and fusion of the virtual image and the real environment, achieving an augmented reality effect and providing effective reminders to the driver. Moreover, 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 and second mapping relationships, the determination efficiency of the display position can be ensured to be high, thus ensuring high efficiency in displaying the contour of the target object.

[0049] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the structure of a vehicle according to an embodiment of this application;

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

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

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

[0054] Figure 5 This is a flowchart of a vehicle display method provided in an embodiment of this application;

[0055] Figure 6 This is a flowchart of another vehicle display method provided in an embodiment of this application;

[0056] Figure 7 This is a schematic diagram illustrating 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 this application.

[0057] Figure 8 This is a schematic diagram of a driver's target simulated field of view provided in an embodiment of this application. Detailed Implementation

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

[0059] This application provides a vehicle, see embodiment. Figure 1 The vehicle includes: a controller ( Figure 1 (Not shown in the image) A glass display screen 100 and a sensing sensor 200. The controller can be connected to the glass display screen 100 and the sensing sensor 200. The controller can sense whether there is a target object around the vehicle through the sensing sensor 200, and can drive the glass display screen 100 to display the outline of the target object if it is determined that there is a target object around the vehicle.

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

[0061] The number of glass display screens 100 can be one or more. Each glass display screen 100 can be a windshield display screen, a rear windshield display screen, a left-side window display screen, or a right-side window display screen for a vehicle. For example, as Figure 1 As shown, the glass display screen 100 can be a windshield display screen.

[0062] Figure 2 This is a schematic diagram of the structure of a glass display screen provided in an embodiment of this application. See also... 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 the vehicle's controller, respectively, and can drive the display panel 110 to display under the action of the controller.

[0063] Figure 3 This is a schematic diagram of the structure of a display panel provided in an embodiment of this application. See also... Figure 3 The display panel 110 may include an inner glass layer 01, a display layer 02, and an outer glass layer 03 stacked sequentially.

[0064] Optionally, the display layer 02 is a flexible film layer. The area of ​​the display layer 02 can be less than or equal to the area of ​​the outer glass layer 03. For example, the area of ​​the display layer 02 can be equal to the area of ​​the outer glass layer 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 can be a liquid crystal display (LCD) panel. Correspondingly, the glass display screen 100 is an LCD display screen. Alternatively, the display panel 110 can be a light-emitting diode (LED) display panel. Correspondingly, the glass display screen 100 is an LED display screen. In this case, the display layer 02 can include multiple LEDs arranged in an array. Any two LEDs are positioned differently within the glass display screen.

[0066] Figure 4 This is a schematic diagram of another display panel structure provided in an embodiment of this application. Please refer to... Figure 4 The display panel 110 may also include: an explosion-proof film layer 04. From Figure 4 As can be seen, the explosion-proof film layer 04 can be located on the side of the display layer 02 near the outer glass layer 03. The presence of the explosion-proof film layer 04 improves the safety of the display panel 110, thereby enhancing the safety of the glass display screen 100.

[0067] like Figure 4 As shown, the display panel 110 may further include a plurality of optical adhesive layers 05. An optical adhesive layer 05 is present between the inner glass layer 01 and the display layer 02, between the display layer 02 and the explosion-proof film layer 04, and 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] Each optical adhesive layer 05 can have a transparency greater than a transparency threshold. This ensures that the display panel 110 has high transparency, thereby ensuring a clear view for the driver while allowing the glass display screen 100 to show the outline of the target object.

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

[0070] This application provides a method for displaying a vehicle. This method can be applied to a vehicle (such as a vehicle controller), for example, the vehicle can be... Figure 1 The vehicle shown includes a glass display screen 100 and a sensing sensor 200. See also... Figure 5 The method includes:

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

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

[0073] The field of view of a sensing sensor refers to the range that the sensor can observe. The first position of each contour point within the sensor's field of view refers to its coordinates in the sensor's coordinate system. This coordinate system can be a three-dimensional coordinate system with any point within the sensor as its origin. The X-axis of this three-dimensional coordinate system can be parallel to the vehicle's width, the Y-axis can be parallel to the vehicle's length, and the Z-axis can be parallel to the vehicle's height.

[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 driver's simulated field of view.

[0075] The first target mapping relationship is the mapping relationship between the position of the target in the simulated field of view and the position of the target in the field of view of the sensing sensor. The simulated field of view is determined based on the driver's eye's field of view angle and the target position of that eye. The field of view angle can include: a horizontal field of view angle and a vertical field of view angle.

[0076] In this embodiment, 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 driver's simulated field of view of the target from the first target mapping relationship based on the first position of the contour point.

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

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

[0079] In this embodiment, 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 on the glass display screen based on the second target mapping relationship.

[0080] The display position of each contour point on the glass display screen refers to its coordinates in the coordinate system of the glass display screen. The coordinate system of the glass display screen can be a three-dimensional coordinate system with any point on the glass display screen as the origin. The X-axis of this 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.

[0081] Step 104: Display the outline of the target object in the glass display screen based on multiple display positions.

[0082] In this embodiment of the application, if the glass display screen is an LCD display screen, the vehicle can determine the target pixel at the plurality of display positions in the LCD display screen and light up the target pixel 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 identify the LED whose position matches the display position from among multiple LEDs as the target LED. The vehicle can then illuminate the target LED to display the outline of the target object on the glass display screen.

[0084] In summary, this application provides a vehicle display method. After a vehicle detects a target object around it using a perception sensor, it can determine the second position of each contour point in the driver's simulated target field of view based on a first mapping relationship and the first positions of multiple contour points of the target object in the field of view of the perception sensor. Then, based on the second mapping relationship, it determines the display position of each contour point in the glass display screen, and subsequently displays the contour of the target object in the glass display screen based on the display positions of the multiple contour points. Since the vehicle can display the contour of the target object in the glass display screen, it enriches the content displayed by the vehicle and the display methods. Furthermore, it allows the driver to observe the virtual image (i.e., the contour) and the real environment (i.e., the target object) through the glass display screen, thereby achieving the superposition and fusion of the virtual image and the real environment, achieving an augmented reality effect and providing effective reminders to the driver. Moreover, 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 and second mapping relationships, the determination efficiency of the display position can be ensured to be high, thus ensuring high efficiency in displaying the contour of the target object.

[0085] Figure 6 This is a flowchart of another vehicle display method provided in an embodiment of this application. This method can be applied to vehicles, for example... Figure 1 The vehicle shown includes a glass display screen 100 and a sensing sensor 200. See also... Figure 6 The method may include:

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

[0087] In this embodiment, the vehicle can collect data about its surroundings using a sensing sensor and process that data to detect the presence of a target object. Then, if the presence of a target object is confirmed, the vehicle can obtain the first position of each of the target object's multiple contour points within the field of view of the sensing sensor.

[0088] The target object can be a pedestrian, vehicle, or traffic light that may affect the vehicle's driving behavior during its journey. The multiple contour points can be some contour points on the contour line, or they can be all contour points on the contour line.

[0089] The field of view of a sensing sensor refers to the range that the sensor can observe. The first position of each contour point within this field of view refers to its coordinates in the coordinate system of the sensing sensor. This coordinate system can be a three-dimensional coordinate system with any point within the sensor as its origin. The X-axis of this 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: Obtain 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 this embodiment, the vehicle includes an in-vehicle camera. The vehicle can acquire images of the driver through the in-vehicle camera and then determine the target position of the driver's eyes based on these images. The target position of the eyes can be the coordinates of the eyes within the coordinate system of the in-vehicle camera. This coordinate system can be a three-dimensional coordinate system established with any point within the in-vehicle camera as its origin. The X-axis of this 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 can be a 3D camera, and there can be one or more in-vehicle cameras. Each in-vehicle camera can be mounted on the A-pillar of the vehicle.

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

[0095] This mapping relationship can be determined by developers through extensive testing before the vehicle leaves the factory and pre-stored in the vehicle. This mapping relationship can be a correspondence between location and a first mapping relationship. In this case, the target mapping relationship determined by the vehicle can be the first target mapping relationship. Alternatively, this mapping relationship can be a correspondence between location and a second mapping relationship, in which case the target mapping relationship determined by the vehicle can be the second target mapping relationship.

[0096] Taking the correspondence between location and the first mapping relationship as an example, the implementation process of vehicle execution step 203 is illustrated as follows:

[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 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 this embodiment of the application, taking the glass display screen as the windshield display screen and the target object as an object in front of the vehicle as an example, combined with... Figure 7 The following is an illustrative example illustrating the process by which developers determine the correspondence between locations and mapping relationships:

[0099] Before the vehicle leaves the factory, for each of the multiple locations of the eye, the developers can determine the target connection line at that location (e.g., ...). Figure 7 The first intersection point (as shown by l1 or l2) with the simulated field of view 300 at that location (e.g.) 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 with the glass display screen 100 (e.g., Figure 7 The coordinates of A under l1 or B under l2 in the glass display screen 100 are shown. The target line is the line connecting the contour point of the test object to the position. For example, target line l1 is the line connecting the contour point p of the test object to the position, and target line l2 is the line connecting the contour point q of the test object to the position.

[0100] Subsequently, developers can record the coordinates of the contour point in the coordinate system of the sensing sensor and the coordinates of the first intersection point in the simulated field of view 300 in the first mapping relationship corresponding to that location. Furthermore, developers 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 the second mapping relationship corresponding to that location.

[0101] The simulated field of view at each location refers to the driver's simulated field of view when their eyes are at that location. This simulated field of view is determined based on the driver's field of view angle (such as the human eye's field of view) and the location. The field of view angle can include both horizontal and vertical angles. For example, the simulated field of view is a virtual visible area determined from a simulated sphere based on this field of view angle. The center of the simulated sphere can be the location, and the radius can be a specified radius. In other words, 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 point in the simulated field of view refer to the coordinates of the first intersection point in the spherical coordinate system of the simulated field of view. This spherical coordinate system is established with the location 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 point in the glass display screen refer to the coordinates of the second intersection point in the coordinate system of the glass display screen. The coordinate system of the glass display screen can be a three-dimensional coordinate system established with any point on the glass display screen as the origin. The X-axis of this 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.

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

[0104] Furthermore, for each of the multiple locations, the method described above is used for testing to obtain the first and second mapping relationships corresponding to each location. The developers can then store these first and second mapping relationships for each location in the vehicle.

[0105] Understandably, since the contour point, first intersection point, second intersection point, and a position of the test object are 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 on the glass display screen, determined by the vehicle according to the first target mapping relationship and the second target mapping relationship, is the position of the intersection of the driver's line of sight to the contour point and the glass display screen. This ensures that the distortion of the contour of the target object displayed based on this display position is small, thus ensuring a better display effect of the contour and effectively improving the driver's driving experience.

[0106] Optionally, the plurality of 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 of the driver's eyes when most of the driver is in the driver's 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 driver's target simulation field of view.

[0108] The first target mapping relationship is the mapping relationship between the position of the target in the simulated field of view and the position of the sensing sensor in the field of view. This simulated field of view is determined based on the driver's eye's field of view angle and the target position of that eye. For example, the simulated field of view is a virtual visible area determined from a simulated target sphere based on that field of view angle. The second position of each contour point in the simulated field of view refers to the coordinates of that contour point in the spherical coordinate system within the simulated field of view. This spherical coordinate system is established with the driver's eye's target position as the origin and a specified radius as the radius.

[0109] For example, see Figure 8 Assuming the target location is determined based on the eye, the simulated target sphere is as follows: Figure 8 The sphere shown is 400°. Assuming the driver's horizontal field of view is α and the vertical field of view is β, then... Figure 8 As shown, the driver's target simulated field of view can be region 410 on the sphere 400.

[0110] In this embodiment, 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 driver's target simulated field of view. That is, the vehicle can map each contour point to the driver's target simulated field of view through the first target mapping relationship and the first position of each contour point.

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

[0112] The second target mapping relationship refers to the mapping relationship between the target's position in the simulated field of view and its position on the glass display screen. The display position of each contour point on the glass display screen refers to the coordinates of that contour point in the coordinate system of the glass display screen.

[0113] In this embodiment, after the vehicle obtains the second positions of multiple contour points of the target object in the driver's simulated field of view, 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 on 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 on the glass display screen.

[0114] Step 206: Display the outline of the target object in the glass display screen based on multiple display positions.

[0115] Because 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 achieving the superposition and fusion of the virtual image and the real environment, achieving the effect of augmented reality (AR), and effectively reminding the driver.

[0116] Taking an LED display panel as an example, this paper provides an exemplary illustration of how a vehicle displays the outline of a target object on the glass display screen from multiple display positions:

[0117] After obtaining the display positions of multiple contour points on the glass display screen, the vehicle can identify the LED with the same position as that contour point as the target LED. The vehicle can then illuminate the target LED to display the outline of the target object on the glass display screen. Alternatively, the vehicle can send a drive signal to the LED display panel based on the position of the target LED, causing the panel to drive the target LED to emit light, thereby illuminating the target LED.

[0118] In this embodiment, the driver's eye position may change. If the target mapping relationship determined based on the previously acquired eye position is still used to display the outline of the target object on the glass display screen, the displayed outline will deviate and may exhibit distortion. Therefore, the vehicle can also update the target mapping relationship based on the changed target position when it detects a change in the driver's eye position, and then display the outline of the target object based on the updated target mapping relationship. The updated target mapping relationship is determined based on the changed target position. This ensures a better display effect for the outline of the displayed target object.

[0119] It is understood that the process of the vehicle determining the updated target mapping relationship based on the changed target position can be referred to the implementation process of the vehicle executing step 203, and will not be repeated here in the embodiments of this application.

[0120] Optionally, if the vehicle determines that the target position at the driver's eyes has changed, and the distance between the changed target position and the original target position is greater than a distance threshold, it can update the target mapping relationship based on the changed target position. The distance threshold can be pre-stored by the vehicle. This distance threshold can be greater than or equal to 0.5 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 changed target position and the original target position is greater than a distance threshold, i.e. when the target position has changed significantly, the vehicle's processing resources can be effectively saved.

[0122] Understandably, if a vehicle's glass display screen is a windshield display screen, it can display the outline of objects located in front of the vehicle. If the vehicle's glass display screen is a rear windshield display screen, it can display the outline of objects located behind the vehicle. If the vehicle's glass display screen is a left-side window display screen, it can display the outline of objects located on the left side of the vehicle. If the vehicle's glass display screen is a right-side window display screen, it can display the outline of objects located on the right side of the vehicle.

[0123] It is also understood that the order of the steps in the vehicle display method provided in this application embodiment can be appropriately adjusted, and the steps can be added or removed as appropriate. For example, step 203 can also be deleted as appropriate. Any variations that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application, and therefore will not be elaborated further.

[0124] In summary, this application provides a vehicle display method. After a vehicle detects a target object around it using a perception sensor, it can determine the second position of each contour point in the driver's simulated target field of view based on a first mapping relationship and the first positions of multiple contour points of the target object in the field of view of the perception sensor. Then, based on the second mapping relationship, it determines the display position of each contour point in the glass display screen, and subsequently displays the contour of the target object in the glass display screen based on the display positions of the multiple contour points. Since the vehicle can display the contour of the target object in the glass display screen, it enriches the content displayed by the vehicle and the display methods. Furthermore, it allows the driver to observe the virtual image (i.e., the contour) and the real environment (i.e., the target object) through the glass display screen, thereby achieving the superposition and fusion of the virtual image and the real environment, achieving an augmented reality effect and providing effective reminders to the driver. Moreover, 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 and second mapping relationships, the determination efficiency of the display position can be ensured to be high, thus ensuring high efficiency in displaying the contour of the target object.

[0125] This application provides a vehicle that can execute the vehicle display method provided in the above-described method embodiments. See also Figure 1 The vehicle includes: a controller ( Figure 1 (Not shown in the image), glass display screen 100, and sensing sensor 200. The controller is used for:

[0126] If a target object is detected around the vehicle by the perception sensor, the first position of each of the multiple contour points of the target object in the field of view of the perception sensor is obtained.

[0127] Based on the first target mapping relationship and the first position of each contour point, the second position of each contour point in the driver's target simulated field of view is determined. The first target mapping relationship is the mapping relationship between the position in the target simulated field of view and the 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.

[0128] Based on the second target mapping relationship and the second position of each contour point, the display position of each contour point in the glass display screen is determined. The second target mapping relationship is the mapping relationship between the position in the target simulation field of view and the position in the glass display screen.

[0129] The outline of the target object is displayed on the glass display screen based on each display position.

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

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

[0132] Obtain the target location;

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

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

[0135] Acquire images of the driver captured by the in-vehicle camera;

[0136] Determine the target location based on the image.

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

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

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

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

[0141] If the target position changes, and the distance between the changed target position and the original target position is greater than a distance threshold, then the target mapping relationship is updated based on the changed target position.

[0142] Optionally, the display layer includes an array of multiple light-emitting diodes (LEDs), with any two LEDs positioned differently within the display layer. The controller can also be used for:

[0143] Among multiple LEDs, the LED whose position is the same as each display position is identified as the target LED;

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

[0145] In summary, this application provides a vehicle that, after detecting a target object around the vehicle via a perception sensor, can determine the second position of each contour point in the driver's simulated target field of view based on a first mapping relationship and the first positions of multiple contour points of the target object in the field of view of the perception sensor. Then, based on the second mapping relationship, it determines the display position of each contour point on a glass display screen, and subsequently displays the outline of the target object on the glass display screen based on the display positions of the multiple contour points. Because the vehicle can display the outline of the target object on the glass display screen, it enriches the content displayed by the vehicle and the display methods. Furthermore, it allows the driver to observe both the virtual image (i.e., the outline) and the real environment (i.e., the target object) through the glass display screen, thereby achieving the superposition and fusion of the virtual image and the real environment, achieving an augmented reality effect and providing effective reminders to the driver. Moreover, since the vehicle can determine the display position of each contour point of the target object on the glass display screen according to the first and second mapping relationships, the determination efficiency of the display position can be ensured to be high, thus ensuring high efficiency in displaying the outline of the target object.

[0146] This application also provides a vehicle, which includes: a memory, a controller, and a computer program stored in the memory and executable on the controller. When the controller executes the computer program, it implements the vehicle display method provided in the above-described method embodiments. For example, Figure 5 or Figure 6 The method shown.

[0147] This application provides a computer-readable storage medium storing a computer program that is loaded by a processor and executed as described in the above-described method embodiments for displaying a vehicle. For example, Figure 5 or Figure 6 The method shown.

[0148] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to execute the vehicle display method provided in the above-described method embodiments. 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 embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0150] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0151] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0152] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0153] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0154] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for displaying a vehicle, characterized in that, The vehicle includes: a glass display screen and sensing sensors; the method includes: If the sensing sensor detects that there is a target object around the vehicle, then the first position of each of the multiple contour points of the target object in the field of view of the sensing sensor is obtained. Based on the first target mapping relationship and the first position of each of the contour points, the second position of each of the contour points in the driver's target simulated field of view is determined, wherein the first target mapping relationship is the 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. Based on the second target mapping relationship and the second position of each of the contour points, the display position of each of the contour points in the glass display screen is determined. The second target mapping relationship is the mapping relationship between the position in the target simulated field of view and the position in the glass display screen. The outline of the target object is displayed on the glass display screen based on each of the aforementioned display positions.

2. The method according to claim 1, characterized in that, Before determining the second position of each contour point in the driver's simulated field of view based on the first target mapping relationship and the first position of each contour point, the method further includes: Obtain the target location; From the correspondence between position and mapping relationship, determine the target mapping relationship corresponding to the target position, wherein the target mapping relationship is either 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; acquiring the target location 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 in the glass display screen based on each of the respective display positions, the method further includes: If the target location changes, the target mapping relationship is updated based on the changed target location; The updated target mapping relationship is determined based on the changed target position.

5. The method according to claim 4, characterized in that, Updating the target mapping relationship includes: If the target location changes, and the distance between the changed target location and the original target location is greater than a distance threshold, then the target mapping relationship is updated based on the changed target location.

6. The method according to any one of claims 1 to 5, characterized in that, The glass display screen includes: a plurality of light-emitting diodes (LEDs) arranged in an array, wherein any two LEDs are positioned differently in the glass display screen; the step of displaying the outline of the target object in the glass display screen based on each of the display positions includes: Among the plurality of LEDs, the LED whose position is the same as each of the aforementioned display positions is identified as the target LED; The target LED is illuminated to display the outline of the target object.

7. A vehicle, characterized in that, The vehicle includes: a controller, a glass display screen, and sensing sensors; the controller is used for: If the sensing sensor detects that there is a target object around the vehicle, then the first position of each of the multiple contour points of the target object in the field of view of the sensing sensor is obtained. Based on the first target mapping relationship and the first position of each of the contour points, the second position of each of the contour points in the driver's target simulated field of view is determined, wherein the first target mapping relationship is the 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. Based on the second target mapping relationship and the second position of each of the contour points, the display position of each of the contour points in the glass display screen is determined. The second target mapping relationship is the mapping relationship between the position in the target simulated field of view and the position in the glass display screen. The outline of the target object is displayed on the glass display screen based on each of the aforementioned display positions.

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 stacked sequentially.

9. The vehicle according to claim 7, characterized in that, The controller is also used for: Obtain the target location; From the correspondence between position and mapping relationship, determine the target mapping relationship corresponding to the target position, wherein the target mapping relationship is either 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, which is loaded and executed by a processor to display the vehicle according to any one of claims 1 to 6.

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