Method, device, electronic equipment, vehicle and medium for generating and displaying electronic images

Abstract

The present application provides a method, device, electronic device and storage medium for generating and displaying an electronic image, the method for generating and displaying an electronic image includes: obtaining real-time perception data of the surrounding environment of the vehicle by the perception device on the vehicle; generating an electronic image of the surrounding environment based on the real-time perception data; the electronic image includes a vehicle identification corresponding to the vehicle, an identification corresponding to the perception object in the surrounding environment and a control identification corresponding to the real-time control method of the vehicle relative to the perception object; and displaying the electronic image on the intelligent driving perception screen of the vehicle. The method for generating and displaying an electronic image provided by the present application enables the user to timely and accurately grasp the information of the surrounding environment of the vehicle by viewing the electronic image, and to know which perception objects in the current surrounding environment can execute which real-time control methods, without the need for analysis and judgment based on driving experience, thereby reducing the safety risks caused by the user's distracted thinking.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, electronic device, vehicle and storage medium for generating and displaying an electronic image. Background Art

[0002] When driving a vehicle, people need to observe the vehicle's surroundings with their naked eyes and analyze the observed vehicle's surroundings based on their own driving experience to make accurate driving decisions, thereby controlling the vehicle to follow traffic rules and drive safely to the destination along the planned route.

[0003] However, in actual scenarios, the vehicle's surroundings are very complex, resulting in ever-changing road conditions. The driver must not only observe the vehicle's surroundings, but also analyze the vehicle's surroundings to make accurate driving decisions in a timely manner. The driver's distracted thinking process is prone to safety risks.

[0004] Therefore, it is necessary to provide a technical solution to solve the above technical problems. Summary of the invention

[0005] The present application provides a method, device, electronic device, vehicle and storage medium for generating and displaying an electronic image, which can intuitively display the surrounding environment of the vehicle to the user.

[0006] In a first aspect, the present application provides a method for generating and displaying an electronic image, comprising:

[0007] Acquire real-time perception data of the vehicle's surrounding environment from the vehicle's perception device;

[0008] Generate an electronic image of the surrounding environment according to the real-time perception data; the electronic image includes a vehicle identifier corresponding to the vehicle, an identifier corresponding to a perception object in the surrounding environment, and a control identifier corresponding to a real-time control method of the vehicle relative to the perception object;

[0009] The electronic image is displayed on the intelligent driving perception screen of the vehicle.

[0010] Optionally, generating an electronic image of the surrounding environment according to the real-time perception data includes:

[0011] Generate a vehicle identifier corresponding to the vehicle;

[0012] Determining the relative position of the perceived object in the surrounding environment and the vehicle according to the real-time perception data;

[0013] With the own vehicle identifier as a reference, an identifier corresponding to the sensed object is generated at the relative position of the own vehicle identifier, and a control identifier corresponding to the real-time control method of the own vehicle relative to the sensed object is generated.

[0014] Optionally, the generating the identification corresponding to the perceived object at the relative position of the own vehicle identification with reference to the own vehicle identification includes:

[0015] Determine the number of the sensed objects according to the real-time sensed data, and number the sensed objects;

[0016] According to a preset display ratio, with the own vehicle logo as a reference, a logo corresponding to the perceived object is generated at the relative position of the own vehicle logo, and respective numbers are generated on and / or around the logo corresponding to the perceived object.

[0017] Optionally, the sensing object includes other vehicles;

[0018] The step of determining the number of the sensed objects according to the real-time sensed data and numbering the sensed objects comprises:

[0019] Determine the number of the other vehicles according to the real-time sensing data, and number the other vehicles using a first type of counting symbol;

[0020] The method of generating a logo corresponding to the perceived object at the relative position of the own vehicle logo according to a preset display ratio and taking the own vehicle logo as a reference, and generating respective numbers on and / or around the logo corresponding to the perceived object includes:

[0021] According to a preset display ratio, with the own vehicle logo as a reference, an other vehicle logo corresponding to the other vehicle is generated at the relative position of the own vehicle logo, and respective numbers are generated on and / or around the other vehicle logo.

[0022] Optionally, the sensed object includes a lane, and the lane includes a lane where the ego vehicle is located and other lanes where the ego vehicle is not located;

[0023] The step of determining the number of the sensed objects according to the real-time sensed data and numbering the sensed objects comprises:

[0024] Determine the number of lanes according to the real-time sensing data, and number the lanes using a second type of counting symbol;

[0025] The method of generating a logo corresponding to the perceived object at the relative position of the own vehicle logo according to a preset display ratio and taking the own vehicle logo as a reference, and generating respective numbers on and / or around the logo corresponding to the perceived object includes:

[0026] According to a preset display ratio, with the own vehicle logo as a reference, the logos corresponding to the own lane and the other lane are generated at the relative positions of the own vehicle logo, and respective numbers are generated on and / or around the logos corresponding to the own lane and the other lane;

[0027] The logo corresponding to the own lane is generated below the own vehicle logo, and the logo corresponding to the other lane is generated side by side with the logo corresponding to the own lane.

[0028] Optionally, after the respective numbers are generated for the signs corresponding to the own lane and the other lane and / or their surroundings, the method for generating and displaying the electronic image further includes:

[0029] Determining whether the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than a preset safety distance;

[0030] If yes, generating an operable direction indication mark pointing to the corresponding side boundary of the own lane on the side of the own vehicle mark;

[0031] If not, generating an inoperable direction indication mark pointing to the corresponding side boundary of the own lane on the side of the own vehicle mark;

[0032] Among them, the attributes of the operable direction indicator are different from those of the inoperable direction indicator. The operable direction indicator is used to indicate that it is allowed to adjust the position of the vehicle in the direction it points to, and the inoperable direction indicator is used to indicate that it is prohibited to adjust the position of the vehicle in the direction it points to.

[0033] Optionally, generating the identifier corresponding to the perceived object at the relative position of the vehicle identifier includes:

[0034] According to the real-time perception data and the preset intelligent driving strategy, determining whether there is an executable real-time control mode for the vehicle relative to the perception object;

[0035] If there is an executable real-time control mode for the self-vehicle relative to the sensed object, generating an operable identifier corresponding to the sensed object at the relative position of the self-vehicle identifier;

[0036] If there is no executable real-time control mode for the ego vehicle relative to the sensed object, generating an inoperable mark corresponding to the sensed object at the relative position of the ego vehicle mark;

[0037] Among them, the attribute of the operable identification corresponding to the perceived object is different from the attribute of the inoperable identification corresponding to the perceived object.

[0038] Optionally, after displaying the electronic image on the intelligent driving perception screen of the vehicle, the method for generating and displaying the electronic image further includes:

[0039] receiving in real time a voice command sent by a user to the control identifier;

[0040] According to the voice command, the vehicle is controlled to travel.

[0041] Optionally, controlling the vehicle to travel according to the voice command includes:

[0042] Determine whether the control mode in the voice instruction matches the control mode indicated by the control identifier, and obtain a determination result;

[0043] Based on the judgment result and the real-time perception data, control whether the vehicle drives according to the voice command.

[0044] Optionally, after controlling the vehicle to travel according to the voice command, the method for generating and displaying the electronic image further includes:

[0045] Get the identity of the current user;

[0046] Acquiring the driving habits of the current user from pre-recorded driving habits of users according to the identity of the current user;

[0047] The vehicle is controlled to travel according to the driving habits of the current user.

[0048] Optionally, the pre-recorded user's driving habits are generated by the following steps:

[0049] collecting and recording the real-time perception data and the voice commands during each driving process, analyzing the timbre of the voice commands, and identifying users who send the voice commands with different timbres as different users;

[0050] The driving habits of different users are generated based on the real-time perception data during each driving process and the voice instructions with different tones.

[0051] In a second aspect, the present application provides a device for generating and displaying an electronic image, comprising:

[0052] An acquisition module is used to acquire real-time perception data of the vehicle's surrounding environment perceived by the vehicle's perception device;

[0053] A generating module, configured to generate an electronic image of the surrounding environment according to the real-time sensing data; the electronic image includes a vehicle identifier corresponding to the vehicle, an identifier corresponding to a sensing object in the surrounding environment, and a control identifier corresponding to a real-time control method of the vehicle relative to the sensing object;

[0054] The display module is used to display the electronic image on the intelligent driving perception screen of the vehicle.

[0055] In a third aspect, the present application provides an electronic device, comprising at least one processor, wherein the processor is used to implement the method for generating and displaying an electronic image as described in any one of the first aspects.

[0056] In a fourth aspect, the present application provides a vehicle, comprising at least one processor, wherein the processor is used to implement the method for generating and displaying an electronic image as described in any one of the first aspects.

[0057] In a fifth aspect, the present application provides a computer-readable storage medium having a program stored thereon, and when the program is executed by a processor, the method for generating and displaying an electronic image as described in any one of the first aspects is implemented.

[0058] The electronic image generation and display method, device, electronic device, vehicle and storage medium provided by the present application generate an electronic image of the surrounding environment of the vehicle based on the real-time perception data of the vehicle's surrounding environment perceived by the vehicle's perception device. The electronic image can intuitively display the vehicle's own vehicle identification and the identification corresponding to the perception object in the surrounding environment, so that the user can timely and accurately grasp the information of the surrounding environment of the vehicle by viewing the electronic image. In addition, because the electronic image also contains the control identification corresponding to the real-time control method of the vehicle relative to the perception object in the surrounding environment, the user can also know which perception objects in the surrounding environment can execute which real-time control methods by viewing the electronic image, without the need for analysis and judgment based on driving experience, reducing the safety risks caused by the user's distracted thinking. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0060] Figure 1 A schematic flow chart of a method for generating and displaying an electronic image according to an embodiment of the present application.

[0061] Figure 2 A schematic diagram of an electronic image according to an embodiment of the present application.

[0062] Figure 3 Another flowchart of the method for generating and displaying an electronic image according to an embodiment of the present application is shown.

[0063] Figure 4 A schematic diagram of a process for generating an identifier corresponding to a perceived object in a method for generating and displaying an electronic image according to an embodiment of the present application.

[0064] Figure 5 This is a structural block diagram of a device for generating and displaying an electronic image according to an embodiment of the present application.

[0065] Figure 6 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0066] Here, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0067] The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. Instead, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of this specification as detailed in the attached claims. It should be noted that in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the steps included in the method may be more or less than those described in this specification. In addition, a single step described in this specification may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this specification may be combined into a single step for description in other embodiments.

[0068] In order to solve the technical problem in the related art that users need to observe and analyze the surrounding environment of the vehicle to make driving judgments and reduce the safety risks caused by user distraction, the embodiment of the present application provides a method for generating and displaying an electronic image, which generates an electronic image of the surrounding environment of the vehicle based on the real-time perception data of the vehicle's perception device to perceive the surrounding environment of the vehicle. The electronic image can intuitively display the vehicle logo corresponding to the vehicle and the logo corresponding to the perception object in the surrounding environment, so that the user can timely and accurately grasp the information of the surrounding environment of the vehicle by viewing the electronic image. In addition, since the electronic image also contains the control logo corresponding to the real-time control method of the vehicle relative to the perception object in the surrounding environment, the user can also know which perception objects in the current surrounding environment can execute which real-time control methods by viewing the electronic image, without the need to analyze and judge based on driving experience, reducing the safety risks caused by user distraction.

[0069] The method for generating and displaying an electronic image provided in the embodiments of the present application can be applied to a vehicle with a display screen, especially an intelligent driving system of a vehicle. Figure 1 , Figure 1 The figure shows a flow chart of the method for generating and displaying an electronic image according to an embodiment of the present application. The method for generating and displaying an electronic image provided by the embodiment of the present application includes but is not limited to the following steps S110 to S130.

[0070] S110, obtaining real-time perception data of the vehicle's surrounding environment by the vehicle's perception device.

[0071] The intelligent driving system can sense the surrounding environment of the vehicle in real time during driving through various sensors installed on the vehicle (such as millimeter wave radar, laser radar, single / binocular camera and satellite navigation, etc.), obtain real-time perception data of the surrounding environment of the vehicle, identify, detect and track static and dynamic objects based on the real-time perception data, and perform systematic calculations and analysis in combination with navigation map data, so as to make users aware of possible dangers in advance and effectively improve the comfort and safety of vehicle driving. Here, the vehicle's perception equipment can be various sensors installed on the vehicle. The intelligent driving system obtains real-time perception data of the surrounding environment of the vehicle from various sensors on the vehicle, and controls the vehicle to follow traffic rules and drive safely to the destination along the planned route.

[0072] S120, generating an electronic image of the surrounding environment based on the real-time perception data; the electronic image includes a vehicle identification corresponding to the vehicle, an identification corresponding to a perception object in the surrounding environment, and a control identification corresponding to a real-time control method of the vehicle relative to the perception object.

[0073] The vehicle's perception devices serve as the "eyes and ears" of the intelligent driving system. The intelligent driving system can indirectly perceive the surrounding environment of the vehicle by acquiring real-time perception data of the vehicle's surrounding environment from the vehicle's perception devices. The surrounding environment of the vehicle includes lanes and vehicles on the road, vehicles include the vehicle and other vehicles, lanes include the vehicle's own lane and other lanes where the vehicle is not, and the perception objects in the surrounding environment may include other vehicles and lanes including the vehicle's own lane and other lanes.

[0074] After acquiring the real-time perception data of the vehicle's surrounding environment perceived by the vehicle's perception device, the intelligent driving system generates an electronic image of the vehicle's surrounding environment based on the real-time perception data, and the electronic image includes the vehicle identification corresponding to the vehicle, identification corresponding to the perception object in the vehicle's surrounding environment, and control identification. Among them: the vehicle identification and the identification corresponding to the perception object are used to indicate the vehicle and other vehicles and lanes in the surrounding environment respectively; the control identification is used to indicate the real-time control method of the vehicle relative to the perception object in the surrounding environment, which may include the vehicle control identification corresponding to the real-time control method of the vehicle relative to other vehicles and / or the lane control identification corresponding to the real-time control method of the vehicle relative to lanes including the vehicle lane and other lanes.

[0075] Please also read Figure 2 , Figure 2 The electronic image of the embodiment of the present application is shown as a schematic diagram. The electronic image includes the vehicle identification, other vehicle identification and lane identification, as well as the vehicle control identification and lane control identification. The lane identification may include a lane graphic and / or a lane number, and the other vehicle identification may include a other vehicle graphic and / or a other vehicle number. Figure 2 The electronic images shown are described in detail.

[0076] Lane markings include lane graphics and lane numbers ①, ②, ③ and ④. Among them: a solid line and a dotted line in the longitudinal direction constitute the lane graphics of the rightmost lane (lane ①) in the same direction, two dotted lines in the longitudinal direction constitute the lane graphics of the middle lane (lane ②) in the same direction, a dotted line and a solid line in the longitudinal direction constitute the lane graphics of the leftmost lane (lane ③) in the same direction, and a dotted line and a solid line in the longitudinal direction constitute the lane graphics of the leftmost lane (lane ④) in the opposite direction.

[0077] The other vehicle identification includes the other vehicle graphic and the other vehicle number A, B, C, D. Among them: Vehicle A, Vehicle B and Vehicle C are vehicles traveling in the same direction in lane ①, lane ② and lane ③ respectively, and Vehicle D is a vehicle traveling in the opposite direction in lane ④.

[0078] The lane control signs include the Chinese pinyin initials B, Y, and S of the real-time lane control mode, where B is used to indicate lane change, Y is used to indicate priority lane driving, and S is used to indicate locked lane driving. Among them: the current self-vehicle can change lanes to lane ① or lane ② and give priority or lock to lane ① or lane ②, then the lane control signs corresponding to the lane signs of lane ① and lane ② are B, Y, and S representing lane change, priority lane driving, and locked lane driving; the current self-vehicle is in lane ③ and cannot change lanes to lane ③ but can give priority or lock to lane ③, then the lane control signs corresponding to the lane signs of lane ③ are Y and S representing priority lane driving and locked lane driving; the current self-vehicle can neither change lanes to lane ④ nor give priority or lock to lane ④, then the lane control sign corresponding to the lane sign of lane ④ is empty.

[0079] The vehicle control mark includes the Chinese pinyin initials C, G, and S of the real-time vehicle control mode, where C is used to indicate overtaking, G is used to indicate priority following, and S is used to indicate locked following. Among them: if the current self-vehicle cannot overtake, follow, or lock following car A or car D, the vehicle control mark corresponding to the other vehicle mark of car A and car D is empty; if the current self-vehicle can follow or lock following car B, the vehicle control mark corresponding to the other vehicle mark of car B is G and S representing following and locked following; if the current self-vehicle can overtake, follow, or lock following car C, the vehicle control mark corresponding to the other vehicle mark of car C is C and G representing overtaking and following.

[0080] It should be noted that the display mode of lane marking and lane control marking and the display mode of other vehicle marking and vehicle control marking are not limited to Figure 2 As shown, each lane control sign is not necessarily displayed above or around its corresponding lane number, and each vehicle control sign is not necessarily displayed below or around its corresponding other vehicle sign. It is only necessary to establish a connection between each lane control sign and its corresponding lane sign, and between each vehicle control sign and its corresponding other vehicle sign, and display such connection. For example, different lane signs and other vehicle signs can be set to different colors, and each lane control sign and vehicle control sign can be set to the same color as its corresponding lane sign and other vehicle sign. The embodiment of the present application does not limit the specific display method of lane signs and lane control signs, and the specific display method of other vehicle signs and vehicle control signs.

[0081] It should also be noted that Figure 2In the electronic image shown, the self-vehicle logo is black, the other-vehicle logos of cars B and C are white, the other-vehicle logos of cars A and D are gray, the lane graphics of lanes ①, ② and ③ are white, and the lane graphics of lane ④ is gray (indicated by diagonal filled lines in the figure). Among them: the white other-vehicle logo indicates that the current self-vehicle can perform at least one vehicle control method (such as overtaking or following) relative to the other vehicle represented by the other-vehicle logo, and the gray other-vehicle logo indicates that the current self-vehicle cannot perform any vehicle control method relative to the other vehicle represented by the other-vehicle logo; similarly, the white lane graphic indicates that the current self-vehicle can perform at least one lane control method (such as changing lanes) relative to the lane represented by the lane graphic, and the gray lane graphic indicates that the current self-vehicle cannot perform any lane control method relative to the lane represented by the lane graphic. In a specific scenario, the colors of the other-vehicle logos corresponding to different other vehicles and the lane graphics corresponding to different lanes can be specifically set, and the colors of the lane numbers corresponding to different lanes can also be different. For example, the vehicle identification mark can be set to the real color of the vehicle, the identification mark of other vehicles on which at least one vehicle control method can be executed can be set to green, and the identification mark of other vehicles on which no vehicle control method can be executed can be set to red. The embodiment of the present application does not limit the specific colors of different lane identification marks, different other vehicle identification marks, and vehicle identification marks.

[0082] S130, displaying the electronic image on the intelligent driving perception screen of the vehicle.

[0083] By displaying an electronic image including the vehicle's logo, logos corresponding to perceived objects in the surrounding environment, and control logos corresponding to the vehicle's real-time control methods relative to the perceived objects on the vehicle's Advanced Driver Assistance System View (ADV), users can grasp the information about the vehicle's surrounding environment and know which real-time control methods can be performed by the vehicle relative to the perceived objects in the surrounding environment simply by viewing the electronic image on the intelligent driving perception screen, without the need to analyze and judge based on driving experience, thereby reducing the safety risks caused by user distraction.

[0084] Please also read Figure 1 , Figure 2 and Figure 3 , Figure 3 Shown is another flow chart of the method for generating and displaying an electronic image according to an embodiment of the present application.

[0085] In some embodiments, when generating the electronic image of the surrounding environment according to the real-time perception data in the above step S120, it specifically includes the following steps S121-S123.

[0086] S121, generating a vehicle identification corresponding to the vehicle.

[0087] Because the surrounding environment of the vehicle is constantly changing during driving, and the sensing device is installed on the vehicle body, the position of the sensing object in the surrounding environment can only be determined by the vehicle itself as a reference. Therefore, it is necessary to first generate the vehicle identification corresponding to the vehicle that is "stationary" relative to the sensing device, and then generate the identification corresponding to the sensing object that is "moving" relative to the sensing device.

[0088] S122: Determine the relative position of the perceived object and the vehicle according to the real-time perception data.

[0089] The real-time perception data collected by the perception device can be used to determine the position of the perception object in the surrounding environment relative to the vehicle, that is, the relative position of the perception object and the vehicle. There may be multiple perception objects in the surrounding environment within the perception range of the perception device, and each perception object has a relative position with the vehicle. For example: if the first perception object is the vehicle lane, the first perception object is located directly below the vehicle; if the second perception object is the vehicle in front of the left adjacent lane or the right adjacent lane, the second perception object is located in front of the left or right of the vehicle.

[0090] S123, using the own vehicle identifier as a reference, generating an identifier corresponding to the sensed object at the relative position of the own vehicle identifier, and generating a control identifier corresponding to the real-time control method of the own vehicle relative to the sensed object.

[0091] The self-vehicle logo is regarded as the origin of the reference coordinate system, and the self-vehicle logo is used as a reference. According to the relative position of the perceived object and the self-vehicle, the logo corresponding to the perceived object is generated at the relative position of the self-vehicle logo. For example, if the self-vehicle lane is directly below the self-vehicle, the logo corresponding to the self-vehicle lane is generated directly below the self-vehicle logo; if the other vehicle in front of the self-vehicle lane is directly in front of the self-vehicle, the logo corresponding to the other vehicle in front of the self-vehicle lane is generated directly in front of the self-vehicle logo.

[0092] In addition, the intelligent driving system also needs to determine the real-time control methods that the current vehicle can perform relative to the perceived objects in the surrounding environment based on real-time perception data and preset intelligent driving strategies, and generate control identifiers corresponding to these real-time control methods, so as to show the user which real-time control methods can be performed by the current vehicle relative to the perceived objects in the surrounding environment, so that the user can input instructions in a targeted manner, rather than blindly inputting instructions according to his own wishes and then being informed by the intelligent driving system whether the instructions can be executed. This reduces the user's operating steps, improves the user experience of autonomous driving, and saves the vehicle's network resources and power resources.

[0093] In some embodiments, when the identification corresponding to the perceived object is generated at the relative position of the vehicle identification in the above step S123, the following steps S124-S126 are specifically included.

[0094] S124: Determine whether there is an executable real-time control method for the vehicle relative to the sensed object based on the real-time sensed data and the preset intelligent driving strategy.

[0095] Because there may be multiple sensing objects in the surrounding environment within the sensing range of the sensing device, the current vehicle may not have an executable control method for each sensing object. Figure 2 In the electronic image shown: Car B is a vehicle in the other lane in the same direction, and the ego vehicle can currently perform the following control method relative to Car B; Car C is a vehicle in the ego lane in the same direction, and the ego vehicle can currently perform the overtaking or following control method relative to Car C; Car D is a vehicle in the opposite direction, and the ego vehicle cannot currently perform any control method relative to Car D. Based on the real-time perception data and the preset intelligent driving strategy, the intelligent driving system can determine whether there is an executable real-time control method for the ego vehicle relative to each perception object.

[0096] S125, if there is an executable real-time control method for the ego vehicle relative to the sensed object, an operable identifier corresponding to the sensed object is generated at the relative position of the ego vehicle identifier.

[0097] If the ego vehicle has an executable real-time control method relative to a certain sensed object, in addition to generating the corresponding control mark, according to the relative position of the sensed object and the ego vehicle, the mark corresponding to the sensed object generated at the relative position of the ego vehicle mark is an operable mark. Figure 2 In the electronic image shown: if the vehicle has an executable real-time control mode relative to vehicle B and vehicle C, the corresponding marks of vehicle B and vehicle C are white, indicating that they are operable; if the vehicle has an executable real-time control mode relative to lane ①, lane ② and lane ③, the corresponding marks of lane ①, lane ② and lane ③ are white, indicating that they are operable. It should be noted that in the electronic image, the operable mark corresponding to the perceived object is not limited to white, but can also be other colors, such as green. The embodiment of the present application does not limit the specific color of the operable mark corresponding to the perceived object.

[0098] S126, if there is no executable real-time control method for the ego vehicle relative to the perceived object, an inoperable identifier corresponding to the perceived object is generated at the relative position of the ego vehicle identifier.

[0099] If there is no executable real-time control method for the ego vehicle relative to a certain sensed object, in addition to not generating the corresponding control mark, the mark corresponding to the sensed object generated at the relative position of the ego vehicle mark is a mark indicating that it is not operable according to the relative position of the sensed object and the ego vehicle. Figure 2In the electronic image shown: if there is no executable real-time control method for the vehicle relative to vehicle A and vehicle D, the corresponding signs of vehicle A and vehicle D are gray, indicating that they are inoperable; if there is no executable real-time control method for the vehicle relative to lane ④, the corresponding sign of lane ④ is gray, indicating that it is inoperable. It should be noted that in the electronic image, the inoperable sign corresponding to the perceived object is not limited to gray, but can also be other colors, such as red. The embodiment of the present application does not limit the specific color of the inoperable sign corresponding to the perceived object.

[0100] It should be noted that the operable identification corresponding to the perceived object and the inoperable identification corresponding to the perceived object are not limited to being different in color, but may also be different in reality and / or other differences. For example: an operable identification may be generated by a solid line of one color, and an inoperable identification may be generated by a dotted line of another color; a larger operable identification may also be generated by a solid line, and a smaller inoperable identification may be generated by a dotted line. The embodiment of the present application does not limit the specific manifestation of the difference between the operable identification corresponding to the perceived object and the inoperable identification corresponding to the perceived object, and it is only necessary to ensure that the attributes of the operable identification corresponding to the perceived object are different from the attributes of the inoperable identification corresponding to the perceived object.

[0101] In conventional vehicles with autonomous driving functions, the Advanced Driver Assistance System (ADAS) usually controls the vehicle according to a preset driving mode. If the driving mode preset by the ADAS does not meet the user's wishes, and the user wants to drive the vehicle according to his own wishes, he needs to request the ADAS to control the vehicle to drive according to the instructions he input through human-computer interaction. However, the instructions entered by the user may pose safety risks and may not necessarily comply with the intelligent driving strategy preset by the ADAS. As a result, after the user enters the instruction, the ADAS may inform the user that the instruction cannot be executed at the moment, and the user needs to try to re-enter other instructions. This attempt process may occur more than once, which not only wastes the vehicle's network resources and power resources, but also increases the user's operation steps, affecting the user experience of autonomous driving.

[0102] In order to solve the technical problem in the related art that the instructions input by the user cannot be executed and need to try to re-enter other instructions, in some embodiments, after the electronic image is displayed on the intelligent driving perception screen of the vehicle in the above step S130, the method for generating and displaying the electronic image of the embodiment of the present application also includes the following steps S140-S150.

[0103] S140: receiving in real time a voice instruction sent by the user in response to the control identifier.

[0104] Because under different road conditions, the real-time control methods that users want to perform on their vehicles relative to perceived objects in the surrounding environment may be different. The user may want to cancel the voice command sent by the user in the last second in the next second. Therefore, it is necessary to receive the voice commands sent by the user to the control icons in the electronic image in real time to meet the user's real-time needs.

[0105] Receiving the voice command sent by the user can be achieved through the sound receiving device (such as a microphone) on the vehicle. For the specific implementation method in this regard, reference can be made to the relevant descriptions in the relevant field, which will not be repeated here.

[0106] S150: Control the vehicle to travel according to the voice command.

[0107] In the method for generating and displaying an electronic image provided in an embodiment of the present application, by displaying the electronic image on the intelligent driving perception screen of the vehicle, the electronic image includes the vehicle identifier corresponding to the vehicle, the identifiers corresponding to the perception objects in the surrounding environment, and the control identifiers corresponding to the real-time control methods of the vehicle relative to the perception objects in the surrounding environment, so that the user can perceive the surrounding environment of the vehicle in real time by viewing the electronic image and know which perception objects in the current surrounding environment can execute which real-time control methods; and after the electronic image is displayed on the intelligent driving perception screen of the vehicle, the voice commands sent by the user to the control identifiers in the electronic image are received in real time, so that the user can send voice commands in a targeted manner according to the control identifiers in the electronic image, thereby reducing the situation in which the voice commands sent by the user cannot be executed during the autonomous driving process and need to try to resend other voice commands, saving the vehicle's network resources and power resources, reducing the user's operation steps, and improving the user experience of autonomous driving.

[0108] In some embodiments, in the above step S150, when controlling the driving of the vehicle according to the voice command, specifically includes the following steps S151-S152.

[0109] S151, determine whether the control mode in the voice instruction matches the control mode indicated by the control identifier, and obtain a determination result.

[0110] Because the control method in the voice command sent by the user is not necessarily consistent with the control method indicated by the control identifier, before executing the user's voice command, it is necessary to first determine whether the control method in the voice command matches the control method indicated by the control identifier, and then obtain the judgment result.

[0111] For example Figure 2In the electronic image shown, the vehicle control marks corresponding to the other vehicle mark of vehicle B are G and S representing following vehicle and locked following vehicle, indicating that the current vehicle can follow or locked following vehicle B. If the voice command sent by the user requires following vehicle B, then the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control mark, and the judgment result obtained is a matching result; if the voice command sent by the user requires passing vehicle B, then the vehicle control mode in the voice command does not match the vehicle control mode indicated by the vehicle control mark, and the judgment result obtained is a mismatch result.

[0112] S152: Based on the judgment result and the real-time perception data, control whether the vehicle drives according to the voice instruction.

[0113] Even if the judgment result obtained in step S151 is a match result, the intelligent driving system will not control the vehicle to drive according to the voice command if the real-time road condition information does not allow it. In other words, whether the judgment result obtained in step S151 is a match result or a mismatch result, the intelligent driving system still needs to determine whether the real-time road condition is safe before deciding whether to control the vehicle to drive according to the voice command. Figure 2 In the electronic image shown, if the voice command sent by the user requires overtaking car C, although the control mode in the voice command matches the control mode indicated by the control mark, the judgment result obtained is a matching result, but if car B slows down at this time and there is another car coming from behind car B in lane ②, the real-time road condition is not safe, and the vehicle cannot be immediately controlled to overtake car C. Only when the judgment result obtained in step S151 is a matching result and the real-time road condition is safe, the intelligent driving system will control the vehicle to drive according to the voice command. Specifically, the intelligent driving system can determine whether the real-time road condition is safe by obtaining real-time perception data of the vehicle's surrounding environment perceived by the vehicle's perception device. Regarding how to judge whether the real-time road condition is safe based on real-time perception data, you can refer to the relevant descriptions in this field, which will not be repeated here.

[0114] In some embodiments, the intelligent driving system may wait until the real-time road conditions are safe, and then control the vehicle to drive according to the voice command. In other embodiments, the intelligent driving system may also abandon the currently received voice command, wait for the user to resend the voice command, and then execute the above steps S151-S152. The embodiments of the present application do not limit the specific processing method of the voice command when the real-time road conditions are unsafe.

[0115] In the method for generating and displaying electronic images provided in the embodiment of the present application, after receiving the voice command sent by the user to the control mark in the electronic image in real time, when deciding whether to control the vehicle to drive according to the voice command based on the judgment result, it also comprehensively considers whether the real-time road conditions indicated by the real-time perception data are safe, thereby improving the personalization level of the intelligent driving system while ensuring the safety of autonomous driving, thereby further improving the user experience of autonomous driving.

[0116] In some embodiments, after controlling the vehicle to travel according to the voice command in the above step S150, the method for generating and displaying the electronic image in the embodiment of the present application further includes the following steps S160-S180.

[0117] S160, obtaining the identity of the current user.

[0118] Considering that most families cannot currently equip each family member with their own exclusive vehicle, most families with private vehicles have two or more family members sharing one vehicle. In this case, the drivers of the same vehicle are likely to be different, and different drivers have different driving habits. Before the vehicle is started, the identity of the current user can be obtained through login authentication; after the vehicle is started, the identity of the current user can also be obtained through voice recognition. Of course, other methods can also be used to obtain the identity of the current user before and / or after the vehicle is started, and examples will not be given here one by one.

[0119] S170, obtaining the driving habits of the current user from pre-recorded driving habits of users according to the identity of the current user.

[0120] The intelligent driving system can pre-record the driving habits of each user, and after obtaining the identity of the current user, obtain the driving habits of the current user from the pre-recorded driving habits of the users.

[0121] It should be noted that driving habits are not a single piece of data, but rather a complex data formed by combining the real-time road conditions indicated by the real-time perception data and the control methods performed by the user under the specific real-time road conditions. Regarding the recording of driving habits, you can refer to the shadow model in the field of computer algorithms, which will not be elaborated here.

[0122] S180, controlling the vehicle to drive according to the driving habits of the current user.

[0123] In some embodiments, the pre-recorded user's driving habits in step S170 are generated by the following steps:

[0124] Collect and record the real-time perception data and the voice command during each driving process, analyze the timbre of the voice command, and identify users who send the voice commands with different timbres as different users;

[0125] The driving habits of different users are generated based on the real-time perception data during each driving process and the voice instructions with different tones.

[0126] By analyzing the timbre of the voice commands sent by users, it is possible to distinguish the different identities of users who send voice commands with different timbres, and generate the driving habits of different users based on the real-time perception data and voice commands with different timbres collected and recorded during each driving process.

[0127] In some embodiments, after the intelligent driving system identifies the user who sent the voice command based on the timbre of the voice command, it can only record the voice commands sent by the user that are different from the historical records to generate the corresponding driving habits. Generating the user's driving habits based on the difference data can more accurately hit the user's preferences, while also saving the vehicle's network resources and storage resources.

[0128] In other embodiments, after the intelligent driving system recognizes the user who sent the voice command based on the timbre of the voice command, it can record all the voice commands sent by the user to generate the corresponding driving habits. Generating the user's driving habits based on all the data can more comprehensively hit the user's preferences, and is also conducive to the learning and training of the intelligent driving system.

[0129] Please also read Figure 2 , Figure 3 and Figure 4 , Figure 4 The figure is a schematic diagram of the process of generating an identification corresponding to a perceived object in the method for generating and displaying an electronic image according to an embodiment of the present application.

[0130] In some embodiments, in the above step S123, the vehicle identifier is used as a reference, and when the identifier corresponding to the perceived object is generated at the relative position of the vehicle identifier, the following steps S210-S220 are specifically included.

[0131] S210: Determine the number of the sensed objects according to the real-time sensed data, and number the sensed objects.

[0132] Through the real-time perception data collected by the perception device, the position of the perception objects in the surrounding environment relative to the vehicle can be determined, and the number of perception objects in the surrounding environment can also be determined. In order to facilitate the distinction between these perception objects, each perception object can be numbered. For example, each perception object can be numbered in the order in which each perception object appears from right to left in the electronic image. Of course, each perception object can also be numbered in the order in which each perception object appears from left to right in the electronic image. The embodiment of the present application does not limit the specific numbering order of the perception objects. Among them, perception objects of the same type can be numbered with one serial number, and perception objects of different types can be numbered with another serial number.

[0133] S220, according to a preset display ratio, taking the own vehicle logo as a reference, generating a logo corresponding to the perceived object at the relative position of the own vehicle logo, and generating respective numbers on and / or around the logo corresponding to the perceived object.

[0134] The distance between the perceived object and the vehicle in reality may be several meters to tens of meters, but the distance between the logo corresponding to the perceived object in the electronic image and the logo of the vehicle cannot really be set to several meters to tens of meters. Therefore, it is necessary to generate the logo corresponding to the perceived object at the relative position of the vehicle logo according to a preset display ratio, such as a ratio of one to five hundred, with the vehicle logo as a reference, and generate the number of the perceived object around the logo corresponding to the perceived object and / or the logo corresponding to the perceived object. For example, if the position of a perceived object in reality relative to the vehicle is 15m in the north direction, then the relative position of the logo corresponding to the perceived object in the electronic image and the vehicle logo is 3cm in the north direction.

[0135] In some embodiments, the perceived object in the above step S210 is another vehicle; when the number of the perceived objects is determined according to the real-time perception data in the above step S210, and the perceived objects are numbered, the following step S211 is specifically included; when the above step S220 generates a logo corresponding to the perceived object at the relative position of the own vehicle logo according to a preset display ratio and with the own vehicle logo as a reference, and generates respective numbers for the logo corresponding to the perceived object itself and / or around it, the following step S221 is specifically included.

[0136] S211, determining the number of other vehicles according to the real-time sensing data, and numbering the other vehicles using the first type of counting symbols.

[0137] When the sensing object in the surrounding environment is another vehicle, the real-time sensing data collected by the sensing device can be used to determine the position of the other vehicle in the surrounding environment relative to the vehicle itself, and the number of other vehicles in the surrounding environment. At this time, the first type of counting symbols are used to number the other vehicles in the surrounding environment.

[0138] For example Figure 2 In the electronic image shown, capital letters are used to number other cars in the surrounding environment in the order in which they appear from right to left in the electronic image, obtaining car A, car B, car C, and car D. It should be noted that the first type of counting symbols is not limited to capital letters, but may also be other types of counting symbols, such as Roman numerals. The embodiment of the present application does not limit the specific type of the first type of counting symbols.

[0139] S221, according to a preset display ratio, with the own vehicle logo as a reference, generating an other vehicle logo corresponding to the other vehicle at the relative position of the own vehicle logo, and generating respective numbers on and / or around the other vehicle logo.

[0140] For example Figure 2 In the electronic image shown, according to the relative positions of cars A, B, C and D and the own car, according to the preset display ratio, with the own car logo as a reference, the other car logos corresponding to cars A, B, C and D can be generated at the relative positions of the own car logo, and their numbers A, B, C and D can be generated on the other car logos corresponding to cars A, B, C and D respectively. It should be noted that the numbers A, B, C and D may not be generated on the other car logos corresponding to cars A, B, C and D themselves, but around the other car logos corresponding to cars A, B, C and D. The specific positions of the numbers of the other car logos are not limited in the embodiments of the present application.

[0141] In some embodiments, the perception object in the above step S210 is a lane, which includes the own lane where the own vehicle is located and the other lanes where the own vehicle is not; when the number of the perception objects is determined according to the real-time perception data in the above step S210, and the perception objects are numbered, it specifically includes the following step S212; when the above step S220 generates a logo corresponding to the perception object at the relative position of the own vehicle logo according to a preset display ratio and with the own vehicle logo as a reference, and generates respective numbers for the logo corresponding to the perception object itself and / or around it, it specifically includes the following step S222.

[0142] S212: Determine the number of lanes according to the real-time perception data, and number the lanes using a second type of counting symbol.

[0143] When the perceived object in the surrounding environment is a lane, the real-time perception data collected by the perception device can be used to determine the position of the lane in the surrounding environment relative to the vehicle, thereby distinguishing the lane from other lanes, and also to determine the number of lanes in the surrounding environment. At this time, in order to distinguish the lanes from the numbers of other vehicles, the second type of counting symbols are used to number the lanes in the surrounding environment.

[0144] For example Figure 2 In the electronic image shown, circled Arabic numerals are used to number the lanes in the surrounding environment in the order in which they appear from right to left in the electronic image, and the lanes are obtained as ① lane, ② lane, ③ lane and ④ lane. It should be noted that the second type of counting symbols is not limited to circled Arabic numerals, and can also be other types of counting symbols, such as Chinese numerals. The embodiments of the present application do not limit the specific types of the second type of counting symbols.

[0145] S222, according to a preset display ratio and with the own vehicle logo as a reference, generate a logo corresponding to the own lane and a logo corresponding to the other lane at the relative position of the own vehicle logo, and generate respective numbers on and / or around the logos corresponding to the own lane and the other lane; wherein, the logo corresponding to the own lane is generated below the own vehicle logo, and the logo corresponding to the other lane is generated side by side with the logo corresponding to the own lane.

[0146] For example Figure 2 In the electronic image shown, lane ③ can be determined as the own lane based on the relative positions of lane ①, lane ②, lane ③ and lane ④ to the own vehicle. Then, according to the preset display ratio and with the own vehicle logo as a reference, a lane logo corresponding to lane ③ is generated directly below the own vehicle logo, and lane logos corresponding to lane ①, lane ② and lane ④ are generated side by side with the lane logo corresponding to lane ③ at the relative position of the own vehicle logo. Finally, numbers ①, ②, ③ and ④ are generated on the lane logos corresponding to lane ①, lane ②, lane ③ and lane ④, respectively.

[0147] In some embodiments, in the above step S222, according to a preset display ratio and with the vehicle logo as a reference, a logo corresponding to the own lane and a logo corresponding to the other lane are generated at the relative position of the vehicle logo, and respective numbers are generated for the logos corresponding to the own lane and the other lane and / or around them. The method for generating and displaying an electronic image of an embodiment of the present application also includes the following steps S223-S225.

[0148] S223, determining whether the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than a preset safety distance.

[0149] Because during the driving process of the vehicle, the vehicle cannot drive too close to the boundary of one side of the lane, otherwise it may scratch other vehicles in the adjacent lane and / or green plants on the roadside, so a safety distance needs to be preset so that both sides of the vehicle are kept at a safety distance or more from the corresponding two side boundaries of the lane.

[0150] S224, if yes, then generate an operable direction indicator on the side of the ego vehicle identifier pointing to the corresponding side boundary of the ego lane; wherein the operable direction indicator is used to indicate that the position of the ego vehicle is allowed to be adjusted in the direction indicated by the indicator.

[0151] S225, if not, then generate an inoperable direction indication mark pointing to the corresponding side boundary of the lane on the side of the ego vehicle mark; wherein the inoperable direction indication mark is used to indicate that it is prohibited to adjust the position of the ego vehicle in the direction pointed by it.

[0152] During the driving process of the vehicle, the user may want to fine-tune the distance between the vehicle and the boundaries of the lane on both sides. Therefore, a direction indication mark may be generated on both sides of the vehicle mark to indicate the fine-tuning of the distance between the vehicle and the boundaries of the lane on both sides.

[0153] If the distance between the left side of the vehicle and the left side boundary of the lane is greater than the safety distance, an operable direction indicator is generated on the left side of the vehicle logo; if the distance between the left side of the vehicle and the left side boundary of the lane is not greater than the safety distance, an inoperable direction indicator is generated on the left side of the vehicle logo;

[0154] If the distance between the right side of the vehicle and the right side boundary of the lane is greater than the safety distance, an operable direction indication sign is generated on the right side of the vehicle sign; if the distance between the right side of the vehicle and the right side boundary of the lane is not greater than the safety distance, an inoperable direction indication sign is generated on the right side of the vehicle sign.

[0155] Among them, the attributes of the operable directional indicator are different from the attributes of the inoperable directional indicator. For example: the operable directional indicator can be set to one color and the inoperable directional indicator can be set to another color, and the difference between the operable directional indicator and the inoperable directional indicator can be reflected by the difference in color; the operable directional indicator can also be generated by a solid line and the inoperable directional indicator can be generated by a dotted line, and the difference between the operable directional indicator and the inoperable directional indicator can be reflected by the difference between the real and the virtual; a larger operable directional indicator can also be generated and a smaller inoperable directional indicator can be generated, and the difference between the operable directional indicator and the inoperable directional indicator can be reflected by the difference in size. The embodiment of the present application does not limit the specific form of expression of the difference between the operable directional indicator and the inoperable directional indicator, and it is only necessary to ensure that the attributes of the operable directional indicator and the inoperable directional indicator are different.

[0156] The present application also provides a device for generating and displaying an electronic image. Figure 5 , Figure 5The structure block diagram of the electronic image generation and display device of the embodiment of the present application is shown. The electronic image generation and display device 21 provided in the embodiment of the present application may include:

[0157] The acquisition module 211 is used to acquire real-time perception data of the surrounding environment of the vehicle by the perception device of the vehicle;

[0158] A generating module 212 is used to generate an electronic image of the surrounding environment according to the real-time sensing data; the electronic image includes a vehicle identifier corresponding to the vehicle, an identifier corresponding to the sensing object in the surrounding environment, and a control identifier corresponding to the real-time control method of the vehicle relative to the sensing object;

[0159] The display module 213 is used to display the electronic image on the intelligent driving perception screen of the vehicle.

[0160] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and the same technical effect can be achieved, which will not be repeated here.

[0161] In some embodiments, when the generation module 212 generates an electronic image of the surrounding environment based on the real-time perception data, it is specifically used to: generate a self-vehicle identification corresponding to the self-vehicle; determine the relative position of the perceived object in the surrounding environment and the self-vehicle based on the real-time perception data; using the self-vehicle identification as a reference, generate a identification corresponding to the perceived object at the relative position of the self-vehicle identification, and generate a control identification corresponding to the real-time control method of the self-vehicle relative to the perceived object.

[0162] In some embodiments, when the generation module 212 generates the identification corresponding to the perceived object at the relative position of the self-vehicle identification with reference to the self-vehicle identification, it is specifically used to: determine the number of the perceived objects based on the real-time perception data, and number the perceived objects; generate the identification corresponding to the perceived object at the relative position of the self-vehicle identification with reference to the self-vehicle identification according to a preset display ratio, and generate respective numbers for the identification corresponding to the perceived object itself and / or around it.

[0163] In some embodiments, the perceived object is another vehicle; when the generation module 212 determines the number of the perceived objects according to the real-time perception data and numbers the perceived objects, it is specifically used to determine the number of other vehicles according to the real-time perception data and number the other vehicles using the first type of counting symbols; when the generation module 212 generates an identification corresponding to the perceived object at the relative position of the own vehicle identification with reference to the own vehicle identification according to a preset display ratio, and generates respective numbers for the identification corresponding to the perceived object itself and / or around it, it is specifically used to generate an other vehicle identification corresponding to the other vehicle at the relative position of the own vehicle identification with reference to the own vehicle identification according to a preset display ratio, and generates respective numbers for the other vehicle identification itself and / or around it.

[0164] In some embodiments, the sensed object is a lane, and the lane includes a self-lane where the self-vehicle is located and an other lane where the self-vehicle is not located; when the generation module 212 determines the number of the sensed objects according to the real-time sensed data and numbers the sensed objects, it is specifically used to determine the number of lanes according to the real-time sensed data, and number the lanes using the second type of counting symbols; when the generation module 212 generates the logo corresponding to the sensed object at the relative position of the self-vehicle logo with reference to the self-vehicle logo according to a preset display ratio, and generates respective numbers for the logo corresponding to the sensed object itself and / or around it, it is specifically used to generate the logo corresponding to the self-lane and the other lane at the relative position of the self-vehicle logo with reference to the self-vehicle logo according to a preset display ratio, and generate respective numbers for the logo corresponding to the self-lane and the other lane itself and / or around it; wherein, the logo corresponding to the self-lane is generated below the self-vehicle logo, and the logo corresponding to the other lane is generated side by side with the logo corresponding to the self-lane.

[0165] In some embodiments, the generation module 212 generates the logos corresponding to the self-lane and the other lane at the relative position of the self-lane logo according to a preset display ratio and with the self-vehicle logo as a reference, and generates respective numbers for the logos corresponding to the self-lane and the other lane themselves and / or around them. The generation module 212 is also used to: determine whether the distance between one side of the self-vehicle and the boundary of the corresponding side of the self-lane is greater than a preset safety distance; if so, generate an operable direction indication logo pointing to the corresponding side boundary of the self-lane on the side of the self-vehicle logo; wherein the operable direction indication logo is used to indicate that the position of the self-vehicle is allowed to be adjusted in the direction indicated by it; if not, generate an inoperable direction indication logo pointing to the corresponding side boundary of the self-lane on the side of the self-vehicle logo; wherein the inoperable direction indication logo is used to indicate that the position of the self-vehicle is prohibited to be adjusted in the direction indicated by it, and the attributes of the inoperable direction indication logo are different from those of the operable direction indication logo.

[0166] In some embodiments, when the generation module 212 generates the identification corresponding to the perceived object at the relative position of the self-vehicle identification, it is specifically used to: determine whether there is an executable real-time control method for the self-vehicle relative to the perceived object based on the real-time perception data and the preset intelligent driving strategy; if there is an executable real-time control method for the self-vehicle relative to the perceived object, then generate an operable identification corresponding to the perceived object at the relative position of the self-vehicle identification; if there is no executable real-time control method for the self-vehicle relative to the perceived object, then generate an inoperable identification corresponding to the perceived object at the relative position of the self-vehicle identification; wherein the attributes of the operable identification corresponding to the perceived object are different from the attributes of the inoperable identification corresponding to the perceived object.

[0167] In some embodiments, the electronic image generation and display device 21 may further include:

[0168] A receiving module, configured to receive in real time a voice command sent by a user to the control mark after the display module 213 displays the electronic image on the intelligent driving perception screen of the vehicle;

[0169] The control module is used to control the driving of the vehicle according to the voice command.

[0170] In some embodiments, when the control module controls the vehicle to travel according to the voice command, it is specifically used to: determine whether the control method in the voice command matches the control method indicated by the control identifier to obtain a judgment result; and control whether the vehicle travels according to the voice command based on the judgment result and the real-time perception data.

[0171] In some embodiments: the acquisition module 211 is also used to obtain the identity of the current user after the control module controls the vehicle to travel according to the voice command, and to obtain the driving habits of the current user from pre-recorded users based on the identity of the current user; the control module is also used to control the vehicle to travel according to the driving habits of the current user after the acquisition module 211 obtains the driving habits of the current user.

[0172] In some embodiments, the electronic image generation and display device 21 may further include:

[0173] The collection module is used to collect and record the real-time perception data and the voice command during each driving process, and analyze the timbre of the voice command to identify users who send the voice commands with different timbres as different users; the generation module 212 is also used to generate driving habits of different users based on the real-time perception data and the voice commands with different timbres during each driving process after the collection module identifies the users who send the voice commands with different timbres as different users.

[0174] The present application also provides an electronic device, which may include the above-mentioned electronic image generation and display device 21. Figure 6 , Figure 6 The electronic device 20 may include one or more processors 22, and the processor 22 is used to implement the above-mentioned method for generating and displaying electronic images.

[0175] In some embodiments, the electronic device 20 may include a computer-readable storage medium 23, which may store a program that can be called by the processor 22 and may include a non-volatile storage medium. In other embodiments, the electronic device 20 may also include a memory 24 and an interface 25. In other embodiments, the electronic device 20 may also include other hardware according to actual applications.

[0176] The computer-readable storage medium 23 provided in the embodiment of the present application stores a program thereon, and when the program is executed by the processor 22, it is used to implement the above-mentioned method for generating and displaying an electronic image.

[0177] The present application may take the form of a computer program product implemented on one or more computer-readable storage media 23 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. The computer-readable storage medium 23 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be a computer-readable instruction, a data structure, a module of a program, or other data. The computer-readable storage medium 23 includes but is not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0178] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

[0179] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the phrase "includes a ..." defines an element, and does not exclude the presence of other identical elements in the process, method, commodity or device including the element.

Claims

1. A method for generating and displaying an electronic image, characterized in that: include: Acquire real-time perception data of the vehicle's surrounding environment from the vehicle's perception device; Generate an electronic image of the surrounding environment according to the real-time perception data; the electronic image includes a vehicle identifier corresponding to the vehicle, multiple identifiers corresponding to multiple perception objects in the surrounding environment, and control identifiers corresponding to executable real-time control methods of the vehicle relative to each of the perception objects; The electronic image is displayed on the intelligent driving perception screen of the vehicle.

2. The method for generating and displaying an electronic image according to claim 1, characterized in that: Generating an electronic image of the surrounding environment according to the real-time perception data includes: Generate a vehicle identifier corresponding to the vehicle; Determining the relative position of the perceived object in the surrounding environment and the vehicle according to the real-time perception data; With the own vehicle identifier as a reference, an identifier corresponding to the sensed object is generated at the relative position of the own vehicle identifier, and a control identifier corresponding to the real-time control method of the own vehicle relative to the sensed object is generated.

3. The method for generating and displaying an electronic image according to claim 2, characterized in that: The step of generating a logo corresponding to the sensed object at the relative position of the self-vehicle logo with reference to the self-vehicle logo includes: Determine the number of the sensed objects according to the real-time sensed data, and number the sensed objects; According to a preset display ratio, with the own vehicle logo as a reference, a logo corresponding to the perceived object is generated at the relative position of the own vehicle logo, and respective numbers are generated on and / or around the logo corresponding to the perceived object.

4. The method for generating and displaying an electronic image according to claim 3, characterized in that: The sensing object includes other vehicles; The step of determining the number of the sensed objects according to the real-time sensed data and numbering the sensed objects comprises: Determine the number of the other vehicles according to the real-time sensing data, and number the other vehicles using a first type of counting symbol; The method of generating a logo corresponding to the perceived object at the relative position of the own vehicle logo according to a preset display ratio and taking the own vehicle logo as a reference, and generating respective numbers on and / or around the logo corresponding to the perceived object includes: According to a preset display ratio, with the own vehicle logo as a reference, an other vehicle logo corresponding to the other vehicle is generated at the relative position of the own vehicle logo, and respective numbers are generated on and / or around the other vehicle logo.

5. The method for generating and displaying an electronic image according to claim 3, characterized in that: The sensing object includes a lane, and the lane includes a lane where the ego vehicle is located and other lanes where the ego vehicle is not located; The step of determining the number of the sensed objects according to the real-time sensed data and numbering the sensed objects comprises: Determine the number of lanes according to the real-time sensing data, and number the lanes using a second type of counting symbol; The method of generating a logo corresponding to the perceived object at the relative position of the own vehicle logo according to a preset display ratio and taking the own vehicle logo as a reference, and generating respective numbers on and / or around the logo corresponding to the perceived object includes: According to a preset display ratio, with the own vehicle logo as a reference, the logos corresponding to the own lane and the other lane are generated at the relative positions of the own vehicle logo, and respective numbers are generated on and / or around the logos corresponding to the own lane and the other lane; The logo corresponding to the own lane is generated below the own vehicle logo, and the logo corresponding to the other lane is generated side by side with the logo corresponding to the own lane.

6. The method for generating and displaying an electronic image according to claim 5, characterized in that: After the respective numbers are generated on and / or around the signs corresponding to the own lane and the other lane, the method for generating and displaying the electronic image further includes: Determining whether the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than a preset safety distance; If yes, generating an operable direction indication mark pointing to the corresponding side boundary of the own lane on the side of the own vehicle mark; If not, generating an inoperable direction indication mark pointing to the corresponding side boundary of the own lane on the side of the own vehicle mark; Among them, the attributes of the operable direction indicator are different from the attributes of the inoperable direction indicator. The operable direction indicator is used to indicate that it is allowed to adjust the position of the vehicle in the direction it points to, and the inoperable direction indicator is used to indicate that it is prohibited to adjust the position of the vehicle in the direction it points to.

7. The method for generating and displaying an electronic image according to claim 2, characterized in that: The step of generating the identification corresponding to the perceived object at the relative position of the vehicle identification includes: According to the real-time perception data and the preset intelligent driving strategy, determining whether there is an executable real-time control mode for the vehicle relative to the perception object; If there is an executable real-time control mode for the self-vehicle relative to the sensed object, generating an operable identifier corresponding to the sensed object at the relative position of the self-vehicle identifier; If there is no executable real-time control mode for the ego vehicle relative to the sensed object, generating an inoperable mark corresponding to the sensed object at the relative position of the ego vehicle mark; Among them, the attribute of the operable identification corresponding to the perceived object is different from the attribute of the inoperable identification corresponding to the perceived object.

8. The method for generating and displaying an electronic image according to any one of claims 1 to 7, characterized in that: After displaying the electronic image on the intelligent driving perception screen of the vehicle, the method for generating and displaying the electronic image further includes: receiving in real time a voice command sent by a user to the control identifier; According to the voice command, the vehicle is controlled to travel.

9. The method for generating and displaying an electronic image according to claim 8, characterized in that: The step of controlling the vehicle to travel according to the voice command includes: Determine whether the control mode in the voice instruction matches the control mode indicated by the control identifier, and obtain a determination result; Based on the judgment result and the real-time perception data, control whether the vehicle drives according to the voice command.

10. The method for generating and displaying an electronic image according to claim 8, characterized in that: After controlling the vehicle to travel according to the voice command, the method for generating and displaying the electronic image further includes: Get the identity of the current user; Acquiring the driving habits of the current user from pre-recorded driving habits of users according to the identity of the current user; The vehicle is controlled to travel according to the driving habits of the current user.

11. The method for generating and displaying an electronic image according to claim 10, characterized in that: The pre-recorded user's driving habits are generated by the following steps: collecting and recording the real-time perception data and the voice commands during each driving process, analyzing the timbre of the voice commands, and identifying users who send the voice commands with different timbres as different users; The driving habits of different users are generated based on the real-time perception data during each driving process and the voice instructions with different tones.

12. A device for generating and displaying an electronic image, characterized in that: include: An acquisition module is used to acquire real-time perception data of the vehicle's surrounding environment perceived by the vehicle's perception device; A generating module, configured to generate an electronic image of the surrounding environment according to the real-time sensing data; the electronic image comprising a self-vehicle identification corresponding to the self-vehicle, a plurality of identifications corresponding to a plurality of sensing objects in the surrounding environment, and a control identification corresponding to an executable real-time control mode of the self-vehicle relative to each of the sensing objects; The display module is used to display the electronic image on the intelligent driving perception screen of the vehicle.

13. An electronic device, characterized in that: The method comprises one or more processors, wherein the processors are used to implement the method for generating and displaying an electronic image as claimed in any one of claims 1 to 11.

14. A vehicle, characterized in that: The method comprises one or more processors, wherein the processors are used to implement the method for generating and displaying an electronic image as claimed in any one of claims 1 to 11.

15. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the method for generating and displaying an electronic image as described in any one of claims 1 to 11 is implemented.

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