A method for generating user-defined vehicle auxiliary lines, electronic equipment, and vehicle

Abstract

The present invention relates to the technical field of vehicle-mounted auxiliary line systems, and in particular to a method for generating user-defined vehicle-mounted auxiliary lines, an electronic device, and a vehicle. The method for generating vehicle-mounted auxiliary lines proposed in the present invention can meet the customer's definition of the style of vehicle-mounted auxiliary lines, and realize the auxiliary line effect that changes dynamically with the style selected by the user; at the same time, the present invention adopts the form of pre-processing generation, and pre-generates all auxiliary lines through an algorithm after booting, and stores the results generated by the algorithm in an array according to a preset index, which can realize convenient and fast retrieval and drawing, greatly improve the generation efficiency of vehicle-mounted auxiliary lines, and can effectively solve the problem of excessive CPU / GPU load caused by dynamically generating auxiliary lines when turning the steering wheel quickly.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted auxiliary line systems, and in particular to a method for generating user-defined vehicle-mounted auxiliary lines, an electronic device, and a vehicle. Background Art

[0002] The in-vehicle auxiliary line system is a technology widely used in modern cars. It is mainly used to assist drivers to better understand the vehicle's surroundings when parking and reversing to avoid collisions and accidents. The in-vehicle auxiliary line system is usually integrated into the reversing camera system. When the driver puts the vehicle into reverse gear, the system will display a real-time image behind the vehicle on the central control display screen and superimpose a series of auxiliary lines. These auxiliary lines are drawn based on information such as the vehicle's width, steering angle, and driving trajectory to help the driver judge the distance and position between the vehicle and obstacles.

[0003] There are currently three main technical solutions for implementing auxiliary lines: dynamic auxiliary lines, static auxiliary lines, and a combination of dynamic and static dual-contour auxiliary lines.

[0004] Static auxiliary lines: Auxiliary lines are displayed fixedly, usually consisting of several parallel lines and a vertical line indicating the width of the vehicle;

[0005] Dynamic auxiliary lines: The auxiliary lines are dynamically adjusted according to the steering angle and movement trajectory of the vehicle. Through input information such as the steering wheel angle sensor and the vehicle speed sensor, the movement trajectory of the vehicle is calculated in real time and displayed on the screen.

[0006] Dynamic and static combined dual contour auxiliary lines: During reversing and parking, the driver needs to know the precise information behind the vehicle and the surrounding environment;

[0007] Although traditional static auxiliary lines are simple and easy to use, they cannot reflect the dynamic state of the vehicle; dynamic auxiliary lines can be adjusted in real time according to the vehicle's steering and driving trajectory, but sometimes they are too complicated for the driver to quickly interpret. The dual-contour auxiliary line system that combines dynamic and static lines came into being in this context. By combining static and dynamic auxiliary lines, it provides more comprehensive and intuitive guidance.

[0008] The existing technology of combining dynamic and static dual contour auxiliary line solutions usually uses the straight line drawing and edge contour extraction algorithms of open source libraries such as Opencv to realize dynamic auxiliary line drawing. After the auxiliary lines are drawn into textures, they are rendered in the video image of the reversing camera.

[0009] However, the solutions of the prior art will inevitably encounter the situation of excessive CPU / GPU load. When the user swings the steering wheel sharply when reversing, the on-board steering sensor will send angle change signals at a high frequency. At this time, the auxiliary lines in the car screen also need to change quickly. At this time, the frequent generation and binding of textures will cause the short-term CPU / GPU load of the surround view program to be too high, which may cause deviations in the display effect and cause other parallel programs to freeze. Summary of the invention

[0010] The technical problem to be solved by the present invention is: in view of the shortcomings of the existing technology, a method for generating user-defined vehicle auxiliary lines is provided. On the premise of meeting the user's customization needs, the problem of short-term excessive CPU / GPU load caused by dynamically drawing auxiliary lines can be effectively solved, and multiple vehicle model iterations can be achieved.

[0011] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0012] A method for generating a user-defined vehicle auxiliary line mainly includes:

[0013] S1, when the machine is turned on for the first time, the auxiliary lines with different angle gradients are generated in advance using the auxiliary line generation algorithm according to the auxiliary line style currently selected by the user;

[0014] S2, storing the pre-generated auxiliary lines of each angle gradient in a pre-stored array according to the angle gradient sequence index for retrieval and reading;

[0015] S3, when the angle parameter transmitted by the vehicle sensor changes, the angle gradient of the current vehicle angle parameter is determined by a preset filtering algorithm;

[0016] S4, according to the angle gradient of the current vehicle angle parameter, searching for auxiliary lines of the corresponding angle gradient in the pre-stored array, and performing texture binding and on-screen display on the auxiliary lines of the corresponding angle gradient.

[0017] Furthermore, the auxiliary line generation algorithm comprises the following steps:

[0018] S11, obtaining the auxiliary line style currently selected by the user;

[0019] S12, evenly dividing a plurality of angle gradients (30 angle gradients on the left and 30 angle gradients on the right, for a total of 60 angle gradients) according to the maximum steering angle of the vehicle;

[0020] S13, pre-drawing auxiliary lines of the left rear wheel and the right rear wheel of the vehicle corresponding to each angle gradient according to the auxiliary line style currently selected by the user.

[0021] Furthermore, drawing the auxiliary lines corresponding to each angle gradient includes:

[0022] S21, dividing the auxiliary lines of the left rear wheel and the right rear wheel of the vehicle into a plurality of standard straight line segments for representation;

[0023] S22, obtaining the actual extension length corresponding to each standard straight line segment and the deflection arc of the corresponding motion trajectory;

[0024] S23, establishing a two-dimensional standard coordinate system based on the projection plane captured by the camera, and converting to obtain the starting point and end point coordinates of each standard straight line segment;

[0025] S24, if the user selects the auxiliary line in the form of a rutting line segment, then directly drawing each standard straight line segment through the drawline function in the image processing system to generate the auxiliary line in the form of a rutting line segment;

[0026] S25, if the user selects an auxiliary line in the form of a rectangular gradient, a rectangular frame is generated along each standard straight line segment through the drawcounterse function in the image processing system, and is filled with gradient pure colors in sequence to generate an auxiliary line in the form of a rectangular gradient.

[0027] Furthermore, the vehicle sensors include: a steering wheel angle sensor and a yaw rate sensor.

[0028] Furthermore, the auxiliary lines of the left rear wheel and the right rear wheel of the vehicle are converted into corresponding trajectory coordinates in the two-dimensional standard coordinate system through a preset conversion model according to the vehicle wheelbase l, rear wheelbase w and steering angle Φ.

[0029] Furthermore, the definition scope of user-defined auxiliary line style includes: auxiliary line shape, auxiliary line color, auxiliary line dynamic and static form;

[0030] The auxiliary line shapes include auxiliary lines in the form of rut segments and auxiliary lines in the form of rectangular gradients;

[0031] The auxiliary line colors include standard red, yellow, and green three-segment colors and corresponding different transparency forms;

[0032] The dynamic and static forms of the auxiliary lines include statically displayed auxiliary lines, dynamically displayed auxiliary lines, and auxiliary lines displayed in a combination of static and dynamic forms.

[0033] Furthermore, when the user switches the auxiliary line style:

[0034] If the shape of the auxiliary line changes, the corresponding drawing function in the image processing system is called according to the auxiliary line shape selected by the user to generate an auxiliary line in the form of a rutting line segment or an auxiliary line in the form of a rectangular gradient;

[0035] If the color and transparency of the auxiliary line are changed, the color and transparency parameters in the drawing function are adjusted according to the color and transparency selected by the user to generate auxiliary lines of corresponding color and transparency;

[0036] If the user selects a statically displayed auxiliary line, only an auxiliary line with a single angle gradient is generated by the auxiliary line generation algorithm;

[0037] If the user selects dynamically displayed auxiliary lines, the auxiliary lines of the corresponding angle gradient are searched in real time in the pre-stored array according to the change of the angle parameter transmitted by the vehicle sensor, and the auxiliary line texture is bound and displayed on the screen in real time.

[0038] Compared with the prior art, the present invention has the following main advantages:

[0039] The present invention proposes a method for generating user-defined vehicle auxiliary lines, which can meet the customer's definition of the vehicle auxiliary line style and realize the auxiliary line effect that changes dynamically with the style selected by the user; at the same time, the present invention adopts a pre-processing generation form, and pre-generates all auxiliary lines through an algorithm after startup, and stores the results generated by the algorithm in an array according to a preset index, which can realize convenient and fast retrieval and drawing, greatly improve the generation efficiency of vehicle auxiliary lines, and can effectively solve the problem of excessive CPU / GPU load caused by dynamically generating auxiliary lines when the steering wheel is turned quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is an overall flow chart of a method for generating a user-defined vehicle auxiliary line in Embodiment 1 of the present invention;

[0041] Figure 2 This is a schematic diagram of the steps of the auxiliary line generation method in the second embodiment of the present invention;

[0042] Figure 3 This is a flow chart of an auxiliary line generation algorithm in Embodiment 2 of the present invention;

[0043] Figure 4 This is a schematic diagram of the processing algorithm flow when the user switches the auxiliary line style in the second embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0046] In the present invention, unless otherwise clearly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0047] Embodiment 1: This embodiment provides a method for generating a user-defined vehicle auxiliary line. Figure 1 As shown, the main strategies include the following:

[0048] S1, when the machine is turned on for the first time, the auxiliary lines with different angle gradients are generated in advance using the auxiliary line generation algorithm according to the auxiliary line style currently selected by the user;

[0049] S2, storing the pre-generated auxiliary lines of each angle gradient in a pre-stored array according to the angle gradient sequence index for retrieval and reading;

[0050] S3, when the angle parameter transmitted by the vehicle sensor changes, the angle gradient of the current vehicle angle parameter is determined by a preset angle conversion formula;

[0051] S4, according to the angle gradient of the current vehicle angle parameter, searching for auxiliary lines of the corresponding angle gradient in the pre-stored array, and performing texture binding and on-screen display on the auxiliary lines of the corresponding angle gradient.

[0052] Furthermore, the auxiliary line generation algorithm comprises the following steps:

[0053] S11, obtaining the auxiliary line style currently selected by the user;

[0054] S12, evenly dividing a plurality of angle gradients (30 angle gradients on the left and 30 angle gradients on the right, for a total of 60 angle gradients) according to the maximum steering angle of the vehicle;

[0055] S13, pre-drawing auxiliary lines of the left rear wheel and the right rear wheel of the vehicle corresponding to each angle gradient according to the auxiliary line style currently selected by the user.

[0056] Furthermore, drawing the auxiliary lines corresponding to each angle gradient includes:

[0057] S21, dividing the auxiliary lines of the left rear wheel and the right rear wheel of the vehicle into a plurality of standard straight line segments for representation;

[0058] S22, obtaining the actual extension length corresponding to each standard straight line segment and the deflection arc of the corresponding motion trajectory;

[0059] S23, establish a two-dimensional standard coordinate system based on the projection plane captured by the camera, and convert the start and end coordinates of each standard straight line segment

[0060] S24, directly drawing each standard straight line segment through the drawline function in the image processing system to generate auxiliary lines in the form of rutting line segments;

[0061] S25, generating a rectangular frame along each standard straight line segment through the drawcounterse function in the image processing system, and filling the rectangular frame with gradient pure colors in sequence to generate auxiliary lines in the form of rectangular gradient.

[0062] Furthermore, the vehicle sensor includes: a steering wheel angle sensor and a yaw angular velocity sensor.

[0063] Furthermore, the auxiliary lines of the left rear wheel and the right rear wheel of the vehicle are converted into corresponding trajectory coordinates in the two-dimensional standard coordinate system according to the vehicle wheelbase l, rear wheelbase w and steering angle Φ.

[0064] Furthermore, the definition scope of user-defined auxiliary line style includes: auxiliary line shape, auxiliary line color, auxiliary line dynamic and static form;

[0065] The auxiliary line shapes include auxiliary lines in the form of rut segments and auxiliary lines in the form of rectangular gradients;

[0066] The auxiliary line colors include standard red, yellow, and green three-segment colors and corresponding different transparency forms;

[0067] The dynamic and static forms of the auxiliary lines include statically displayed auxiliary lines, dynamically displayed auxiliary lines, and auxiliary lines displayed in a combination of static and dynamic forms.

[0068] Furthermore, when the user switches the auxiliary line style:

[0069] If the shape of the auxiliary line changes, the corresponding drawing function in the image processing system is called according to the auxiliary line shape selected by the user to generate an auxiliary line in the form of a rutting line segment or an auxiliary line in the form of a rectangular gradient;

[0070] If the color and transparency of the auxiliary line are changed, the color and transparency parameters in the drawing function are adjusted according to the color and transparency selected by the user to generate auxiliary lines of corresponding color and transparency;

[0071] If the user selects a statically displayed auxiliary line, only an auxiliary line with a single angle gradient is generated by the auxiliary line generation algorithm;

[0072] If the user selects dynamically displayed auxiliary lines, the auxiliary lines of the corresponding angle gradient are searched in real time in the pre-stored array according to the change of the angle parameter transmitted by the vehicle sensor, and the auxiliary line texture is bound and displayed on the screen in real time.

[0073] Embodiment 2: This embodiment provides a method for generating a user-defined vehicle auxiliary line, such as Figure 2 As shown, it mainly includes:

[0074] Step 1. When the vehicle system is powered on for the first time and the surround view program is started, the auxiliary line generation algorithm is started to perform auxiliary line pre-generation according to the auxiliary line style currently selected by the user;

[0075] Step 2. Generate auxiliary lines with different angle gradients (30 angle gradients on the left and 30 on the right, 60 angle gradients in total) in advance through the auxiliary line generation algorithm;

[0076] Step 3. Store the auxiliary lines of each angle gradient drawn by the algorithm in a pre-stored array according to the angle gradient sequence index for retrieval and reading;

[0077] Step 4. When the angle change sent by the vehicle sensors (steering wheel angle sensor and yaw rate sensor) is transmitted, the gradient of the current angle is determined by a preset filtering algorithm;

[0078] Step 5. If the angle gradient changes, search the pre-stored array for the auxiliary line corresponding to the angle gradient again;

[0079] Step 6. After finding the auxiliary line corresponding to the angle gradient, bind the auxiliary line into a texture;

[0080] Step 7. After the texture is bound, draw it and cover it on the camera outflow image for display on the screen;

[0081] Step 8. If the user switches the auxiliary line style, go back to step 2, clear the array, and regenerate auxiliary lines with different angle gradients.

[0082] Furthermore, the auxiliary line generation algorithm specifically includes the following steps:

[0083] S11, obtaining the auxiliary line style currently selected by the user;

[0084] S12, evenly dividing a plurality of angle gradients (30 angle gradients on the left and 30 angle gradients on the right, for a total of 60 angle gradients) according to the maximum steering angle of the vehicle;

[0085] S13, pre-drawing auxiliary lines of the left rear wheel and the right rear wheel of the vehicle corresponding to each angle gradient according to the auxiliary line style currently selected by the user.

[0086] Furthermore, drawing the auxiliary lines corresponding to each angle gradient specifically includes:

[0087] 1) The auxiliary lines of the left rear wheel and the right rear wheel of the vehicle are respectively divided into multiple (50) standard straight line segments for representation;

[0088] 2) Obtain the actual extension length corresponding to each standard straight line segment and the deflection arc of the corresponding motion trajectory;

[0089] 3) The projection plane captured by the camera is used to establish a two-dimensional standard coordinate system, and the starting and ending coordinates (x, y) of each standard straight line segment are converted;

[0090] 4) directly drawing each standard straight line segment through the drawline function in the image processing system to generate auxiliary lines in the form of rutting line segments;

[0091] 5) Generate a rectangular frame along each standard straight line segment through the drawcounterse function in the image processing system, and fill it with gradient solid colors in turn to generate auxiliary lines in the form of rectangular gradients.

[0092] Furthermore, the coordinate transformation of the auxiliary lines of the left rear wheel and the right rear wheel of the vehicle in the two-dimensional standard coordinate system is as follows:

[0093] The auxiliary line trajectory coordinates of the left rear wheel of the vehicle (x rL ,y rL )as follows:

[0094]

[0095] The auxiliary line trajectory coordinates of the right rear wheel of the vehicle (x rR ,y rR )as follows:

[0096]

[0097] Where l is the vehicle wheelbase, w is the rear track, and Φ is the steering angle.

[0098] Furthermore, the definition range of user-defined auxiliary line styles includes: shape, color, dynamic and static forms. In terms of shape, you can choose the general linear rutting auxiliary line, or you can choose the outline auxiliary line of the rectangular semi-transparent frame according to your needs. In terms of color, in addition to the national standard default red, yellow, and green three-segment color system, users can switch to a white transparency gradient form according to their preferences, or customize the segmented color. At the same time, users can choose auxiliary lines in three auxiliary line forms: dynamic and static combination, single dynamic, and single static.

[0099] Furthermore, when the user switches the auxiliary line style:

[0100] 1) If the shape of the auxiliary line changes, the corresponding drawing function in the image processing system is called according to the auxiliary line shape selected by the user to generate an auxiliary line in the form of a rutting line segment or an auxiliary line in the form of a rectangular gradient;

[0101] 2) If the color and transparency of the auxiliary line are changed, the color and transparency parameters in the drawing function are adjusted according to the color and transparency selected by the user to generate an auxiliary line of corresponding color and transparency;

[0102] 3) If the dynamic and static effects of the auxiliary line change, then:

[0103] When a static auxiliary line is selected, only an auxiliary line with a single angle gradient is generated by the auxiliary line generation algorithm;

[0104] When a dynamic auxiliary line is selected, the auxiliary line of the corresponding angle gradient is searched in the pre-stored array in real time according to the change of the corresponding angle gradient, and is dynamically displayed;

[0105] Furthermore, the image processing process of the image processing system is as follows: first, the video image information (analog TV signal) of the rear of the vehicle is obtained through a standard PAL camera, and then decoded into a digital parallel signal BT656 code stream through the video decoding chip (AD conversion chip) SAA7115 and sent to the video interface (input) of the digital signal processor (TMS320DM642). The video interface of DM642 decodes the BT656 code stream to obtain an image, which is automatically transferred to the synchronous dynamic RAM (SDRAM) for storage through EDMA. The CPU of DM642 accesses the image in SDRAM, and after comprehensive processing combined with the steering information, sends the image information to be output to the output buffer (SDRAM). The video interface (output) of DM642 automatically obtains data from the output buffer in SDRAM through EDMA to form a BT656 code stream and sends it to the video encoding chip (DA conversion chip) SAA7121. SAA7121 receives the output BT656 code stream, converts it into a standard PAL TV signal, and outputs it to the liquid crystal display (standard PAL system) for display.

[0106] Embodiment three, based on the same inventive concept, this embodiment also provides a vehicle electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for generating user-defined vehicle auxiliary lines as described above is implemented.

[0107] Embodiment 4: Based on the same inventive concept, this embodiment further provides a manual-automatic vehicle, wherein the vehicle is provided with the vehicle electronic device as described above.

[0108] Furthermore, all parts involved in this application that are not described in detail are the same as the prior art or are implemented using the prior art.

[0109] In summary:

[0110] The present invention proposes a method for generating user-defined vehicle auxiliary lines, which can meet the customer's definition of the vehicle auxiliary line style and realize the auxiliary line effect that changes dynamically with the style selected by the user; at the same time, the present invention adopts a pre-processing generation form, and pre-generates all auxiliary lines through an algorithm after startup, and stores the results generated by the algorithm in an array according to a preset index, which can realize convenient and fast retrieval and drawing, greatly improve the generation efficiency of vehicle auxiliary lines, and can effectively solve the problem of excessive CPU / GPU load caused by dynamically generating auxiliary lines when the steering wheel is turned quickly.

[0111] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0112] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0115] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for generating a user-defined vehicle auxiliary line, characterized in that: include: When the machine is turned on for the first time, the auxiliary lines with different angle gradients are generated in advance using the auxiliary line generation algorithm according to the auxiliary line style currently selected by the user; The pre-generated auxiliary lines of each angle gradient are indexed and stored in a pre-stored array according to the order of the angle gradient to be retrieved and read; When the angle parameter transmitted by the vehicle sensor changes, the angle gradient of the current vehicle angle parameter is determined by a preset angle conversion formula; According to the angle gradient of the current vehicle angle parameter, the auxiliary line of the corresponding angle gradient is searched in the pre-stored array, and the auxiliary line of the corresponding angle gradient is texture-bound and displayed on the screen.

2. The method for generating a user-defined vehicle auxiliary line according to claim 1, characterized in that: The auxiliary line generation algorithm comprises: Get the auxiliary line style currently selected by the user; According to the maximum steering angle of the vehicle, multiple angle gradients are evenly divided; According to the auxiliary line style currently selected by the user, the auxiliary lines of the left rear wheel and the right rear wheel of the vehicle corresponding to each angle gradient are pre-drawn.

3. The method for generating a user-defined vehicle auxiliary line according to claim 2, characterized in that: Drawing the auxiliary lines corresponding to each angle gradient includes: The auxiliary lines of the left rear wheel and the right rear wheel of the vehicle are respectively divided into multiple standard straight line segments for representation; Obtain the actual extension length corresponding to each standard straight line segment and the deflection arc of the corresponding motion trajectory; The projection plane captured by the camera is then used to establish a two-dimensional standard coordinate system, and the coordinates of the starting point and end point of each standard straight line segment are converted; According to the auxiliary line style selected by the user, auxiliary lines in the form of rut line segments or auxiliary lines in the form of rectangular gradients are generated by a preset drawing function in the image processing system.

4. The method for generating a user-defined vehicle auxiliary line according to claim 1, characterized in that: The vehicle sensors include: a steering wheel angle sensor and a yaw rate sensor.

5. The method for generating a user-defined vehicle auxiliary line according to claim 1, characterized in that: The auxiliary lines of the left rear wheel and the right rear wheel of the vehicle are converted into corresponding trajectory coordinates in the two-dimensional standard coordinate system through a preset conversion model according to the vehicle wheelbase l, rear wheel track w and steering angle Φ.

6. The method for generating a user-defined vehicle auxiliary line according to claim 1, characterized in that: The definition scope of user-defined auxiliary line style includes: auxiliary line shape, auxiliary line color, auxiliary line dynamic and static form; The auxiliary line shapes include auxiliary lines in the form of rut segments and auxiliary lines in the form of rectangular gradients; The auxiliary line colors include standard red, yellow, and green three-segment colors and corresponding different transparency forms; The dynamic and static forms of the auxiliary lines include statically displayed auxiliary lines, dynamically displayed auxiliary lines, and auxiliary lines displayed in a combination of static and dynamic forms.

7. The method for generating a user-defined vehicle auxiliary line according to claim 1, characterized in that: When the user switches the auxiliary line style: If the shape of the auxiliary line changes, the corresponding drawing function in the image processing system is called according to the auxiliary line shape selected by the user to generate an auxiliary line in the form of a rutting line segment or an auxiliary line in the form of a rectangular gradient; If the color and transparency of the auxiliary line are changed, the color and transparency parameters in the drawing function are adjusted according to the color and transparency selected by the user to generate auxiliary lines of corresponding color and transparency; If the user selects a statically displayed auxiliary line, only an auxiliary line with a single angle gradient is generated by the auxiliary line generation algorithm; If the user selects dynamically displayed auxiliary lines, the auxiliary lines of the corresponding angle gradient are searched in real time in the pre-stored array according to the change of the angle parameter transmitted by the vehicle sensor, and the auxiliary line texture is bound and displayed on the screen in real time.

8. A vehicle electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method for generating a user-defined vehicle auxiliary line as described in any one of claims 1 to 7 is implemented.

9. A non-transitory readable storage medium having a program stored thereon, characterized in that: When the program is executed by a vehicle electronic device, the method for generating a user-defined vehicle auxiliary line as claimed in any one of claims 1 to 7 is implemented.

10. A manual-automatic vehicle, characterized in that: The vehicle electronic device comprising the vehicle electronic device as claimed in claim 8.

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