Display method, device and equipment for vehicle lane changing, medium and program product

Abstract

The embodiment of the invention discloses a vehicle lane changing display method and device, equipment, a medium and a program product, and the method comprises the steps: responding to a lane changing instruction, and determining a target lane based on the lane changing instruction; determining position information of a target lane changing grid relative to the current position of the vehicle on the target lane; and based on the target lane changing lattice position information, displaying the target lane changing lattice on a display screen of the display terminal, so that a user can effectively perceive the lane changing intention and the lane changing condition of the vehicle through the display screen, and the driving experience of the user is effectively improved.

Description

Technical Field

[0001] The present disclosure relates to intelligent driving and interface interaction technologies, and in particular to a method, device, equipment, medium and program product for displaying vehicle lane changes. Background Art

[0002] In intelligent driving scenarios, when a vehicle is driving on the road, it is usually necessary to change lanes, such as when the user triggers the lane change or when the navigation system triggers the lane change. In related technologies, users have poor perception of the vehicle's lane change, which affects the user's driving experience. Summary of the invention

[0003] The embodiments of the present disclosure provide a method, device, equipment, medium and program product for displaying a vehicle lane change, so that a user can effectively perceive the vehicle's lane change through a display screen, thereby effectively improving the user's driving experience.

[0004] A first aspect of an embodiment of the present disclosure provides a method for displaying a vehicle lane change, which is used in a display terminal of a vehicle, comprising: in response to a lane change instruction, determining a destination lane based on the lane change instruction; determining the destination lane change grid position information on the destination lane relative to the current position of the vehicle; and displaying the destination lane change grid on a display screen of the display terminal based on the destination lane change grid position information.

[0005] A second aspect of an embodiment of the present disclosure provides a vehicle lane change display device, which is used for a display terminal of a vehicle, and includes: a first processing module, which is used to respond to a lane change instruction and determine a destination lane based on the lane change instruction; a second processing module, which is used to determine the destination lane change grid position information on the destination lane relative to the current position of the vehicle; and a third processing module, which is used to display the destination lane change grid on a display screen of the display terminal based on the destination lane change grid position information.

[0006] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the method for displaying a lane change of a vehicle as described in any of the above embodiments of the present disclosure.

[0007] According to a fourth aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; a memory for storing executable instructions of the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method for displaying a vehicle lane change as described in any of the above embodiments of the present disclosure; or, the electronic device comprises: the display device for displaying a vehicle lane change as provided in any of the above embodiments.

[0008] A fifth aspect of the embodiments of the present disclosure provides a computer program product. When the instructions in the computer program product are executed by a processor, the method for displaying vehicle lane changes provided in any of the above embodiments of the present disclosure is executed.

[0009] Based on the vehicle lane change display method, device, equipment, medium and program product provided in the above-mentioned embodiments of the present disclosure, the destination lane can be determined in response to the lane change instruction, and then the destination lane change grid position information on the destination lane relative to the current position of the vehicle can be determined; and then based on the destination lane change grid position information, the destination lane change grid can be displayed on the display screen of the display terminal, and the destination lane change grid represents the destination position (relative to the position of the vehicle) to which the vehicle is about to change, so that the user can intuitively perceive the lane change situation through the display screen, thereby effectively improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is an exemplary application scenario of the method for displaying a vehicle lane change provided by an embodiment of the present disclosure;

[0011] Figure 2 is a flowchart of a method for displaying a vehicle lane change provided by an exemplary embodiment of the present disclosure;

[0012] Figure 3 is a schematic diagram of a display screen display interface provided by an exemplary embodiment of the present disclosure;

[0013] Figure 4 is a schematic diagram of a display interface provided by another exemplary embodiment of the present disclosure;

[0014] Figure 5 is a flowchart of a method for displaying a lane change of a vehicle provided by another exemplary embodiment of the present disclosure;

[0015] Figure 6 is a flowchart of a method for displaying a lane change of a vehicle provided by another exemplary embodiment of the present disclosure;

[0016] Figure 7 is a flowchart of a method for displaying a lane change of a vehicle provided by another exemplary embodiment of the present disclosure;

[0017] Figure 8 is a flowchart of a method for displaying a lane change of a vehicle provided by another exemplary embodiment of the present disclosure;

[0018] Fig. 9 is a flowchart of a method for displaying a lane change of a vehicle provided by another exemplary embodiment of the present disclosure;

[0019] Fig.10 is a flowchart of a method for displaying a lane change of a vehicle provided by another exemplary embodiment of the present disclosure;

[0020] Fig.11 is a schematic diagram of a dynamic change of a display interface provided by an exemplary embodiment of the present disclosure;

[0021] Fig.12 is a schematic structural diagram of a display device for vehicle lane change provided by an exemplary embodiment of the present disclosure;

[0022] Fig.13 It is a structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0024] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0025] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0026] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0027] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0028] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0029] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0030] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0031] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0032] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] SUMMARY OF THE DISCLOSURE

[0034] In the process of realizing the present disclosure, the inventors found that in intelligent driving scenarios, when a vehicle is driving on a road, it is usually necessary to change lanes, such as when a user triggers a lane change or when a navigation system triggers a lane change. In related technologies, users have poor perception of vehicle lane changes, which affects the user's driving experience.

[0035] Exemplary Overview

[0036] Figure 1 This is an exemplary application scenario of the method for displaying a vehicle lane change provided by an embodiment of the present disclosure. Figure 1 As shown, the vehicle (i.e., the vehicle itself) 11 can sense the surrounding environment through the sensor 12 while driving on the road. The sensor 12 may include at least one of the sensors such as camera, radar, laser radar, ultrasonic radar, millimeter wave radar, etc. The vehicle-mounted terminal (or vehicle-mounted computing platform, intelligent driving chip, etc.) on the vehicle 11 can determine whether it is necessary to change lanes according to the perception result of the environment, or the lane change can be triggered by the user on the vehicle 11 (such as the driver or the online car-hailing passenger, etc.). When the vehicle 11 is ready to change lanes, the display method of the vehicle lane change of the embodiment of the present disclosure can be used to display the destination lane change grid on the display screen of the display terminal. Specifically, in response to the lane change instruction, the destination lane 13 can be determined based on the lane change instruction, such as the left lane or the right lane of the current lane of the vehicle 11, and then the destination lane change grid position information on the destination lane relative to the current position of the vehicle 11 is determined; based on the destination lane change grid position information, the destination lane change grid is displayed on the display screen to indicate that the vehicle 11 is about to change to the corresponding position of the destination lane, so that the user can intuitively perceive the lane change situation through the display screen, effectively improving the user's driving experience. During the lane changing process, the vehicle 11 can change lanes according to the planned path, and the target lane change grid is displayed dynamically in real time.

[0037] The vehicle lane change display method of the embodiment of the present disclosure can be applied to any vehicle with corresponding display functions, such as smart driving online car-hailing vehicles, smart driving user vehicles, user vehicles with assisted driving functions, etc., without limitation to specific scenarios.

[0038] Exemplary Methods

[0039] Figure 2 1 is a flow chart of a method for displaying a lane change of a vehicle provided by an exemplary embodiment of the present disclosure. The embodiment of the present disclosure can be applied to electronic devices, such as display terminals on vehicles, etc. Figure 2 As shown, the method provided by the embodiment of the present disclosure may include the following steps:

[0040] Step 210 , in response to the lane change instruction, determining a destination lane based on the lane change instruction.

[0041] The lane change instruction is an instruction for instructing a lane change. The lane change instruction may include information about a destination lane. For example, if the lane change instruction includes information about a left lane change or a right lane change, the left lane or the right lane of the vehicle is the destination lane, and the destination lane may be determined based on the lane change instruction.

[0042] In some optional embodiments, the lane change command can be triggered by the user or obtained from the intelligent driving algorithm side (i.e., the vehicle terminal or the intelligent driving chip). For example, the algorithm side can determine whether to change lanes based on the path planned by the planning control algorithm, and then issue a lane change command if it is determined that a lane change is required. The specific triggering method of the lane change command is not limited.

[0043] In some optional embodiments, the destination lane information includes the center line of the destination lane, and optionally, may also include other relevant information of the destination lane. The center line of the destination lane may be represented by an ordered point set or by a curve equation, and the specific representation method is not limited.

[0044] Step 220, determining the destination lane change position information on the destination lane relative to the current position of the vehicle.

[0045] The current position of the vehicle is the position of the vehicle at the current moment. The current position of the vehicle may be a position in a global coordinate system, which may be a world coordinate system, a preset map coordinate system (such as a high-precision map coordinate system), etc., without limitation. The target lane change position information is information describing the position of the vehicle after changing lanes.

[0046] In some optional embodiments, the target lane change position information may be position information in a global coordinate system or position information in a vehicle local coordinate system (ie, the vehicle coordinate system at the current moment). The coordinate systems may be converted to each other.

[0047] In some optional embodiments, the destination lane change grid position information may include information describing the location of the destination lane change grid area, for example, the destination lane change grid position information may include the center point location information of the destination lane change grid, and may also include the size, direction and other information of the destination lane change grid, so as to determine the area of ​​the destination lane change grid on the destination lane. Or the destination lane change grid position information may include the contour point coordinates or corner point coordinates of the destination lane change grid. For example, the destination lane change grid is represented as a rectangular lane change grid, and the destination lane change grid position information may include four corner point coordinates. The specific representation method of the destination lane change grid position information is not limited.

[0048] Step 230: Based on the location information of the destination lane change, the destination lane change is displayed on a display screen of the display terminal.

[0049] The display terminal may be any terminal with a display function on the vehicle, for example, the display terminal may be a human-machine interface (HMI) terminal. For example, in a smart driving online car-hailing scenario, the display terminal may be a PHMI (Passenger Human Machine Interface) terminal for interacting with passengers. In an assisted driving scenario, the display terminal may be an HMI terminal for interacting with the driver.

[0050] In some optional embodiments, the destination lane change grid may have certain attributes, such as shape, size, color, etc., so that the user can view the position after the lane change (ie, the destination lane change grid) more intuitively and conveniently.

[0051] In some optional embodiments, the destination lane change and the vehicle may be displayed relative to each other on the display screen. For example, the vehicle is displayed at a preset position on the display interface (or display screen) of the display screen, and the relative relationship between the destination lane change and the vehicle on the display interface is determined based on the relative relationship between the location information of the destination lane change and the vehicle, and then the vehicle and the destination lane change are displayed on the display interface.

[0052] In some optional embodiments, a screen rendering may be performed based on a mapping relationship between a coordinate system of the destination lane change position information and a display interface of the display screen to generate a display screen and display it on the display screen.

[0053] In some optional embodiments, Figure 3 is a schematic diagram of a display screen display interface provided by an exemplary embodiment of the present disclosure, such as Figure 3As shown, when the vehicle 11 is preparing to change lanes, the destination lane R can be determined based on the lane change instruction. In the figure, the destination lane is taken as the right lane of the vehicle 11, and then the destination lane change grid position information on the destination lane R relative to the current position of the vehicle 11 is determined; based on the destination lane change grid position information, the destination lane change grid S1 is displayed on the display interface, so that the user can intuitively perceive the lane change situation through the display interface. Figure 3 As shown, the display interface can display map information within the corresponding range (such as lane lines and other map elements in the figure), other vehicles in the surrounding environment sensed by sensors (such as multiple vehicles parked on the right side of the figure) and other objects, as well as the vehicle 11, the lane change path L and other information. Based on these display contents, the destination lane change grid S1 is displayed on the destination lane R. The display range can be set according to actual needs. For example, the display range can be determined according to the visible range of the sensor on the vehicle 11, and the display range can be less than or equal to the visible range.

[0054] It should be noted that Figure 3 It is only a simple schematic diagram of the display interface, and only takes the two-dimensional (2D) display as an example. For example, the area within a certain range around the vehicle 11 is mapped to the display area (or pixel coordinate system) of the display interface. According to the position of each element (such as lane lines, the vehicle, perceived objects, target lane changes, etc.) in the actual environment and the mapping relationship between the actual environment and the display interface, each element is mapped to the corresponding position of the display interface for display. In actual applications, high-precision maps within the corresponding range, various perceived environmental objects, and other related content can be displayed on the display interface, and corresponding display attributes such as color, shape, size, etc. can be set for various objects, without specific limitation. Optionally, the surrounding environment can also be displayed in three dimensions (3D) on the display interface. For example, a three-dimensional model can be established for various objects, combined with the three-dimensional map elements of the high-precision map, and a virtual camera at a specified position above and behind the vehicle 11 is used as the observation perspective to obtain an image with a 3D effect within the observation range, and the image is rendered to the display interface for display. Figure 4As shown, it is a schematic diagram of a display interface provided by another exemplary embodiment of the present disclosure. Three-dimensional objects such as the vehicle 11 and other surrounding vehicles can display 3D effects, and the speed, remaining mileage, remaining time, etc. of the vehicle 11 can also be displayed on the display interface. The display content and display dimensions of the specific display interface are not limited. Optionally, the vehicle 11 can have a fixed position on the display interface, that is, the vehicle 11 is displayed at a preset position on the display interface, and the elements of the surrounding environment of the vehicle 11 and the destination grid S1 are dynamically displayed according to the relative relationship with the vehicle. Other information not related to the environment (such as speed, remaining mileage, remaining time, interactive entrances that can be operated by users, etc.) can be displayed at a specified position on the display interface. Taking the PHMI (Passenger Human Machine Interface) on the online car-hailing service as an example, the interactive entrance may include trigger entrances for functions such as "settings" and "entertainment".

[0055] The method for displaying a vehicle lane change provided by an embodiment of the present disclosure can determine a destination lane in response to a lane change instruction, and further determine the destination lane change grid position information on the destination lane relative to the current position of the vehicle; and further based on the destination lane change grid position information, the destination lane change grid can be displayed on a display screen of a display terminal, wherein the destination lane change grid represents the destination position (relative to the position of the vehicle) to which the vehicle is about to change, thereby displaying the intention of the vehicle's lane change behavior in advance, that is, displaying the information that the vehicle is about to change lanes to the user, so that the user can intuitively perceive the vehicle's lane change intention and lane change situation through the display screen, thereby effectively improving the user's driving experience.

[0056] Figure 5 It is a flowchart of a method for displaying a lane change of a vehicle provided by another exemplary embodiment of the present disclosure.

[0057] In some optional embodiments, in the above Figure 2 Based on the embodiment shown, Figure 5 As shown, after the destination change is displayed on the display screen of the display terminal in step 230, the method further includes:

[0058] Step 310 , during the lane change process of the vehicle, determining a second real-time state of the target lane change grid based on the first real-time state of the vehicle.

[0059] The first real-time state may include one or more of the vehicle's position, posture, speed, angular velocity, etc. The second real-time state of the target lane change may include the real-time position information of the target lane change, or the second real-time state may include the real-time speed information of the target lane change.

[0060] In some optional embodiments, during the vehicle lane changing process, the real-time status of the vehicle can be obtained at a certain frequency as the first real-time status, and then the real-time status of the target lane change grid can be determined based on the first real-time status as the second real-time status.

[0061] In some optional embodiments, the first real-time status may include the real-time position of the vehicle, and the real-time position of the destination lane change grid may be determined based on the real-time position of the vehicle as the second real-time status, so that the destination lane change grid follows the vehicle and is displayed in the destination lane.

[0062] In some optional embodiments, the first real-time state may include real-time speed information of the vehicle (e.g. longitudinal speed information), and the speed information of the destination lane changer may be determined as the second real-time state based on the real-time speed information of the vehicle, or the real-time position information of the destination lane changer may be determined as the second real-time state through a kinematic model, i.e., the destination lane changer is controlled to move at the bus speed of the vehicle on the destination lane, so that the destination lane changer follows the vehicle and is displayed on the destination lane.

[0063] Step 320, displaying the vehicle on the display screen based on the first real-time status, and displaying the destination lane change on the display screen based on the second real-time status.

[0064] Among them, the mapping relationship between the real-time environment and the display interface can be determined based on the first real-time state, for example, a specified range around the vehicle is mapped to the display interface, or mapped to the display interface through a virtual camera. The vehicle is displayed at a preset position on the display interface, and the destination lane change grid is displayed based on the second real-time state and the mapping relationship, so that during the lane change process, the destination lane change grid follows the vehicle and is displayed on the destination lane, so that the user can effectively perceive the lane change situation of the vehicle.

[0065] The embodiments of the present disclosure enable users to effectively perceive the overall lane change situation of the vehicle by dynamically displaying the target lane change grid in real time during the lane change process, thereby enhancing the user's sense of control over the vehicle and further improving the user's driving experience.

[0066] Figure 6 It is a flowchart of a method for displaying a lane change of a vehicle provided by yet another exemplary embodiment of the present disclosure.

[0067] In some optional embodiments, based on any of the above embodiments, the destination lane is represented as a lane centerline.

[0068] like Figure 6 As shown, step 220 of determining the target lane change position information on the target lane relative to the current position of the vehicle may include:

[0069] Step 2210, determining a first position based on the current position of the vehicle and a preset longitudinal distance threshold.

[0070] The longitudinal direction may refer to the direction along the lane line or the lane center line, and the preset longitudinal distance threshold is a preset threshold for determining the longitudinal distance between the target lane change grid and the vehicle.

[0071] In some optional embodiments, when the vehicle is traveling along the current road, the longitudinal direction may refer to the traveling direction of the vehicle.

[0072] In some optional embodiments, the first position may be obtained by extending a preset longitudinal distance threshold longitudinally toward the front of the vehicle based on the current position of the vehicle.

[0073] In some optional embodiments, the first position can be determined based on a preset longitudinal distance in the vehicle coordinate system, that is, the current position of the vehicle is the origin of the vehicle coordinate system, the vehicle's driving direction is the longitudinal direction, and the longitudinal coordinate of the first position is determined to be the preset longitudinal distance threshold based on the vehicle's current position and the preset longitudinal distance threshold, and the transverse coordinate is zero.

[0074] Step 2220, determining the destination lane change position information based on the first position and the lane centerline of the destination lane.

[0075] The center line of the destination lane represents the center line of the destination lane change grid on the destination lane. The center point position of the destination lane change grid can be determined based on the intersection of the line along the vertical longitudinal direction of the first position and the lane center line, and then the location information of the destination lane change grid can be determined in combination with the size of the destination lane change grid.

[0076] In some optional embodiments, a second position may be determined from the lane centerline of the destination lane based on the current position of the vehicle, and the destination lane change position information may be determined based on the second position and a preset longitudinal distance threshold.

[0077] In some optional embodiments, if the direction of the vehicle is the longitudinal direction, a point with a longitudinal coordinate of a preset longitudinal distance threshold can be determined on the lane centerline of the destination lane in the vehicle coordinate system as the center point position of the destination lane change grid. The specific method for determining the location information of the destination lane change grid is not limited.

[0078] In some optional embodiments, when the destination lane change position is determined based on the vehicle position, the displayed destination lane change may be of a fixed shape and size. In this way, a lane change model may be set in advance. For example, a lane change image may be set as the lane change model. During rendering, the destination lane change may be displayed by pasting the lane change image at the destination lane change position.

[0079] The embodiments of the present disclosure determine the position information of the destination lane change through the current position of the vehicle and the lane centerline of the destination lane, and implement rendering of the destination lane change based on the own vehicle, thereby avoiding the algorithm side from predicting the destination lane change position based on the perception results, which can effectively reduce the amount of calculation and enable the destination lane change to be displayed on the display interface following the own vehicle.

[0080] Figure 7 It is a flowchart of a method for displaying a lane change of a vehicle provided by yet another exemplary embodiment of the present disclosure.

[0081] In some optional embodiments, based on any of the above embodiments, Figure 7 As shown, step 220 of determining the target lane change position information on the target lane relative to the current position of the vehicle may include:

[0082] Step 2201, obtaining target lane change position information from the vehicle-mounted terminal; the target lane change position information is determined based on a preconfigured lane change position prediction algorithm.

[0083] Among them, the vehicle terminal determines the position information of the destination lane change grid based on the perception result of the destination lane and the pre-configured lane change position prediction algorithm. In this case, since the position information of the destination lane change grid is determined based on the actual perception of the destination lane, the properties such as the position of the destination lane change grid relative to the vehicle (such as the longitudinal distance) and the size of the destination lane change grid will change with the actual environment of the destination lane. For example, the destination lane is the right lane, but there is another vehicle A running parallel to the vehicle on the right lane, then the position of the destination lane change grid needs to be determined at a certain safe distance in front of the other vehicle A on the right lane. If there is no other parallel vehicle on the right, it can be determined according to the preset longitudinal distance threshold.

[0084] The step 230 of displaying the destination lane change on the display screen of the display terminal based on the destination lane change position information includes:

[0085] Step 2301, based on the location information of the destination lane change, lane change rendering is performed and the destination lane change is displayed on the display screen.

[0086] Among them, since the destination lane change position information changes with the change of the destination lane environment, it is necessary to perform real-time rendering based on the destination lane change position information when displaying. For example, the lane change area in the display screen can be determined based on the real-time destination lane change position information, and the color of the lane change area can be set. The specific rendering principle is not described in detail.

[0087] According to the embodiments of the present disclosure, the effectiveness of the destination lane change can be improved by predicting the destination lane change position in real time through the vehicle-mounted terminal.

[0088] Figure 8It is a flowchart of a method for displaying a lane change of a vehicle provided by yet another exemplary embodiment of the present disclosure.

[0089] In some optional embodiments, based on any of the above embodiments, Figure 8 As shown, step 230 of displaying the destination lane change on the display screen of the display terminal based on the destination lane change position information may include:

[0090] Step 2310, obtaining a preset lane change model representing the target lane change.

[0091] Among them, the preset lane changing model can be set according to the size of the vehicle. For example, the preset lane changing model can be set to a two-dimensional or three-dimensional picture with a specified shape, size, and color, or the preset lane changing model can be set to a model in other formats. The specific lane changing model is not limited.

[0092] Step 2320: Display the destination lane change on the display screen based on the destination lane change position information and the preset lane change model.

[0093] In some optional embodiments, a preset lane change model may be placed in a position area corresponding to the target lane change position information, and rendered to a display interface through screen rendering (eg, 2D rendering or 3D rendering) to display the target lane change.

[0094] The embodiments of the present disclosure provide effective reference data for the rendering display of the target lane change by setting a lane change model, so that the user can effectively perceive the lane change situation through the display screen, thereby improving the user experience.

[0095] Fig. 9 It is a flowchart of a method for displaying a lane change of a vehicle provided by yet another exemplary embodiment of the present disclosure.

[0096] In some optional embodiments, based on any of the above embodiments, Fig. 9 As shown, step 230 of displaying the destination lane change on the display screen of the display terminal based on the destination lane change position information may include:

[0097] Step 230a, obtaining high-precision map information and perception result information within a preset range around the vehicle.

[0098] In some optional embodiments, high-precision map information within a preset range around the vehicle (which may be referred to as local map information) may be extracted from the high-precision map according to the current position and display range of the vehicle. High-precision map information may include various map element information in the high-precision map, such as lane lines, lanes, curbs, buildings, etc. The perception result information may be obtained from the vehicle-mounted terminal, and the perception result information may include the state information of other vehicles, pedestrians, traffic lights, cones, and other objects around the vehicle, and the state information may specifically include the position, direction, size, and other information of each object.

[0099] Step 230b, determining the target display position of the vehicle in the display screen.

[0100] The target display position of the vehicle in the display screen may be a fixed position, that is, the vehicle may be displayed at a preset position in the display screen, see Figure 3 or Figure 4 .

[0101] It should be noted that there is no particular order between step 230a and step 230b, and there is no particular order between step 210 and step 220.

[0102] Step 230c, based on the high-precision map information and the perception result information, the high-precision map and the perception object are displayed on the display screen, and the vehicle is displayed at the target display position, and the destination lane change is displayed at the position corresponding to the destination lane change position information in the high-precision map.

[0103] Among them, the picture rendering can be performed based on the high-precision map information, perception result information, the target display position of the vehicle, and the destination lane change position information to generate an overall display picture and display it on the display screen.

[0104] In some optional embodiments, during the rendering process, high-precision maps, perceived objects, vehicles, and destination lane changes may be superimposed at specified layer levels to generate a display screen for display, and the specific rendering principles are not elaborated herein.

[0105] In some optional embodiments, the lane change path starting from the vehicle itself, marking information indicating that the lane is changing, etc. may also be displayed on the display screen, such as Figure 3 The lane change path L in .

[0106] In some optional embodiments, during the vehicle lane change process, a high-precision map, a sensed object, the vehicle, a destination lane change grid, and a lane change path are displayed in real time and dynamically. Since the destination lane change grid moves along the center line of the destination lane, the vehicle will continue to approach the destination lane change grid laterally during the lane change process, and the display interface shows that the vehicle position remains unchanged and the destination lane change grid continues to approach the vehicle. Correspondingly, other map elements and sensed objects around the vehicle change dynamically relative to the vehicle, so that the user can effectively perceive the overall process of lane change.

[0107] The embodiments of the present disclosure display a high-precision map, a perceived object, the vehicle and a target lane change grid on a display screen, so that the user can more intuitively and clearly grasp the environment surrounding the vehicle and the lane change situation of the vehicle, thereby further improving the user's driving experience.

[0108] Fig.10 It is a flowchart of a method for displaying a lane change of a vehicle provided by yet another exemplary embodiment of the present disclosure.

[0109] In some optional embodiments, the method of the embodiment of the present disclosure may further include:

[0110] Step 410, in response to the lane change end instruction, end the display of the destination lane change grid.

[0111] The lane change end instruction is an instruction for indicating the end of the lane change. The lane change end instruction can be obtained from the vehicle terminal. For example, the vehicle terminal may send the lane change end instruction to the display terminal when the lane change is completed. Alternatively, the vehicle terminal sends the lane change end instruction to the display terminal after obtaining the lane change termination or end operation triggered by the user. The display terminal responds to the lane change end instruction and ends the display of the destination lane change grid, that is, the destination lane change grid is no longer displayed on the display interface.

[0112] In some optional embodiments, Fig.11 is a schematic diagram of a dynamic change of a display interface provided by an exemplary embodiment of the present disclosure, such as Fig.11 As shown, during the lane change process, as the vehicle 11 continues to drive, the display content of the display interface changes according to the changes in the surrounding environment of the vehicle 11. The destination lane change grid S1 is always displayed along the center line of the lane following the vehicle 11 on the destination lane R. As the lane change behavior of the vehicle 11 continues to approach the destination lane change grid S1, until the lane change is completed, the vehicle 11 enters the destination lane change grid S1, and the destination lane change grid S1 is hidden and no longer displayed. During the dynamic change of the display interface, the position and angle of the vehicle 11 in the display interface can remain unchanged, and other display content changes dynamically, which can enable the user to intuitively perceive the lane change process, enhance the user's sense of control over the vehicle, and demonstrate the lane change ability of the vehicle 11.

[0113] In some optional embodiments, the above embodiments or some of the embodiments may be implemented in combination. For example, the step 230 of displaying the destination lane change on the display screen of the display terminal based on the destination lane change position information may include:

[0114] Based on the high-precision map information and the perception result information, the high-precision map and the perception object are displayed on the display screen, the vehicle is displayed at the target display position, the destination lane change grid is displayed at the position corresponding to the destination lane change grid position information in the high-precision map, and the lane change path is displayed. The specific display principle of each part of the display content can be referred to the above embodiment, and will not be repeated here.

[0115] In the technical solution of this disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the relevant laws and regulations and do not violate public order and good morals. In addition, in the technical solution of this disclosure, the collection and use of user personal information involved are all carried out with the knowledge and authorization of the user, and do not involve illegal collection and illegal use of user personal information.

[0116] The above-mentioned embodiments of the present disclosure may be implemented separately or in any combination without conflict. The specific configuration may be based on actual needs and the present disclosure does not limit this.

[0117] Any of the vehicle lane change display methods provided in the embodiments of the present disclosure can be executed by any appropriate electronic device with data processing capabilities, including but not limited to: electronic devices such as terminal devices and servers. Alternatively, any of the vehicle lane change display methods provided in the embodiments of the present disclosure can be executed by a processor, such as the processor executing any of the vehicle lane change display methods mentioned in the embodiments of the present disclosure by calling corresponding instructions stored in a memory. This will not be repeated below.

[0118] Exemplary Devices

[0119] Fig.12 1 is a schematic diagram of the structure of a display device for a vehicle lane change provided by an exemplary embodiment of the present disclosure. The device of this embodiment can be used to implement the corresponding method embodiment of the present disclosure. The device of this embodiment can be applied to a display terminal on a vehicle, such as Fig.12 The device shown may include: a first processing module 51 , a second processing module 52 and a third processing module 53 .

[0120] The first processing module 51 is configured to respond to a lane change instruction and determine a destination lane based on the lane change instruction.

[0121] The second processing module 52 is used to determine the target lane change position information on the target lane relative to the current position of the vehicle.

[0122] The third processing module 53 is configured to display the destination lane change on the display screen of the display terminal based on the destination lane change position information.

[0123] In some optional embodiments, in the above Fig.12 Based on the illustrated embodiment, the third processing module 53 may also be used for:

[0124] During the vehicle lane change process, a second real-time state of a destination lane change is determined based on a first real-time state of the vehicle. The vehicle is displayed on a display screen based on the first real-time state, and the destination lane change is displayed on the display screen based on the second real-time state.

[0125] In some optional embodiments, based on any of the above embodiments, the destination lane is represented as a lane centerline.

[0126] The second processing module 52 is specifically used for:

[0127] The first position is determined based on the current position of the vehicle and a preset longitudinal distance threshold, and the destination lane change position information is determined based on the first position and a lane centerline of the destination lane.

[0128] In some optional embodiments, based on any of the above embodiments, the second processing module 52 is specifically used for:

[0129] The destination lane change position information is obtained from the vehicle's onboard terminal; the destination lane change position information is determined based on a preconfigured lane change position prediction algorithm.

[0130] The third processing module 53 is specifically used for rendering the lane change based on the position information of the destination lane change, and displaying the destination lane change on the display screen.

[0131] In some optional embodiments, based on any of the above embodiments, the third processing module 53 is specifically used for:

[0132] A preset lane change model representing a destination lane change is obtained, and the destination lane change is displayed on a display screen based on the location information of the destination lane change and the preset lane change model.

[0133] In some optional embodiments, based on any of the above embodiments, the third processing module 53 is specifically used for:

[0134] Obtain high-precision map information and perception result information within a preset range around the vehicle. Determine the target display position of the vehicle in the display screen of the display screen. Based on the high-precision map information and perception result information, display the high-precision map and the perception object on the display screen, display the vehicle at the target display position, and display the target lane change at the position corresponding to the target lane change position information in the high-precision map.

[0135] In some optional embodiments, the third processing module 53 may also be configured to terminate the display of the destination lane change grid in response to a lane change termination instruction.

[0136] In some optional embodiments, the above embodiments or some of the embodiments may be implemented in combination. For example, the third processing module 53 may be specifically used for:

[0137] Based on the high-precision map information and the perception result information, the high-precision map and the perception object are displayed on the display screen, the vehicle is displayed at the target display position, the destination lane change is displayed at the position corresponding to the destination lane change position information in the high-precision map, and the lane change path is displayed.

[0138] The above-mentioned embodiments of the present disclosure may be implemented separately or in any combination without conflict. The specific configuration may be based on actual needs and the present disclosure does not limit this.

[0139] The beneficial technical effects corresponding to the exemplary embodiment of the present device can be found in the corresponding beneficial technical effects of the above exemplary method section, which will not be repeated here.

[0140] Exemplary Electronic Devices

[0141] Fig.13 It is a structural diagram of an electronic device provided by an embodiment of the present disclosure, including at least one processor 91 and a memory 92.

[0142] The processor 91 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

[0143] The memory 92 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 91 may execute one or more computer program instructions to implement the methods and / or other desired functions of the various embodiments of the present disclosure described above.

[0144] In one example, the electronic device 90 may further include: an input device 93 and an output device 94 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0145] The input device 93 may also include, for example, a keyboard, a mouse, a touch screen, a microphone, various sensors, and the like. Sensors may include, for example, image sensors (such as cameras, cameras, etc.), laser radars, millimeter-wave radars, ultrasonic radars, positioning sensors, pressure sensors, air quality sensors, temperature sensors, and the like. Image sensors, laser radars, millimeter-wave radars, ultrasonic radars, and the like may be used to sense the surrounding environment, i.e., to detect dynamic and static objects in the surrounding environment. Dynamic and static objects may include, for example, static objects such as lane lines, curbs, arrows, signs, trees, and buildings, as well as dynamic objects such as surrounding vehicles, pedestrians, and cyclists. Positioning sensors are used to realize the positioning of movable devices (such as self-vehicles, robots, etc.) where electronic devices are located. Positioning sensors may include, for example, inertial measurement units (Inertial Measurement Unit, referred to as: IMU), global positioning systems (Global Positioning System, referred to as: GPS), and the like. Pressure sensors may be used to detect seat pressure. Temperature sensors may be used to detect the temperature in the vehicle cabin. Air quality sensors may be used to detect the air quality in the vehicle cabin.

[0146] The output device 94 can output various information to the outside, and may include, for example, a display, a speaker, a communication network and a remote output device connected thereto, and the like.

[0147] Of course, to simplify, Fig.13 Only some of the components related to the present disclosure in the electronic device 90 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 90 may also include any other appropriate components.

[0148] Exemplary computer program products and computer-readable storage media

[0149] In addition to the above methods and devices, embodiments of the present disclosure may also provide a computer program product, including computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the methods of various embodiments of the present disclosure described in the above “Exemplary Methods” section.

[0150] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0151] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the steps in the method of various embodiments of the present disclosure described in the above “Exemplary Method” section.

[0152] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium is, for example, but not limited to, a system, device or device including electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0153] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and cannot be considered as necessary for each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, rather than limitation, and the above details do not limit the present disclosure to being implemented by adopting the above specific details.

[0154] Those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present disclosure claims and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A method for displaying a vehicle lane change, used in a display terminal of a vehicle, the method comprising: In response to a lane change instruction, determining a destination lane based on the lane change instruction; Determine the destination lane change position information on the destination lane relative to the current position of the vehicle; Based on the destination lane change position information, the destination lane change is displayed on a display screen of the display terminal.

2. The method according to claim 1, wherein: After the display screen of the display terminal displays the destination change, the method further includes: During the lane change process of the vehicle, determining a second real-time state of the target lane change grid based on the first real-time state of the vehicle; Based on the first real-time status, the vehicle is displayed on the display screen, and based on the second real-time status, the destination lane change on the destination lane is displayed on the display screen.

3. The method according to claim 1, wherein: The step of displaying the destination lane change on the display screen of the display terminal based on the destination lane change position information includes: Obtaining a preset road change model representing a target road change; Based on the target lane change position information and the preset lane change model, the target lane change is displayed on the display screen.

4. The method according to claim 1, wherein: The step of displaying the destination lane change on the display screen of the display terminal based on the destination lane change position information includes: Obtaining high-precision map information and perception result information within a preset range around the vehicle; Determining a target display position of the vehicle in a display screen of the display screen; Based on the high-precision map information and the perception result information, the high-precision map and the perception object are displayed on the display screen, and the vehicle is displayed at the target display position, and the destination lane change is displayed at a position in the high-precision map corresponding to the destination lane change position information.

5. The method according to claim 1, wherein: The destination lane is represented as the lane centerline; The determining of the target lane change position information on the target lane relative to the current position of the vehicle includes: Determining a first position based on a current position of the vehicle and a preset longitudinal distance threshold; The destination lane change position information is determined based on the first position and a lane centerline of the destination lane.

6. The method according to claim 1, wherein: The determining of the target lane change position information on the target lane relative to the current position of the vehicle includes: Acquiring the target lane change position information from the vehicle-mounted terminal of the vehicle; the target lane change position information is determined based on a preconfigured lane change position prediction algorithm; The step of displaying the destination lane change on the display screen of the display terminal based on the destination lane change position information includes: Based on the target lane change position information, lane change rendering is performed, and the target lane change is displayed on the display screen.

7. The method according to any one of claims 1 to 6, wherein: Also includes: In response to the lane change end instruction, the display of the target lane change grid ends.

8. A vehicle lane change display device, used for a vehicle display terminal, comprising: A first processing module, configured to respond to a lane change instruction and determine a destination lane based on the lane change instruction; A second processing module is used to determine the target lane change position information on the target lane relative to the current position of the vehicle; The third processing module is used to display the destination lane change on the display screen of the display terminal based on the destination lane change position information.

9. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method according to any one of claims 1 to 7; or, The electronic device comprises: the device as claimed in claim 8 above.

10. A computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program is used to execute the method according to any one of claims 1 to 7.

11. A computer program product, when instructions in the computer program product are executed by a processor, the method according to any one of claims 1 to 7 of the present disclosure is performed.

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