Navigation guidance display method, vehicle-mounted equipment and computer readable storage medium

Abstract

The invention is suitable for the technical field of intelligent driving, and particularly relates to a navigation guidance display method, vehicle-mounted equipment and a computer readable storage medium. In the method, when a first vehicle needs to change lanes for driving, the first vehicle obtains a navigation guide line for guiding the first vehicle to drive from a current lane to a target lane, and determines whether the navigation guide line meets an adjustment condition or not. When the navigation guide line meets the adjustment condition, the first vehicle determines a first intersection point according to the navigation guide line, the first intersection point is an intersection point between a first guide section in the navigation guide line and the edge of the virtual image area, and the first guide section is a guide section between a lane changing starting point and a lane changing ending point of the navigation guide line. Then, the first vehicle adjusts the navigation guide line according to the first intersection point, and displays the adjusted navigation guide line in the virtual image area, so that when the first vehicle needs to change the lane, the complete navigation guide line is displayed in the virtual image area, a user can obtain a complete and accurate navigation intention, and the user experience is improved.

Description

Technical Field

[0001] The present application belongs to the field of intelligent driving technology, and in particular, relates to a navigation guidance display method, a vehicle-mounted device, and a computer-readable storage medium. Background Art

[0002] When driving, the driver generally drives the vehicle according to the navigation route provided by the navigation system. For example, the vehicle can be driven by the navigation guidance provided by the augmented reality head up display (AR HUD). Among them, the navigation guidance provided by the AR HUD can combine the navigation guide line with the real scene environment where the vehicle is currently located, and then project it into the virtual image area for presentation, so that the driver can see the navigation guide line combined with the real scene environment through the front windshield of the vehicle, so as to present the navigation guide line more intuitively in the driver's front field of vision, so that the driver can take into account the vehicle's front road conditions and navigation guide lines at the same time during driving, without the need to switch sight lines, to ensure driving safety. However, since the presentation range of the virtual image area is generally limited, when the vehicle needs to change lanes or turn, the navigation guide line is not displayed in the virtual image area in a friendly manner, which is easy to mislead and affect the user experience. Summary of the invention

[0003] The embodiments of the present application provide a navigation guidance display method, a vehicle-mounted device and a computer-readable storage medium, which can solve the problem that when the vehicle needs to change lanes or turn, the navigation guidance line is not displayed in a friendly manner in the virtual image area due to the limitation of the presentation range of the virtual image area, which is easy to cause misleading and affect the user experience.

[0004] In a first aspect, an embodiment of the present application provides a navigation guidance display method, comprising:

[0005] Acquire a first navigation guide line, where the first navigation guide line is used to guide the first vehicle to travel from a current lane to a target lane;

[0006] When the first navigation guide line meets the adjustment condition, a first intersection point is determined according to the first navigation guide line, the first intersection point being the intersection point between a first guide segment in the navigation guide line and an edge of the virtual image area, the first guide segment being the guide segment between a lane change start point and a lane change end point in the navigation guide line;

[0007] The first navigation guide line is adjusted according to the first intersection point to obtain a second navigation guide line, and the second navigation guide line is displayed in the virtual image area, and the lane change end point of the second navigation guide line is located in the virtual image area.

[0008] In the navigation guidance display method provided above, when the first vehicle needs to change lanes, the first vehicle can obtain a navigation guidance line that guides the first vehicle to travel from the current lane to the target lane, and can determine whether the navigation guidance line meets the adjustment conditions. When the navigation guidance line meets the adjustment conditions, the first vehicle can determine the first intersection point based on the navigation guidance line. Among them, the first intersection point can be the intersection point between the first guidance segment in the navigation guidance line and the edge of the virtual image area, and the first guidance segment is the guidance segment between the lane change starting point and the lane change ending point of the navigation guidance line. Then, the first vehicle can adjust the navigation guidance line according to the first intersection point, and display the adjusted navigation guidance line in the virtual image area, so that when the first vehicle needs to change lanes, the navigation guidance line can be fully displayed in the virtual image area, so that the user can obtain the complete and accurate navigation intention, so that the user can accurately drive the first vehicle and improve the user experience.

[0009] It should be understood that the first navigation guideline is the navigation guideline before adjustment, and the second navigation guideline is the navigation guideline after adjustment.

[0010] In some embodiments, the adjustment condition may include that the lane change end point in the first navigation guide line is not located within the virtual image area.

[0011] In the navigation guidance display method provided in this embodiment, when the lane change end point in the first navigation guide line is not located in the virtual image area, it indicates that the navigation guide line displayed in the virtual image area is incomplete and cannot indicate the accurate navigation intention to the user. At this time, the first vehicle can adjust the first navigation guide line so that the complete navigation guide line can be displayed in the virtual image area, so as to indicate the accurate navigation intention to the user and improve the user experience.

[0012] Optionally, being located in the virtual image region may include being located on an edge of the virtual image region. That is to say, the content displayed on the edge of the virtual image region may be considered as being located in the virtual image region.

[0013] In other embodiments, the adjustment condition further includes the presence of a second intersection point between the first navigation guide line and the lower edge of the virtual image area, and the second intersection point is the intersection point between the first navigation guide line and the lower edge of the virtual image area.

[0014] In the navigation guidance display method provided in this embodiment, when there is no intersection (i.e., the second intersection) between the first navigation guide line and the lower edge of the virtual image area, it indicates that the complete navigation guide line cannot be displayed in the virtual image area, that is, the navigation guide line displayed in the virtual image area cannot indicate a complete and accurate navigation intention, and the problem cannot be solved by adjusting the navigation guide line. When there is a second intersection between the first navigation guide line and the lower edge of the virtual image area, and the lane change end point is not located in the virtual image area, it indicates that the complete navigation guide line can be displayed in the virtual image area by adjusting the first navigation guide line. Therefore, when there is a second intersection between the first navigation guide line and the lower edge of the virtual image area, the first vehicle will determine whether the lane change end point in the first navigation guide line is located in the virtual image area to determine whether the first navigation guide line needs to be adjusted so that the navigation guide line displayed in the virtual image area can indicate a complete and accurate navigation intention. When there is no second intersection between the first navigation guide line and the lower edge of the virtual image area, the first vehicle may not display the navigation guide line in the virtual image area to avoid the displayed navigation guide line from interfering with the user.

[0015] Optionally, when there is a second intersection between the first navigation guide line and the lower edge of the virtual image area, and the lane change end point in the first navigation guide line is located in the virtual image area, the first vehicle can determine that a complete navigation guide line can be displayed in the virtual image area, that is, the first navigation guide line displayed in the virtual image area can indicate a complete and accurate navigation intention. At this time, the first vehicle can directly display the first navigation guide line in the virtual image area.

[0016] In a possible implementation manner, adjusting the first navigation guide line according to the first intersection point to obtain a second navigation guide line includes:

[0017] Determining a lane change end point of the second navigation guide line according to the first intersection point, so that the lane change end point of the second navigation guide line is located in the virtual image area;

[0018] According to the lane change end point of the second navigation guide line, the first guidance segment in the first navigation guide line is adjusted to obtain the second navigation guide line.

[0019] In the navigation guidance display method provided by the implementation, when the first navigation guidance line meets the adjustment condition, the first vehicle can determine the first intersection between the first navigation guidance line and the virtual image area, and adjust the lane change end point according to the first intersection. Subsequently, the first vehicle can adjust the first navigation guidance line according to the adjusted lane change end point, and the adjusted lane change end point can be located in the virtual image area, so that the navigation guidance line displayed in the virtual image area can indicate a complete and accurate navigation intention.

[0020] Exemplarily, the first vehicle can directly determine the first intersection as the adjusted lane change end point, or can determine a position point on the guidance segment of the navigation guide line within the virtual image area where the distance between the first intersection and the straight line parallel to the current lane meets a preset condition, and can determine this position point as the adjusted lane change end point.

[0021] Optionally, the preset condition can be specifically determined according to the actual scene, and the embodiment of the present application does not impose any limitation on this. For example, the preset condition can be determined as a distance equal to 10 cm, 15 cm or 20 cm, etc. according to the actual scene.

[0022] In one example, after the second navigation guide line is displayed in the virtual image area, the method further includes:

[0023] detecting a front turn of the first vehicle;

[0024] When the front steering direction of the first vehicle changes, determining whether the second navigation guide line satisfies the adjustment condition;

[0025] When the second navigation guide line satisfies the adjustment condition, a third intersection point is determined according to the second navigation guide line, the third intersection point being the intersection point between a second guide segment in the second navigation guide line and the edge of the virtual image area, the second guide segment being the guide segment between the lane change start point and the lane change end point in the second navigation guide line;

[0026] The second navigation guide line is adjusted according to the third intersection point to obtain a third navigation guide line, and the third navigation guide line is displayed in the virtual image area, and the lane change end point of the third navigation guide line is located in the virtual image area.

[0027] In the navigation guidance display method provided in this example, when the front angle of the first vehicle changes, that is, when the front steering of the first vehicle changes, the real scene environment displayed in the virtual image area will also change, thereby causing the navigation guide line displayed in the virtual image area to change. To ensure the display effect of the navigation guide line in the virtual image area, when the front angle of the first vehicle changes, the first vehicle can re-determine whether the navigation guide line meets the adjustment conditions. When it is determined that the navigation guide line meets the adjustment conditions, the first vehicle can adjust the navigation guide line according to the intersection between the navigation guide line and the virtual image area, so that the navigation guide line displayed in the virtual image area can indicate a complete and accurate navigation intention, thereby improving the user experience.

[0028] It should be understood that the adjustment condition may include that the lane change end point of the navigation guide line is not located within the virtual image area, and may also include that there is a second intersection point between the navigation guide line and the lower edge of the virtual image area.

[0029] In a second aspect, an embodiment of the present application provides a navigation guidance display method, comprising:

[0030] Obtaining a navigation guide line, where the navigation guide line is used to guide the first vehicle to turn from a current lane to a target lane;

[0031] Determining whether the key position in the navigation guide line is located in the virtual image area;

[0032] When the key position is located in the virtual image area, displaying the navigation guide line in the virtual image area;

[0033] When the key position is not located in the virtual image area, the navigation guide line is not displayed in the virtual image area.

[0034] In the navigation guidance display method provided above, when the first vehicle needs to turn, the first vehicle can obtain a navigation guidance line that guides the first vehicle to turn from the current lane to the target lane, and can determine whether the key position in the navigation guidance line is located in the virtual image area. When the key position in the navigation guidance line is located in the virtual image area, the first vehicle can display the navigation guidance line in the virtual image area. When the key position in the navigation guidance line is not located in the virtual image area, the first vehicle may not display the navigation guidance line in the virtual image area, so that the first vehicle can display the complete navigation guidance line in the virtual image area when the first vehicle needs to turn, so that the user can obtain complete and accurate turning guidance, thereby improving the user experience.

[0035] In a possible implementation, the key position may include a turning start point and a turning end point in the navigation guide line, and determining whether the key position in the navigation guide line is located in the virtual image area includes:

[0036] Determine whether the turning start point and the turning end point in the navigation guide line are located in the virtual image area;

[0037] When the turning start point and the turning end point are located within the virtual image region, determining that the key position is located within the virtual image region;

[0038] When the turning start point and / or the turning end point is not located in the virtual image region, it is determined that the key position is not located in the virtual image region.

[0039] In the navigation guidance display method provided by the implementation, since the navigation guide line is mainly used to guide the first vehicle to turn, the key position in the navigation guide line can be the position corresponding to the turning section. Therefore, the first vehicle can determine whether the key position in the navigation guide line is located in the virtual image area according to the starting point and the ending point corresponding to the turning section, that is, the turning starting point and the turning ending point in the navigation guide line. Among them, when the turning starting point and the turning ending point in the navigation guide line are located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is located in the virtual image area. When at least one of the turning starting point and the turning ending point in the navigation guide line is not located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is not located in the virtual image area.

[0040] In a possible implementation, the key position includes a key turning point or a turning end point in the navigation guide line, and the key turning point is a point between a turning start point and a turning end point in the navigation guide line.

[0041] In the navigation guidance display method provided by the implementation, when the turning end point or the key turning point in the turning section is located in the virtual image area, the starting point of the turning section is generally also located in the virtual image area. Therefore, the first vehicle can determine whether the key position in the navigation guidance line is located in the virtual image area according to the turning end point or the key turning point.

[0042] Optionally, when the turning end point in the navigation guide line is located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is located in the virtual image area. When the turning end point in the navigation guide line is not located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is not located in the virtual image area.

[0043] Optionally, when the key turning point in the navigation guide line is located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is located in the virtual image area. When the key turning point in the navigation guide line is not located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is not located in the virtual image area.

[0044] In some embodiments, the first vehicle may determine the critical turning point according to the following method:

[0045] Determine a first intersection point according to the turning start point and the turning end point in the navigation guide line, wherein the first intersection point is an intersection point between a first straight line where the turning start point is located and a second straight line where the turning end point is located, the first straight line is parallel to the current lane, and the second straight line is parallel to the target lane;

[0046] The key turning point is determined according to the first intersection point and a first guidance segment in the navigation guide line, wherein the first guidance segment is a guidance segment between the turning start point and the turning end point in the navigation guide line.

[0047] Optionally, the first vehicle may determine a projection point of the first intersection point on the first guidance segment, and determine the projection point as a critical turning point.

[0048] It should be understood that the projection point of the first intersection on the first guiding segment may be a perpendicular point from the first intersection to the first guiding segment, that is, the projection point may be a point on the first guiding segment with the shortest distance to the first intersection.

[0049] In a possible implementation manner, determining whether the key position in the navigation guide line is located in the virtual image area includes:

[0050] When there is a second intersection between the navigation guide line and the lower edge of the virtual image region, it is determined whether the key position in the navigation guide line is located in the virtual image region.

[0051] When there is no second intersection point between the navigation guide line and the virtual image area, the navigation guide line is not displayed in the virtual image area.

[0052] In the navigation guidance display method provided by the implementation, when there is no intersection point (i.e., the second intersection point) between the navigation guidance line and the lower edge of the virtual image area, the first vehicle can directly determine that the complete navigation guidance line cannot be displayed in the virtual image area, that is, the navigation guidance line displayed in the virtual image area cannot indicate a complete and accurate navigation intention. At this time, the first vehicle can directly not display the navigation guidance line in the virtual image area to avoid the displayed incomplete navigation guidance line from interfering with the user. When there is a second intersection point between the navigation guidance line and the lower edge of the virtual image area, the first vehicle can determine whether the key position in the navigation guidance line is located in the virtual image area to determine whether a complete and accurate navigation guidance line can be displayed in the virtual image area, thereby determining whether to display the navigation guidance line in the virtual image area.

[0053] In some embodiments, after displaying the navigation guide line in the virtual image area, the method further includes:

[0054] Determine a first area in the virtual image area according to the navigation guide line, wherein the navigation guide line divides the lower edge of the virtual image area into a lower left edge and a lower right edge, and divides the virtual image area into the first area and a second area, and the lower edge of the virtual image area included in the first area is determined according to the turning direction indicated by the navigation guide line;

[0055] When the area of ​​the first region is smaller than a preset area threshold, or when the ratio between the area of ​​the first region and the area of ​​the virtual image region is smaller than a preset ratio, the navigation guide line is not displayed in the virtual image region.

[0056] In the navigation guidance display method provided in this embodiment, when the first vehicle displays a navigation guide line in the virtual image area, the first vehicle can determine the display area of ​​the navigation guide line in the virtual image area to determine whether to adjust the display of the navigation guide line according to the display area. For example, it can be determined based on the display area whether the first vehicle has made a turn, etc., to determine whether the navigation guide line still needs to be displayed. It should be understood that the display area refers to the area of ​​the first area formed by the navigation guide line and the virtual image area. When the display area is less than a preset area threshold, or when the ratio between the display area and the area of ​​the virtual image area is less than a preset ratio, it can be determined that the first vehicle has made a turn. At this time, the first vehicle may not display the continued navigation guide line in the virtual image area. The preset area threshold and the preset ratio can be specifically determined according to the actual scenario.

[0057] In a third aspect, an embodiment of the present application provides a navigation guidance display device, including:

[0058] A navigation guide line acquisition module, used to acquire a first navigation guide line, where the first navigation guide line is used to guide the first vehicle to travel from the current lane to the target lane;

[0059] A first intersection determination module, configured to determine a first intersection according to the first navigation guide line when the first navigation guide line satisfies an adjustment condition, the first intersection being an intersection between a first guide segment in the navigation guide line and an edge of the virtual image area, the first guide segment being a guide segment between a lane change start point and a lane change end point in the navigation guide line;

[0060] A navigation guide line adjustment module is used to adjust the first navigation guide line according to the first intersection point to obtain a second navigation guide line, and display the second navigation guide line in the virtual image area, wherein the lane change end point of the second navigation guide line is located in the virtual image area.

[0061] In some embodiments, the adjustment condition may include that the lane change end point in the first navigation guide line is not located within the virtual image area.

[0062] In other embodiments, the adjustment condition further includes the presence of a second intersection point between the first navigation guide line and the lower edge of the virtual image area, and the second intersection point is the intersection point between the first navigation guide line and the lower edge of the virtual image area.

[0063] In one possible implementation, the navigation guide line adjustment module is specifically used to determine the lane change end point of the second navigation guide line based on the first intersection point, so that the lane change end point of the second navigation guide line is located within the virtual image area; according to the lane change end point of the second navigation guide line, adjust the first guidance segment in the first navigation guide line to obtain the second navigation guide line.

[0064] In one example, the apparatus further comprises:

[0065] A vehicle head turning detection module, used to detect the head turning of the first vehicle;

[0066] An adjustment condition judgment module, used for determining whether the second navigation guide line satisfies the adjustment condition when the front steering direction of the first vehicle changes;

[0067] A third intersection determination module is used to determine a third intersection according to the second navigation guide line when the second navigation guide line satisfies the adjustment condition, the third intersection being the intersection between a second guide segment in the second navigation guide line and the edge of the virtual image area, the second guide segment being the guide segment between the lane change start point and the lane change end point in the second navigation guide line;

[0068] The navigation guide line adjustment module is also used to adjust the second navigation guide line according to the third intersection point to obtain a third navigation guide line, and display the third navigation guide line in the virtual image area, and the lane change end point of the third navigation guide line is located in the virtual image area.

[0069] In a fourth aspect, an embodiment of the present application provides a navigation guidance display device, including:

[0070] A navigation guide line acquisition module, used to acquire a navigation guide line, wherein the navigation guide line is used to guide the first vehicle to turn from the current lane to the target lane;

[0071] A key position determination module, used to determine whether the key position in the navigation guide line is located in the virtual image area;

[0072] The navigation guide line display module is used to display the navigation guide line in the virtual image area when the key position is located in the virtual image area; when the key position is not located in the virtual image area, not display the navigation guide line in the virtual image area.

[0073] In a possible implementation, the key position may include a turning start point and a turning end point in the navigation guide line.

[0074] The key position determination module is specifically used to determine whether the turning start point and the turning end point in the navigation guide line are located in the virtual image area; when the turning start point and the turning end point are located in the virtual image area, it is determined that the key position is located in the virtual image area; when the turning start point and / or the turning end point are not located in the virtual image area, it is determined that the key position is not located in the virtual image area.

[0075] In a possible implementation, the key position includes a key turning point or a turning end point in the navigation guide line, and the key turning point is a point between a turning start point and a turning end point in the navigation guide line.

[0076] In some embodiments, the key position determination module is also used to determine a first intersection point based on the turning start point and the turning end point in the navigation guide line, the first intersection point being the intersection point between a first straight line where the turning start point is located and a second straight line where the turning end point is located, the first straight line is parallel to the current lane, and the second straight line is parallel to the target lane; the key turning point is determined based on the first intersection point and the first guide segment in the navigation guide line, the first guide segment being the guide segment between the turning start point and the turning end point in the navigation guide line.

[0077] Optionally, the key position determination module is further used to determine a projection point of the first intersection on the first guidance segment, and determine the projection point as a key turning point.

[0078] In a possible implementation, the key position determination module is further configured to determine whether the key position in the navigation guide line is located within the virtual image area when there is a second intersection between the navigation guide line and the lower edge of the virtual image area.

[0079] The navigation guide line display module is further configured to not display the navigation guide line in the virtual image area when there is no second intersection point between the navigation guide line and the virtual image area.

[0080] In some embodiments, the apparatus further comprises:

[0081] A first area determination module is used to determine a first area in the virtual image area according to the navigation guide line, wherein the navigation guide line divides the lower edge of the virtual image area into a lower left edge and a lower right edge, and divides the virtual image area into the first area and a second area, and the lower edge of the virtual image area included in the first area is determined according to the turning direction indicated by the navigation guide line;

[0082] The navigation guide line display module is further used to not display the navigation guide line in the virtual image area when the area of ​​the first area is smaller than a preset area threshold, or when the ratio between the area of ​​the first area and the area of ​​the virtual image area is smaller than a preset ratio.

[0083] In the fifth aspect, an embodiment of the present application provides a vehicle-mounted device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle-mounted device implements the navigation guidance display method described in any one of the first aspects above, or implements the navigation guidance display method described in any one of the second aspects above.

[0084] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a computer, the computer implements the navigation guidance display method described in any one of the first aspect above, or implements the navigation guidance display method described in any one of the second aspect above.

[0085] In the seventh aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle-mounted device, the vehicle-mounted device executes the navigation guidance display method described in any one of the first aspect above, or executes the navigation guidance display method described in any one of the second aspect above.

[0086] In an eighth aspect, an embodiment of the present application provides a vehicle, comprising the vehicle-mounted device described in the fifth aspect above.

[0087] It can be understood that the beneficial effects of the third to eighth aspects mentioned above can be found in the relevant descriptions in the first or second aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Figure 1 is a structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0089] Figure 2 is a schematic flow chart of a navigation guidance display method provided in Embodiment 1 of the present application;

[0090] Figure 3 This is a schematic diagram of an application scenario of a navigation guide line provided in Example 1 of the present application. Figure 1 ;

[0091] Figures 4 to 6 This is a schematic diagram of an application scenario of a navigation guide line provided in Example 1 of the present application. Figure 2 ;

[0092] Figures 7 and 8This is a schematic diagram of an application scenario of a navigation guide line provided in Example 1 of the present application. Figure 3 ;

[0093] Figures 9 and 10 This is a scene diagram of a navigation guide line provided in Example 1 of the present application. Figure 4 ;

[0094] Fig.11 is a schematic flow chart of a navigation guidance display method provided in Embodiment 2 of the present application;

[0095] Figure 12 to Figure 13 This is a schematic diagram of an application scenario of a navigation guide line provided in Example 2 of this application. Figure 1 ;

[0096] Fig.14 This is a schematic diagram of an application scenario of a navigation guide line provided in Example 2 of this application. Figure 2 . DETAILED DESCRIPTION

[0097] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0098] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0099] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0100] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0101] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0102] In addition, the “plurality” mentioned in the embodiments of the present application should be interpreted as two or more.

[0103] The steps involved in the navigation guidance display method provided in the embodiment of the present application are only examples. Not all steps are mandatory steps, or not all information or messages are mandatory. They can be increased or decreased as needed during use. In the embodiment of the present application, the same step or steps or messages with the same function can be referenced and learned from each other in different embodiments.

[0104] The business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person of ordinary skill in the art will appreciate that, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0105] When driving, the driver generally drives the vehicle according to the navigation route provided by the navigation system. For example, the vehicle can be driven by the navigation guidance provided by the augmented reality head up display (AR HUD). Among them, the navigation guidance provided by the AR HUD can combine the navigation guide line with the real scene environment where the vehicle is currently located, and then project it into the virtual image area for presentation, so that the driver can see the navigation guide line combined with the real scene environment through the front windshield of the vehicle, so as to present the navigation guide line more intuitively in the driver's front field of vision, so that the driver can take into account the vehicle's front road conditions and navigation guide lines at the same time during driving, without the need to switch sight lines, to ensure driving safety. However, since the presentation range of the virtual image area is generally limited, when the vehicle needs to change lanes or turn, the navigation guide line is not displayed in the virtual image area in a friendly manner, which is easy to mislead and affect the user experience.

[0106] In order to solve the above problems, the embodiment of the present application provides a navigation guidance display method, a vehicle and a computer-readable storage medium. In the method, during the driving process of the first vehicle, the first vehicle can obtain a navigation guide line, and the navigation guide line is used to guide the first vehicle to travel from the current lane to the target lane. Subsequently, the first vehicle can determine whether the navigation guide line meets the adjustment condition. When the navigation guide line meets the adjustment condition, the first vehicle can determine the first intersection point according to the navigation guide line. The first intersection point can be the intersection point between the first guidance segment in the navigation guide line and the edge of the virtual image area, and the first guidance segment is the guidance segment between the lane change starting point and the lane change ending point of the navigation guide line. Then, the first vehicle can adjust the navigation guide line according to the first intersection point, and can display the adjusted navigation guide line in the virtual image area, so that when the first vehicle needs to change lanes, the complete navigation guide line can be displayed in the virtual image area, so that the user can obtain a complete and accurate navigation intention, improve the user experience, and have strong ease of use and practicality.

[0107] The following first introduces the vehicle involved in the embodiment of the present application. Figure 1 , Figure 1 A schematic diagram of the structure of a vehicle provided by an embodiment of the present application is shown, wherein the vehicle may be an internal combustion engine vehicle using an engine as a power source, a hybrid vehicle using an engine and an electric motor as a power source, or an electric vehicle using an electric motor as a power source, and the like.

[0108] like Figure 1 As shown, the vehicle 100 may include multiple subsystems, such as a control system 110, a perception system 120, a communication system 130, a navigation system 140, an entertainment system 150, a drive system 160, and a computer system 170. Optionally, each system may include multiple components. Each system and component of the vehicle 100 may be interconnected by wire or wirelessly.

[0109] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the vehicle 100. In other embodiments, the vehicle 100 may include more or fewer systems or components than those shown in the figure.

[0110] The control system 110 may further include a vehicle controller 111 for controlling a power system of the vehicle 100 , and a steering system 112 , a throttle 113 , and a braking system 114 for controlling the vehicle 100 .

[0111] The vehicle controller 111 can be used to coordinate and control the power battery and engine 161 of the vehicle 100 to improve the power performance of the vehicle 100 .

[0112] The steering system 112 may be used to adjust the forward direction of the vehicle 100. For example, the steering system 112 may be a steering wheel system.

[0113] The throttle 113 may be used to control the operating speed of the engine 161 to control the speed of the vehicle 100 .

[0114] The braking system 114 can be used to control the deceleration of the vehicle 100. For example, the braking system 114 can use friction to slow down the wheels 164.

[0115] The perception system 120 may include several sensors for sensing the surrounding environment information of the vehicle 100. For example, the perception system 120 may include a global positioning system 121 (such as a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS), and / or a satellite based augmentation system (SBAS), etc.), an inertial measurement unit (IMU) 122, a laser radar 123, a millimeter wave radar 124, an ultrasonic radar 125, and a camera 126, etc. The perception system 120 may also include sensors for monitoring the internal systems of the vehicle 100 (such as an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). The vehicle 100 may obtain the current location, direction, speed, and surrounding environment information of the vehicle 100 through the perception system 120.

[0116] The global positioning system 121 may be used to estimate the geographic location of the vehicle 100 .

[0117] The inertial measurement unit 122 may sense, among other things, the position and orientation changes of the vehicle 100 based on inertial acceleration. In some embodiments, the inertial measurement unit 122 may be a combination of an accelerometer and a gyroscope.

[0118] The laser radar 123 may utilize lasers to sense objects in the environment of the vehicle 100. In some embodiments, the laser radar 123 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0119] The millimeter wave radar 124 can use radio signals to sense objects in the surrounding environment of the vehicle 100. In some embodiments, in addition to sensing objects, the millimeter wave radar 124 can also be used to sense the speed and / or the direction of travel of the object.

[0120] The ultrasonic radar 125 may sense objects around the vehicle 100 using ultrasonic signals.

[0121] The camera 126 can be used to capture static images or videos of the surrounding environment of the vehicle 100. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then passes the electrical signal to the ISP for conversion into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format.

[0122] In some embodiments, the vehicle 100 may include 1 or N cameras 126 , where N is a positive integer greater than 1.

[0123] In other examples, the camera 126 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like.

[0124] The communication system 130 may include a wireless communication system that can communicate wirelessly with one or more devices using a communication network. For example, the wireless communication system can communicate using 3G cellular communications, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communications, such as LTE, or 5G cellular communications. For example, the wireless communication system can communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system can communicate using an infrared link, Bluetooth, or ZigBee.

[0125] The navigation system 140 may include a map service provided by a map provider, thereby providing navigation of a driving route for the vehicle 100. The navigation system 140 may be used in conjunction with the vehicle's global positioning system 121, inertial measurement unit 122, etc. The map service provided by the map provider may be a two-dimensional map or a high-precision map.

[0126] The entertainment system 150 may include a display device 151, an audio module 152, a speaker 152A, a receiver 152B, a microphone 152C, an earphone jack 152D, and the like.

[0127] The entertainment system 150 can implement audio functions such as music playing and recording through the audio module 152, the speaker 152A, the receiver 152B, the microphone 152C, the headphone jack 152D, and the application processor.

[0128] The audio module 152 can be used to convert digital audio information into analog audio signal output, and can also be used to convert analog audio input into digital audio signals. The audio module 152 can also be used to encode and decode audio signals.

[0129] The speaker 152A, also called a "horn", is used to convert an audio electrical signal into a sound signal. The vehicle 100 can listen to music or listen to hands-free calls through the speaker 152A.

[0130] The receiver 152B, also called a "handset", is used to convert audio electrical signals into sound signals. When the vehicle 100 receives a call or voice message, the voice can be received by the receiver 152B.

[0131] Microphone 152C, also called "microphone" or "microphone", is used to convert sound signals into electrical signals. When making a call or sending a voice message, the user can speak through microphone 152C to input the sound signal into microphone 152C. The vehicle 100 can be provided with at least one microphone 152C. In other embodiments, the vehicle 100 can be provided with two microphones 152C, which can not only collect sound signals but also realize noise reduction function. In other embodiments, the vehicle 100 can also be provided with three, four or more microphones 152C to realize the collection of sound signals, noise reduction, identification of sound sources, and directional recording functions, etc.

[0132] The earphone interface 152D is used to connect a wired earphone and can be a universal serial bus (USB) interface, or a 3.5 mm open mobile terminal platform (OMTP) standard interface, or a cellular telecommunications industry association of the USA (CTIA) standard interface.

[0133] In some examples, the user's voice signal can also be obtained through a microphone, and the user's voice signal can be analyzed to enable the user to control the vehicle 100 in certain ways, such as adjusting the temperature in the vehicle, playing music, etc.

[0134] The display device 151 can be used to display images, videos, etc.

[0135] Optionally, the display device 151 is an actual display device, such as a central control screen. The display device 151 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light emitting diode or an active-matrix organic light emitting diode (AMOLED), a flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, a quantum dot light emitting diode (QLED), etc. In some embodiments, the vehicle 100 may include 1 or N display devices 151, where N is a positive integer greater than 1.

[0136] Optionally, the display device 151 may be a display device formed by projection technology onto an object, for example, by projection onto the front windshield of the vehicle through holographic projection or head up display (HUD) technology, with the projection area on the front windshield serving as the display device. The embodiment of the present application does not specifically limit the type of display device.

[0137] The drive system 160 may include components that provide power movement for the vehicle 100. In one embodiment, the drive system 160 may include an engine 161, an energy source 162, a transmission system 163, and wheels 164. The engine 161 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 161 converts the energy source 162 into mechanical energy.

[0138] The energy source 162 may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, other sources of electricity, etc. The energy source 162 may also provide power to other systems of the vehicle 100 .

[0139] The transmission system 163 can transmit mechanical power from the engine 161 to the wheels 164. The transmission system 163 can include a gearbox, a differential, and a drive shaft. Among them, the drive shaft can include one or more shafts that can be coupled to one or more wheels 164. In some examples, the transmission system 163 can also include other devices, such as a clutch.

[0140] Some or all functions of the vehicle 100 are controlled by a computer system 170. The computer system 170 may include at least one processor 171. The processor 171 may include one or more processing units, for example, the processor 171 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0141] The controller can generate operation control signals according to the instruction operation code and timing signal to complete the control of instruction fetching and execution.

[0142] A memory may also be provided in the processor 171 for storing instructions and data. In some examples, the memory in the processor 171 is a cache memory. The memory may store instructions or data that the processor 171 has just used or cyclically used. If the processor 171 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 171, and thus improves the efficiency of the system.

[0143] In some examples, the processor 171 can control some functions of the vehicle 100 based on the information obtained by each subsystem (e.g., the perception system 120, the navigation system 140, etc.). For example, the processor 171 can analyze the information obtained by each subsystem, determine the navigation guide line, and display the navigation guide line in the virtual image area. For example, the processor 171 can analyze the information obtained by each subsystem, and adjust the navigation guide line displayed in the virtual image area according to the analysis results, and so on.

[0144] The following is a detailed description of the navigation guidance display method provided in the embodiment of the present application in conjunction with the accompanying drawings and specific application scenarios. It should be understood that the navigation guidance display method provided in the embodiment of the present application can be applied to the navigation guidance provided by the AR HUD. Among them, in the navigation guidance provided by the AR HUD, the area where the virtual image is presented can be referred to as the virtual image area. The virtual image can be projected and presented by a projection component. The virtual image seen by the human eye through the front windshield can be an image formed by multiple reflections or refractions. The virtual image can be generated by the optical machine in the AR HUD (also referred to as a picture generation unit (PGU)), and then finally transmitted to the human eye through the reflection or refraction of the diffuser screen, reflector, free-form surface mirror and windshield.

[0145] It should be understood that the navigation guide line needs to be integrated into the corresponding real-life environment. Among them, when the real-life environment integrated by the navigation guide line is all within the specified range in front of the vehicle, the navigation guide line can be fully displayed in the virtual image area, so the user can see the complete navigation guide line through the front windshield. When the real-life environment integrated by the navigation guide line is not entirely or partially within the specified range, for example, when the first vehicle needs to change lanes or turn, due to changes in the shape of the road, the real-life environment integrated by the navigation guide line may not be entirely or partially within the specified range, resulting in the navigation guide line displayed in the virtual image area being unfriendly, which in turn makes it impossible for the user to know the accurate navigation intention, resulting in a poor user experience. Among them, the specified range can be determined based on the projection parameters of the optical machine.

[0146] [Example 1]

[0147] In order to solve the problem that the navigation guide line is not fully displayed in the virtual image area when changing lanes, the first embodiment of the present application provides a navigation guide display method. The navigation guide display method provided by the first embodiment of the present application will be described in detail below in conjunction with the accompanying drawings and specific application scenarios.

[0148] See also Figure 2 , Figure 2 A schematic flow chart of a navigation guidance display method provided in the first embodiment of the present application is shown. The method can be applied to the above-mentioned vehicle (hereinafter referred to as the first vehicle). A navigation system can be installed in the first vehicle. The navigation system can plan the navigation route of the first vehicle based on the driving starting point (or the current location of the first vehicle) and the target location. The first vehicle may also include an AR HUD. When the first vehicle needs to change lanes, the AR HUD can generate a navigation guide line based on the navigation route to provide lane change guidance for the first vehicle. Figure 2 As shown, the method may include:

[0149] S201. A first vehicle obtains a navigation guide line, where the navigation guide line is used to guide the first vehicle to travel from a current lane to a target lane.

[0150] S202. When the navigation guide line meets the adjustment conditions, the first vehicle determines a first intersection point according to the navigation guide line, where the first intersection point is the intersection point between a first guide segment in the navigation guide line and an edge of the virtual image area, and the first guide segment is the guide segment between a lane change start point and a lane change end point in the navigation guide line.

[0151] S203: The first vehicle adjusts the navigation guide line according to the first intersection point, and displays the adjusted navigation guide line in the virtual image area, wherein the lane change end point of the adjusted navigation guide line is located in the virtual image area.

[0152] In an embodiment of the present application, when the first vehicle needs to change lanes, the first vehicle can obtain a navigation guide line that guides the first vehicle from the current lane to the target lane, and can determine whether the navigation guide line meets the adjustment conditions. When the navigation guide line meets the adjustment conditions, the first vehicle can determine the first intersection point based on the navigation guide line. Among them, the first intersection point can be the intersection point between the first guide segment in the navigation guide line and the edge of the virtual image area, and the first guide segment is the guide segment between the lane change starting point and the lane change ending point of the navigation guide line. Then, the first vehicle can adjust the navigation guide line according to the first intersection point, and can display the adjusted navigation guide line in the virtual image area, so that when the first vehicle needs to change lanes, the navigation guide line can be fully displayed in the virtual image area, so that the user can obtain the complete and accurate navigation intention, so that the user can accurately drive the first vehicle and improve the user experience.

[0153] It is understandable that the virtual image area may refer to the area formed by the projection of the optical machine in the AR HUD through the front windshield of the first vehicle, that is, the area where the virtual image is displayed. Among them, the virtual image displayed in the virtual image area may include the real scene environment within a specified range in front of the first vehicle. The size and shape of the virtual image area can be specifically determined according to the actual scene, and the embodiments of the present application do not impose any restrictions on this. For example, the virtual image area can be an area of ​​any shape such as a rectangle, a circle or an ellipse. The following will be exemplified by taking the virtual image area as a rectangular area as an example.

[0154] The following describes in detail the process of S201, the first vehicle obtaining the navigation guide line.

[0155] The navigation guidance display method provided in the embodiment of the present application can be applied to the scenario where the first vehicle needs to change lanes. That is, during the driving process of the first vehicle, when it is determined that the first vehicle needs to change lanes, the first vehicle can generate a navigation guidance line through the AR HUD to guide the first vehicle from the current lane (hereinafter referred to as the current lane) to the target lane. Therefore, when it is determined that the first vehicle needs to change lanes, the first vehicle can obtain the navigation guidance line generated by the AR HUD.

[0156] It is understandable that the first embodiment of the present application does not impose any restrictions on the method of determining whether the first vehicle needs to change lanes, and it can be determined specifically according to the actual scenario.

[0157] For example, the first vehicle may obtain the current location of the first vehicle and the road information in front of the first vehicle through the perception system. For example, the perception system may determine the lane in which the first lane is currently located based on the lane topology and lane-level positioning. When it is determined that the first vehicle needs to turn left (or right) at the intersection ahead based on the road information in front of the first vehicle, the first vehicle may determine whether the lane in which the first vehicle is currently located is a left-turn lane (or a right-turn lane). When the lane in which the first vehicle is currently located is not a left-turn lane (or a right-turn lane), the first vehicle may determine that it needs to change lanes.

[0158] For example, the first vehicle may obtain the current position of the first vehicle and the road information in front of the first vehicle through the perception system. When it is determined that there is an obstacle in front of the lane where the first vehicle is currently located based on the road information in front of the first vehicle, the first vehicle may determine that it needs to change lanes, etc.

[0159] Optionally, when determining that the first vehicle needs to change lanes, the first vehicle may determine a target lane, and may determine lane change information based on the current lane and the target lane. Subsequently, the first vehicle may generate a navigation guide line based on the lane change information to guide the first vehicle to change lanes. The target lane is the lane after the first vehicle changes lanes. The lane change information may include the direction of lane change and the number of lane changes, etc. It should be understood that the target lane may be specifically determined based on actual conditions, and the first embodiment of the present application does not impose any restrictions on this.

[0160] For example, when the current lane of the first vehicle is the first lane from the left and the target lane is the third lane from the left, it can be determined that the lane change direction is to change lanes to the right and the number of lane changes is 2.

[0161] For example, when the current lane of the first vehicle is the first lane from the right and the target lane is the fourth lane from the right, it can be determined that the lane change direction is to change lanes to the left and the number of lane changes is 3.

[0162] It can be understood that, from the left, it means that during the driving process of the first vehicle, the position of the lane is determined in the order from the left side to the right side of the driving direction of the first vehicle. From the right, it means that during the driving process of the first vehicle, the position of the lane is determined in the order from the right side to the left side of the driving direction of the first vehicle.

[0163] In some examples, when the number of lane changes is greater than or equal to 2, the first vehicle can directly generate a navigation guide line for changing lanes from the current lane to the target lane based on the lane change information.

[0164] In other examples, when the number of lane changes is greater than or equal to 2, the first vehicle may change lanes multiple times according to the number of lane changes, that is, it may change lanes in sequence according to the current lane and the adjacent lane until the first vehicle reaches the target lane. That is, the first vehicle may determine the adjacent lane of the current lane according to the lane change direction, and determine the adjacent lane of the current lane (hereinafter referred to as lane A) as the current target lane. Subsequently, the first vehicle may generate a navigation guide line from the current lane to the target lane (ie, lane A) to guide the first vehicle to change lanes from the current lane to lane A. When the first vehicle changes lanes to lane A, the first vehicle may use lane A as the current lane, and may determine the adjacent lane of the current lane (ie, lane A) (hereinafter referred to as lane B) according to the lane change direction. The first vehicle may determine lane B as the current target lane, and generate a navigation guide line from the current lane (ie, lane A) to the target lane (ie, lane B) to guide the first vehicle to change lanes from the current lane (ie, lane A) to the target lane (ie, lane B), and so on, until the first vehicle reaches the final target lane.

[0165] See also Figure 3 , Figure 3 The following is a schematic diagram showing an application scenario of a navigation guide line provided in the first embodiment of the present application. Figure 1 This application scenario is exemplified by taking the example that the road on which the first vehicle is traveling includes, from left to right, a first lane 310 , a second lane 320 , a third lane 330 , and a fourth lane 340 .

[0166] like Figure 3 As shown, the lane currently located by the first vehicle (i.e., the current lane) is the third lane 330 from the left, and the target lane is the first lane 310 from the left. The first vehicle can determine that the lane change direction is to change lanes to the left, and the number of lane changes is 2. At this time, the first vehicle can directly generate a navigation guide line 301 from the third lane 330 from the left to the first lane 310 from the left according to the lane change direction and the number of lane changes, to guide the first vehicle to change lanes from the third lane 330 from the left to the first lane 310 from the left.

[0167] See also Figures 4 to 6 , Figures 4 to 6The following is a schematic diagram showing an application scenario of a navigation guide line provided in the first embodiment of the present application. Figure 2 This application scenario is exemplified by taking the example that the road on which the first vehicle is traveling includes, from left to right, a first lane 410 , a second lane 420 , a third lane 430 , and a fourth lane 440 .

[0168] like Figure 4 As shown, the current lane of the first vehicle is the first lane 410 from the left, the target lane is the fourth lane 440 from the left, and the first vehicle can determine that the lane change direction is to change lanes to the right, and the number of lane changes is 3. Subsequently, the first vehicle can determine the adjacent lane (i.e., the second lane from the left) 420 of the first lane 410 from the left according to the lane change direction, and generate a navigation guide line 401 from the first lane 410 from the left to the second lane 420 from the left to guide the first vehicle to change lanes to the second lane 420 from the left.

[0169] like Figure 5 As shown, when the first vehicle changes lanes to the second lane 420 from the left, the first vehicle can determine the adjacent lane (i.e., the third lane from the left) 430 of the second lane 420 from the left according to the lane change direction, and continue to generate a navigation guide line 501 from the second lane 420 from the left to the third lane 430 from the left to guide the first vehicle to change lanes to the third lane 430 from the left.

[0170] like Figure 6 As shown, when the first vehicle changes lanes to the third lane 430 from the left, the first vehicle can determine the adjacent lane (i.e., the fourth lane from the left) 440 of the third lane 430 from the left according to the lane change direction, and continue to generate a navigation guide line 601 from the third lane 430 from the left to the fourth lane 440 from the left to guide the first vehicle to change lanes to the target lane (i.e., the fourth lane 440 from the left).

[0171] It should be noted that the embodiment of the present application does not impose any restrictions on the specific method in which the first vehicle generates the navigation guide line based on the lane change information (i.e., the lane change direction and the number of lane changes), which can be any existing method.

[0172] In some examples, the first vehicle can determine the guideline starting point, lane change starting point, lane change end point, and guideline end point based on the current location of the first vehicle and lane change information, and can generate a navigation guideline based on the guideline starting point, lane change starting point, lane change end point, and guideline end point. That is, the navigation guideline can be a route from the guideline starting point to the lane change starting point, then from the lane change starting point to the lane change end point, and then from the lane change end point to the guideline end point. Optionally, the lane change starting point can be a position point on the current lane, and the lane change end point can be a position point on the target lane.

[0173] It should be noted that the guide line starting point, lane change starting point, lane change end point and guide line end end point can be specifically determined according to the actual scenario, and the embodiments of the present application do not impose any restrictions on this.

[0174] For example, the starting point of the guide line may be a position point on the center line of the current lane whose distance from the current position of the first vehicle meets the preset requirements, the starting point of the lane change may be a position point on the center line of the current lane, the ending point of the lane change may be a position point on the center line of the target lane, and the ending point of the guide line may be a position point on the center line of the target lane. The preset requirements may be specifically determined according to the actual scenario, and the embodiments of the present application do not impose any restrictions on this. For example, the preset requirement may be that the distance is less than a preset threshold, and so on. The following will be exemplified by taking the lane change starting point as a position point on the center line of the current lane, and the lane change ending point as a position point on the center line of the target lane as an example.

[0175] It is understandable that the navigation guide line needs to be a guide line that can be displayed in the virtual image area, that is, the navigation guide line needs to be a guide line in the virtual image coordinate system corresponding to the virtual image area. Among them, the virtual image coordinate system can be a coordinate system established with the center point of the virtual image area as the coordinate origin, or it can be a coordinate system established with the upper left vertex of the virtual image area as the coordinate origin, etc. The embodiment of the present application does not impose any restrictions on this, and it can be specifically determined according to the actual scene.

[0176] In some examples, the guide line starting point, lane change starting point, lane change end point and guide line ending point determined by the first vehicle based on the lane change information may be position points in an odometer (odometer, odom) coordinate system. Therefore, in order to display the navigation guide line in the virtual image area, the first vehicle may convert the guide line starting point, lane change starting point, lane change end point and guide line ending point into the virtual image coordinate system, and may generate the navigation guide line based on the guide line starting point, lane change starting point, lane change end point and guide line ending point in the virtual image coordinate system.

[0177] Exemplarily, the first vehicle can first convert the guide line starting point (hereinafter referred to as guide line starting point A), lane change starting point (hereinafter referred to as lane change starting point A), lane change ending point (hereinafter referred to as lane change ending point A) and guide line ending point (hereinafter referred to as guide line ending point A) in the odom coordinate system to the vehicle body coordinate system according to the conversion relationship between the vehicle body coordinate system and the odom coordinate system (hereinafter referred to as conversion relationship A), and obtain the guide line starting point (hereinafter referred to as guide line starting point B), lane change starting point (hereinafter referred to as lane change starting point B), lane change ending point (hereinafter referred to as lane change ending point B) and guide line ending point (hereinafter referred to as guide line ending point B) in the vehicle body coordinate system.

[0178] Then, the first vehicle can convert the guideline starting point B, lane change starting point B, lane change ending point B, and guideline ending point B into the virtual image coordinate system according to the conversion relationship between the virtual image coordinate system and the vehicle body coordinate system (hereinafter referred to as conversion relationship B), and obtain the guideline starting point (hereinafter referred to as guideline starting point C), lane change starting point (hereinafter referred to as lane change starting point C), lane change ending point (hereinafter referred to as lane change ending point C), and guideline ending point (hereinafter referred to as guideline ending point C) in the virtual image coordinate system. Subsequently, the first vehicle can generate a navigation guideline that can be displayed in the virtual image area according to the guideline starting point C, lane change starting point C, lane change ending point C, and guideline ending point C.

[0179] Optionally, the conversion relationship A between the vehicle body coordinate system and the odom coordinate system can be expressed as a conversion matrix (hereinafter referred to as conversion matrix A). The conversion matrix A can be determined according to the calibration parameters between the vehicle body coordinate system and the odom coordinate system (hereinafter referred to as calibration parameters A). That is, the first vehicle can convert the guide line starting point A, the lane change starting point A, the lane change end point A and the guide line end point A into the vehicle body coordinate system according to the conversion matrix A to obtain the guide line starting point B, the lane change starting point B, the lane change end point B and the guide line end point B.

[0180] Similarly, the conversion relationship B between the virtual image coordinate system and the vehicle body coordinate system can also be expressed as a conversion matrix (hereinafter referred to as conversion matrix B). Among them, the conversion matrix B can be determined according to the calibration parameters between the optical machine and the vehicle body coordinate system (hereinafter referred to as calibration parameters B). That is, the first vehicle can convert the guide line starting point B, lane change starting point B, lane change end point B and guide line end point B into the virtual image coordinate system through the conversion matrix B to obtain the guide line starting point C, lane change starting point C, lane change end point C and guide line end point C, so that the navigation guide line can be displayed in the virtual image area according to the guide line starting point C, lane change starting point C, lane change end point C and guide line end point C.

[0181] It can be understood that the calibration parameter A and the calibration parameter B can be parameters determined in advance according to the actual scenario, and the embodiments of the present application do not impose any limitations on this.

[0182] In other examples, after the first vehicle determines the guide line starting point A, lane change starting point A, lane change end point A and guide line end point A in the odom coordinate system based on the lane change information, it can first generate a navigation guide line in the odom coordinate system based on the guide line starting point A, lane change starting point A, lane change end point A and guide line end point A, and can convert the navigation guide line in the odom coordinate system to the virtual image coordinate system based on the relevant conversion relationship to obtain the navigation guide line that can be displayed in the virtual image area.

[0183] For example, the first vehicle may first convert the navigation guide line in the odom coordinate system to the vehicle body coordinate system according to the conversion relationship A between the vehicle body coordinate system and the odom coordinate system, thereby obtaining the navigation guide line in the vehicle body coordinate system. Then, the first vehicle may convert the navigation guide line in the vehicle body coordinate system to the virtual image coordinate system according to the conversion relationship B between the virtual image coordinate system and the vehicle body coordinate system, thereby obtaining the navigation guide line that can be displayed in the virtual image area.

[0184] Next, S202: when the first navigation guide line meets the adjustment condition, the first vehicle moves according to the first navigation guide line. The process of determining the first intersection point is described in detail.

[0185] In some examples, the adjustment condition may include that a lane change end point in the navigation guide line is not located within the virtual image area.

[0186] In other examples, the adjustment condition may further include that there is a second intersection between the navigation guide line and the virtual image area, and the second intersection is the intersection between the first navigation guide line and the lower edge of the virtual image area. That is, the adjustment condition may include that there is a second intersection between the navigation guide line and the virtual image area, and the lane change end point in the navigation guide line is not located in the virtual image area.

[0187] It should be understood that being located within the virtual image region may include being located on an edge of the virtual image region.

[0188] Exemplarily, the second intersection point may be the intersection point between the navigation guide line and the lower edge of the virtual image area. That is, after generating the navigation guide line in the virtual image coordinate system, the first vehicle may determine whether there is an intersection point between the navigation guide line and the lower edge of the virtual image area. When there is an intersection point between the navigation guide line and the lower edge of the virtual image area, the first vehicle may obtain the intersection point (i.e., the second intersection point) between the navigation guide line and the lower edge of the virtual image area. When there is no intersection point between the navigation guide line and the lower edge of the virtual image area, the first vehicle will not be able to obtain the second intersection point.

[0189] See also Figures 7 and 8 , Figures 7 and 8 The following is a schematic diagram showing an application scenario of a navigation guide line provided in the first embodiment of the present application. Figure 3 .

[0190] like Figure 7 As shown, the optical machine can project a virtual image area 700 through the front windshield of the first vehicle. Assume that the first vehicle generates a navigation guide line 701 according to the lane change information. Therefore, the first vehicle can obtain a second intersection 702 between the navigation guide line 701 and the lower edge of the virtual image area 700.

[0191] like Figure 8As shown, the optical machine can project a virtual image area 800 through the front windshield of the first vehicle. Assume that the first vehicle generates a navigation guide line 801 according to the lane change information. Therefore, the first vehicle can determine that there is no second intersection between the navigation guide line 801 and the lower edge of the virtual image area 800.

[0192] In some examples, when there is a second intersection between the navigation guide line and the lower edge of the virtual image area, the first vehicle can determine whether the lane change end point is located in the virtual image area to determine whether the complete navigation guide line can be displayed in the virtual image area, and thus determine whether to adjust the navigation guide line so that the navigation guide line displayed in the virtual image area can indicate a complete and accurate navigation intention.

[0193] Optionally, when there is a second intersection between the navigation guide line and the lower edge of the virtual image area, and the lane change end point is located in the virtual image area, the first vehicle can determine that the complete navigation guide line can be displayed in the virtual image area, that is, the navigation guide line displayed in the virtual image area can indicate a complete and accurate navigation intention. At this time, the first vehicle can directly display the navigation guide line in the virtual image area.

[0194] Optionally, when there is a second intersection between the navigation guide line and the lower edge of the virtual image area, but the lane change end point is not located in the virtual image area, the first vehicle may determine that the navigation guide line displayed in the virtual image area is incomplete, that is, the navigation guide line displayed in the virtual image area cannot indicate a complete and accurate navigation intention. At this time, the first vehicle may adjust the navigation guide line so that the navigation guide line displayed in the virtual image area can indicate a complete and accurate navigation intention.

[0195] Exemplarily, when there is a second intersection between the navigation guide line and the lower edge of the virtual image area, and the lane change end point is not located within the virtual image area, the first vehicle can determine the first intersection based on the navigation guide line, and adjust the navigation guide line based on the first intersection, so that the navigation guide line displayed in the virtual image area can indicate a complete and accurate navigation intention.

[0196] In other embodiments, when there is no second intersection between the navigation guide line and the lower edge of the virtual image area, it indicates that the complete navigation guide line cannot be displayed in the virtual image area, that is, the navigation guide line displayed in the virtual image area cannot indicate the complete and accurate navigation intention, and the problem cannot be solved by adjusting the navigation guide line. At this time, the first vehicle may directly not display the navigation guide line in the virtual image area.

[0197] The following is a detailed description of the process in which the first vehicle determines the first intersection point according to the navigation guide line.

[0198] Exemplarily, when there is a second intersection point between the navigation guide line and the lower edge of the virtual image area, but the lane change end point is not within the virtual image area, it can indicate that the guide segment between the lane change start point and the lane change end point (hereinafter referred to as the first guide segment) cannot be fully displayed in the virtual image area. In order for the navigation guide line to be fully displayed in the virtual image area, it is necessary to adjust the first guide segment between the lane change start point and the lane change end point. Therefore, the first vehicle can determine the intersection point (i.e., the first intersection point) between the first guide segment between the lane change start point and the lane change end point and the edge of the virtual image area, so as to adjust the navigation guide line according to the first intersection point, so that the first guide segment between the lane change start point and the lane change end point can be located within the virtual image area, so that the navigation guide line displayed in the virtual image area can provide the user with complete and accurate navigation guidance.

[0199] That is to say, the first intersection point may be the intersection point between the first guide segment and the edge of the virtual image area between the lane change start point and the lane change end point. For example, the first intersection point may be the intersection point between the first guide segment and the left edge of the virtual image area, or may be the intersection point between the first guide segment and the right edge of the virtual image area, and so on.

[0200] Next, in S203, the first vehicle adjusts the navigation guide line according to the first intersection point, and displays the adjusted navigation guide line in the virtual image area. The process of navigating guide lines is described in detail.

[0201] In one example, when the first vehicle determines that there is a first intersection between the navigation guide line and the virtual image area, the lane change end point can be adjusted according to the first intersection. Subsequently, the first vehicle can adjust the navigation guide line according to the adjusted lane change end point, and can display the adjusted navigation guide line in the virtual image area, and the adjusted lane change end point is located in the virtual image area.

[0202] For example, the first vehicle may directly determine the first intersection as the adjusted lane change end point, or may determine a position point on the guidance segment of the navigation guide line in the virtual image area where the distance from the target straight line where the first intersection is located meets a preset condition, and may determine the position point as the adjusted lane change end point. The target straight line where the first intersection is located may refer to a straight line where the first intersection is located and is parallel to the current lane.

[0203] Optionally, the preset condition can be specifically determined according to the actual scene, and the embodiment of the present application does not impose any limitation on this. For example, the preset condition can be determined as a distance equal to 10 cm, 15 cm or 20 cm, etc. according to the actual scene.

[0204] Optionally, the first vehicle may adjust the guidance segment (hereinafter referred to as the third guidance segment) between the lane change starting point and the guidance line ending point of the navigation guide line according to the lane change starting point and the adjusted lane change ending point, so that the lane change ending point in the adjusted navigation guide line is within the virtual image area.

[0205] It is understandable that when adjusting the third guidance segment between the lane change starting point and the guidance line ending point of the navigation guidance line, the first vehicle can smooth the third guidance segment to ensure the presentation effect of the adjusted navigation guidance line. Among them, the embodiment of the application does not impose any restrictions on the specific method of smoothing, which can be determined according to the actual scenario.

[0206] See also Figures 9 and 10 , Figures 9 and 10 A scene diagram showing a navigation guide line provided in the first embodiment of the present application Figure 4 .

[0207] like Fig. 9 As shown, the optical machine can project a virtual image area 900 through the front windshield of the first vehicle. Assume that the first vehicle generates a navigation guide line 901 according to the lane change information. The navigation guide line 901 may include a guide line starting point 9011, a lane change starting point 9012, and a lane change end point 9013.

[0208] like Fig. 9 As shown, the first vehicle can determine that there is a second intersection 902 between the navigation guide line 901 and the lower edge of the virtual image area 900, and the lane change end point 9013 is not located in the virtual image area 900. At this time, the first vehicle can determine that the guidance section between the lane change start point 9012 and the lane change end point 9013 cannot be completely displayed in the virtual image area 900. Therefore, the first vehicle can determine the first intersection 903 between the navigation guide line 901 and the right edge of the virtual image area 900, so as to adjust the navigation guide line 901 according to the first intersection 903.

[0209] For example, Fig.10 As shown, the first vehicle can determine the adjusted lane change end point 9015 according to the first intersection 903, and according to the adjusted lane change end point 9015, adjust the guidance segment between the lane change starting point and the guidance line end point of the navigation guide line 901 to the guidance segment 9014 represented by the dotted line, so that the navigation guide line can be fully displayed in the virtual image area 900, providing the user with a complete and accurate navigation intention.

[0210] The process of adjusting the navigation guide line when the front angle of the first vehicle changes is described in detail below.

[0211] It is understandable that when the front angle of the first vehicle changes, that is, when the front direction of the first vehicle changes, the real scene environment displayed in the virtual image area will also change, resulting in changes in the navigation guide line displayed in the virtual image area. To ensure the display effect of the navigation guide line in the virtual image area, when the front angle of the first vehicle changes, the first vehicle can re-determine the second intersection point, and can re-determine whether the display of the navigation guide line needs to be adjusted based on the second intersection point and the lane change end point.

[0212] For example, when there is no re-determined second intersection point, the first vehicle may not display a navigation guide line in the virtual image area.

[0213] Exemplarily, when there is a re-determined second intersection point, but the lane change end point is not located within the virtual image area, the first vehicle can re-determine the first intersection point between the navigation guide line and the virtual image area, and can readjust the navigation guide line according to the first intersection point, so that the navigation guide line can be fully displayed within the virtual image area, thereby allowing the user to obtain clear and complete navigation intentions and improve the user experience.

[0214] For example, when there is a re-determined second intersection point and the lane change end point is located in the virtual image area, the first vehicle can determine that the current navigation guide line can be fully displayed in the virtual image area. Therefore, the first vehicle does not need to adjust the navigation guide line, that is, the current navigation guide line can be directly displayed in the virtual image area.

[0215] It should be noted that the embodiment of the present application does not impose any restrictions on the method for determining whether the vehicle head angle has changed, and it can be determined specifically according to the actual scenario. In addition, in the embodiment of the present application, when the vehicle head angle changes, the specific contents of re-determining the second intersection point and determining whether the lane change end point is located in the virtual image area, and the specific contents of adjusting the navigation guide line according to the first intersection point can refer to the above-mentioned related descriptions, and for the sake of simplicity, they will not be repeated here.

[0216] [Example 2]

[0217] It should be understood that when the first vehicle needs to turn, the navigation guide line may not be fully displayed in the virtual image area, resulting in the user being unable to obtain complete and accurate navigation intentions. In order to solve the problem that the navigation guide line is not fully displayed in the virtual image area when turning, the second embodiment of the present application provides a navigation guide display method. The navigation guide display method provided in the second embodiment of the present application will be described in detail below in conjunction with the accompanying drawings and specific application scenarios.

[0218] See also Fig.11 , Fig.11 A schematic flow chart of a navigation guidance display method provided in the second embodiment of the present application is shown. The method can be applied to a first vehicle. When the first vehicle needs to turn, the first vehicle can generate a navigation guidance line through the ARHUD to provide turning guidance for the first vehicle. Fig.11 As shown, the method may include:

[0219] S1101. A first vehicle obtains a navigation guide line, where the navigation guide line is used to guide the first vehicle to turn from a current lane to a target lane.

[0220] S1102: The first vehicle determines whether a key position in the navigation guide line is located in the virtual image area.

[0221] S1103: When the key position is located in the virtual image area, the first vehicle displays a navigation guide line in the virtual image area.

[0222] S1104: When the key position is not located in the virtual image area, the first vehicle does not display a navigation guide line in the virtual image area.

[0223] In an embodiment of the present application, when the first vehicle needs to turn, the first vehicle can obtain a navigation guide line that guides the first vehicle to turn from the current lane to the target lane, and can determine whether a key position in the navigation guide line is located in the virtual image area. When the key position in the navigation guide line is located in the virtual image area, the first vehicle can display the navigation guide line in the virtual image area. If the key position in the navigation guide line is not located in the virtual image area, the first vehicle may not display the navigation guide line in the virtual image area, so that when the first vehicle needs to turn, a complete navigation guide line can be displayed in the virtual image area, so that the user can obtain complete and accurate turning instructions, thereby improving the user experience.

[0224] The following is a detailed description of the process of S1101, the first vehicle obtaining the navigation guide line.

[0225] It is understandable that the navigation guidance display method provided in the embodiment of the present application can be applied to the scenario where the first vehicle needs to turn. That is, during the driving process of the first vehicle, when it is determined that the first vehicle needs to turn, the first vehicle can generate a navigation guidance line through the AR HUD to guide the first vehicle to turn from the current lane to the target lane. Therefore, when it is determined that the first vehicle needs to turn, the first vehicle can obtain the navigation guidance line generated by the AR HUD.

[0226] It should be noted that the embodiment of the present application does not impose any restrictions on the method of determining whether the first vehicle needs to turn, and it can be determined specifically according to the actual scenario.

[0227] For example, the first vehicle can obtain the current position of the first vehicle and the road information in front of the first vehicle through the perception system. When the first vehicle determines that the first vehicle needs to turn left (or right) at the intersection ahead based on the road information in front of the first vehicle, the first vehicle can determine the distance between the current position of the first vehicle and the intersection ahead. When the distance between the current position of the first vehicle and the intersection ahead is less than a preset distance threshold, the first vehicle can determine that it needs to turn. Among them, the preset distance threshold can be specifically determined according to the actual scenario, and the embodiments of the present application do not impose any restrictions on this.

[0228] For example, when it is determined that the first vehicle needs to turn, the first vehicle can determine the target lane (i.e., the lane after the first vehicle turns), and determine the turning information based on the current lane and the target lane. Subsequently, the first vehicle can generate a navigation guide line based on the turning information, and display the navigation guide line to guide the first vehicle to turn.

[0229] It should be understood that when displaying the navigation guide line, the first vehicle can first determine whether the first vehicle is currently located in the correct lane (i.e., the turning lane) according to the current position of the first vehicle, for example, whether it is located in the left turn lane or the right turn lane. When the first vehicle is currently located in the correct lane, the first vehicle can display the navigation guide line to guide the first vehicle to turn. When the first vehicle is not located in the correct lane, for example, when the first vehicle needs to turn right and the first vehicle is not located in the right turn lane, or when the first vehicle needs to turn left and the first vehicle is not located in the left turn lane, the first vehicle may not display the navigation guide line.

[0230] Optionally, the turning information may include a turning start point and a turning end point. Therefore, the first vehicle may generate a navigation guide line according to the current position of the first vehicle (hereinafter referred to as position A), the turning start point and the turning end point. That is, the navigation guide line may be a route from position A to the turning start point, and then from the turning start point to the turning end point.

[0231] Exemplarily, the turning start point may be a position point on the center line of the current lane, and the turning end point may be a position point on the center line of the target lane.

[0232] Optionally, the target lane may be a lane. Alternatively, the target lane may be a lane formed by multiple lanes, and the multiple lanes have the same driving direction, that is, the multiple lanes may be regarded as a wider lane, and in this case, the turning end point may be a position point on the center line of the lane. In other words, when the target lane is a lane formed by multiple lanes, the first vehicle may turn from the current lane to any lane among the multiple lanes.

[0233] Optionally, the turning start point may be a cut-off point on the center line of the current lane, and the turning end point may be an entry point on the center line of the target lane. The following is an example in which the turning start point is the cut-off point on the center line of the current lane, and the turning end point is the entry point on the center line of the target lane.

[0234] It is understandable that the navigation guide line needs to be a guide line that can be displayed in the virtual image area, that is, the navigation guide line needs to be a guide line in the virtual image coordinate system corresponding to the virtual image area. Optionally, the virtual image coordinate system can be a coordinate system established with the center point of the virtual image area as the coordinate origin, or can be a coordinate system established with the upper left vertex of the virtual image area as the coordinate origin. The embodiment of the present application does not impose any restrictions on this, and it can be determined specifically according to the actual scene.

[0235] In some examples, position A, the starting point of the turn, and the end point of the turn may be position points in the odom coordinate system. Therefore, in order to display the navigation guide line in the virtual image area, the first vehicle may convert position A, the first control point, and the end point of the turn into the virtual image coordinate system, and generate the navigation guide line based on position A, the starting point of the turn, and the end point of the turn in the virtual image coordinate system.

[0236] It can be understood that the first vehicle converts the position A, the turning starting point and the turning end point into the virtual image coordinate system, and generates the specific content of the navigation guide line according to the position A, the turning starting point and the turning end point in the virtual image coordinate system, which is similar to the aforementioned first vehicle converting the guide line starting point, the lane change starting point, the lane change end point and the guide line end point into the virtual image coordinate system, and generating the content of the navigation guide line according to the guide line starting point, the lane change starting point, the lane change end point and the guide line end point in the virtual image coordinate system. The specific content can refer to the aforementioned related description and will not be repeated here for the sake of brevity.

[0237] In some examples, after the first vehicle determines the position A, the turning start point and the turning end point in the odom coordinate system according to the turning information, it can generate a navigation guide line in the odom coordinate system, and according to the relevant conversion relationship, convert the navigation guide line in the odom coordinate system to the virtual image coordinate system to obtain a navigation guide line that can be displayed in the virtual image coordinate system. It should be understood that the relevant conversion relationship can refer to the relevant content in Example 1, which will not be repeated here.

[0238] Next, the process of S1102, the first vehicle determining whether the key position in the navigation guide line is located in the virtual image area, The program is described in detail.

[0239] In some examples, the key positions in the navigation guide line include a turn start point and a turn end point in the navigation guide line.

[0240] Exemplarily, when the turning start point and the turning end point are located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is located in the virtual image area. When the turning start point and / or the turning end point are not located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is not located in the virtual image area.

[0241] In other examples, the key positions in the navigation guide line include key turning points or turning end points.

[0242] Exemplarily, when the key turning point is located in the virtual image region, the first vehicle can determine that the key position in the navigation guide line is located in the virtual image region. When the key turning point is not located in the virtual image region, the first vehicle can determine that the key position in the navigation guide line is not located in the virtual image region.

[0243] Exemplarily, when the turning end point is located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is located in the virtual image area. When the turning end point is not located in the virtual image area, the first vehicle can determine that the key position in the navigation guide line is not located in the virtual image area.

[0244] Optionally, the key turning point is a point between the turning start point and the turning end point in the navigation guide line, that is, the key turning point can be a point on the guidance segment (hereinafter referred to as the first guidance segment) between the turning start point and the turning end point in the navigation guide line.

[0245] In one example, the first vehicle may determine a key turning point based on a turning start point and a turning end point in a navigation guide line.

[0246] Optionally, the first vehicle may determine a first intersection point based on the turning start point and the turning end point, and the first intersection point may be the intersection point between a straight line where the turning start point is located (hereinafter referred to as the first straight line) and a straight line where the turning end point is located (hereinafter referred to as the second straight line). Then, the first vehicle may determine a projection point of the first intersection point on the first guidance segment, and may determine the projection point as a key turning point. The first straight line is parallel to the current lane, and the second straight line is parallel to the target lane.

[0247] It should be understood that the projection point of the first intersection on the first guiding segment may be a perpendicular point from the first intersection to the first guiding segment, that is, may be a point on the first guiding segment with the shortest distance to the first intersection.

[0248] In other embodiments, the first vehicle may also determine whether there is an intersection (hereinafter referred to as a second intersection) between the navigation guide line and the lower edge of the virtual image area. When there is a second intersection between the navigation guide line and the lower edge of the virtual image area, the first vehicle may determine whether the key position in the navigation guide line is located in the virtual image area. When there is no second intersection between the navigation guide line and the lower edge of the virtual image area, the first vehicle may determine not to directly display the navigation guide line in the virtual image area.

[0249] Next, S1103, when the key position is located in the virtual image area, the first vehicle displays the navigation guide in the virtual image area. The process of leading the line and S1104, when the key position is not located in the virtual image area, the first vehicle does not display the leading line in the virtual image area. The process of guiding the navigation line is explained in detail.

[0250] In some examples, when the key position in the navigation guide line is not located in the virtual image area, if the navigation guide line is displayed in the virtual image area, the displayed navigation guide line will not be able to indicate a complete and accurate turning intention. Therefore, the first vehicle may not display the navigation guide line in the virtual image area to avoid the displayed navigation guide line from interfering with the user.

[0251] In other examples, when the key position in the navigation guide line is located in the virtual image area, the first vehicle can determine that the navigation guide line displayed in the virtual image area can indicate a complete and accurate turning intention. Therefore, the first vehicle can display the navigation guide line in the virtual image area to provide the user with turning guidance through the navigation guide line displayed in the virtual image area.

[0252] See also Figure 12 to Figure 13 , Figure 12 to Figure 13 A schematic diagram showing an application scenario of a navigation guide line provided in the second embodiment of the present application is shown. Figure 1 The application scenario is described by taking the example of determining whether a key position in a navigation guide line is located in a virtual image area according to a key turning point.

[0253] like Fig.12 As shown, it is assumed that the optical machine can project a virtual image area 1200 through the front windshield of the first vehicle, and the first vehicle generates a navigation guide line 1201 according to the turning information. Among them, the navigation guide line 1201 may include a turning start point 1211 and a turning end point 1212. The turning start point 1211 may be a cutoff point on the center line of the lane where the first vehicle is currently located (i.e., the current lane), and the turning end point 1212 may be an entry point (i.e., a starting point) on the center line of the target lane after the turn.

[0254] like Fig.12 As shown, the first vehicle can determine, based on the virtual image area 1200, that there is a second intersection 1202 between the navigation guide line 1201 and the lower edge of the virtual image area 1200. In addition, based on the turning start point 1211 and the turning end point 1212, the first vehicle can determine the first intersection 1203, that is, the intersection between the center line where the turning start point 1211 is located and the center line where the second control point 1212 is located, and based on the first intersection 1203 and the navigation guide line 1201, the projection point (i.e., the key turning point) 1213 of the first intersection 1203 in the first guidance segment of the navigation guide line 1201 (i.e., the guidance segment between the turning start point 1211 and the turning end point 1212) can be determined.

[0255] Then, the first vehicle may determine that the key turning point 1213 is located in the virtual image region 1200, that is, the key position in the navigation guide line 1201 may be determined to be located in the virtual image region 1200. Therefore, the first vehicle may display the navigation guide line 1201 in the virtual image region 1200.

[0256] like Fig.13 As shown, it is assumed that the optical machine can project a virtual image area 1300 through the front windshield of the first vehicle, and the first vehicle generates a navigation guide line 1301 according to the turning information. Among them, the navigation guide line 1301 may include a turning start point 1311 and a turning end point 1312. The turning start point 1311 may be a cutoff point on the center line of the lane where the first vehicle is currently located, and the turning end point 1312 may be a starting point on the center line of the lane after the turn.

[0257] like Fig.13 As shown, assuming that the first vehicle determines, based on the virtual image area 1300, that there is a second intersection between the navigation guide line 1301 and the lower edge of the virtual image area 1300, but the key turning point is not located in the virtual image area 1200, at this time, the first vehicle may not display the navigation guide line 1301 in the virtual image area 1200 to avoid the navigation guide line that cannot indicate complete and accurate navigation intentions interfering with the user, resulting in a poor user experience.

[0258] In some examples, when the key first position in the navigation guide line is located in the virtual image area, the first vehicle may determine whether the navigation guide line has been displayed in the virtual image area. When the navigation guide line has not been displayed in the virtual image area, the first vehicle may display the navigation guide line in the virtual image area. When the navigation guide line has been displayed in the virtual image area, it indicates that in the current turn guidance, the first vehicle has displayed the navigation guide line to the user through the virtual image area. At this time, the first vehicle may not display the navigation guide line in the virtual image area to avoid the navigation guide line displayed again from interfering with the user.

[0259] It should be understood that when the navigation guide line has been displayed in the virtual image area, although the first vehicle has displayed the navigation guide line to the user through the virtual image area in the current turn guidance, at this time, the first vehicle can still continue to display the navigation guide line in the virtual image area.

[0260] It should be noted that when the navigation guide line is displayed in the virtual image area, the first vehicle can obtain the current position of the first vehicle in real time, and can update the navigation guide line displayed in the virtual image area according to the current position of the first vehicle.

[0261] For example, when the first vehicle displays a navigation guide line in the virtual image area, the first vehicle can determine the display area of ​​the navigation guide line in the virtual image area to determine whether to adjust the display of the navigation guide line according to the display area. For example, it can be determined according to the display area whether the first vehicle has made a turn, etc., to determine whether the navigation guide line still needs to be displayed.

[0262] Optionally, when the display area is smaller than a preset area threshold, or the ratio between the display area and the area of ​​the virtual image region is smaller than a preset ratio, it can be determined that the first vehicle has made a turn, and at this time, the first vehicle may not display a navigation guide line in the virtual image region. The preset area threshold and the preset ratio may be specifically determined according to actual scenarios, and the embodiments of the present application do not impose any restrictions on this.

[0263] Optionally, the display area of ​​the navigation guide line in the virtual image area may refer to the area of ​​the area surrounded by the edge of the navigation guide line and the virtual image area in the virtual image area. The navigation guide line may divide the virtual image area into two areas, such as area A and area B. In addition, the navigation guide line may also divide the lower edge of the virtual image area into a lower left edge and a lower right edge. Area A may be an area including the lower left edge, and area B may be an area including the lower right edge. In other words, the edge of the enclosed area A may include the lower left edge of the virtual image area, and the edge of the enclosed area B may include the lower right edge of the virtual image area. The first vehicle may determine the area surrounded by the navigation guide line and the edge of the virtual image area according to the lane change direction indicated by the navigation guide line.

[0264] For example, when the lane change direction indicated by the navigation guide line is to change lanes to the left, the area surrounded by the navigation guide line and the edge of the virtual image area (eg, may be referred to as the first area) may be area A including the lower left edge.

[0265] For example, when the lane change direction indicated by the navigation guide line is to change lanes to the right, the first area may be area B including the lower right edge.

[0266] It should be noted that the lower left edge and the lower right edge can be determined based on the first intersection between the navigation guide line and the lower edge of the virtual image area and the left and right of the driver of the first vehicle. That is, based on the left and right of the driver of the first vehicle, the portion of the lower edge of the virtual image area located on the left side of the first intersection is the lower left edge, and the portion located on the right side of the first intersection is the lower right edge.

[0267] It should be understood that the present application embodiment does not impose any restrictions on the calculation method of the display area of ​​the navigation guide line in the virtual image area, and it can be specifically determined according to the actual scene. For example, the display area of ​​the navigation guide line in the virtual image area can be determined by integration.

[0268] See also Fig.14 , Fig.14 A schematic diagram showing an application scenario of a navigation guide line provided in the second embodiment of the present application is shown. Figure 2 .

[0269] like Fig.14 As shown, it is assumed that the optical machine can project a virtual image area 1400 through the front windshield of the first vehicle, and the first vehicle generates a navigation guide line 1401 according to the turning information. At this time, the first vehicle can determine that there is an intersection 1402 between the navigation guide line 1401 and the lower edge of the virtual image area 1400, and can determine that there is an intersection 1403 between the navigation guide line 1401 and the right edge of the virtual image area 1400. Therefore, the first vehicle can determine that the display area of ​​the navigation guide line 1401 in the virtual image area 1400 is a local area in the virtual image area 1400 (i.e. Fig.14 The area contained by the dotted line in the figure.

[0270] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0271] Corresponding to the navigation guidance display method described in the above embodiment, the embodiment of the present application further provides a navigation guidance display device, and each module of the device can correspond to each step of the navigation guidance display method.

[0272] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0273] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0274] The present application also provides a vehicle, the vehicle comprising at least one memory, at least one processor, and a computer program stored in the at least one memory and executable on the at least one processor, wherein when the processor executes the computer program, the vehicle implements the steps in any of the above-mentioned method embodiments. Figure 1 shown.

[0275] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a computer, the computer implements the steps in any of the above method embodiments.

[0276] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle, the vehicle implements the steps in any of the above-mentioned method embodiments.

[0277] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may at least include: any entity or device that can carry the computer program code to the device / vehicle, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, a computer-readable storage medium cannot be an electric carrier signal and a telecommunication signal.

[0278] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0279] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0280] In the embodiments provided in the present application, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0281] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0282] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A navigation guidance display method, characterized in that: include: Acquire a first navigation guide line, where the first navigation guide line is used to guide the first vehicle to travel from a current lane to a target lane; When the first navigation guide line meets the adjustment condition, a first intersection point is determined according to the first navigation guide line, the first intersection point being the intersection point between a first guide segment in the navigation guide line and an edge of the virtual image area, the first guide segment being the guide segment between a lane change start point and a lane change end point in the navigation guide line; The first navigation guide line is adjusted according to the first intersection point to obtain a second navigation guide line, and the second navigation guide line is displayed in the virtual image area, and the lane change end point of the second navigation guide line is located in the virtual image area.

2. The method according to claim 1, characterized in that The adjustment condition includes that the lane change end point in the first navigation guide line is not located in the virtual image area.

3. The method according to claim 2, characterized in that The adjustment condition also includes a second intersection between the first navigation guide line and the lower edge of the virtual image area.

4. The method according to any one of claims 1 to 3, characterized in that The step of adjusting the first navigation guide line according to the first intersection point to obtain a second navigation guide line includes: Determining a lane change end point of the second navigation guide line according to the first intersection point, so that the lane change end point of the second navigation guide line is located in the virtual image area; According to the lane change end point of the second navigation guide line, the first guidance segment in the first navigation guide line is adjusted to obtain the second navigation guide line.

5. The method according to any one of claims 1 to 4, characterized in that After the second navigation guide line is displayed in the virtual image area, the method further includes: detecting a front turn of the first vehicle; When the front steering direction of the first vehicle changes, determining whether the second navigation guide line satisfies the adjustment condition; When the second navigation guide line satisfies the adjustment condition, a third intersection point is determined according to the second navigation guide line, the third intersection point being the intersection point between a second guide segment in the second navigation guide line and the edge of the virtual image area, the second guide segment being the guide segment between the lane change start point and the lane change end point in the second navigation guide line; The second navigation guide line is adjusted according to the third intersection point to obtain a third navigation guide line, and the third navigation guide line is displayed in the virtual image area, and the lane change end point of the third navigation guide line is located in the virtual image area.

6. A navigation guidance display method, characterized in that: include: Obtaining a navigation guide line, where the navigation guide line is used to guide the first vehicle to turn from a current lane to a target lane; Determining whether the key position in the navigation guide line is located in the virtual image area; When the key position is located in the virtual image area, displaying the navigation guide line in the virtual image area; When the key position is not located in the virtual image area, the navigation guide line is not displayed in the virtual image area.

7. The method according to claim 6, characterized in that The key position includes a turning start point and a turning end point in the navigation guide line, and determining whether the key position in the navigation guide line is located in the virtual image area includes: Determine whether the turning start point and the turning end point in the navigation guide line are located in the virtual image area; When the turning start point and the turning end point are located within the virtual image region, determining that the key position is located within the virtual image region; When the turning start point and / or the turning end point is not located in the virtual image region, it is determined that the key position is not located in the virtual image region.

8. The method according to claim 6, characterized in that The key position includes a key turning point or a turning end point in the navigation guide line, and the key turning point is a point between a turning start point and a turning end point in the navigation guide line.

9. The method according to claim 8, characterized in that The method further comprises: Determine a first intersection point according to the turning start point and the turning end point in the navigation guide line, the first intersection point being the intersection point between a first straight line where the turning start point is located and a second straight line where the turning end point is located, the first straight line is parallel to the current lane, and the second straight line is parallel to the target lane; The key turning point is determined according to the first intersection point and a first guidance segment in the navigation guide line, wherein the first guidance segment is a guidance segment between the turning start point and the turning end point in the navigation guide line.

10. The method according to claim 9, characterized in that The determining the key turning point according to the first intersection point and the first guidance segment in the navigation guide line includes: A projection point of the first intersection point on the first guidance segment is determined, and the projection point is determined as the key turning point.

11. The method according to any one of claims 6 to 10, characterized in that The determining whether the key position in the navigation guide line is located in the virtual image area includes: When there is a second intersection between the navigation guide line and the edge of the virtual image area, it is determined whether the key position in the navigation guide line is located in the virtual image area, and the second intersection is the intersection between the navigation guide line and the lower edge of the virtual image area.

12. The method according to claim 11, characterized in that The method further comprises: When there is no second intersection point between the navigation guide line and the virtual image area, the navigation guide line is not displayed in the virtual image area.

13. The method according to any one of claims 1 to 12, characterized in that After displaying the navigation guide line in the virtual image area, the method further includes: Determine a first area in the virtual image area according to the navigation guide line, wherein the navigation guide line divides the lower edge of the virtual image area into a lower left edge and a lower right edge, and divides the virtual image area into the first area and a second area, and the lower edge of the virtual image area included in the first area is determined according to the turning direction indicated by the navigation guide line; When the area of ​​the first region is smaller than a preset area threshold, or when the ratio between the area of ​​the first region and the area of ​​the virtual image region is smaller than a preset ratio, the navigation guide line is not displayed in the virtual image region.

14. A vehicle-mounted device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the vehicle-mounted device implements the navigation guidance display method according to any one of claims 1 to 5 or claims 6 to 13.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a computer, the computer is enabled to implement the navigation guidance display method according to any one of claims 1 to 5 or claims 6 to 13.

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