Vehicle driving picture processing method and device, vehicle-mounted HMI equipment and vehicle

Abstract

The invention discloses a vehicle driving picture processing method and device, vehicle-mounted HMI equipment and a vehicle. The method comprises the steps that driving parameters of the vehicle and the refresh cycle of the vehicle-mounted HMI equipment for each frame of driving picture are obtained; obtaining lane line elements; obtaining a state offset of the lane line element according to the driving parameter and the refresh cycle; and controlling the lane line elements to move according to the driving parameters and the state offset. When the method is adopted to process the vehicle driving picture, the dependence on high-precision map data can be eliminated, the data processing calculation amount is effectively reduced, and the application universality is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle driving picture processing method and device, a vehicle-mounted HMI device and a vehicle. Background Art

[0002] At present, when the on-board HMI (Human Machine Interface) device in the autonomous driving car displays the vehicle driving picture, the position data required for the obstacles and lane lines around the vehicle are obtained through the position of the vehicle, that is, the position of the vehicle is defaulted to the origin of the vehicle coordinate system to obtain the position coordinates of the obstacles and the lane lines in the vehicle coordinate system, so that the vehicle driving picture conforms to the actual vehicle driving situation. However, in the above method, the vehicle coordinate system mainly relies on high-precision map data for calculation. The calculation process involves both the coordinate conversion between the vehicle coordinate system and the map coordinate system, and the position conversion between the lane line and the vehicle. The calculation process is relatively complicated, and for scenes where high-precision map data cannot be used, this display method also has certain limitations. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to propose a vehicle driving picture processing method, which can get rid of the dependence on high-precision map data when processing vehicle driving pictures, effectively reduce the amount of data processing calculations, and improve the wide application.

[0004] A second objective of the present invention is to provide a vehicle driving picture processing device.

[0005] A third objective of the present invention is to provide a computer-readable storage medium.

[0006] A fourth objective of the present invention is to provide a vehicle-mounted HMI device.

[0007] A fifth object of the present invention is to provide a vehicle.

[0008] In order to solve the above problems, an embodiment of the first aspect of the present invention provides a vehicle driving picture processing method for a vehicle-mounted HMI device, the method comprising: obtaining the vehicle's driving parameters and the refresh cycle of the vehicle-mounted HMI device for each frame of the driving picture; obtaining lane line elements; obtaining the state offset of the lane line elements according to the driving parameters and the refresh cycle; and controlling the movement of the lane line elements according to the driving parameters and the state offset.

[0009] According to the vehicle driving picture processing method of the embodiment of the present invention, the state offset of the lane line element is obtained through the vehicle's driving parameters and the refresh cycle of the on-board HMI device for each frame of the driving picture, so as to control the movement of the lane line element by the driving parameters and the state offset. That is to say, for the driving picture displayed by the on-board HMI device, when the vehicle remains stationary in the picture, the lane line element is prompted to move in the driving picture based on the driving parameters and the state offset, thereby visually presenting to the user a frame driving picture in which the vehicle moves relative to the lane line element. Moreover, this method does not involve the use of a coordinate system, thereby getting rid of the dependence on high-precision map data, effectively reducing the amount of data processing calculations, and is also suitable for various application scenarios, such as scenarios where high-precision map data cannot be used, effectively improving the breadth of application.

[0010] In some embodiments, the driving parameters include driving speed, and obtaining the state offset of the lane line element according to the driving parameters and the refresh cycle includes: taking the product value of the driving speed and the refresh cycle as the state offset of the lane line element in the current frame driving picture displayed by the in-vehicle HMI relative to the lane line element in the previous frame driving picture displayed by the in-vehicle HMI.

[0011] In some embodiments, the driving parameters also include a driving direction, and the movement of the lane line element is controlled according to the driving parameters and the state offset, including: obtaining a preset initial state of the lane line element; accumulating the state offset of each frame of the driving picture to obtain an accumulated offset; and controlling the lane line element to move along the driving direction according to the accumulated offset based on the preset initial state.

[0012] In some embodiments, along the driving direction, the lane line element is controlled to move according to the accumulated offset on the basis of the preset initial state, including: if it is determined that the accumulated offset has not reached the preset offset, the lane line element is controlled to take the preset initial state as the starting point and move the accumulated offset in the direction opposite to the driving direction; if it is determined that the accumulated offset has reached the preset offset, the lane line element is controlled to restore to the preset initial state and the accumulated offset is cleared.

[0013] In some embodiments, obtaining lane line elements includes: obtaining lane line data of the road on which the vehicle is currently traveling; fitting the lane line according to the lane line data to obtain a lane line equation; discretizing the lane line equation to obtain a lane line discrete point set; and generating the lane line elements according to the lane line discrete point set.

[0014] In some embodiments, the lane line discrete point set includes a discrete point set of virtual lane line elements, and discretizing the lane line equation to obtain the lane line discrete point set includes: obtaining vehicle elements; taking the position of the vehicle in the driving picture as a reference point, and discretizing the lane line equation according to a preset step size to obtain the discrete point set of the virtual lane line elements.

[0015] The second aspect of the present invention provides a vehicle driving picture processing device, including: a first acquisition unit, used to acquire the vehicle's driving parameters and the refresh cycle of the on-board HMI device for each frame of the driving picture; a second acquisition unit, used to acquire lane line elements; a third acquisition unit, used to obtain the state offset of the lane line element according to the driving parameters and the refresh cycle; a control unit, used to control the movement of the lane line element according to the driving parameters and the state offset.

[0016] According to the vehicle driving picture processing device of the embodiment of the present invention, the state offset of the lane line element is obtained through the vehicle driving parameters and the refresh cycle of the on-board HMI device for each frame of the driving picture, so as to control the movement of the lane line element by the driving parameters and the state offset. That is to say, for the driving picture displayed by the on-board HMI device, when the vehicle remains stationary in the picture, the lane line element is prompted to move in the driving picture based on the driving parameters and the state offset, thereby visually presenting to the user a frame driving picture in which the vehicle moves relative to the lane line element. Moreover, this method does not involve the use of a coordinate system, thereby getting rid of the dependence on high-precision map data, effectively reducing the amount of data processing calculations, and is also suitable for various application scenarios, such as scenarios where high-precision map data cannot be used, effectively improving the breadth of application.

[0017] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle driving picture processing method described in the above embodiment.

[0018] A fourth aspect of the present invention provides a vehicle-mounted HMI device, comprising: at least one processor; a memory communicatively connected to at least one of the processors; wherein the memory stores a computer program executable by at least one of the processors, and when at least one of the processors executes the computer program, the vehicle driving picture processing method described in the above embodiment is implemented.

[0019] According to the in-vehicle HMI device of the embodiment of the present invention, when processing vehicle driving images, it can get rid of the dependence on high-precision map data, effectively reduce the amount of data processing calculations, and improve the wide application.

[0020] A fifth aspect of the present invention provides a vehicle, comprising the vehicle-mounted HMI device described in the above embodiment.

[0021] The vehicle according to the embodiment of the present invention can get rid of the dependence on high-precision map data when processing the vehicle driving picture through the vehicle-mounted HMI device of the above embodiment, effectively reduce the amount of data processing calculation, and improve the wide application.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 is a flow chart of a vehicle driving picture processing method according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of vehicle driving picture processing according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of vehicle driving picture processing according to another embodiment of the present invention;

[0027] Figure 4 is a structural block diagram of a vehicle driving picture processing device according to an embodiment of the present invention;

[0028] Figure 5 is a structural block diagram of a vehicle-mounted HMI device according to an embodiment of the present invention;

[0029] Figure 6 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0030] Reference numerals:

[0031] Vehicle driving picture processing device 10; vehicle-mounted HMI device 20; vehicle 30;

[0032] First acquisition unit 1; generation unit 2; second acquisition unit 3; control unit 4; processor 5; memory 6. DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0034] In order to solve the above problems, the first embodiment of the present invention provides a method for processing vehicle driving images. When using this method to process vehicle driving images, the dependence on high-precision map data can be eliminated, the amount of data processing calculations can be effectively reduced, and the wide application can be improved.

[0035] Reference below Figure 1 The vehicle driving picture processing method according to an embodiment of the present invention is described. In the embodiment, the method of the present application is used for an in-vehicle HMI device, such as Figure 1 As shown, the method at least includes: step S1 to step S3.

[0036] Step S1, obtaining the driving parameters of the vehicle and the refresh cycle of the vehicle-mounted HMI device for each frame of the driving picture.

[0037] Specifically, the driving parameters may include data such as the vehicle's driving speed, driving direction or heading angle that can reflect the changes in the vehicle's driving conditions, and there is no restriction on this. This application does not limit the method of obtaining the vehicle's driving parameters and lane line data. For example, for the method of obtaining driving parameters, relevant sensors can be set on the vehicle for real-time collection, and the vehicle-mounted HMI device obtains the driving parameters of the current vehicle from the sensor. The refresh cycle for each frame of the driving picture can be understood as the time interval between the refresh time of the previous frame of the driving picture and the refresh time of the current frame of the driving picture. The refresh cycle can be a fixed value pre-set according to actual conditions, or the vehicle-mounted HMI device can be pre-set to support multiple refresh cycles. The user selects a refresh cycle according to their own needs, and there is no restriction on this. For example, taking the version level of the vehicle-mounted HMI device as an example, the lower the version level, the larger the refresh cycle it supports, and the lower the refresh frequency of the driving picture; the higher the version level, the smaller the refresh cycle it supports, and the higher the refresh frequency of the driving picture.

[0038] Step S2, obtaining lane line elements.

[0039] In an embodiment, the vehicle-mounted HMI device is used to display the vehicle's driving picture in real time, and the acquired lane line elements can be presented in the driving picture for the user to observe. In addition, the driving picture also presents the vehicle elements, so that when the user observes the driving picture, he can accurately know the actual driving situation of the vehicle through the status of the vehicle elements and lane line elements in the driving picture.

[0040] For example, lane line elements can be drawn by capturing an image of the actual lane line in real time; alternatively, lane line elements can be pre-set in consideration of road conditions before leaving the factory and saved to an onboard HMI device for easy retrieval and use, and there is no restriction on this.

[0041] Step S3, calculating and obtaining the state offset of the lane line element according to the driving parameters and the refresh cycle.

[0042] Specifically, in order to make the in-vehicle HMI device present a driving picture that conforms to the actual driving effect of the vehicle, the present application no longer reflects the driving effect in a manner in which the lane line remains stationary while the vehicle moves. Instead, the state offset of the lane line element is calculated in combination with the vehicle's driving parameters and refresh cycle, so that the lane line element can be subsequently caused to move forward, backward, left or right in the driving picture through the state offset. Thus, by adopting a method in which the vehicle remains stationary while the lane line moves in the opposite direction relative to the vehicle, a frame driving picture in which the vehicle moves relative to the lane line element is visually presented to the user, thereby achieving the vehicle driving effect of the in-vehicle HMI device as a whole.

[0043] In order to accurately obtain the state offset, the calculation can be performed based on the driving parameters collected in the refresh cycle. For example, one sampling time or multiple sampling times can be set in each refresh cycle, and the driving parameters collected at one sampling time can be used to calculate the state offset; or the driving parameters collected at multiple sampling times can be used to determine the driving parameters that are ultimately used to calculate the state offset, such as averaging the driving parameters collected at multiple sampling times to determine the driving parameters that are ultimately used to calculate the state offset.

[0044] Step S4, controlling the movement of lane line elements according to the driving parameters and the state offset.

[0045] When displaying the vehicle driving picture, the existing vehicle-mounted HMI device obtains the vehicle coordinate system through high-precision map data, and then uses the origin of the vehicle coordinate system, that is, the position of the vehicle, to obtain the position coordinates of the obstacle and the lane line in the vehicle coordinate system. This method is dependent on high-precision map data, and the calculation process is relatively complicated. In addition, for scenarios where high-precision map data cannot be used, this display method also has certain limitations. In order to solve this problem, in the present application, the vehicle-mounted HMI device controls the movement of lane line elements through driving parameters and state offsets, such as adjusting the lane line elements to move forward, backward, left or right in the driving picture, so that the vehicle driving forward, reversing, driving to the right or driving to the left is displayed on the vehicle-mounted HMI device accordingly. Moreover, the driving picture is processed by driving parameters and state offsets, and the processing process does not involve the use of coordinate systems, thereby getting rid of the dependence on high-precision map data, effectively reducing the amount of data processing calculations, and is also suitable for various application scenarios such as scenarios where high-precision map data cannot be used, effectively improving the breadth of application.

[0046] According to the vehicle driving picture processing method of the embodiment of the present invention, the state offset of the lane line element is obtained through the vehicle's driving parameters and the refresh cycle of the on-board HMI device for each frame of the driving picture, so as to control the movement of the lane line element by the driving parameters and the state offset. That is to say, for the driving picture displayed by the on-board HMI device, when the vehicle remains stationary in the picture, the lane line element is prompted to move in the driving picture based on the driving parameters and the state offset, thereby visually presenting to the user a frame driving picture in which the vehicle moves relative to the lane line element. Moreover, this method does not involve the use of a coordinate system, thereby getting rid of the dependence on high-precision map data, effectively reducing the amount of data processing calculations, and is also suitable for various application scenarios, such as scenarios where high-precision map data cannot be used, effectively improving the breadth of application.

[0047] In some embodiments, the driving parameters include a driving speed, and the state offset of the lane line element is obtained according to the driving parameters and the refresh cycle, including: taking the product value of the driving speed V and the refresh cycle T as the state offset Delta of the lane line element in the current frame driving picture displayed by the on-board HMI relative to the lane line element in the previous frame driving picture displayed by the on-board HMI, which can be expressed as Delta = V*T, thereby combining the refresh speed of the frame driving picture played by the on-board HMI, and offsetting the lane line element by the state offset to cause the lane line element to move in the driving picture, thereby obtaining a frame driving picture in which the vehicle moves relative to the lane line element, so as to visually present the effect of dynamic vehicle driving to the user, so that the display of the lane line is more in line with the actual scene.

[0048] In some embodiments, the driving parameters include a driving direction, and the movement of lane line elements is controlled according to the driving parameters and a state offset, including: obtaining a preset initial state of the lane line element; accumulating the state offset of each frame of the driving picture to obtain an accumulated offset; and controlling the lane line element to move along the driving direction according to the accumulated offset based on the preset initial state.

[0049] Specifically, if the state of the lane line element in the initial frame driving picture is used as the preset initial state, the vehicle-mounted HMI device calculates the state offset of the lane line element according to the vehicle's driving speed and refresh cycle during the driving process, and then accumulates the state offset of each frame of the driving picture to obtain the accumulated offset, and controls the lane line element to move on the basis of the preset initial state according to the accumulated offset along the driving direction, so that the vehicle-mounted HMI device displays the frame picture of the vehicle moving relative to the lane line element, that is, each frame of the picture is continuously displayed in the vehicle-mounted HMI device to present the effect of keeping the position of the vehicle fixed and the vehicle driving relative to the lane line element. Therefore, in this application, each frame of the driving picture is obtained by reversely offsetting the lane line element as a whole by accumulating the offset, so that each frame of the driving picture is continuously displayed in the vehicle-mounted HMI device to form a moving lane line element, so that the lane line element achieves the effect of continuous retreat or advancement, so that the user can visually present the effect of dynamic vehicle driving when displayed, and can adjust the speed of the lane line movement according to the driving speed of the vehicle, so that the display of the lane line is more in line with the actual scene.

[0050] In some embodiments, along the driving direction, the lane line element is controlled to move based on the preset initial state according to the accumulated offset, including: if it is determined that the accumulated offset does not reach the preset offset, the lane line element is controlled to move the accumulated offset in the direction opposite to the driving direction starting from the preset initial state; if it is determined that the accumulated offset reaches the preset offset, the lane line element is controlled to return to the preset initial state and the accumulated offset is cleared.

[0051] Specifically, the preset offset can be understood as the preset offset of the lane line element in the current frame driving picture after multiple moves and the lane line element in the preset initial state, that is, the lane line element in the initial frame driving picture before the move. Figure 3As shown, the first frame driving picture, that is, the initial frame driving picture before moving, contains four lane line elements arranged along the driving direction. When the lane line elements are subsequently controlled to move, the offset when the first lane line element is moved to coincide with the second lane line element is used as the preset offset. Based on this, the vehicle-mounted HMI device determines whether the accumulated offset reaches the preset offset to determine whether the lane line element in the current frame driving picture coincides with the lane line element in the initial frame driving picture after moving the accumulated offset. If it is determined that the accumulated offset does not reach the preset offset, that is, the accumulated offset is less than the preset offset, then it means that when If the lane line elements in the previous frame driving picture do not overlap with the lane line elements in the initial frame driving picture, the lane line elements are controlled to move from the preset initial state in the opposite direction of the driving direction by the accumulated offset to obtain the current frame driving picture; if it is determined that the accumulated offset reaches the preset offset, that is, the accumulated offset is greater than or equal to the preset offset, it means that the lane line elements in the current frame driving picture overlap with the preset initial state of the lane line elements after movement, then the lane line elements are controlled to return to the preset initial state, and the accumulated offset is cleared, so as to control the translation of the lane line elements by the recalculated accumulated offset to obtain the current frame driving picture. Therefore, in this application, each frame of driving picture is obtained by the above method, that is, each frame of driving picture is obtained by accumulating the offset to offset the lane line element as a whole, so that each frame of driving picture is continuously displayed in the vehicle-mounted HMI device to form a moving lane line element, so that the lane line element can achieve the effect of continuous retreat or advancement, so that the user can visually present the effect of dynamic vehicle driving when displayed, and can adjust the speed of lane line movement according to the driving speed of the vehicle, so that the display of lane line is more in line with the actual scene.

[0052] For example, Figure 2As shown, the lane line elements are two dotted lines, and the dotted lines are composed of line segments with equal intervals and the same length. When the line segment composed of P17 and P16 moves 2XSTEP in the negative direction, the line segment composed of P17 and P16 coincides with the line segment composed of P15 and P14. That is to say, the state of the lane line elements in the initial frame driving picture is used as the preset initial state. When the lane line elements in the current frame driving picture move 2XSTEP compared with the lane line elements in the initial frame driving picture, the current frame driving picture is consistent with the initial frame driving picture. Based on this preset offset, it is set to 2XSTEP, and by judging whether the accumulated offset of each frame driving picture reaches the preset offset, it is judged whether the current frame driving picture coincides with the initial frame driving picture. If it is determined that the accumulated offset does not reach the preset offset, at this time This means that the lane line elements in the current frame driving picture do not overlap with the lane line elements in the initial frame driving picture, so the lane line elements are controlled to move the accumulated offset from the preset initial state in the direction opposite to the driving direction to obtain the current frame driving picture, that is, the lane line elements in the initial frame driving picture are moved in the direction opposite to the driving direction by the accumulated offset to obtain the current frame driving picture; if it is determined that the accumulated offset reaches the preset offset, then it means that the lane line elements in the current frame driving picture overlap with the lane line elements in the initial frame driving picture, so the lane line elements are controlled to return to the preset initial state, that is, the initial frame driving picture is used as the current frame driving picture, and the accumulated offset is cleared, so as to obtain the current frame driving picture by controlling the translation of the lane line elements through the recalculated accumulated offset. Therefore, in this application, each frame of driving picture is obtained by the above method, that is, each frame of driving picture is obtained by accumulating the offset to offset the lane line element as a whole, so that each frame of driving picture is continuously displayed in the vehicle-mounted HMI device to form a moving lane line element, so that the lane line element can achieve the effect of continuous retreat or advancement, so that the user can visually present the effect of dynamic vehicle driving when displayed, and can adjust the speed of lane line movement according to the driving speed of the vehicle, so that the display of lane line is more in line with the actual scene.

[0053] The following takes the lane line element as a dotted line as an example for explanation, assuming that the first frame driving picture is the initial frame driving picture, and the state of the lane line element in the first frame driving picture is the preset initial state of the lane line element. If the state offset of the lane line element in the second frame driving picture relative to the lane line element in the first frame driving picture is Delta1, then the accumulated offset of the second frame driving picture relative to the first frame driving picture is Offset+=Delta1, and it is determined whether the accumulated offset reaches the preset offset. If it is determined that the accumulated offset does not reach the preset offset, the lane line element is controlled to move the accumulated offset from the preset initial state in the direction opposite to the driving direction, that is, the first frame driving picture is moved to the lane line element in the first frame driving picture. The lane line elements in the first frame driving picture are moved in the direction opposite to the driving direction by the accumulated offset to obtain the second frame driving picture; if the state offset of the lane line elements in the third frame driving picture relative to the lane line elements in the second frame driving picture is Delta2, then the accumulated offset of the third frame driving picture relative to the first frame driving picture is Offset+=Delta1+Delta2, and it is determined whether the accumulated offset reaches the preset offset. If it is determined that the accumulated offset does not reach the preset offset, the lane line elements are controlled to move in the direction opposite to the driving direction from the preset initial state by the accumulated offset, that is, the lane line elements in the first frame driving picture are moved in the direction opposite to the driving direction by the accumulated offset. The third frame of driving picture is obtained by the offset; the state offset of the lane line element in the fourth frame of driving picture relative to the lane line element in the third frame of driving picture is Delta3, then the accumulated offset of the fourth frame of driving picture relative to the first frame of driving picture is Offset+=Delta1+Delta2+Delta3, and it is determined whether the accumulated offset reaches the preset offset. If it is determined that the accumulated offset does not reach the preset offset, the lane line element is controlled to move the accumulated offset from the preset initial state in the direction opposite to the driving direction, that is, the lane line element in the first frame of driving picture is moved in the direction opposite to the driving direction by the accumulated offset to obtain the fourth frame of driving picture; if the fifth frame of driving picture The state offset of the lane line element in the driving picture relative to the lane line element in the fourth frame driving picture is Delta4, then the cumulative offset of the fifth frame driving picture relative to the first frame driving picture is Offset+=Delta1+Delta2+Delta3+Delta4, and it is determined whether the cumulative offset reaches the preset offset. If it is determined in the fifth frame driving picture that the cumulative offset is greater than the preset offset, the fifth frame driving picture is the same as the first frame driving picture, then the state of the lane line element is controlled to be restored to the preset initial state, and the cumulative offset is cleared, and then each frame driving picture is obtained by controlling the translation of the lane line element through the recalculated cumulative offset.

[0054] Based on this, the second frame driving picture, the third frame driving picture, the fourth frame driving picture, and the fifth frame driving picture are obtained. The state of the lane line element in the first frame driving picture is used as the preset initial state, and the state offset of the lane line element is calculated according to the vehicle's driving speed and refresh cycle. The state offset of each frame driving picture is accumulated to obtain the accumulated offset, and the lane line element is controlled to move in the direction opposite to the driving direction based on the preset initial state according to the accumulated offset to obtain each frame driving picture, that is, the second frame driving picture, the third frame driving picture, the fourth frame driving picture, and the fifth frame driving picture are obtained, such as Figure 3 As shown, the dashed line A, i.e., the lane line element, in each frame of the driving picture is offset in the opposite direction of the driving direction of the vehicle. Therefore, in this application, each frame of the driving picture is obtained by accumulating the offset to offset the lane line element in the opposite direction, so that each frame of the driving picture is continuously displayed in the vehicle-mounted HMI device to form a moving lane line element, so that the lane line element can achieve the effect of continuous retreat or advancement, so that the user can visually present the effect of dynamic vehicle driving, and can adjust the speed of the lane line movement according to the driving speed of the vehicle, so that the display of the lane line is more in line with the actual scene.

[0055] In some embodiments, the lane line data of the road on which the vehicle is currently traveling is obtained; the lane line is fitted according to the lane line data to obtain a lane line equation; the lane line equation is discretized to obtain a lane line discrete point set; and a lane line element is generated according to the lane line discrete point set. That is, when the vehicle obtains the lane line data, wherein the lane line data includes polynomial coefficients, that is, the polynomial coefficients of the lane line equation corresponding to the lane line are obtained, the lane line is fitted into the lane line equation using the lane line data, the lane line equation is discretized to obtain lane line discrete points, and then the lane line discrete points constitute a lane line discrete set, and then the corresponding lane line element is generated according to the lane line discrete point set.

[0056] To obtain lane line data, a camera installed on the vehicle can be used to capture the lane line image of the road the vehicle is currently traveling on, and the vehicle can analyze the lane line image to obtain the lane line data, wherein the lane line data may include the lane line type, polynomial coefficients, lane line length, lane line width, etc., and there is no restriction on this.

[0057] In some embodiments, the lane line discrete point set includes a discrete point set of virtual lane line elements, and the lane line equation is discretized to obtain the lane line discrete point set, including: obtaining vehicle elements; using the position of the vehicle element in the driving picture as a reference point, and discretizing the lane line equation according to a preset step size to obtain a discrete point set of virtual lane line elements.

[0058] Specifically, in order to make the lane line achieve a stable and continuous backward or forward effect, a better motion effect can be obtained by optimizing the virtual lane line segmentation. In this application, the lane line equation is discretized by a preset step size to obtain a discrete point set of the virtual lane line, and the lane line element is generated using the discrete point set. That is, the position of the vehicle element in the driving picture is used as the reference point, that is, the actual distance value of the vehicle element on the x-axis in the vehicle coordinate system is 0 as the reference point, such as Figure 2 As shown, in the vehicle coordinate system, the dashed line where x=0 is taken as the reference line, and the lane line equation is discretized according to the preset step size XSTEP, that is, the reference line is taken as the starting position and a series of actual distance values ​​of the x-axis are selected according to the preset step size XSTEP, such as -n*XSTEP, -(n-1)*XSTEP, ..., -2*XSTEP, -XSTEP, 0, XSTEP, 2*XSTEP, ..., (m-1)*XSTEP, m*XSTEP, and the y axis is obtained by calculating the lane line equation. The actual distance value of the axis is used to calculate the discrete points of the virtual lane line, such as pn(-n*XSTEP, y(-n*XSTEP)), pn-1(-(n-1)*XSTEP, y(-(n-1)*XSTEP)), 0, ..., pm-1((m-1)*XSTEP, y((m-1)*XSTEP)), pm(m*XSTEP, y(m*XSTEP)), and all the discrete points of the virtual lane line are formed into a discrete point set, and then the lane line elements are drawn using the discrete point set. Therefore, in this application, the position of the vehicle element in the driving picture is used as a reference point to calculate the discrete point set of the virtual lane line element, and the required lane line is generated using the discrete point set, which can solve the position jitter problem caused by drawing ordinary dotted line segments with X_START as the reference point, so that the lane line can achieve a stable and continuous backward or forward effect, thereby visually presenting a more continuous and stable vehicle driving effect to the user when displayed.

[0059] For example, Figure 2 As shown in the figure, when the actual distance value of the x-axis is 0, the actual distance value of the y-axis is calculated by the lane line equation, and the actual distance values ​​of the x-axis and y-axis constitute the lane line discrete points in the vehicle coordinate system, that is, Figure 2The discrete points on the lane line at the dotted line position where 0 is located in the middle are P36 and P16, and then the position of the vehicle element in the driving picture is used as the reference point, that is, the dotted line where x=0 of the vehicle element in the self-vehicle coordinate system is used as the starting position, and a series of actual distance values ​​of the x-axis are selected along the negative direction of the x-axis according to the preset step size XSTEP. Based on this, when the actual distance value of the x-axis is -XSTEP, the discrete points on the lane line at the dotted line position where -XSTEP is located are P35 and P15 calculated by the lane line equation; when the actual distance value of the x-axis is -2XSTEP, the corresponding discrete points at the dotted line position where -2*XSTEP is located are P34 and P14 calculated by the lane line equation; when the actual distance value of the x-axis is -2XSTEP, the corresponding discrete points at the dotted line position where -2*XSTEP is located are P34 and P14 calculated by the lane line equation; When the distance value is -3XSTEP, the discrete points on the lane line at the dotted line position of -3*XSTEP calculated by the lane line equation are P33 and P13; when the actual distance value of the x-axis is -4XSTEP, the discrete points corresponding to the dotted line position of -4*XSTEP calculated by the lane line equation are P32 and P12; when the actual distance value of the x-axis is -5XSTEP, the discrete points corresponding to the dotted line position of -5*XSTEP calculated by the lane line equation are P31 and P11; when the actual distance value of the x-axis is X_START, the discrete points corresponding to the dotted line position of X_START calculated by the lane line equation are P30 and P10.

[0060] Then, taking the dotted line where x=0 as the starting position, a series of actual distance values ​​of the x-axis are selected in the positive direction of the x-axis according to the preset step size XSTEP. For example, the actual distance value of the x-axis is XSTEP, and the lane line equation is used to calculate the discrete points P37 and P17 on the lane line at the dotted line position where XSTEP is located; when the actual distance value of the x-axis is 2XSTEP, the lane line equation is used to calculate the corresponding discrete points P38 and P18 at the dotted line position where 2*XSTEP is located; when the actual distance value of the x-axis is 3XSTEP, the lane line equation is used to calculate the discrete points P39 and P19 at the dotted line position where 3*XSTEP is located; when the actual distance value of the x-axis is 4XSTEP, the lane line equation is used to calculate the corresponding discrete points P40 and P20 at the dotted line position where 4*XSTEP is located; when the actual distance value of the x-axis is X_END, the lane line equation is used to calculate the corresponding discrete points P41 and P21 at the dotted line position where X_END is located.

[0061] Exemplarily, the discrete points of all the above virtual lane line elements are formed into a discrete point set, and then the discrete point set is used to draw two black virtual lane line elements, such as Figure 2As shown, discrete points P30 and P31 are connected to form a corresponding line segment; discrete points P32 and P33 are connected to form a corresponding line segment; discrete points P34 and P35 are connected to form a corresponding line segment; discrete points P36 and P37 are connected to form a corresponding line segment; discrete points P38 and P39 are connected to form a corresponding line segment; discrete points P40 and P41 are connected to form a corresponding line segment, thereby forming a virtual lane line element; and discrete points P10 and P11 are connected to form a corresponding line segment. P11 is connected to form a corresponding line segment; and discrete points P12 and discrete points P13 are connected to form a corresponding line segment; and discrete points P14 and discrete points P15 are connected to form a corresponding line segment; and discrete points P16 and discrete points P17 are connected to form a corresponding line segment; and discrete points P18 and discrete points P19 are connected to form a corresponding line segment; and discrete points P20 and discrete points P21 are connected to form a corresponding line segment, thereby forming a virtual lane line element, thereby drawing two black virtual lane line elements by using the discrete point set of the virtual lane line.

[0062] A second aspect of the present invention provides a vehicle driving picture processing device 10, such as Figure 4 As shown, the vehicle driving picture processing device 10 includes: a first acquisition unit 1, a second acquisition unit 2, a third acquisition unit 3 and a control unit 4.

[0063] Among them, the first acquisition unit 1 is used to obtain the vehicle's driving parameters and the refresh cycle of the on-board HMI device for each frame of the driving picture; the second acquisition unit 2 is used to obtain the lane line element; the third acquisition unit 3 is used to obtain the state offset of the lane line element according to the driving parameters and the refresh cycle; the control unit 4 is used to control the movement of the lane line element according to the driving parameters and the state offset.

[0064] It should be noted that the specific implementation method of the vehicle driving picture processing device 10 of the embodiment of the present invention is similar to the specific implementation method of the vehicle driving picture processing method of any of the above-mentioned embodiments of the present invention. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

[0065] According to the vehicle driving picture processing device 10 of the embodiment of the present invention, the state offset of the lane line element is obtained through the driving parameters of the vehicle and the refresh cycle of the on-board HMI device for each frame of the driving picture, so as to control the movement of the lane line element by the driving parameters and the state offset. That is to say, for the driving picture displayed by the on-board HMI device, when the vehicle remains stationary in the picture, the lane line element is prompted to move in the driving picture based on the driving parameters and the state offset, thereby visually presenting to the user a frame driving picture of the vehicle moving relative to the lane line element. Moreover, this method does not involve the use of a coordinate system, thereby getting rid of the dependence on high-precision map data, effectively reducing the amount of data processing calculations, and is also suitable for various application scenarios, such as scenarios where high-precision map data cannot be used, effectively improving the breadth of application.

[0066] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the vehicle driving picture processing method of the above embodiment is implemented.

[0067] A fourth aspect of the present invention provides a vehicle-mounted HMI device 20, such as Figure 5 As shown, the vehicle-mounted HMI device 20 includes: at least one processor 5 and a memory 6 communicatively connected to the at least one processor 5 .

[0068] The memory 6 stores a computer program that can be executed by at least one processor 5 , and when at least one processor 5 executes the computer program, the vehicle driving picture processing method of the above embodiment is implemented.

[0069] It should be noted that the specific implementation method of the vehicle-mounted HMI device 20 in the embodiment of the present invention is similar to the specific implementation method of the vehicle driving picture processing method in any of the above-mentioned embodiments of the present invention. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

[0070] According to the vehicle-mounted HMI device 20 of the embodiment of the present invention, when processing vehicle driving images, it can get rid of the dependence on high-precision map data, effectively reduce the amount of data processing calculations, and improve the wide application.

[0071] A fifth aspect of the present invention provides a vehicle 30, such as Figure 6 As shown, the vehicle includes the in-vehicle HMI device 20 of the above-mentioned embodiment.

[0072] It should be noted that the specific implementation method of the vehicle 30 in the embodiment of the present invention is similar to the specific implementation method of the vehicle driving picture processing method in any of the above-mentioned embodiments of the present invention. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

[0073] The vehicle 30 according to the embodiment of the present invention can get rid of the dependence on high-precision map data when processing the vehicle driving picture through the vehicle-mounted HMI device 20 of the above embodiment, effectively reduce the amount of data processing calculation, and improve the wide application.

[0074] In the description of this specification, any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code including one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0075] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0076] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0077] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0078] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0079] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0081] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle driving picture processing method, characterized in that: For an in-vehicle HMI device, the method comprises: Acquire the driving parameters of the vehicle and the refresh cycle of the vehicle-mounted HMI device for each frame of the driving picture; Get the lane line element; Obtaining a state offset of the lane line element according to the driving parameter and the refresh cycle; The movement of the lane line element is controlled according to the driving parameter and the state offset.

2. The vehicle driving picture processing method according to claim 1, characterized in that: The driving parameter includes a driving speed, and obtaining the state offset of the lane line element according to the driving parameter and the refresh cycle includes: The product value of the driving speed and the refresh period is used as the state offset of the lane line element in the current frame driving picture displayed by the in-vehicle HMI relative to the lane line element in the previous frame driving picture displayed by the in-vehicle HMI.

3. The vehicle driving picture processing method according to claim 2, characterized in that: The driving parameter also includes a driving direction, and controlling the movement of the lane line element according to the driving parameter and the state offset includes: Obtaining a preset initial state of the lane line element; Accumulate the state offset of each frame of the driving picture to obtain the accumulated offset; Along the driving direction, the lane line element is controlled to move based on the preset initial state according to the accumulated offset.

4. The vehicle driving picture processing method according to claim 3, characterized in that: Controlling the lane line element to move along the driving direction according to the accumulated offset based on the preset initial state includes: If it is determined that the accumulated offset does not reach the preset offset, controlling the lane line element to move the accumulated offset in a direction opposite to the driving direction with the preset initial state as the starting point; If it is determined that the accumulated offset reaches the preset offset, the lane line element is controlled to be restored to the preset initial state, and the accumulated offset is cleared.

5. The vehicle driving picture processing method according to claim 1, characterized in that: Get lane line elements, including: Acquire lane line data of the road the vehicle is currently traveling on; Fitting the lane line according to the lane line data to obtain a lane line equation; Discretize the lane line equation to obtain a lane line discrete point set; The lane line element is generated according to the lane line discrete point set.

6. The vehicle driving picture processing method according to claim 5, characterized in that: The lane line discrete point set includes a discrete point set of virtual lane line elements, and the lane line equation is discretized to obtain the lane line discrete point set, including: Get vehicle elements; Taking the position of the vehicle element in the driving picture as a reference point, the lane line equation is discretized according to a preset step size to obtain a discrete point set of the virtual lane line element.

7. A vehicle driving picture processing device, characterized in that: include: A first acquisition unit, used to acquire the driving parameters of the vehicle and the refresh cycle of the vehicle-mounted HMI device for each frame of the driving picture; A second acquisition unit is used to acquire lane line elements; A third acquisition unit, configured to obtain a state offset of the lane line element according to the driving parameter and the refresh cycle; A control unit is used to control the movement of the lane line element according to the driving parameter and the state offset.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle driving picture processing method according to any one of claims 1 to 6 is implemented.

9. A vehicle-mounted HMI device, characterized in that: include: at least one processor; a memory communicatively coupled to at least one of the processors; Wherein, the memory stores a computer program that can be executed by at least one of the processors, and when at least one of the processors executes the computer program, the vehicle driving picture processing method according to any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: Including the vehicle-mounted HMI device as claimed in claim 9.

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