Navigation identifier display method and apparatus, and electronic device

Abstract

The invention is suitable for the technical field of vehicles, and particularly relates to a navigation identifier display method and device and electronic equipment. According to the method, the real-time distance between the vehicle and a navigation maneuvering point is obtained, and the navigation maneuvering point is a position point at the far-end position in the driving direction of the vehicle; acquiring artificial intelligence path planning point chain data and a point chain data output length; and in response to the fact that the real-time distance is smaller than or equal to a first distance threshold value, comparing the output length of the point chain data with the real-time distance, and correspondingly displaying a plurality of first navigation identifiers or a plurality of second navigation identifiers according to a comparison result, the plurality of first navigation identifiers or the plurality of second navigation identifiers are used for indicating the process that the vehicle travels through the navigation maneuvering point. The technical problems that in the prior art, standard definition data is poor in precision, high-definition data is small in coverage range, updating frequency is not timely, and freshness is low are solved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular relates to a method, device and electronic device for displaying navigation signs. Background Art

[0002] AR-HUD (Augmented Reality Head-Up Display) is a technology that combines augmented reality (AR) technology with head-up display (HUD). Dual-focus AR-HUD display is a head-up display system that applies augmented reality technology to cars or other mobile devices. Dual-focus AR-HUD display provides a more intuitive and safe driving experience by superimposing virtual information in the driver's field of view.

[0003] In the prior art, the AR-HUD currently used in vehicle scenes is generally based on standard definition (SD) data. According to the distance from the vehicle to the maneuvering point, the navigation arrows are used to lock the maneuvering points in the real scene in a fixed position in the vehicle screen coordinate system in a straight line from far to near, and the navigation arrows are adjusted by using the vehicle body posture and steering wheel angle data to switch from perpendicular to the direction of the vehicle to parallel to the direction of the vehicle. However, due to the poor accuracy of standard definition data, navigation arrows with road curvature cannot be displayed, and an ideal user experience cannot be achieved. High Definition (HD) data cannot be used in practice because it cannot cover all regions of the country and the update frequency is not timely. Summary of the invention

[0004] The embodiments of the present application provide a method, device and electronic device for displaying navigation signs, which can solve the technical problems of poor accuracy of standard definition data, limited coverage of high definition data and untimely update, thus failing to provide users with ideal navigation sign display effects.

[0005] In a first aspect, an embodiment of the present application provides a method for displaying a navigation mark, the method being applied during the driving process of a vehicle, the method comprising:

[0006] Acquiring a real-time distance between the vehicle and a navigation maneuvering point, wherein the navigation maneuvering point is a position point at a far end position in the direction of vehicle travel;

[0007] Obtain AI path planning point chain data and point chain data output length;

[0008] In response to the real-time distance being less than or equal to a first distance threshold, the point chain data output length and the real-time distance are compared, and based on the comparison result, a plurality of first navigation markers or a plurality of second navigation markers are correspondingly displayed, wherein the plurality of first navigation markers are arranged in a curve and the plurality of second navigation markers are arranged in a straight line, and the plurality of first navigation markers or the plurality of second navigation markers are used to indicate the process of the vehicle driving through the navigation maneuvering point.

[0009] In a possible implementation manner of the first aspect, comparing the output length of the point link data and the real-time distance, and correspondingly displaying a plurality of first navigation markers or a plurality of second navigation markers according to the comparison result, includes:

[0010] When the output length of the point chain data is greater than the real-time distance, a plurality of first navigation marks are displayed.

[0011] In a possible implementation manner of the first aspect, displaying multiple first navigation identifiers includes:

[0012] Determining an equation of a spline curve based on the artificial intelligence path planning point chain data representing the coordinates of the plurality of first path points;

[0013] Determining coordinates of a plurality of first navigation markers according to the coordinates of the first target point, one or more interval values, and the equation of the spline curve;

[0014] The multiple first navigation markers are displayed according to their coordinates, wherein the multiple first navigation markers are arranged in a curve.

[0015] In a possible implementation manner of the first aspect, the artificial intelligence path planning point chain data representing the coordinates of the plurality of first path points is obtained based on the following steps:

[0016] Acquiring artificial intelligence initial path planning point chain data representing coordinates of a plurality of second path points;

[0017] According to the coordinates of the first target point and the coordinates of the plurality of second path points, data cleaning processing is performed on the plurality of second path points to obtain a plurality of third path points, wherein the absolute values ​​of the coordinate elements of the coordinates of the plurality of third path points are greater than the absolute values ​​of the coordinate elements of the coordinates of the first target point, and the coordinate elements are X-axis coordinates or Y-axis coordinates, wherein the X-axis represents the front-rear direction of the vehicle, and the Y-axis represents the left-right direction of the vehicle;

[0018] The coordinates of the multiple third path points are sorted, and the coordinates of the multiple path points sorted according to the absolute values ​​of the Y-axis coordinates are retained and determined as the coordinates of the first path points to obtain the artificial intelligence path planning point chain data.

[0019] In a possible implementation manner of the first aspect, the first navigation marker includes a navigation arrow, the coordinates of the first navigation marker include the coordinates of the navigation arrow, and the method further includes:

[0020] According to the coordinates of two adjacent navigation arrows, the arrow direction of one of the two adjacent navigation arrows is determined.

[0021] In a possible implementation manner of the first aspect, comparing the output length of the point link data and the real-time distance, and correspondingly displaying a plurality of first navigation markers or a plurality of second navigation markers according to the comparison result, includes:

[0022] When the output length of the point chain data is less than the real-time distance and the vehicle is located in the middle position between the left and right lane lines, a plurality of second navigation marks are displayed.

[0023] In a possible implementation manner of the first aspect, the method further includes:

[0024] Whether the vehicle is located in the middle position between the left and right lane lines is determined based on the distances between the vehicle and the left and right lane lines respectively, and whether the front and rear extension positions of the vehicle intersect with the left and right lane lines.

[0025] In a possible implementation manner of the first aspect, before comparing the output length of the point link data with the real-time distance and correspondingly displaying a plurality of first navigation markers or a plurality of second navigation markers according to the comparison result, the method further includes:

[0026] The movement effect of the third navigation mark moving to the second target point is displayed, wherein the movement effect of the third navigation mark moving to the second target point is used to represent the process of the vehicle moving to the navigation maneuvering point.

[0027] In a possible implementation manner of the first aspect, the method further includes:

[0028] When the output length of the point chain data is less than the real-time distance, the second target point is the projection point of the navigation maneuvering point in the vehicle coordinate system;

[0029] When the output length of the point chain data is greater than the real-time distance, the second target point is the projection point of the navigation maneuvering point on the traction line corresponding to the artificial intelligence path planning point chain data.

[0030] In a possible implementation manner of the first aspect, before displaying the movement effect of the third navigation marker moving to the second target point, the method further includes:

[0031] In response to the real-time distance being less than or equal to a second distance threshold, displaying the third navigation indicator, wherein the second distance threshold is greater than the first distance threshold.

[0032] In a possible implementation manner of the first aspect, the method further includes:

[0033] The first distance threshold and / or the second distance threshold are determined according to the type of the road on which the vehicle is traveling.

[0034] In a second aspect, an embodiment of the present application provides a display device for a navigation mark, including:

[0035] A first acquisition module is used to acquire a real-time distance between the vehicle and a navigation maneuvering point, wherein the navigation maneuvering point is a position point at a far end position in the driving direction of the vehicle;

[0036] The second acquisition module is used to obtain the artificial intelligence path planning point chain data and the output length of the point chain data;

[0037] The third display module is used to compare the output length of the point chain data and the real-time distance in response to the real-time distance being less than or equal to the first distance threshold, and display a plurality of first navigation markers or a plurality of second navigation markers correspondingly according to the comparison result, wherein the plurality of first navigation markers are arranged in a curve and the plurality of second navigation markers are arranged in a straight line, and the plurality of first navigation markers or the plurality of second navigation markers are used to indicate the process of the vehicle driving through the navigation maneuvering point.

[0038] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device implements a method as described in any one of the above-mentioned first aspects.

[0039] In a fourth 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 processor, the method as described in any one of the above-mentioned first aspects is implemented.

[0040] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes any one of the methods described in the first aspect.

[0041] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising a display device for the navigation sign as described in the second aspect above.

[0042] It can be understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0043] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0044] The present application obtains the real-time distance between the vehicle and a navigation maneuvering point, wherein the navigation maneuvering point is a position point at a far end in the direction of vehicle travel; obtains artificial intelligence path planning point chain data and the output length of the point chain data; in response to the real-time distance being less than or equal to a first distance threshold, compares the size of the point chain data output length and the real-time distance, and displays a plurality of first navigation markers or a plurality of second navigation markers correspondingly based on the comparison result, wherein the plurality of first navigation markers are arranged in a curve, and the plurality of second navigation markers are arranged in a straight line, and the plurality of first navigation markers or the plurality of second navigation markers are used to indicate the process of the vehicle traveling through the navigation maneuvering point. The present application uses the artificial intelligence path planning point chain data generated by the artificial intelligence automatic driving large model, and combines the real-time distance between the vehicle and the navigation maneuvering point determined by the navigation data, and can display multiple first navigation signs arranged in a curve or multiple second navigation signs arranged in a straight line according to the comparison result of the point chain data output length and the real-time distance, wherein the multiple first navigation signs arranged in a curve conform to the curvature of the real road, so that the user of the vehicle can obtain a better visual experience, and solve the technical problems of poor accuracy of standard definition data in the prior art, small coverage of high-definition data, untimely update frequency, and low freshness. When the first navigation sign is displayed by means of an augmented reality head-up display, the user of the vehicle can obtain a real augmented reality visual experience. In addition, the present application can determine whether the displayed navigation signs are arranged in a curve or in a straight line according to the size relationship between the output length of the artificial intelligence path planning point chain data and the real-time distance between the vehicle and the navigation maneuvering point, thereby providing a style of displaying different navigation signs based on multiple data sources, improving the accuracy of the displayed navigation signs, and enabling the user of the vehicle to obtain a better visual experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 It is a flowchart of a method for displaying a navigation mark provided in an embodiment of the present application;

[0047] Figure 2 is a schematic diagram of a vehicle coordinate system provided by an embodiment of the present application;

[0048] Figure 3 is a schematic diagram showing multiple first navigation marks provided by an embodiment of the present application;

[0049] Figure 4 It is a schematic diagram of artificial intelligence initial path planning point chain data provided by an embodiment of the present application;

[0050] Figure 5 is a schematic diagram of the positional relationship between a vehicle and lane lines on the left and right sides provided in an embodiment of the present application;

[0051] Figure 6 This is a schematic diagram of the display effect of the moving process of the third navigation mark in one embodiment of the present application;

[0052] Figure 7 is a schematic diagram of the display effect of the third navigation mark in one embodiment of the present application;

[0053] Figure 8 is a flowchart of a method for displaying a navigation mark provided by another embodiment of the present application;

[0054] Fig. 9 is a schematic diagram of components of an augmented reality head-up display provided by an embodiment of the present application;

[0055] Fig.10 is a schematic diagram of the structure of a display device for a navigation mark provided in an embodiment of the present application;

[0056] Fig.11 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] The method for displaying navigation signs provided in the embodiments of the present application can be applied to electronic devices such as mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), etc. The embodiments of the present application do not impose any restrictions on the specific types of electronic devices.

[0064] For example, the electronic device may be a station (STAION, ST) in a WLAN, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a vehicle networking terminal, a computer and / or other devices for communicating on a wireless system, and a next-generation communication system, such as a mobile terminal in a 5G network or a mobile terminal in a future evolved public land mobile network (PLMN) network, etc.

[0065] Figure 1 It is a flowchart of a method for displaying a navigation mark provided in an embodiment of the present application.

[0066] The method for displaying a navigation sign provided in the embodiment of the present application is applied during the driving process of a vehicle.

[0067] S11, obtaining a real-time distance between the vehicle and a navigation maneuvering point, wherein the navigation maneuvering point is a position point at a far end position in the driving direction of the vehicle.

[0068] Here, the real-time distance between the vehicle and the navigation maneuvering point may be determined based on the navigation data. For example, the current position of the vehicle may be acquired through GPS, and the distance between the vehicle and the navigation maneuvering point may be determined through a high-precision map. When the vehicle travels toward the navigation maneuvering point, the real-time distance between the vehicle and the navigation maneuvering point determined based on the navigation data gradually decreases.

[0069] The navigation maneuvering point refers to the next driving operation point that is generated based on the user's current GPS (Global Positioning System) positioning point during the vehicle navigation process to guide the user's driving operation. The navigation maneuvering point is a position point at a far position in the direction of vehicle travel, which means that the navigation maneuvering point is located at a farther position that will be reached in the future on the extension line of the vehicle's direction of travel. For example, if the vehicle is about to pass through an intersection, the navigation maneuvering point can be the point corresponding to the intersection.

[0070] S12, obtaining artificial intelligence path planning point chain data and point chain data output length.

[0071] AI path planning point chain data refers to data about path planning points generated by the AI ​​autonomous driving big model. By inputting navigation data, positioning data, high-precision map data, perception information, etc. into the AI ​​autonomous driving big model, the AI ​​path planning point chain data output by the AI ​​autonomous driving big model can be obtained. Since the AI ​​path planning point chain data can be used to guide the path in the use scenario of human driving, the line composed of multiple first path points included in the AI ​​path planning point chain data can be called a human driving traction line.

[0072] AI path planning point chain data has the following characteristics:

[0073] 1) Generate a large model of autonomous driving through artificial intelligence in real time, and use multiple data sources for cross-correction to achieve self-correction.

[0074] 2) It can achieve full coverage of various road types, including highways, urban roads, rural roads, and internal roads of industrial parks.

[0075] 3) Based on the Frenet ego-vehicle coordinate system, the positive direction of the x-axis points to the direction of vehicle travel, and the positive direction of the y-axis points to the left side of the vehicle. Figure 2 It is a schematic diagram of a vehicle coordinate system provided in an embodiment of the present application.

[0076] 4) Regardless of whether it is based on high-precision maps or perception information, the output length of point-to-point data is usually in the range of 100 to 150 meters. In most cases, the output length of point-to-point data is close to 150 meters.

[0077] 5) Lane change information based on navigation guidance can be output.

[0078] Those skilled in the art should understand that steps S11 and S12 can be performed sequentially or simultaneously. The manner in which steps S11 and S12 are performed in various orders falls within the protection scope of the present application.

[0079] S13, in response to the real-time distance being less than or equal to a first distance threshold, comparing the point chain data output length and the real-time distance, and displaying a plurality of first navigation markers or a plurality of second navigation markers correspondingly according to the comparison result, wherein the plurality of first navigation markers are arranged in a curve, and the plurality of second navigation markers are arranged in a straight line, and the plurality of first navigation markers or the plurality of second navigation markers are used to indicate the process of the vehicle driving through the navigation maneuvering point.

[0080] The first distance threshold may be set based on experience, for example, may be set to any value within a distance range of 100 meters to 200 meters.

[0081] Here, the output length of the point chain data and the real-time distance may be compared, and according to the comparison result, a plurality of first navigation marks or a plurality of second navigation marks may be displayed correspondingly.

[0082] For example, when the output length of the point chain data is greater than the real-time distance, multiple first navigation marks are displayed, and the multiple first navigation marks are arranged in a curve. When the output length of the point chain data is less than the real-time distance, multiple second navigation marks are displayed, and the multiple second navigation marks are arranged in a straight line. The multiple first navigation marks or the multiple second navigation marks are used to indicate the process of the vehicle driving through the navigation maneuvering point.

[0083] For another example, when the output length of the point chain data is less than the real-time distance, multiple first navigation marks are displayed, and the multiple first navigation marks are arranged in a curve. When the output length of the point chain data is greater than the real-time distance, multiple second navigation marks are displayed, and the multiple second navigation marks are arranged in a straight line. The multiple first navigation marks or the multiple second navigation marks are used to indicate the process of the vehicle driving through the navigation maneuvering point.

[0084] Those skilled in the art should be able to understand that the above manner of correspondingly displaying multiple first navigation identifiers or multiple second navigation identifiers according to the comparison results all fall within the protection scope of the present application.

[0085] The present application obtains the real-time distance between the vehicle and a navigation maneuvering point, wherein the navigation maneuvering point is a position point at a far end in the direction of vehicle travel; obtains artificial intelligence path planning point chain data and the output length of the point chain data; in response to the real-time distance being less than or equal to a first distance threshold, compares the size of the point chain data output length and the real-time distance, and displays a plurality of first navigation markers or a plurality of second navigation markers correspondingly based on the comparison result, wherein the plurality of first navigation markers are arranged in a curve, and the plurality of second navigation markers are arranged in a straight line, and the plurality of first navigation markers or the plurality of second navigation markers are used to indicate the process of the vehicle traveling through the navigation maneuvering point. The present application uses the artificial intelligence path planning point chain data generated by the artificial intelligence automatic driving large model, and combines the real-time distance between the vehicle and the navigation maneuvering point determined by the navigation data, and can display multiple first navigation signs arranged in a curve or multiple second navigation signs arranged in a straight line according to the comparison result of the point chain data output length and the real-time distance, wherein the multiple first navigation signs arranged in a curve conform to the curvature of the real road, so that the user of the vehicle can obtain a better visual experience, and solve the technical problems of poor accuracy of standard definition data in the prior art, small coverage of high-definition data, untimely update frequency, and low freshness. When the first navigation sign is displayed by means of an augmented reality head-up display, the user of the vehicle can obtain a real augmented reality visual experience. In addition, the present application can determine whether the displayed navigation signs are arranged in a curve or in a straight line according to the size relationship between the output length of the artificial intelligence path planning point chain data and the real-time distance between the vehicle and the navigation maneuvering point, thereby providing a style of displaying different navigation signs based on multiple data sources, improving the accuracy of the displayed navigation signs, and enabling the user of the vehicle to obtain a better visual experience.

[0086] In one embodiment, comparing the output length of the point link data with the real-time distance, and correspondingly displaying a plurality of first navigation marks or a plurality of second navigation marks according to the comparison result, includes:

[0087] When the output length of the point chain data is greater than the real-time distance, a plurality of first navigation marks are displayed.

[0088] Figure 3 FIG. 1 is a schematic diagram showing a plurality of first navigation marks provided by an embodiment of the present application. Figure 3 As shown, the four first navigation marks are arranged in a curve. Those skilled in the art should understand that Figure 3 The navigation arrow shown is only one icon style of the first navigation logo. The method of displaying the first navigation logo in other icon styles also falls within the scope of protection of this application. Multiple first navigation logos are arranged in a curve, which can reflect the curvature of the road and provide the vehicle users with a better visual experience. In addition, when displaying the first navigation logo, it is also possible to use a higher resolution to display the first navigation logo that is closer to the vehicle user and a lower resolution to display the first navigation logo that is farther away from the vehicle user based on the coordinates of the first navigation logo, so that the vehicle users can obtain a visual experience in which the far side is blurry and the near side is clear, thereby improving user satisfaction.

[0089] In one embodiment, displaying a plurality of first navigation marks includes:

[0090] S131, determining an equation of a spline curve based on artificial intelligence path planning point chain data representing coordinates of a plurality of first path points.

[0091] S132: Determine the coordinates of a plurality of first navigation markers according to the coordinates of the first target point, one or more interval values, and the equation of the spline curve.

[0092] S133: Display the multiple first navigation markers according to their coordinates, wherein the multiple first navigation markers are arranged in a curve.

[0093] The artificial intelligence path planning point chain data includes the coordinates of multiple first path points. For example, the coordinates of the multiple first path points are (x h ,y h )、(x h+1 ,y h+1 )、(x h+2 ,y h+2 ),……、(x n ,y n ). The coordinates of the multiple first path points conform to a monotonic law, such as a monotonic increasing law or a monotonic decreasing law. Taking the case where the coordinates of the multiple first path points conform to a monotonic increasing law, then x h <x h+1 <x h+2 <…… <x n And y h <y h+1 <yh+2 <…… <y n . Taking the coordinates of multiple first path points conforming to the monotonically decreasing law as an example, then x h >x h+1 >x h+2 >……>x n And y h >y h+1 >y h+2 >……>y n .

[0094] Taking the cubic spline curve as an example, for the given coordinates of the first path points (x h ,y h )、(x h+1 ,y h+1 )、(x h+2 ,y h+2 ),……、(x n ,y n ), a set of cubic polynomials y can be constructed through cubic spline curves i (x) to connect these first path points. Each interval [x i ,x i+1 The cubic polynomial on ] is:

[0095] y i (x) = a i (xx i ) 3 +b i (xx i ) 2 +c i (xx i )+d i

[0096] where a i , b i 、c i d i is the coefficient that needs to be determined.

[0097] After determining the above coefficients, the equation of the spline curve is obtained.

[0098] Here, the first target point is used to determine the position of the first navigation mark. The first target point can also be called a anchor point. The meaning of the anchor point is to "anchor" the first navigation mark on the graphical user interface for displaying the first navigation mark.

[0099] The first target point may be, for example, a navigation maneuvering point. The navigation maneuvering point refers to the next driving operation point to be reached by guiding the user's driving operation during the vehicle navigation process, which is generated based on the user's current GPS (Global Positioning System) positioning point. Taking the example of a vehicle passing through an intersection, the navigation maneuvering point may be the point corresponding to the intersection. In addition, the first target point may also be a linear interpolation point determined based on the navigation maneuvering point and the artificial intelligence path planning point chain data. The cumulative distance between every two path points may be calculated based on the artificial intelligence path planning point chain data, and through linear interpolation, the linear interpolation point of the navigation maneuvering point on the human-driven traction line corresponding to the artificial intelligence path planning point chain data may be obtained as the first target point.

[0100] In one embodiment, the method for displaying a navigation mark further includes:

[0101] When the output length of the point chain data is less than the real-time distance, the first target point is the projection point of the navigation maneuvering point in the vehicle coordinate system.

[0102] When the output length of the point chain data is greater than the real-time distance, the first target point is a linear interpolation point determined based on the navigation maneuvering point and the artificial intelligence path planning point chain data.

[0103] Taking the output length of the point chain data as 150 meters as an example, if the real-time distance between the vehicle and the navigation maneuvering point is 200 meters, the projection point of the navigation maneuvering point in the vehicle coordinate system can be determined as the first target point. If the real-time distance between the vehicle and the navigation maneuvering point is 100 meters, the position of the navigation maneuvering point is within the distance range of the human-driven traction line corresponding to the artificial intelligence path planning point chain data, and the linear interpolation point determined based on the navigation maneuvering point and the artificial intelligence path planning point chain data can be determined as the first target point.

[0104] The position of the vehicle in this application document is usually equivalent to the position of the center point of the vehicle. Those skilled in the art should understand that the method of using other positions of the vehicle as the vehicle position also falls within the scope of protection of this application.

[0105] The coordinates of a plurality of first navigation markers may be determined according to the coordinates of the first target point, one or more interval values, and the equation of the spline curve.

[0106] Taking the first navigation mark that needs to be displayed to assist the vehicle in guiding to the left side, and the coordinates of the five first navigation marks that need to be determined as an example, the Y-axis value ({IntersectionPoint}.y) in the coordinates of the first target point, the sum of the Y-axis value and the first interval value ({IntersectionPoint}.y+0.8), the sum of the Y-axis value and the second interval value ({IntersectionPoint}.y+1.6), the sum of the Y-axis value and the third interval value ({IntersectionPoint}.y+2.4), and the sum of the Y-axis value and the fourth interval value ({IntersectionPoint}.y+3.2) can be substituted into the equation of the spline curve, and the coordinates of the five first navigation marks can be determined. Among them, the first interval value 0.8, the second interval value 1.6, the third interval value 2.4, and the fourth interval value 3.2 are used for illustration. Those skilled in the art should understand that the interval values ​​can also be set to other values, and the method of using other values ​​as interval values ​​also falls within the scope of protection of this application.

[0107] Taking the first navigation mark that needs to be displayed to assist the vehicle in guiding to the right side, and the coordinates of the five first navigation marks that need to be determined as an example, the Y-axis value ({IntersectionPoint}.y) in the coordinates of the first target point, the sum of the Y-axis value and the first interval value ({IntersectionPoint}.y-0.8), the sum of the Y-axis value and the second interval value ({IntersectionPoint}.y-1.6), the sum of the Y-axis value and the third interval value ({IntersectionPoint}.y-2.4), and the sum of the Y-axis value and the fourth interval value ({IntersectionPoint}.y-3.2) can be substituted into the equation of the spline curve, and the coordinates of the five first navigation marks can be determined. Among them, the first interval value 0.8, the second interval value 1.6, the third interval value 2.4, and the fourth interval value 3.2 are used for illustration. Those skilled in the art should understand that the interval values ​​can also be set to other values, and the method of using other values ​​as interval values ​​also falls within the scope of protection of this application.

[0108] Here, according to the coordinates of the multiple first navigation markers, the multiple first navigation markers may be displayed in a dual-focus head-up display manner, or the multiple first navigation markers may be displayed on a screen of the vehicle.

[0109] This application determines the equation of a spline curve based on artificial intelligence path planning point chain data that characterizes the coordinates of multiple first path points, then determines the coordinates of multiple first navigation markers based on the coordinates of the first target point, one or more interval values, and the equation of the spline curve, and then displays the multiple first navigation markers based on the coordinates of the multiple first navigation markers, wherein the multiple first navigation markers are arranged according to a curve. This application uses artificial intelligence path planning point chain data generated by an artificial intelligence autonomous driving large model to arrange the displayed first navigation markers according to a curve that conforms to the curvature of a real road, allowing vehicle users to have a better visual experience, and solves the technical problems of poor accuracy of standard definition data in the prior art, and small coverage, untimely update frequency, and low freshness of high-definition data. When the first navigation marker is displayed by means of an augmented reality head-up display, the vehicle user can obtain a real augmented reality visual experience.

[0110] In one embodiment, the artificial intelligence path planning point chain data representing the coordinates of the plurality of first path points is obtained based on the following steps:

[0111] Acquiring artificial intelligence initial path planning point chain data representing coordinates of a plurality of second path points;

[0112] According to the coordinates of the first target point and the coordinates of the plurality of second path points, data cleaning processing is performed on the plurality of second path points to obtain a plurality of third path points, wherein the absolute values ​​of the coordinate elements of the coordinates of the plurality of third path points are greater than the absolute values ​​of the coordinate elements of the coordinates of the first target point, and the coordinate elements are X-axis coordinates or Y-axis coordinates, wherein the X-axis represents the front-rear direction of the vehicle, and the Y-axis represents the left-right direction of the vehicle;

[0113] The coordinates of the multiple third path points are sorted, and the coordinates of the multiple path points sorted according to the absolute values ​​of the Y-axis coordinates are retained and determined as the coordinates of the first path points to obtain the artificial intelligence path planning point chain data.

[0114] Since the coordinates of multiple first path points included in the artificial intelligence path planning point chain data used to determine the equation of the spline curve need to conform to a monotonic law, such as a monotonic increasing law or a monotonic decreasing law, and the artificial intelligence initial path planning point chain data generated by the artificial intelligence autonomous driving large model sometimes does not conform to the monotonic law, it is necessary to perform data cleaning processing on the coordinates of multiple second path points included in the artificial intelligence initial path planning point chain data. By retaining multiple third path points whose absolute values ​​of coordinate elements are greater than the absolute values ​​of coordinate elements of the coordinates of the first target point, and retaining the coordinates of multiple first path points sorted according to the absolute values ​​of coordinate elements, the coordinates of multiple first path points that conform to the monotonic law can be obtained, that is, the artificial intelligence path planning point chain data is obtained.

[0115] For example, the initial path planning point chain data of artificial intelligence includes the coordinates of multiple second path points, namely (x0, y0), (x1, y1), (x2, y2), ..., (x n ,y n ), the coordinates of the first target point are (x j ,y j ), since the first navigation mark to be displayed is usually a navigation mark far away from the vehicle, such as the next intersection, and the first target point is usually located near the intersection, the coordinates of the first target point can be used as a reference value to perform data cleaning on multiple second path points, and retain multiple third path points, the absolute values ​​of the coordinate elements of the coordinates of these third path points are greater than the absolute values ​​of the coordinate elements of the coordinates of the first target point, and the coordinate elements are X-axis coordinates or Y-axis coordinates. The coordinates of the third path points are (x g ,y g )、(x g+1 ,y g+1 )、(x g+2 ,y g+2 ),……、(x n ,y n ), and x g >x j ,y g >y j 、x g+1 >x j ,y g+1 >y j 、x g+2 >x j ,y g+2 >y j ,……,x n >x j ,y n >y jOptionally, a path point whose absolute value of the coordinate element is smaller than and closest to the absolute value of the coordinate element of the first target point may be retained as the third path point, that is, (x g-1 ,y g-1 ), that is, the path point before the first target point on the human-driven traction line corresponding to the artificial intelligence initial path planning point chain data.

[0116] Subsequently, the coordinates of the multiple third path points are subjected to data cleaning processing, and the coordinates of the multiple path points sorted according to the absolute values ​​of the Y-axis coordinates are retained and determined as the coordinates of the first path points to obtain the artificial intelligence path planning point chain data.

[0117] If it is guiding to the right, since the Y-axis coordinate is a negative number, search from the third path point in sequence to find the path point with the largest Y-axis coordinate (x h ,y h ), and the path point with the largest Y-axis coordinate (x h ,y h ) into the result queue and delete the third path point (x h ,y h ) and (x h ,y h ) before. Then, continue to search for the path point with the largest Y-axis coordinate (x h+1 ,y h+1 ), and the path point with the largest Y-axis coordinate (x h+1 ,y h+1 ) into the result queue and delete the third path point (x h+1 ,y h+1 ) and (x h+1 ,y h+1 ) before. Continue the above steps until all third path points are traversed. The path point in the result queue is the first path point.

[0118] If it is guided to the left, since the Y-axis coordinate is an integer, search from the third path point in sequence to find the path point with the smallest Y-axis coordinate (x h ,y h ), the path point with the smallest Y-axis coordinate (x h ,y h ) into the result queue and delete the third path point (x h ,y h ) and (x h ,y h ) before. Then, continue to search for the path point with the smallest Y-axis coordinate (x h+1 ,y h+1 ), the path point with the smallest Y-axis coordinate (x h+1,y h+1 ) into the result queue and delete the third path point (x h+1 ,y h+1 ) and (x h+1 ,y h+1 ) before. Continue the above steps until all third path points are traversed. The path point in the result queue is the first path point.

[0119] Figure 4 It is a schematic diagram of artificial intelligence initial path planning point chain data provided by an embodiment of the present application.

[0120] like Figure 4 As shown, taking left guidance as an example, the artificial intelligence initial path planning point chain data includes multiple second path points, and the multiple second path points are 37, 38, 39, 41, 42, 43, 44, 45, 46, 47, 48, and 49 respectively. The first target point is 400. According to the coordinates of the first target point and the coordinates of the multiple second path points, data cleaning processing is performed on the multiple second path points to obtain multiple third path points, and the absolute value of the coordinate element of the coordinate of the multiple third path points is greater than the absolute value of the coordinate element of the coordinate of the first target point, and the coordinate element is an X-axis coordinate or a Y-axis coordinate, wherein the X-axis represents the front and rear direction of the vehicle, and the Y-axis represents the left and right direction of the vehicle. Therefore, the absolute value of the coordinate element of the coordinate of the second path points 37, 38, and 39 is less than the absolute value of the coordinate element of the coordinate of the first target point 400, and therefore, the second path points 37, 38, and 39 are deleted. The third path points include 41, 42, 43, 44, 45, 46, 47, 48, and 49. Search the third path point in sequence, find the path point with the smallest Y-axis coordinate, obtain path point 43, put the path point 43 with the smallest Y-axis coordinate into the result queue, and delete the path points 41 and 42 before 43 in the third path point. Next, continue to search for the path point 46 with the smallest Y-axis coordinate in the third path point, put the path point 46 with the smallest Y-axis coordinate into the result queue, and delete the path points 44 and 45 before 46 in the third path point. Then, continue to search for the path point 49 with the smallest Y-axis coordinate in the third path point, put the path point 49 with the smallest Y-axis coordinate into the result queue, and delete the path points 47 and 48 before 49 in the third path point. Continue the above steps until all the third path points are traversed. The path points 43, 46, and 49 in the result queue are the first path points.

[0121] The present application obtains the artificial intelligence initial path planning point chain data representing the coordinates of multiple second path points; according to the coordinates of the first target point and the coordinates of the multiple second path points, the multiple second path points are subjected to data cleaning processing to obtain multiple third path points, the absolute value of the coordinate element of the coordinate of the multiple third path points is greater than the absolute value of the coordinate element of the coordinate of the first target point, and the coordinate element is an X-axis coordinate or a Y-axis coordinate, wherein the X-axis represents the front and rear direction of the vehicle, and the Y-axis represents the left and right direction of the vehicle; the coordinates of the multiple third path points are subjected to data sorting processing, and the coordinates of the multiple path points sorted according to the absolute value of the Y-axis coordinate are retained and determined as the coordinates of the first path points, so as to obtain the artificial intelligence path planning point chain data. Through data cleaning processing, it can be ensured that the remaining multiple first path points conform to the monotonic law, and then the spline curve and the first navigation mark conform to the monotonic law, and the first navigation mark is arranged according to the curve conforming to the monotonic law, conforming to the curvature of the real road, so that the user of the vehicle obtains a better visual experience, and solves the technical problems of poor accuracy of standard definition data in the prior art, small coverage of high-definition data, untimely update frequency, and low freshness. When the first navigation mark is displayed by means of an augmented reality head-up display, the user of the vehicle can obtain a true augmented reality visual experience.

[0122] In one embodiment, the first navigation marker includes a navigation arrow, the coordinates of the first navigation marker include the coordinates of the navigation arrow, and the method further includes:

[0123] According to the coordinates of two adjacent navigation arrows, the arrow direction of one of the two adjacent navigation arrows is determined.

[0124] Here, with the location of the vehicle as the center point, for two adjacent navigation arrows in front of the vehicle, a straight line can be determined according to the coordinates of the two navigation arrows. The direction of the determined straight line is determined as the arrow direction of the navigation arrow closer to the vehicle. Therefore, the arrow direction of the navigation arrow closer to the vehicle points to the navigation arrow farther from the vehicle. Similarly, the coordinates of every two adjacent navigation arrows in front of the vehicle can be used to determine the arrow direction of the navigation arrow closer to the vehicle among the two adjacent navigation arrows.

[0125] This application determines the direction of one of the two adjacent navigation arrows based on the coordinates of the two adjacent navigation arrows. This application uses the artificial intelligence path planning point chain data generated by the artificial intelligence autonomous driving large model to determine the coordinates of the navigation arrows, and makes the direction of the navigation arrow closer to the vehicle point to the previous navigation arrow, so that the displayed navigation arrow has stronger directionality, thereby providing a better visual experience for the vehicle user. When the first navigation mark is displayed by means of an augmented reality head-up display, the vehicle user can obtain a real augmented reality visual experience.

[0126] In one embodiment, the method for displaying the navigation mark further includes:

[0127] Determine the adjusted position and direction of the navigation arrow according to the change of the vehicle position and posture;

[0128] The navigation arrow is displayed according to the adjusted position of the navigation arrow and the adjusted direction of the arrow.

[0129] Here, since the vehicle is usually in motion, and the coordinates of the navigation arrow are based on the vehicle coordinate system with the vehicle as the origin. Therefore, as the subsequent moments change relative to the moment of generating the navigation arrow, and the position and posture of the vehicle change, the adjusted position of the navigation arrow and the adjusted direction of the arrow can be determined. For example, when the vehicle moves forward, the adjusted position of the navigation arrow will get closer and closer to the vehicle. For another example, when the vehicle completes a left turn at an intersection, the adjusted direction of the navigation arrow will be adjusted from facing the left front to facing straight ahead.

[0130] The present application determines the adjusted position of the navigation arrow and the adjusted direction of the arrow according to the changes in the position and posture of the vehicle, and displays the navigation arrow according to the adjusted position of the navigation arrow and the adjusted direction of the arrow. The present application displays the adjusted position of the navigation arrow and the adjusted direction of the arrow as the subsequent moments change relative to the moment of generating the navigation arrow, and as the position and posture of the vehicle change during the driving process of the vehicle, so that the displayed navigation arrow can show a visual effect that is closer to the actual situation as the vehicle travels and time, thereby providing a better visual experience for the vehicle user. When the navigation arrow is displayed by means of an augmented reality head-up display, the vehicle user can obtain a real augmented reality visual experience.

[0131] In one embodiment, comparing the output length of the point link data with the real-time distance, and correspondingly displaying a plurality of first navigation marks or a plurality of second navigation marks according to the comparison result, includes:

[0132] When the output length of the point chain data is less than the real-time distance and the vehicle is located in the middle position between the left and right lane lines, a plurality of second navigation marks are displayed.

[0133] When the output length of the point chain data is less than the real-time distance between the vehicle and the navigation maneuvering point and the vehicle is located in the middle between the left and right lane lines, the coordinates of the one or more second navigation marks can be determined according to the coordinates of the third target point and one or more interval values. Then, according to the coordinates of the one or more second navigation marks, the one or more second navigation marks are displayed, wherein the one or more second navigation marks are arranged in a straight line.

[0134] Here, the current position of the vehicle can be obtained through GPS, and the distance between the vehicle and the navigation maneuvering point can be determined through the high-precision map. If the output length of the artificial intelligence path planning point chain data (e.g., 150 meters) is less than the distance between the vehicle and the navigation maneuvering point (e.g., 200 meters) and the vehicle is located in the middle position between the left and right lane lines, the coordinates of one or more second navigation marks can be determined based on the coordinates of the third target point and one or more interval values, and then one or more second navigation marks can be displayed based on the coordinates of the one or more second navigation marks.

[0135] Taking the example that the second navigation mark to be displayed is used to assist the vehicle in guiding to the left, and the coordinates of five second navigation marks need to be determined, the x-axis value in the coordinates of the third target point can be determined as the X-axis value of the five second navigation marks. The Y-axis value of the third target point ({IntersectionPoint}.y), the sum of the Y-axis value and the first interval value ({IntersectionPoint}.y+0.8), the sum of the Y-axis value and the second interval value ({IntersectionPoint}.y+1.6), the sum of the Y-axis value and the third interval value ({IntersectionPoint}.y+2.4), and the sum of the Y-axis value and the fourth interval value ({IntersectionPoint}.y+3.2) are respectively determined as the Y-axis values ​​of the five second navigation marks. Since the X-axis values ​​of multiple second navigation marks are the same, the multiple second navigation marks displayed are arranged in a straight line in the direction of the X-axis.

[0136] This application displays the multiple second navigation marks when the output length of the point chain data is less than the real-time distance between the vehicle and the navigation maneuvering point and the vehicle is located in the middle between the left and right lane lines, wherein the multiple second navigation marks are arranged in a straight line. This application can determine whether the displayed navigation marks are arranged in a curve or in a straight line according to the size relationship between the output length of the point chain data of the artificial intelligence path planning and the real-time distance between the vehicle and the navigation maneuvering point, thereby providing a style for displaying different navigation marks based on multiple data sources, improving the accuracy of the displayed navigation marks, and allowing vehicle users to obtain a better visual experience.

[0137] In one embodiment, the method for displaying a navigation mark further includes:

[0138] Whether the vehicle is located in the middle position between the left and right lane lines is determined based on the distances between the vehicle and the left and right lane lines respectively, and whether the front and rear extension positions of the vehicle intersect with the left and right lane lines.

[0139] The position of the vehicle in this application document is usually equivalent to the position of the center point of the vehicle. Those skilled in the art should understand that the method of using other positions of the vehicle as the vehicle position also falls within the scope of protection of this application.

[0140] For example, if the distance between the vehicle and the left road line and the distance between the vehicle and the right road line are both greater than 1.2 meters, and the extended position 5 meters in front of the vehicle and the extended position 2 meters behind the vehicle do not intersect with the lane lines on the left and right sides, then it can be determined that the vehicle is located in the middle between the lane lines on the left and right sides. Figure 5 As shown in (a) in .

[0141] Specifically, the current lane (lane) can be found through the fused map cur_lane_id, and the left lane line {laneboundary1} and the right lane line {laneboundary2} of the vehicle can be found through the left_boundary_id and right_boundary_id of the current lane.

[0142] The distance between the vehicle and the left road line and the distance between the vehicle and the right road line are both greater than 1.2 meters. This can be determined based on the following method: poll the points in the {laneboundary1} point chain, find the point with the smallest absolute value of the X-axis coordinate, and check whether the Y-axis coordinate of this point is greater than 1.2; poll the points in the {laneboundary2} point chain, find the point with the smallest absolute value of the X-axis coordinate, and check whether the Y-axis coordinate of this point is less than -1.2.

[0143] The extended position 5 meters in front of the vehicle and the extended position 2 meters behind the vehicle do not intersect with the lane lines on the left and right sides. This can be determined based on the following method: poll the points in the {laneboundary1} point chain, find the first point with an X-axis coordinate greater than 5, find the first point with an X-axis coordinate less than -2, and check whether the product of the Y-axis coordinates of these two points is less than 0.

[0144] For example, if the distance between the vehicle and the left lane line is less than 1.2 meters, it is determined that the vehicle is not located in the middle between the left and right lane lines. Figure 5 As shown in (b) in . For another example, if the distance between the vehicle and the right road line is less than 1.2 meters, it is determined that the vehicle is not located in the middle position between the left and right lane lines. In addition, for example, if the extended position 5 meters in front of the vehicle intersects with the right lane line, it can be determined that the vehicle is not located in the middle position between the left and right lane lines. For another example, if the extended position 2 meters behind the vehicle intersects with the left lane line, it can be determined that the vehicle is not located in the middle position between the left and right lane lines.

[0145] Those skilled in the art should understand that the above specific distance values ​​of 1.2 meters, 5 meters, and 2 meters are only examples. Other distance values ​​used to determine the distance between the vehicle and the left and right lane lines, and whether the front and rear extension positions of the vehicle intersect with the left and right lane lines also fall within the scope of protection of this application.

[0146] This application determines whether the vehicle is located in the middle between the left and right lane lines according to the distance between the vehicle and the left and right lane lines respectively, and whether the front and rear extension positions of the vehicle intersect with the left and right lane lines; and when the output length of the artificial intelligence path planning point chain data is less than the distance between the vehicle and the navigation maneuvering point and the vehicle is located in the middle between the left and right lane lines, the coordinates of multiple second navigation marks are determined according to the coordinates of the third target point and one or more interval values, and then, according to the coordinates of the multiple second navigation marks, the multiple second navigation marks are displayed, wherein the multiple second navigation marks are arranged in a straight line. This application can accurately determine the timing of displaying navigation marks arranged in a straight line, thereby improving the accuracy of displaying navigation marks and allowing vehicle users to have a better visual experience.

[0147] In one embodiment, the method for displaying a navigation mark further includes:

[0148] When the X-axis coordinate of the vehicle is greater than the X-axis coordinate of the first navigation mark or the X-axis coordinate of the second navigation mark, the first navigation mark or the second navigation mark stops being displayed.

[0149] Taking a vehicle turning left at an intersection as an example, when the vehicle has passed the path point where the first navigation mark or the second navigation mark is located, since the position of the vehicle in the vehicle coordinate system is the origin coordinate, the X-axis coordinate of the first navigation mark or the second navigation mark will become a negative value. At this time, the X-axis coordinate of the vehicle (0) is greater than the X-axis coordinate of the first navigation mark (negative value) or the X-axis coordinate of the second navigation mark (negative value), and the first navigation mark or the second navigation mark can be stopped from being displayed. Preferably, when the X-axis coordinates of all first navigation marks or all second navigation marks are less than -5, the first navigation mark or the second navigation mark is stopped from being displayed.

[0150] The present application stops displaying the first navigation mark or the second navigation mark when the X-axis coordinate of the vehicle is greater than the X-axis coordinate of the first navigation mark or the X-axis coordinate of the second navigation mark. The present application stops displaying the first navigation mark or the second navigation mark as the position of the vehicle changes during driving, so that the display of the navigation arrow and the process of stopping the display can show a visual effect closer to the actual situation as the vehicle drives, thereby providing a better visual experience for the vehicle user.

[0151] In one embodiment, before comparing the output length of the point link data with the real-time distance and correspondingly displaying a plurality of first navigation marks or a plurality of second navigation marks according to the comparison result, the method further includes:

[0152] The movement effect of the third navigation mark moving to the second target point is displayed, wherein the movement effect of the third navigation mark moving to the second target point is used to represent the process of the vehicle moving to the navigation maneuvering point.

[0153] Figure 6 It is a schematic diagram of the display effect of the moving process of the third navigation marker in one embodiment of the present application.

[0154] like Figure 6 As shown in (a) of FIG. 1 , the third navigation mark is a navigation mark displayed at a fixed distance in front of the vehicle body. Preferably, the third navigation mark can also be deflected along with the angle of the vehicle steering wheel. When the third navigation mark moves to the second target point, the third navigation mark is as shown in FIG. Figure 6 The movement effect of the third navigation mark moving to the second target point can be used to represent the process of the vehicle moving to the navigation maneuvering point.

[0155] In one embodiment, the method for displaying a navigation mark further includes:

[0156] When the output length of the point chain data is less than the real-time distance, the second target point is the projection point of the navigation maneuvering point in the vehicle coordinate system;

[0157] When the output length of the point chain data is greater than the real-time distance, the second target point is the projection point of the navigation maneuvering point on the traction line corresponding to the artificial intelligence path planning point chain data.

[0158] Here, the current position of the vehicle can be obtained through GPS, and the distance between the vehicle and the navigation maneuvering point can be determined through a high-precision map. When the output length of the artificial intelligence path planning point chain data (e.g., 150 meters) is less than the real-time distance between the vehicle and the navigation maneuvering point (e.g., 200 meters), the second target point is the projection point of the navigation maneuvering point in the vehicle coordinate system. When the output length of the artificial intelligence path planning point chain data (e.g., 150 meters) is greater than the distance between the vehicle and the navigation maneuvering point (e.g., 100 meters), the second target point is the projection point of the navigation maneuvering point on the traction line corresponding to the artificial intelligence path planning point chain data. According to the artificial intelligence path planning point chain data, the accumulation of the distance between every two path points can be calculated, and through linear interpolation, a path point that meets the distance between the vehicle and the navigation maneuvering point on the human-driven traction line corresponding to the artificial intelligence path planning point chain data (or increases or decreases a certain distance according to this distance, such as decreasing by 10 meters) is obtained as a linear interpolation point, that is, the projection point of the navigation maneuvering point on the traction line corresponding to the artificial intelligence path planning point chain data.

[0159] This application displays the display effect of the third navigation mark moving to the projection point of the navigation maneuvering point in the vehicle coordinate system when the output length of the point chain data is less than the real-time distance between the vehicle and the navigation maneuvering point; and when the output length of the artificial intelligence path planning point chain data is greater than the real-time distance between the vehicle and the navigation maneuvering point, the display effect of the third navigation mark moving to the projection point of the navigation maneuvering point on the traction line corresponding to the artificial intelligence path planning point chain data is displayed. This application can display different display effects of the third navigation mark moving to the projection point of the navigation maneuvering point in the vehicle coordinate system, or the projection point of the navigation maneuvering point on the traction line corresponding to the artificial intelligence path planning point chain data, based on the relationship between the output length of the artificial intelligence path planning point chain data and the real-time distance between the vehicle and the navigation maneuvering point, thereby improving the style of displaying different navigation marks based on multiple data sources, improving the accuracy of the displayed navigation marks, and allowing vehicle users to have a better visual experience.

[0160] In one embodiment, before displaying the movement effect of the third navigation mark moving to the second target point, the method further includes:

[0161] In response to the real-time distance being less than or equal to a second distance threshold, displaying the third navigation indicator, wherein the second distance threshold is greater than the first distance threshold.

[0162] Figure 7It is a schematic diagram of the display effect of the third navigation mark of an embodiment of the present application.

[0163] like Figure 7 As shown, when the real-time distance between the vehicle and the navigation maneuvering point is less than or equal to the second distance threshold, the third navigation mark is displayed.

[0164] In response to the real-time distance being less than or equal to the second distance threshold, the present application displays the third navigation mark. The present application can make the display process of the third navigation mark more consistent with the actual situation in the real world, thereby improving the display accuracy of the navigation mark and providing the vehicle user with a better visual experience.

[0165] In one embodiment, the method for displaying a navigation mark further includes:

[0166] The first distance threshold and / or the second distance threshold are determined according to the type of the road on which the vehicle is traveling.

[0167] Among them, the first distance threshold is used as the timing to display multiple first navigation logos or multiple second navigation logos. In addition, the first distance threshold can also be used as the starting timing to trigger the third navigation logo to move to the second target point. For example, when the type of the vehicle's driving road is a highway, a city road, a city expressway, a national highway, or a provincial highway, the first distance threshold can be determined to be 300 meters. When the type of the vehicle's driving road is other roads, the first distance threshold can be determined to be 150 meters. When the real-time distance between the vehicle and the navigation maneuvering point is less than or equal to the first distance threshold, it is used as the timing to display multiple first navigation logos or multiple second navigation logos.

[0168] Among them, the second distance threshold is the timing for displaying the third navigation mark. For example, when the type of the road on which the vehicle is traveling is a highway, a city road, a city expressway, a national highway, or a provincial highway, it can be determined that the second distance threshold for triggering the display of the third navigation mark is 500 meters. When the type of the road on which the vehicle is traveling is other roads, it can be determined that the second distance threshold for triggering the display of the third navigation mark is 200 meters. When the real-time distance between the vehicle and the navigation maneuvering point is less than or equal to the second distance threshold, it is used as the timing for displaying the third navigation mark.

[0169] Those skilled in the art should understand that the above specific distance values ​​of 300 meters, 150 meters, 500 meters, and 200 meters are only examples. Other distance values ​​set according to the type of road the vehicle is traveling on also fall within the protection scope of this application.

[0170] The present application determines the first distance threshold and / or the second distance threshold according to the type of the road the vehicle is traveling on. The present application can determine different triggering times for displaying the navigation sign according to the type of the road the vehicle is traveling on, so that the movement process of the navigation sign is more consistent with the actual situation in the real world, thereby improving the display accuracy of the navigation sign and providing the vehicle user with a better visual experience.

[0171] Figure 8 It is a flowchart of a method for displaying a navigation mark provided in another embodiment of the present application.

[0172] S81, determining a second distance threshold for triggering display of the third navigation mark according to the type of the road on which the vehicle is traveling.

[0173] S82, when the real-time distance between the vehicle and the navigation maneuvering point is less than or equal to the second distance threshold, display the third navigation mark, such as Figure 7 shown.

[0174] S83: Determine, according to the type of the road on which the vehicle is traveling, a first distance threshold for triggering display of movement of the third navigation mark.

[0175] S84, when the real-time distance between the vehicle and the navigation maneuvering point is less than or equal to the first distance threshold, triggering display of the third navigation marker moving to the navigation maneuvering point or the linear interpolation point.

[0176] S851, when the output length of the artificial intelligence path planning point chain data is less than the real-time distance between the vehicle and the navigation maneuvering point, display the display effect of the third navigation mark moving to the navigation maneuvering point.

[0177] S852, when the output length of the artificial intelligence path planning point chain data is greater than the real-time distance between the vehicle and the navigation maneuvering point, the display effect of the third navigation marker moving to the linear interpolation point is displayed, and the linear interpolation point is determined according to the distance between the vehicle and the navigation maneuvering point and the artificial intelligence path planning point chain data.

[0178] The display effect of the third navigation mark moving to the navigation maneuvering point or linear interpolation point is as follows Figure 6 (a) to Figure 6 As shown in (b) in .

[0179] In one embodiment, the method for displaying a navigation mark further includes:

[0180] Recalculate the coordinates of navigation maneuvering points or linear interpolation points based on the vehicle's position;

[0181] The moved third navigation mark is displayed again.

[0182] Here, since the position of the vehicle usually changes at any time during driving, and the coordinates of the navigation maneuvering point and the linear interpolation point also change with the position of the vehicle, the coordinates of the navigation maneuvering point or the linear interpolation point can be recalculated every second. For example, when the coordinate position of the navigation maneuvering point or the linear interpolation point changes by more than 2 meters, the moved third navigation mark is redisplayed.

[0183] S86, detecting the distance between the vehicle and the navigation maneuvering point.

[0184] S8711, when the output length of the artificial intelligence path planning point chain data is less than the real-time distance between the vehicle and the navigation maneuvering point and the vehicle is located in the middle position between the left and right lane lines, determine the coordinates of multiple second navigation markers based on the coordinates of the third target point and one or more interval values.

[0185] S8712. Display the multiple second navigation markers according to their coordinates, wherein the multiple second navigation markers are arranged in a straight line.

[0186] S8721, when the output length of the artificial intelligence path planning point chain data is greater than the real-time distance between the vehicle and the navigation maneuvering point, obtain artificial intelligence initial path planning point chain data representing the coordinates of multiple second path points.

[0187] S8722. According to the coordinates of the first target point and the coordinates of the multiple second path points, data cleaning processing is performed on the multiple second path points to obtain multiple third path points. The absolute values ​​of the coordinate elements of the coordinates of the multiple third path points are greater than the absolute values ​​of the coordinate elements of the coordinates of the first target point. The coordinate elements are X-axis coordinates or Y-axis coordinates, wherein the X-axis represents the front and rear direction of the vehicle, and the Y-axis represents the left and right direction of the vehicle.

[0188] S8723, perform data sorting processing on the coordinates of the multiple third path points, retain and determine the coordinates of the multiple path points sorted according to the absolute values ​​of the Y-axis coordinates as the coordinates of the first path points, so as to obtain the artificial intelligence path planning point chain data.

[0189] S8724, determining an equation of a spline curve based on artificial intelligence path planning point chain data representing coordinates of a plurality of first path points.

[0190] S8725, determine the coordinates of multiple first navigation markers according to the coordinates of the first target point, one or more interval values ​​and the equation of the spline curve.

[0191] S8726: Display the multiple first navigation markers according to the coordinates of the multiple first navigation markers, wherein the multiple first navigation markers are arranged in a curve, such as Figure 3shown.

[0192] S88: When the X-axis coordinate of the vehicle is greater than the X-axis coordinate of the first navigation mark or the X-axis coordinate of the second navigation mark, stop displaying the first navigation mark or the second navigation mark.

[0193] The implementation of the above steps is similar or close to the implementation described previously and will not be described in detail here.

[0194] When the output length of the artificial intelligence path planning point chain data is less than the real-time distance between the vehicle and the navigation maneuvering point, it can be considered to be outside the line of sight. When the output length of the artificial intelligence path planning point chain data is greater than the real-time distance between the vehicle and the navigation maneuvering point, it can be considered to be within the line of sight. The present invention integrates the standard definition (SD) navigation data and the human-driven traction line data corresponding to the artificial intelligence path planning point chain data in real time, and initiates AR guidance according to different road conditions of standard definition navigation and the distance from the vehicle to the navigation maneuvering point. When it is outside the line of sight, the present application uses the standard definition navigation maneuvering point data to determine the navigation mark (mark). When it is within the line of sight, the present application uses the human-driven traction line data corresponding to the artificial intelligence path planning point chain data to more accurately determine the navigation mark (mark). At the same time, in order to solve the problems such as abnormal fluctuations in the human-driven traction line data and the need for the navigation arrow to always be fixed in the world coordinate system, the present application also cleans the artificial intelligence initial path planning point chain data to obtain the artificial intelligence path planning point chain data, and uses relative positioning to derive the data of the navigation arrow.

[0195] The present application can be applied to scenarios such as when a vehicle is driving to an intersection, turning, fork, on or off ramps, etc. The display process of the navigation sign provided in the present application includes the processes of floating navigation arrows, moving (flying) navigation arrows, and expanding navigation arrows. The display method of the navigation sign provided in the present application can enable the users of the vehicle to obtain a better visual experience, and solves the technical problems of poor accuracy of standard definition data in the prior art, and small coverage of high-definition data, untimely update frequency, and low freshness. When the first navigation sign is displayed by means of an augmented reality head-up display, the users of the vehicle can obtain a real augmented reality visual experience.

[0196] Fig. 9 It is a schematic diagram of components of an augmented reality head-up display provided in one embodiment of the present application.

[0197] The augmented reality application (AR-HUD APP) is an application deployed in the digital cockpit domain of the vehicle. The augmented reality application consists of two processes. One process is the non-AR W-HUD process (w-hmi) displayed on the near-focus plane, which is used to display information such as vehicle speed, gear position, navigation thumbnails, and environmental perception simulation display. The other process is the AR-guided AR-HUD process (ar-kernal), which is used to display AR guidance information such as turning, going straight, turning around, and roundabouts.

[0198] The current digital cockpit uses an architecture that combines QNX (QNX Neutrino Real-Time Operating System) and Android. The augmented reality application (AR-HUD APP) is located in QNX, and its associated modules include the Ethernet receiving and sending module (SOA_Manager) located in QNX, the navigation information (naviInfo) module used to communicate with the navigation module (Navi), and the navigation module (Navi) located in Android. The augmented reality application is transferred through the SOA_Manager (Service Oriented Architecture_Manager) and obtains the global positioning (Global_Localization), relative positioning (Relative_Localization), world model processing module (Worldmodel), large model processing module (Manner) and perception data processing module (AD-HMI) provided by the autonomous driving domain (AD domain) through the SOA interface (SOA_Adapter).

[0199] Fig.10 It is a structural schematic diagram of a display device for a navigation mark provided in an embodiment of the present application.

[0200] like Fig.10 As shown, the device 10 comprises:

[0201] A first acquisition module 101 is used to acquire a real-time distance between the vehicle and a navigation maneuvering point, wherein the navigation maneuvering point is a position point at a far end position in the driving direction of the vehicle;

[0202] The second acquisition module 102 is used to obtain artificial intelligence path planning point chain data and point chain data output length;

[0203] The third display module 103 is used to compare the output length of the point chain data and the real-time distance in response to the real-time distance being less than or equal to the first distance threshold, and display a plurality of first navigation markers or a plurality of second navigation markers correspondingly according to the comparison result, wherein the plurality of first navigation markers are arranged in a curve and the plurality of second navigation markers are arranged in a straight line, and the plurality of first navigation markers or the plurality of second navigation markers are used to indicate the process of the vehicle driving through the navigation maneuvering point.

[0204] Another embodiment of the present invention discloses a device 10. In the above Fig.10 Based on the corresponding embodiment, the third display module 103 is used for:

[0205] When the output length of the point chain data is greater than the real-time distance, a plurality of first navigation marks are displayed.

[0206] Another embodiment of the present invention discloses a device 10. In the above Fig.10 Based on the corresponding embodiment, the third display module 103 is used for:

[0207] Determining an equation of a spline curve based on the artificial intelligence path planning point chain data representing the coordinates of the plurality of first path points;

[0208] Determining coordinates of a plurality of first navigation markers according to the coordinates of the first target point, one or more interval values, and the equation of the spline curve;

[0209] The multiple first navigation markers are displayed according to their coordinates, wherein the multiple first navigation markers are arranged in a curve.

[0210] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the device 10 further includes:

[0211] A fourth acquisition module, used to acquire artificial intelligence initial path planning point chain data representing coordinates of a plurality of second path points;

[0212] a fifth cleaning module, configured to perform data cleaning processing on the plurality of second path points according to the coordinates of the first target point and the coordinates of the plurality of second path points, to obtain a plurality of third path points, wherein the absolute values ​​of the coordinate elements of the coordinates of the plurality of third path points are greater than the absolute values ​​of the coordinate elements of the coordinates of the first target point, and the coordinate elements are X-axis coordinates or Y-axis coordinates, wherein the X-axis represents the front-rear direction of the vehicle, and the Y-axis represents the left-right direction of the vehicle;

[0213] The sixth cleaning module is used to perform data sorting processing on the coordinates of the multiple third path points, retain and determine the coordinates of the multiple path points sorted according to the absolute values ​​of the Y-axis coordinates as the coordinates of the first path points, so as to obtain the artificial intelligence path planning point chain data.

[0214] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the first navigation mark includes a navigation arrow, the coordinates of the first navigation mark include the coordinates of the navigation arrow, and the device 10 further includes:

[0215] The seventh determination module is used to determine the arrow direction of one of the two adjacent navigation arrows according to the coordinates of the two adjacent navigation arrows.

[0216] Another embodiment of the present invention discloses a device 10. In the above Fig.10 Based on the corresponding embodiment, the third display module 103 is used for:

[0217] When the output length of the point chain data is less than the real-time distance and the vehicle is located in the middle position between the left and right lane lines, a plurality of second navigation marks are displayed.

[0218] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the device 10 further includes:

[0219] The eighth determination module is used to determine whether the vehicle is located in the middle position between the left and right lane lines according to the distances between the vehicle and the left and right lane lines respectively, and whether the front and rear extension positions of the vehicle intersect with the left and right lane lines.

[0220] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the device 10 further includes:

[0221] A ninth display module is used to display the movement effect of the third navigation marker moving to the second target point, wherein the movement effect of the third navigation marker moving to the second target point is used to represent the process of the vehicle moving to the navigation maneuvering point.

[0222] Another embodiment of the present invention discloses a device 10. In the above Fig.10 Based on the corresponding embodiment,

[0223] When the output length of the point chain data is less than the real-time distance, the second target point is the projection point of the navigation maneuvering point in the vehicle coordinate system;

[0224] When the output length of the point chain data is greater than the real-time distance, the second target point is the projection point of the navigation maneuvering point on the traction line corresponding to the artificial intelligence path planning point chain data.

[0225] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the device 10 further includes:

[0226] A tenth display module is used to display the third navigation mark in response to the real-time distance being less than or equal to a second distance threshold, wherein the second distance threshold is greater than the first distance threshold.

[0227] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the device 10 further includes:

[0228] An eleventh determination module is used to determine the first distance threshold and / or the second distance threshold according to the type of the road on which the vehicle is traveling.

[0229] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the device 10 further includes:

[0230] A twelfth determination module, used to determine the adjusted position of the navigation arrow and the adjusted direction of the arrow according to the changes in the position and posture of the vehicle;

[0231] The thirteenth display module is used to display the navigation arrow according to the adjusted position of the navigation arrow and the adjusted direction of the arrow.

[0232] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the device 10 further includes:

[0233] The fourteenth stopping module is used to stop displaying the first navigation mark or the second navigation mark when the X-axis coordinate of the vehicle is greater than the X-axis coordinate of the first navigation mark or the X-axis coordinate of the second navigation mark.

[0234] Another embodiment of the present invention discloses a device 10. In the above Fig.10 On the basis of the corresponding embodiment, the device 10 further includes:

[0235] A fifteenth calculation module, used to recalculate the coordinates of the navigation maneuvering point or the linear interpolation point according to the position of the vehicle;

[0236] The sixteenth display module is used to redisplay the moved third navigation mark.

[0237] An embodiment of the present application provides a vehicle, including a display device for the above-mentioned navigation mark.

[0238] 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.

[0239] 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.

[0240] The present application also provides an electronic device, such as Fig.11 As shown, the electronic device 11 includes: at least one processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the at least one processor 110, and when the processor 110 executes the computer program 42, the steps in any of the above-mentioned method embodiments are implemented.

[0241] An embodiment of the present application further 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 processor, the steps in the above-mentioned method embodiments can be implemented.

[0242] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0243] 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.

[0244] 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.

Claims

1. A method for displaying a navigation mark, characterized in that: The method is applied to a driving process of a vehicle, and the method comprises: Acquiring a real-time distance between the vehicle and a navigation maneuvering point, wherein the navigation maneuvering point is a position point at a far end position in the direction of vehicle travel; Obtain AI path planning point chain data and point chain data output length; In response to the real-time distance being less than or equal to a first distance threshold, the point chain data output length and the real-time distance are compared, and based on the comparison result, a plurality of first navigation markers or a plurality of second navigation markers are correspondingly displayed, wherein the plurality of first navigation markers are arranged in a curve and the plurality of second navigation markers are arranged in a straight line, and the plurality of first navigation markers or the plurality of second navigation markers are used to indicate the process of the vehicle driving through the navigation maneuvering point.

2. The method for displaying a navigation mark according to claim 1, characterized in that: The comparing the output length of the point link data and the real-time distance, and correspondingly displaying a plurality of first navigation marks or a plurality of second navigation marks according to the comparison result, includes: When the output length of the point chain data is greater than the real-time distance, a plurality of first navigation marks are displayed.

3. The method for displaying a navigation mark according to claim 1 or 2, characterized in that: The displaying of multiple first navigation marks includes: Determining an equation of a spline curve based on the artificial intelligence path planning point chain data representing the coordinates of the plurality of first path points; Determining coordinates of a plurality of first navigation markers according to the coordinates of the first target point, one or more interval values, and the equation of the spline curve; The multiple first navigation markers are displayed according to their coordinates, wherein the multiple first navigation markers are arranged in a curve.

4. The method for displaying a navigation mark according to claim 3, characterized in that: The artificial intelligence path planning point chain data representing the coordinates of the plurality of first path points is obtained based on the following steps: Acquiring artificial intelligence initial path planning point chain data representing coordinates of a plurality of second path points; According to the coordinates of the first target point and the coordinates of the plurality of second path points, data cleaning processing is performed on the plurality of second path points to obtain a plurality of third path points, wherein the absolute values ​​of the coordinate elements of the coordinates of the plurality of third path points are greater than the absolute values ​​of the coordinate elements of the coordinates of the first target point, and the coordinate elements are X-axis coordinates or Y-axis coordinates, wherein the X-axis represents the front-rear direction of the vehicle, and the Y-axis represents the left-right direction of the vehicle; The coordinates of the multiple third path points are sorted, and the coordinates of the multiple path points sorted according to the absolute values ​​of the Y-axis coordinates are retained and determined as the coordinates of the first path points to obtain the artificial intelligence path planning point chain data.

5. The method for displaying a navigation mark according to claim 1 or 2, characterized in that: The first navigation mark includes a navigation arrow, the coordinates of the first navigation mark include the coordinates of the navigation arrow, and the method further includes: According to the coordinates of two adjacent navigation arrows, the arrow direction of one of the two adjacent navigation arrows is determined.

6. The method for displaying a navigation mark according to claim 1 or 2, characterized in that: The comparing the output length of the point link data and the real-time distance, and correspondingly displaying a plurality of first navigation marks or a plurality of second navigation marks according to the comparison result, includes: When the output length of the point chain data is less than the real-time distance and the vehicle is located in the middle position between the left and right lane lines, a plurality of second navigation marks are displayed.

7. The method for displaying a navigation mark according to claim 6, characterized in that: The method further comprises: Whether the vehicle is located in the middle position between the left and right lane lines is determined based on the distances between the vehicle and the left and right lane lines respectively, and whether the front and rear extension positions of the vehicle intersect with the left and right lane lines.

8. The method for displaying a navigation mark according to claim 1, wherein: Before comparing the output length of the point chain data with the real-time distance and correspondingly displaying a plurality of first navigation marks or a plurality of second navigation marks according to the comparison result, the method further includes: The movement effect of the third navigation mark moving to the second target point is displayed, wherein the movement effect of the third navigation mark moving to the second target point is used to represent the process of the vehicle moving to the navigation maneuvering point.

9. The method for displaying a navigation mark according to claim 8, characterized in that: The method further comprises: When the output length of the point chain data is less than the real-time distance, the second target point is the projection point of the navigation maneuvering point in the vehicle coordinate system; When the output length of the point chain data is greater than the real-time distance, the second target point is the projection point of the navigation maneuvering point on the traction line corresponding to the artificial intelligence path planning point chain data.

10. The method for displaying a navigation mark according to claim 8, characterized in that: Before displaying the movement effect of the third navigation mark moving to the second target point, the method further includes: In response to the real-time distance being less than or equal to a second distance threshold, displaying the third navigation indicator, wherein the second distance threshold is greater than the first distance threshold.

11. The method for displaying a navigation mark according to claim 1 or 10, characterized in that: The method further comprises: The first distance threshold and / or the second distance threshold are determined according to the type of the road on which the vehicle is traveling.

12. A navigation sign display device, characterized in that: The device comprises: A first acquisition module is used to acquire a real-time distance between the vehicle and a navigation maneuvering point, wherein the navigation maneuvering point is a position point at a far end position in the driving direction of the vehicle; The second acquisition module is used to obtain the artificial intelligence path planning point chain data and the output length of the point chain data; The third display module is used to compare the output length of the point chain data and the real-time distance in response to the real-time distance being less than or equal to the first distance threshold, and display a plurality of first navigation markers or a plurality of second navigation markers correspondingly according to the comparison result, wherein the plurality of first navigation markers are arranged in a curve and the plurality of second navigation markers are arranged in a straight line, and the plurality of first navigation markers or the plurality of second navigation markers are used to indicate the process of the vehicle driving through the navigation maneuvering point.

13. An electronic device, characterized in that: The electronic device comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device implements the method according to any one of claims 1 to 11.

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