AR (Augmented Reality) content display method and system self-adaptive to vehicle speed

Abstract

The invention provides an AR content display method and system for a vehicle. The method comprises the steps that continuous frames of images about the surrounding environment of the vehicle are acquired; aiming at each current frame in the acquired continuous frames, detecting an object which appears in the current frame and is the same as the previous frame; determining a relative movement distance or speed of the detected object between the current frame and the previous frame; and if the determined relative movement distance or speed is within a preset threshold value, outputting the AR digital content corresponding to the object so as to be displayed at a position corresponding to the object. In addition, the invention also provides a vehicle supporting AR content display.

Description

Technical Field

[0001] The present invention relates to the field of intelligent cockpits, and more particularly, to an AR content display method and system adaptable to vehicle speed. Background Art

[0002] In recent years, as AR technology has become the next trend in automotive technology development, AR technology has been increasingly applied to the human-machine interaction of intelligent vehicles. Its applications in human-machine interaction include augmented reality information display, augmented reality driving assistance systems, augmented reality somatosensory interaction systems, etc. For example, the current AR-HUD (AR head-up display) system can reasonably superimpose and display the status of the driver assistance system and the meaning of this information in the driver's field of vision.

[0003] However, current AR display technologies are usually designed for objects at low speeds and in stable states. For example, by analyzing and modeling the road conditions ahead through a front-view camera, the position, distance, size, etc. of the object are obtained, and then the information that the HUD needs to display is accurately projected to the corresponding position, so that the human eye, the HUD display surface, and the real road are on the same line of sight to achieve an immersive AR experience. In scenarios such as when a vehicle is traveling at high speed, when a user looks out through the side window, due to the persistence of vision, they may feel a flicker when viewing the projected information content.

[0004] For example, assume that the frame rate of the human eye visual system is about 50 frames per second (50Hz). A vehicle traveling on a highway may move at a speed of 120 km / h (i.e., 33 m / s), which is equal to 0.66 m / frame, and 0.66 m is approximately the width of the rear side window. This means that for passengers sitting in the back row, some objects that are relatively close may only be seen for a moment and quickly flash by. If corresponding digital content is superimposed on them, it may cause distraction and a poor viewing experience.

[0005] Therefore, in order to avoid distraction and improve the AR display effect and achieve AR content display adaptable to vehicle speed, it is desirable to provide an improved AR content display solution. Summary of the Invention

[0006] The present invention content is provided to introduce some concepts in a simplified form that will be further described in the following detailed implementation. The present invention content is not intended to identify the key features or essential features of the claimed subject matter, nor is it intended to be used to help determine the scope of the claimed subject matter.

[0007] In view of the above problems, according to a first aspect of the present invention, there is provided an augmented reality (AR) content display method for a vehicle, the method comprising: acquiring consecutive frames of an image of the vehicle surrounding environment; for each current frame among the acquired consecutive frames, detecting an object that appears in the current frame and is the same as the previous frame; determining a relative movement distance or speed of the detected object between the current frame and the previous frame; and if the determined relative movement distance or speed is within a predefined threshold, outputting AR digital content corresponding to the object for superimposed display at a position corresponding to the object.

[0008] In the technical solution of the embodiment of the present invention, by predefined a threshold for the relative movement speed or distance of the detected object, and only displaying the corresponding AR digital content for the object whose relative movement speed or distance is within the threshold to filter out objects that may cause visual distraction nearby, it is possible to implement AR content display with adaptive vehicle speed and further improve the AR experience.

[0009] According to an embodiment of the present invention, the method further comprises: when the detected object is a new object and the relative movement distance or speed of the object is within the predefined threshold, adding the object to an object tracking list; and outputting the corresponding AR digital content according to the updated object tracking list.

[0010] According to a further embodiment of the present invention, the object tracking list includes the currently tracked object and its corresponding type, position, size, and distance.

[0011] According to a further embodiment of the present invention, the method further comprises: when it is detected that an object in the object tracking list moves out of the image of the current frame, removing the object from the object tracking list.

[0012] According to a further embodiment of the present invention, the determination of the relative movement distance or speed of the detected object between the current frame and the previous frame is performed by an optical flow method.

[0013] According to a further embodiment of the present invention, the AR digital content corresponding to the object includes the classification and recognition results when performing target detection on the object.

[0014] According to a further embodiment of the present invention, the method further comprises: detecting the eye position of the occupant; and calibrating the display position of the AR display content based on the detected eye position.

[0015] According to a second aspect of the present invention, there is provided an augmented reality (AR) content display system for a vehicle, the system comprising: an image acquisition module configured to acquire consecutive frames of images of the vehicle's surrounding environment; an image processing module configured to: for each current frame among the acquired consecutive frames, detect an object that appears in the current frame and is the same as the previous frame; determine a relative movement distance or speed of the detected object between the current frame and the previous frame; and a content output module configured to: when the determined relative movement distance or speed is within a predefined threshold, output AR digital content corresponding to the object for display at a position corresponding to the object.

[0016] According to an embodiment of the present invention, the image processing module is further configured to add the object to an object tracking list when the detected object is a new object and the relative movement distance or speed of the object is within the predefined threshold, and the content output module is further configured to output corresponding AR digital content according to the updated object tracking list.

[0017] According to a further embodiment of the present invention, the object tracking list includes currently tracked objects and their corresponding types, positions, sizes, and distances.

[0018] According to a further embodiment of the present invention, the image processing module is further configured to: remove the object from the object tracking list when it is detected that the object in the object tracking list moves out of the image of the current frame.

[0019] According to a further embodiment of the present invention, the determination of the relative movement distance or speed of the detected object between the current frame and the previous frame is performed by an optical flow method.

[0020] According to a further embodiment of the present invention, the AR digital content corresponding to the object includes classification and recognition results when performing target detection on the object.

[0021] According to a third aspect of the present invention, there is provided a vehicle supporting augmented reality (AR) content display, the vehicle comprising: a vision sensor configured to capture real-time images of the vehicle's surrounding environment; the AR content display system according to any one of claims 8-13; and a display device configured to display corresponding AR digital content at a position corresponding to the detected object.

[0022] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing instructions that, when executed, cause a vehicle to perform the method according to any one of the foregoing aspects.

[0023] In view of the problems existing in the prior art, the present invention provides an AR content display system with adaptive vehicle speed, and this system has at least the following advantages:

[0024] 1. By filtering out some AR content displays in the vicinity at a relatively high vehicle speed, the display experience of, for example, an AR-HUD projected on the vehicle side window can be further improved, avoiding distraction; and

[0025] 2. By predefining thresholds for the moving speed / distance of an object and using the predefined thresholds to decide whether to continue tracking the detected object and display the corresponding digital content, the AR display experience can be further improved, avoiding flicker caused by the persistence of vision, thereby enhancing the vehicle-human interaction experience and making the virtual image and the real image better integrated.

[0026] These and other features and advantages will become apparent by reading the following detailed description and referring to the associated drawings. It should be understood that the foregoing general description and the following detailed description are illustrative only and do not limit the various aspects claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to understand in detail the manner in which the above-described features of the present invention are used, the above briefly summarized content can be described more specifically with reference to the various embodiments, some of which are shown in the drawings. However, it should be noted that the drawings only show some typical aspects of the present invention and should not be considered to limit its scope, because the description may allow other equally effective aspects.

[0028] Figure 1 is an exemplary architecture diagram of an AR content display system for a vehicle according to an embodiment of the present invention.

[0029] Figure 2 is a schematic diagram of a scenario for determining whether to perform AR content display between two adjacent frames according to an embodiment of the present invention.

[0030] Figure 3 is a schematic diagram of a scenario for the moving distance / speed of an object simulating the human eye view according to an embodiment of the present invention.

[0031] Figure 4 is a schematic diagram of using the optical flow method to determine the relative moving distance / speed of an object according to an embodiment of the present invention.

[0032] Figure 5 is an exemplary flowchart of an AR content display method for a vehicle according to an embodiment of the present invention.

[0033] Figure 6An exemplary vehicle supporting AR content display according to an embodiment of the present invention.

[0034] Figure 7 An example architecture diagram of an AR content display system according to an embodiment of the present invention. Detailed implementation manners

[0035] The present invention will be described in detail below with reference to the accompanying drawings, and the features of the present invention will be further revealed in the following specific descriptions. The term "vehicle" used throughout the specification refers to any type of automobile, including but not limited to sedans, vans, trucks, buses, etc. For simplicity, the present invention is described with respect to "automobiles". The term "A or B" used in the specification means "A and B" and "A or B", and does not mean that A and B are exclusive, unless otherwise specified.

[0036] Current AR-HUDs typically display information content such as driving speed, adaptive cruise function, lane change assist function, navigation function, etc. on the windshield of a vehicle, for example. However, with the development of intelligent cockpits, projection display technology for side windows has currently been realized to further enhance the immersive visual experience. However, as described above, AR display for side windows may have the problem that the superimposed information flickers due to too high vehicle speed, resulting in user distraction.

[0037] To solve the above problems, the embodiments of this specification envision an AR content display scheme with adaptive vehicle speed, which predefined thresholds for the relative moving speed or distance of the detected objects, and only displays the corresponding digital content for the objects whose relative moving speed or distance is within the thresholds to filter out the objects that may cause visual distraction nearby, further improving the AR experience.

[0038] Figure 1 An example architecture diagram of an AR content display system 100 for a vehicle according to an embodiment of the present invention is shown. As Figure 1 shown, the system 100 may at least include an image acquisition module 102, an image processing module 104, and a content output module 106.

[0039] The image acquisition module 102 may acquire consecutive frames of images of the vehicle's surrounding environment.

[0040] In one implementation, the image acquisition module 102 may acquire consecutive frames of images of the side of the vehicle from a visual sensor of the vehicle (for example, a camera installed on the side of the vehicle, which can capture images at a preset frequency) for subsequent object detection and tracking.

[0041] The image processing module 104 can, for each current frame in the acquired consecutive frames, detect the objects that appear in the current frame and are the same as those in the previous frame, and determine the relative movement distance or speed of the detected objects between the current frame and the previous frame.

[0042] Specifically, the image processing module 104 can perform object detection on the image of each frame (for example, using the YOLO algorithm), identify various objects in the image and determine their positions and categories, and then can track the detected objects (for example, using tracking algorithms such as the Kalman filter, optical flow method, etc.). Subsequently, for the same object detected in two adjacent frames, the relative movement distance or speed of the object between the two adjacent frames can be determined (for example, using the optical flow method, as further described below in Figure 4 .

[0043] Of course, it can be understood that any other object detection / tracking algorithms known to those skilled in the art can also be used to detect or track the objects in the captured image frames.

[0044] Subsequently, when the determined relative movement distance or speed is within a predefined threshold, the content output module 106 can output the AR digital content corresponding to the object for superimposed display at the position corresponding to the object.

[0045] In one embodiment, the AR digital content corresponding to the object may include the classification and recognition results when performing object detection on the object (for example, including the type of the object).

[0046] In other words, the AR content is displayed only for the objects whose relative movement distance or speed is within the predefined threshold. For example, when the vehicle speed is relatively high, the AR content is displayed only for the distant objects.

[0047] As Figure 2 shown, Figure 2 FIG. 200 shows a schematic diagram of a scenario 200 for determining whether to display AR content between two adjacent frames according to an embodiment of the present invention. As shown in 200, a vehicle is traveling on a highway at a vehicle speed v. In adjacent frame 1 (image frame f_1 captured at t1) and frame 2 (image frame f_2 captured at t2), a tree (object 1) relatively close to the vehicle and a building (object 2) relatively far from the vehicle are detected.

[0048] The object relatively close to the vehicle (here object 1, i.e., the tree) has a greater relative distance / speed with respect to the object relatively far from the vehicle (here object 2, i.e., the building), as further shown in Figure 3 .

[0049] In Figure 3The movement of an object simulating the perspective of a human eye is depicted, where when the vehicle moves from position p1 at time t1 to position p2 at time t2, the relative movement distance of object 1 (obj1) is D_t (and the corresponding relative movement speed is D_t / (t2 - t1)), while the relative movement distance of object 2 (obj2) is D_b (and the corresponding relative movement speed is D_b / (t2 - t1)).

[0050] Thus, in order to avoid a distracting AR experience, AR content display can be performed only for objects with relatively small relative movement distance / speed in the distance.

[0051] This actually also depends on the vehicle speed. In the case of a relatively high vehicle speed, the relative movement distance / speed of nearby objects is naturally also relatively high, while the relative movement distance of distant objects is relatively low. In this situation, AR display for nearby objects needs to be filtered out.

[0052] On the contrary, in the case of a relatively low vehicle speed, the relative movement distance / speed of both nearby and distant objects is relatively low. In this situation, corresponding AR digital content can also be displayed for nearby objects.

[0053] Therefore, in order to filter out nearby objects (such as passing-by trees on the roadside) in the case of a relatively high vehicle speed, it is necessary to predefine a distance / speed threshold for the relative movement distance / speed of the object. When the relative movement distance / speed of the object between two adjacent frames is within the pre-defined distance / speed threshold, the corresponding digital content is displayed.

[0054] Return Figure 2 , only the relative movement distance / speed of object 2 between adjacent frames 1 and 2 is less than the predefined threshold (while the relative movement distance / speed of object 1 between two adjacent frames exceeds the predefined threshold), so AR digital content is displayed only for object 2 at the corresponding position.

[0055] In a preferred embodiment, the determination of the movement distance / speed of the same object between two adjacent frames can be performed using the optical flow method, as Figure 4 further described in detail in

[0056] As Figure 4 shown,[[]] Figure 4 FIG. 400 shows a schematic diagram of using the optical flow method to determine the relative movement distance / speed of an object according to an embodiment of the present invention. In Figure 4 it depicts Figure 2The movement of Objects 1 and 2 between two adjacent frames in the scenario, where the solid lines indicate the positions of the detected Objects 1 and 2 in the current frame (Frame 2) (i.e., the new positions), while the dashed lines indicate the positions of the detected Objects 1 and 2 in the previous frame (Frame 1) (i.e., the previous positions), and the solid arrows indicate the relative movement distances of the objects between the current frame and the previous frame (i.e., between two adjacent frames).

[0057] In Figure 4 the optical flow method is adopted. The concept of optical flow refers to the movement of target pixels in an image due to the movement of objects in the image or the movement of the camera in two consecutive frames. Optical flow is a two-dimensional vector field, which represents the displacement of a point from the first frame to the second frame. Therefore, as Figure 4 shown, the relative movement distance (and thus the relative movement speed) can be determined by calculating the number of pixels that the same object moves between two adjacent frames, and the corresponding AR digital content is projected / displayed at the corresponding position only for the objects whose relative movement distance / speed is less than a predefined threshold.

[0058] Return Figure 1 , in a further embodiment, when the detected object is a new object and the relative movement distance or speed of the object is within the predefined threshold, the image processing module 104 can add the object to the object tracking list, and output the corresponding AR digital content according to the updated object tracking list for subsequent display. For example, in Figure 2 the scenario, only the detected Object 2 is added to the object tracking list.

[0059] In one embodiment, the above object tracking list may include the currently tracked objects and their corresponding types, current positions, sizes, and distances.

[0060] In a further embodiment, when it is detected that an object in the current object tracking list moves out of the image of the current frame (i.e., leaves the user's line of sight), the object can be removed from the object tracking list.

[0061] In a further embodiment, the eye position of the occupant can also be detected, and the display position of the AR display content can be calibrated based on the detected eye position, which realizes a more accurate determination of the display position of the AR display content.

[0062] Those skilled in the art can understand that the AR content display system of the present invention can be implemented either in hardware form or in software form, and each module can be combined or combined in any suitable manner.

[0063] Figure 5 FIG. shows an example flowchart of an AR content display method 500 for a vehicle according to an embodiment of the present invention. Figure 5Starting from step 502, the image acquisition module 102 can acquire consecutive frames of images of the vehicle's surrounding environment.

[0064] In one embodiment, the image acquisition module 102 can acquire consecutive image frames of the vehicle's side environment collected from a camera installed on the side of the vehicle (at a predetermined frequency / periodically (e.g., 30 Hz)).

[0065] In step 504, the image processing module 104 can, for each current frame among the acquired consecutive frames, detect the same object that appears in the current frame as in the previous frame.

[0066] In other words, the image processing module 104 can detect the same object that appears in two adjacent frames.

[0067] In one embodiment, the image processing module 104 can use computer vision and AI technologies (e.g., object detection and tracking algorithms, etc.) to detect the same object that appears in two adjacent frames.

[0068] In step 506, the image processing module 104 can determine whether the detected object is a new object (e.g., not detected or not present in the object tracking list in the previous frame), and whether the relative movement distance / speed of the object between two adjacent frames (i.e., the current frame and the previous frame) is within a predefined threshold, as illustrated in the reference Figure 2 - 4 as explained.

[0069] If so, the method 500 proceeds to 508, where the image processing module 104 can add the newly detected object to the object tracking list, and further proceeds to 510 to update the display of the digital content according to the position of the object in the object tracking list.

[0070] In one embodiment, the object tracking list can include the currently tracked objects and their corresponding types, current positions, sizes, and distances.

[0071] If not, the method directly proceeds to 510 to update the display of the corresponding digital content according to the new positions of the objects in the current object tracking list.

[0072] In step 512, it is determined whether the objects in the object tracking list move out of the current image frame.

[0073] If so, in step 514, the object is removed from the object tracking list, and the display of the corresponding AR digital content is removed accordingly.

[0074] If not, the method returns to step 504 to continue object detection and tracking for the next image frame.

[0075] Thus, by predefined thresholds for the relative moving speed or distance of the detected objects and only tracking the objects with relative moving speed or distance within the thresholds to display corresponding digital content, objects that may cause visual distraction nearby can be filtered out, thereby achieving AR content display with adaptive vehicle speed, further improving the AR experience and the interaction of the intelligent cockpit.

[0076] Figure 6 An exemplary vehicle 600 supporting AR content display according to an embodiment of the present invention is shown. The vehicle 600 may at least include a vision sensor 602, a display device 604, a system controller 606, and Figure 1 the AR content display system 100 as shown.

[0077] The vision sensor 602 can be used to capture or collect real-time images of the vehicle's surrounding environment (e.g., at a predetermined frequency). In one embodiment, the vision sensor 602 (e.g., an in-vehicle camera) can be installed on the side of the vehicle to capture the scene outside the side window for subsequent HUD projection display on the side window.

[0078] Of course, the vehicle 600 may also include various other sensors, including but not limited to millimeter-wave radar, lidar, vehicle speed sensors, etc.

[0079] The system 100 can be used to perform various functions as Figure 1 described, including: obtaining consecutive frames of images of the vehicle's surrounding environment from, for example, the vision sensor 602; for each current frame among the obtained consecutive frames, detecting the same objects that appear in the current frame as in the previous frame; determining the relative moving distance or speed of the detected objects between the current frame and the previous frame; and outputting AR digital content corresponding to the objects for display at positions corresponding to the objects in the case where the determined relative moving distance or speed is within a predefined threshold.

[0080] The display device 604 can display corresponding AR digital content at positions corresponding to the detected objects. In one embodiment, the display device 604 can be implemented as a side window HUD (e.g., projecting the AR content of the tracked object onto the corresponding position on the side window) or AR glasses.

[0081] The system controller 606 can control the vision sensor 602, the display device 604, and the AR display system 100 (e.g., in response to user operations).

[0082] In addition, the vehicle 600 may further include, for example, an eye tracking system that can identify the focus point of the occupant's line of sight, correct the display position of the AR content by determining the position of the gaze point of the human eye, where only the gaze point area may be rendered in high definition, and enhance the display effect of the gaze point area based on the existing rendering effect, while gradually reducing the rendering resolution of the surrounding area. This display effect is consistent with the imaging law when the human eye views an object, further enhancing the vehicle-human interaction experience.

[0083] Figure 7 FIG. shows a schematic architecture diagram of an AR content display system 700 with adaptive vehicle speed according to an embodiment of the present invention.

[0084] As Figure 7 shown, the system 700 may include a memory 702 and at least one processor 704. The memory 702 may include RAM, ROM, or a combination thereof. The memory 702 may store computer-executable instructions that, when executed by the at least one processor 704, cause the at least one processor 704 to perform various functions described herein, including: obtaining consecutive frames of images of the vehicle's surrounding environment; for each current frame among the obtained consecutive frames, detecting an object that appears in the current frame and is the same as in the previous frame; determining the relative movement distance or speed of the detected object between the current frame and the previous frame; and if the determined relative movement distance or speed is within a predefined threshold, outputting AR digital content corresponding to the object for display at a position corresponding to the object.

[0085] The at least one processor 704 may include a CPU, which may be a multi-core CPU in some examples. Instructions executed at the CPU may be loaded, for example, from a program memory associated with the CPU or may be loaded from the memory 702. The one or more processors 704 may further include additional processing components customized for specific functions, such as a graphics processing unit (GPU), a digital signal processor (DSP), a neural processing unit (NPU), a multimedia processing unit. In some examples, the one or more processors may be based on the ARM or RISC-V instruction set.

[0086] An NPU is generally configured as a dedicated circuit for implementing control and arithmetic logic for executing machine learning algorithms, such as algorithms for processing artificial neural networks (ANNs), deep neural networks (DNNs), random forests (RFs), etc. An NPU may sometimes be alternatively referred to as a neural signal processor (NSP), a tensor processing unit (TPU), a neural network processor (NNP), an intelligent processing unit (IPU), or a vision processing unit (VPU). The NPU can be configured to accelerate the execution of common machine learning tasks, such as image classification and various other prediction tasks. In some examples, multiple NPUs can be instantiated on a single chip, such as a system-on-chip (SoC), while in other examples, multiple NPUs can be part of a dedicated neural network accelerator. The NPU can be optimized for training or inference, or in some cases can be configured to balance performance between training and inference. For an NPU capable of performing both training and inference, these two tasks may generally still be performed independently. An NPU designed to accelerate training is generally configured to accelerate the optimization of a new model, which is a highly computationally intensive operation involving inputting an existing dataset (often labeled or tagged), iterating over the dataset, and then adjusting model parameters, such as weights and biases, to improve model performance. Generally, optimizing based on incorrect predictions involves backpropagating through the layers of the model and determining gradients to reduce the prediction error. An NPU designed to accelerate inference is generally configured to operate on a trained model. Such an NPU can thus be configured to input new data segments and quickly process the data segments through the already trained model to generate a model output (e.g., an inference).

[0087] In some cases, the memory 702 may particularly include a BIOS that can control basic hardware or software operations, such as interactions with peripheral components or devices. The processor 704 can include intelligent hardware devices (e.g., a general-purpose processor, a DSP, a CPU, a microcontroller, an ASIC, an FPGA, a programmable logic device, discrete gate or transistor logic components, discrete hardware components, or any combination thereof).

[0088] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transmitted via a computer-readable medium as one or more instructions or code. Other examples and implementations fall within the scope of the present disclosure and the appended claims. For example, due to the nature of software, the functions described herein can be implemented using software, hardware, firmware, hardwiring, or any combination thereof executed by a processor. The features implementing the functions can also be physically located in various positions, including being distributed such that parts of the functions are implemented at different physical locations.

[0089] The foregoing description includes examples of aspects of the claimed subject matter. Of course, it is not possible to describe every conceivable combination of components or methods for purposes of describing the claimed subject matter, but one of ordinary skill in the art will recognize that many further combinations and permutations of the claimed subject matter are possible. Accordingly, the disclosed subject matter is intended to cover all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims.

Claims

1. An augmented reality (AR) content display method for a vehicle, the method comprises: Obtaining consecutive frames of an image of the vehicle's surrounding environment; For each current frame among the obtained consecutive frames, Detecting an object that appears in the current frame and is the same as the previous frame; Determining the relative movement distance or speed of the detected object between the current frame and the previous frame; And If the determined relative movement distance or speed is within a predefined threshold, outputting AR digital content corresponding to the object for superimposed display at a position corresponding to the object.

2. The method according to claim 1, wherein, The method further comprises: When the detected object is a new object and the relative movement distance or speed of the object is within the predefined threshold, adding the object to an object tracking list; and Outputting corresponding AR digital content according to the updated object tracking list.

3. The method according to claim 2, wherein, The object tracking list includes currently tracked objects and their corresponding types, positions, sizes, and distances.

4. The method according to claim 2, wherein, The method further comprises: When it is detected that an object in the object tracking list moves out of the image of the current frame, removing the object from the object tracking list.

5. The method according to claim 1, wherein, The determination of the relative movement distance or speed of the detected object between the current frame and the previous frame is performed by an optical flow method.

6. The method according to claim 1, wherein, The AR digital content corresponding to the object includes classification and recognition results during target detection of the object.

7. The method according to claim 1, the method further comprises: Detecting the eye position of an occupant; And Calibrating the display position of the AR display content based on the detected eye position.

8. An augmented reality (AR) content display system for a vehicle, the system comprises: An image acquisition module configured to obtain consecutive frames of an image of the vehicle's surrounding environment; An image processing module configured to: For each current frame among the obtained consecutive frames, Detect an object that appears in the current frame and is the same as the previous frame; Determine the relative movement distance or speed of the detected object between the current frame and the previous frame; and A content output module configured to: when the determined relative movement distance or speed is within a predefined threshold, output AR digital content corresponding to the object for superimposed display at a position corresponding to the object.

9. The system according to claim 8, wherein, The image processing module is further configured to add the object to an object tracking list when the detected object is a new object and the relative movement distance or speed of the object is within the predefined threshold, and The content output module is further configured to output corresponding AR digital content according to the updated object tracking list.

10. The system according to claim 9, wherein, The object tracking list includes the currently tracked objects and their corresponding types, positions, sizes, and distances.

11. The system according to claim 9, wherein, the image processing module is further configured to: when it is detected that an object in the object tracking list moves out of the image of the current frame, remove the object from the object tracking list.

12. The system according to claim 8, wherein, the determination of the relative movement distance or speed of the detected object between the current frame and the previous frame is performed by an optical flow method.

13. The system according to claim 8, wherein, the AR digital content corresponding to the object includes the classification and recognition results during the target detection of the object.

14. A vehicle supporting augmented reality (AR) content display, the vehicle comprising: a visual sensor configured to capture real-time images of the vehicle's surrounding environment; the AR content display system according to any one of claims 8 - 13; and a display device configured to display corresponding AR digital content at a position corresponding to the detected object.

15. A computer-readable storage medium storing instructions that, when executed, cause a vehicle to perform the method according to any one of claims 1 - 7.

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