Display method and device of front guide line, electronic equipment and computer program product

Abstract

The invention discloses a method and device for displaying a front guide line, electronic equipment and a computer program product, and the method comprises the steps: obtaining the basic data of the front guide line of a vehicle; determining the driving state of the vehicle according to the basic data of the front guide line; determining rendering parameters of the front guide line according to the basic data of the front guide line and the driving state of the vehicle; and rendering and displaying the front guide line according to the basic data of the front guide line and the rendering parameters of the front guide line. According to the display method of the vehicle front guide line, the driving state of the vehicle is judged in real time, so that the rendering parameters of the vehicle front guide line are dynamically adjusted, dynamic rendering and display of the vehicle front guide line are achieved, a driver or other observers can rapidly and visually know the dynamic decision-making process and the driving intention of the vehicle, and the driving experience of the driver is improved. And the driving safety and the user experience of the automatic driving vehicle are improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular, to a method, device, electronic device, and computer program product for displaying a front guiding line of a vehicle. Background Art

[0002] In the field of autonomous driving technology, the driving trajectory planning of a vehicle has become a key link in achieving highly automated driving. This planning process highly depends on the vehicle's real-time perception system, which can continuously collect and analyze data on the surrounding environment, including road conditions, traffic flow, obstacle positions, etc. Based on this real-time perception information, the planning decision module can dynamically generate and adjust the vehicle's driving trajectory to ensure that the autonomous driving vehicle can safely and efficiently handle various complex scenarios.

[0003] However, with the change of the driving environment, the path planning of the autonomous driving vehicle also needs to be continuously adjusted adaptively. This dynamic nature not only requires the vehicle to have a high degree of intelligence and autonomous decision-making ability, but also poses new challenges to the information interaction between the vehicle and the driver or passengers.

[0004] Most of the existing visual guidance schemes use relatively simple and static guiding lines to display the driving trajectory of the vehicle, and such schemes often cannot fully reflect the real-time decision-making information of the autonomous driving vehicle in a dynamic environment. Summary of the Invention

[0005] Embodiments of this application provide a method, device, electronic device, and computer program product for displaying a front guiding line of a vehicle to achieve dynamic rendering and display of the front guiding line, and improve the driving safety and user experience of the autonomous driving vehicle.

[0006] Embodiments of this application adopt the following technical solutions:

[0007] In a first aspect, embodiments of this application provide a method for displaying a front guiding line of a vehicle, where the method for displaying the front guiding line includes:

[0008] Obtain the basic data of the front guiding line of the vehicle;

[0009] Determine the driving state of the vehicle according to the basic data of the front guiding line;

[0010] Determine the rendering parameters of the front guiding line according to the basic data of the front guiding line and the driving state of the vehicle;

[0011] Render and display the front guiding line according to the basic data of the front guiding line and the rendering parameters of the front guiding line.

[0012] Optionally, the basic data of the vehicle front guiding line includes the speed and acceleration of path planning, and determining the driving state of the vehicle based on the basic data of the vehicle front guiding line includes:

[0013] If the speed is less than the preset speed threshold and the acceleration is greater than 0, determine that the driving state of the vehicle is the starting state;

[0014] If the speed is less than the preset speed threshold and the acceleration is less than the preset acceleration threshold, determine that the driving state of the vehicle is the braking state;

[0015] If the speed is not less than the preset speed threshold and the acceleration is equal to 0, determine that the driving state of the vehicle is the constant-speed driving state;

[0016] If the speed is not less than the preset speed threshold and the acceleration is greater than 0, determine that the driving state of the vehicle is the accelerating driving state;

[0017] If the speed is not less than the preset speed threshold and the acceleration is less than 0, determine that the driving state of the vehicle is the decelerating driving state.

[0018] Optionally, the basic data of the vehicle front guiding line further includes the path planning trajectory, and determining the driving state of the vehicle based on the basic data of the vehicle front guiding line includes:

[0019] Determine the driving states of multiple segments corresponding to the path planning trajectory according to the speed and the acceleration;

[0020] Determining the rendering parameters of the vehicle front guiding line based on the basic data of the vehicle front guiding line and the driving state of the vehicle includes:

[0021] Determine the rendering parameters of multiple segment vehicle front guiding lines according to the basic data of the vehicle front guiding line and the driving states of multiple segments.

[0022] Optionally, the basic data of the vehicle front guiding line further includes the length of the path planning trajectory, the rendering parameters include the target length and length change parameters of the vehicle front guiding line, the color and color change parameters, and determining the rendering parameters of the vehicle front guiding line based on the basic data of the vehicle front guiding line and the driving state of the vehicle includes:

[0023] Determine the target length of the vehicle front guiding line according to the length of the path planning trajectory;

[0024] Determine the length change parameters, color and color change parameters of the vehicle front guiding line according to the driving state of the vehicle.

[0025] Optionally, the driving state of the vehicle includes multiple segmented driving states. The determining of the rendering parameters of the vehicle front guiding line based on the vehicle front guiding line basic data and the driving state of the vehicle includes:

[0026] Determining the target length of the vehicle front guiding line for each segment according to the length of the path planning trajectory of each segment;

[0027] Determining the length change parameter, color, and color change parameter of the vehicle front guiding line for each segment according to the driving state of each segment.

[0028] Optionally, the determining of the rendering parameters of the vehicle front guiding line based on the vehicle front guiding line basic data and the driving state of the vehicle includes:

[0029] When the driving state of the current segment is the starting state, determining that the length change parameter of the vehicle front guiding line of the current segment is to increase the length of the vehicle front guiding line of the current segment to the target length of the vehicle front guiding line of the current segment, and determining that the color and color change parameter of the vehicle front guiding line of the current segment are the target color and color change parameter corresponding to the starting state;

[0030] When the driving state of the current segment is the braking state, determining that the length change parameter of the vehicle front guiding line of the current segment is to decrease the length of the vehicle front guiding line of the current segment to the braking position, and determining that the color and color change parameter of the vehicle front guiding line of the current segment are the target color and color change parameter corresponding to the braking state;

[0031] When the driving state of the current segment is the constant speed driving state, determining the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determining that the color of the vehicle front guiding line of the current segment is the target color corresponding to the constant speed driving state;

[0032] When the driving state of the current segment is the accelerating driving state, determining the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determining that the color and color change parameter of the vehicle front guiding line of the current segment are the target color and color change parameter corresponding to the constant speed driving state;

[0033] When the driving state of the current segment is the decelerating driving state, determining the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determining that the color and color change parameter of the vehicle front guiding line of the current segment are the target color and color change parameter corresponding to the decelerating driving state.

[0034] Optionally, the vehicle front guiding line basic data includes the longitude and latitude, speed, and acceleration of the path planning trajectory points.

[0035] Second aspect, an embodiment of the present application further provides a display device for a vehicle front guiding line, where the display device for the vehicle front guiding line includes:

[0036] An acquisition unit, configured to acquire basic data of the vehicle front guiding line;

[0037] A first determination unit, configured to determine the driving state of the vehicle according to the basic data of the vehicle front guiding line;

[0038] A second determination unit, configured to determine the rendering parameters of the vehicle front guiding line according to the basic data of the vehicle front guiding line and the driving state of the vehicle;

[0039] A rendering and display unit, configured to render and display the vehicle front guiding line according to the basic data of the vehicle front guiding line and the rendering parameters of the vehicle front guiding line.

[0040] Third aspect, an embodiment of the present application further provides an electronic device, including:

[0041] A processor; and a memory arranged to store computer-executable instructions, where the executable instructions, when executed, cause the processor to execute any one of the foregoing display methods for the vehicle front guiding line.

[0042] Fourth aspect, an embodiment of the present application further provides a computer program product, including a computer program or instruction, where the computer program or instruction, when executed by a processor, implements any one of the foregoing display methods for the vehicle front guiding line.

[0043] At least one of the technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: In the display method for the vehicle front guiding line according to the embodiments of the present application, first, the basic data of the vehicle front guiding line is acquired; then, the driving state of the vehicle is determined according to the basic data of the vehicle front guiding line; then, the rendering parameters of the vehicle front guiding line are determined according to the basic data of the vehicle front guiding line and the driving state of the vehicle; finally, the vehicle front guiding line is rendered and displayed according to the basic data of the vehicle front guiding line and the rendering parameters of the vehicle front guiding line. The display method for the vehicle front guiding line according to the embodiments of the present application dynamically adjusts the rendering parameters of the vehicle front guiding line by real-time judging the driving state of the vehicle, realizes the dynamic rendering and display of the vehicle front guiding line, enables the driver or other observers to quickly and intuitively understand the dynamic decision-making process and driving intention of the vehicle, and improves the driving safety and user experience of the autonomous vehicle. Description of the Drawings

[0044] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0045] Figure 1Schematic flowchart of a method for displaying a front vehicle guiding line in an embodiment of the present application;

[0046] Figure 2 Schematic diagram of the rendering effect of a front vehicle guiding line in an embodiment of the present application;

[0047] Figure 3 Schematic diagram of the rendering effect of another front vehicle guiding line in an embodiment of the present application;

[0048] Figure 4 Schematic diagram of the rendering effect of yet another front vehicle guiding line in an embodiment of the present application;

[0049] Figure 5 Schematic structural diagram of a display device for a front vehicle guiding line in an embodiment of the present application;

[0050] Figure 6 Schematic structural diagram of an electronic device in an embodiment of the present application. Detailed implementation manners

[0051] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0052] The following will detail the technical solutions provided by each embodiment of the present application in conjunction with the drawings.

[0053] An embodiment of the present application also provides a method for displaying a front vehicle guiding line. As Figure 1 shown, a schematic flowchart of a method for displaying a front vehicle guiding line in an embodiment of the present application is provided. The method for displaying the front vehicle guiding line at least includes the following steps S110 to step S140:

[0054] Step S110, obtaining the basic data of the front vehicle guiding line of the vehicle.

[0055] Before rendering and displaying the front vehicle guiding line, it is necessary to first obtain the basic data of the front vehicle guiding line of the vehicle. The basic data of the front vehicle guiding line can be understood as the path planning data for generating the front vehicle guiding line, which can be generated by the path planning module on the autonomous driving vehicle according to the real-time driving situation of the vehicle, or can be sent down in real time by the cloud. Specifically, it can include data such as the position, speed, and acceleration of the trajectory points of the path planning.

[0056] Since the vehicle's own state and the surrounding environment during the driving process of an autonomous vehicle change in real time, the path planning data will also change in real time. Therefore, the basic data of the vehicle front guiding line obtained above can be regarded as the basic data of the vehicle front guiding line obtained in real time.

[0057] Step S120: Determine the driving state of the vehicle according to the basic data of the vehicle front guiding line.

[0058] Based on the basic data of the vehicle front guiding line obtained in the foregoing steps, the driving state of the vehicle can be further analyzed according to the speed and acceleration data in the basic data of the vehicle front guiding line. The driving states divided in the embodiments of the present application may include, for example, a starting state, a braking state, a constant-speed driving state, an accelerating driving state, and a decelerating driving state, etc. Specifically, which driving states are divided can be flexibly set by those skilled in the art according to the actual scenario requirements, and no specific limitation is made here.

[0059] Step S130: Determine the rendering parameters of the vehicle front guiding line according to the basic data of the vehicle front guiding line and the driving state of the vehicle.

[0060] In order to visually present the driving state of the vehicle, the rendering parameters of the vehicle front guiding line can be dynamically set in combination with the driving state of the vehicle and the basic data of the vehicle front guiding line, that is, different driving states will correspond to different rendering parameters, so as to visually distinguish different driving states and display the change process of the driving state, enabling the driver or passenger to quickly and intuitively understand the dynamic decision-making process and driving intention of the vehicle.

[0061] The rendering parameters defined for the vehicle front guiding line in the embodiments of the present application may include, for example, the length and length change parameters of the vehicle front guiding line, the color and color change parameters, etc., so as to display more abundant decision-making detail information.

[0062] Step S140: Render and display the vehicle front guiding line according to the basic data of the vehicle front guiding line and the rendering parameters of the vehicle front guiding line.

[0063] Based on the rendering parameters of the vehicle front guiding line determined in the foregoing steps, the vehicle front guiding line is rendered and displayed in real time in combination with the basic data of the vehicle front guiding line.

[0064] The method for displaying the vehicle front guiding line in the embodiments of the present application realizes the dynamic rendering and display of the vehicle front guiding line by real-time judging the driving state of the vehicle and dynamically adjusting the rendering parameters of the vehicle front guiding line, enabling the driver or other observers to quickly and intuitively understand the dynamic decision-making process and driving intention of the vehicle, and improving the driving safety and user experience of the autonomous vehicle.

[0065] In some embodiments of the present application, the basic data of the vehicle front guiding line includes the speed and acceleration of path planning. Determining the driving state of the vehicle based on the basic data of the vehicle front guiding line includes: if the speed is less than a preset speed threshold and the acceleration is greater than 0, determining that the driving state of the vehicle is the starting state; if the speed is less than the preset speed threshold and the acceleration is less than a preset acceleration threshold, determining that the driving state of the vehicle is the braking state; if the speed is not less than the preset speed threshold and the acceleration is equal to 0, determining that the driving state of the vehicle is the constant speed driving state; if the speed is not less than the preset speed threshold and the acceleration is greater than 0, determining that the driving state of the vehicle is the accelerating driving state; if the speed is not less than the preset speed threshold and the acceleration is less than 0, determining that the driving state of the vehicle is the decelerating driving state.

[0066] As described above, the driving states in the embodiments of the present application can be divided into a starting state, a braking state, a constant speed driving state, an accelerating driving state, a decelerating driving state, etc., and the driving state of the vehicle can be determined according to the speed and acceleration of path planning.

[0067] 1) Starting state: When the speed of the vehicle is less than a preset speed threshold (indicating that the vehicle has not reached the normal driving speed) and the acceleration is greater than 0 (indicating that the vehicle is accelerating), it is considered that the vehicle is in the starting state, which usually occurs when the vehicle starts to move from a stationary state.

[0068] 2) Braking state: When the speed of the vehicle is less than the preset speed threshold and the acceleration is less than the preset acceleration threshold (usually a negative value, indicating that the vehicle is decelerating or about to stop), it is considered that the vehicle is in the braking state, which means that the vehicle is decelerating and preparing to stop.

[0069] 3) Constant speed driving state: When the speed of the vehicle reaches or exceeds the preset speed threshold (indicating the value of the normal driving speed of the vehicle) and the acceleration is equal to 0, it is considered that the vehicle is in the constant speed driving state, which means that the vehicle is moving forward at a stable speed without accelerating or decelerating.

[0070] 4) Accelerating driving state: When the speed of the vehicle is not less than the speed threshold in the starting state and the acceleration of the vehicle is greater than 0, it can be considered that the vehicle is in the accelerating driving state, indicating that the vehicle is accelerating.

[0071] 5) Decelerating driving state: When the speed of the vehicle is not less than the speed threshold in the braking state and the acceleration of the vehicle is less than 0, it can be considered that the vehicle is in the decelerating driving state, indicating that the vehicle is decelerating.

[0072] It should be noted that although the starting state of the vehicle is also a process of acceleration, one of the judgment conditions for the starting state is that the speed before acceleration is less than a preset speed threshold, such as when the speed is close to 0. If the vehicle simultaneously satisfies the two conditions that the speed is less than the preset speed threshold and the acceleration is greater than 0, it is judged to be in the starting state. If the vehicle speed is not less than the preset speed threshold but the acceleration is greater than 0, it is considered to be in the accelerating driving state.

[0073] Similarly, the braking state of the vehicle is also a process of deceleration, but one of the judgment conditions for the braking state is that the speed after deceleration is less than a preset speed threshold, such as when the speed is close to 0. If the vehicle simultaneously satisfies the two conditions that the speed is less than the preset speed threshold and the acceleration is less than 0, it is judged to be in the braking state. If the vehicle speed is not less than the preset speed threshold but the acceleration is less than 0, it is considered to be in the decelerating driving state.

[0074] Through the above judgment method, the driving state of the vehicle can be judged in real time and accurately, providing strong support for the dynamic rendering of the front vehicle guiding line.

[0075] In some embodiments of the present application, the basic data of the front vehicle guiding line further includes a path planning trajectory. Determining the driving state of the vehicle according to the basic data of the front vehicle guiding line includes: determining the driving states of multiple segments corresponding to the path planning trajectory according to the speed and the acceleration; determining the rendering parameters of the front vehicle guiding line according to the basic data of the front vehicle guiding line and the driving state of the vehicle includes: determining the rendering parameters of multiple segmented front vehicle guiding lines according to the basic data of the front vehicle guiding line and the driving states of multiple segments.

[0076] The path planning data actually provided by the path planning module may involve different speed and acceleration change processes. Therefore, there will be changes in different driving states on a path planning trajectory, such as changing from the starting state to the uniform driving state and then to the braking state, etc. In order to more clearly distinguish the display effects of the front vehicle guiding line in different driving states, the embodiments of the present application can judge all the driving states involved in the current path planning trajectory based on the speed and acceleration of the path planning, that is, the current path planning trajectory may simultaneously include multiple segmented trajectory states such as the starting state, the uniform driving state, and the braking state. The basis for segmentation mainly depends on the change characteristics of the speed and acceleration.

[0077] After obtaining the driving states of multiple segments, corresponding rendering parameters of the front vehicle guiding line can be set for each driving state of the segment. For example, states such as the starting state, the uniform driving state, and the braking state have different rendering parameters. In this way, the rendered front vehicle guiding line can enable the driver or other personnel to intuitively distinguish the change process of the driving state and the dynamic decision-making process of the path planning.

[0078] Of course, the currently received path planning data may not involve a change in the driving state, and the corresponding rendering parameters can be set according to the actual driving state.

[0079] For the convenience of understanding the above embodiments, as Figure 2 shown, a schematic diagram of the rendering effect of a vehicle front guiding line in an embodiment of the present application is provided. Figure 2 What is shown in it is the process of the vehicle changing from a uniform driving state to a braking state. As Figure 3 shown, another schematic diagram of the rendering effect of a vehicle front guiding line in an embodiment of the present application is provided. Figure 3 What is shown in it is the process of the vehicle in a uniform driving state. As Figure 4 shown, yet another schematic diagram of the rendering effect of a vehicle front guiding line in an embodiment of the present application is provided. Figure 4 What is shown is the braking of the own vehicle caused by the braking of the vehicle ahead.

[0080] In some embodiments of the present application, the vehicle front guiding line basic data further includes the length of the path planning trajectory, and the rendering parameters include the target length and length change parameter of the vehicle front guiding line, the color and color change parameter. Determining the rendering parameters of the vehicle front guiding line according to the vehicle front guiding line basic data and the driving state of the vehicle includes: determining the target length of the vehicle front guiding line according to the length of the path planning trajectory; determining the length change parameter, color and color change parameter of the vehicle front guiding line according to the driving state of the vehicle.

[0081] The path planning data provided by the path planning module may also include the length of the path planning trajectory. For example, the trajectory data 50m ahead of the current position of the vehicle is planned. The rendering length of the vehicle front guiding line is set based on the actual trajectory length, and the rendering length of the vehicle front guiding line is proportional to the actual path planning trajectory length. The specific ratio can be flexibly set according to the actual rendering requirements and is not specifically limited here.

[0082] In addition to setting the overall length of the vehicle front guiding line, the length change parameter, color and color change parameter of the vehicle front guiding line can also be set or adjusted according to the driving state of the vehicle. The length change parameter and color change parameter are mainly used to achieve the gradual change process of the length and color of the vehicle front guiding line under specific driving states and realize the dynamic rendering effect of the vehicle front guiding line. The specific color of the vehicle front guiding line can be flexibly set based on different driving states. For example, it is set to blue in the uniform driving state and red in the braking state, etc. How to specifically set parameters such as color and color change can be flexibly adjusted by those skilled in the art according to actual needs and is not specifically limited here.

[0083] In some embodiments of the present application, the driving state of the vehicle includes multiple segmented driving states. Determining the rendering parameters of the front vehicle guiding line based on the front vehicle guiding line basic data and the driving state of the vehicle includes: determining the target length of the front vehicle guiding line for each segment according to the length of the path planning trajectory of each segment; determining the length change parameter, color, and color change parameter of the front vehicle guiding line for each segment according to the driving state of each segment.

[0084] As described above, the currently received path planning trajectory may involve the change processes of multiple driving states. Therefore, when determining the rendering parameters of the front vehicle guiding line, the rendering parameters corresponding to the front vehicle guiding line of each segment can be set or adjusted separately according to the driving state of each segment.

[0085] For example, if the currently received path planning trajectory sequentially involves three segmented states: starting state, uniform driving state, and braking state, then the rendering parameters of the front vehicle guiding line for the entire starting process are set for the starting state, including the length and length change parameter, color, and color change parameter of the front vehicle guiding line for the entire starting process. Similarly, the rendering parameters of the front vehicle guiding line for the entire uniform driving process are set for the uniform driving state, and the rendering parameters of the front vehicle guiding line for the entire braking process are set for the braking state.

[0086] In some embodiments of the present application, determining the rendering parameters of the vehicle front guiding line based on the vehicle front guiding line basic data and the driving state of the vehicle includes: when the driving state of the current segment is the starting state, determining that the length change parameter of the vehicle front guiding line of the current segment is to increase the length of the vehicle front guiding line of the current segment to the target length of the vehicle front guiding line of the current segment, and determining the color and color change parameter of the vehicle front guiding line of the current segment as the target color and color change parameter corresponding to the starting state; when the driving state of the current segment is the braking state, determining that the length change parameter of the vehicle front guiding line of the current segment is to decrease the length of the vehicle front guiding line of the current segment to the braking position, and determining the color and color change parameter of the vehicle front guiding line of the current segment as the target color and color change parameter corresponding to the braking state; when the driving state of the current segment is the constant speed driving state, determining the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determining the color of the vehicle front guiding line of the current segment as the target color corresponding to the constant speed driving state; when the driving state of the current segment is the accelerating driving state, determining the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determining the color and color change parameter of the vehicle front guiding line of the current segment as the target color and color change parameter corresponding to the constant speed driving state; when the driving state of the current segment is the decelerating driving state, determining the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determining the color and color change parameter of the vehicle front guiding line of the current segment as the target color and color change parameter corresponding to the decelerating driving state.

[0087] Embodiments of the present application design corresponding rendering parameters for different driving states, including parameters such as the length, color, and their changes of the vehicle front guiding line. The following are specific embodiments for explaining the determination of the rendering parameters of the vehicle front guiding line in each driving state:

[0088] 1) Starting state:

[0089] When the vehicle is in the starting state, the length of the vehicle front guiding line of the current segment can be gradually extended until it reaches the target length corresponding to this segment. At the same time, set the target color corresponding to the starting state and its color change parameter for this guiding line to visually display the starting state of the vehicle through color changes. Here, the length change parameter mainly reflects the rate of length extension, and the color change parameter mainly presents the change process of the starting state acceleration, which mainly depends on the magnitude of the acceleration. For example, the greater the acceleration (positive value), the darker the color, and the smaller the acceleration (positive value), the lighter the color.

[0090] 2) Braking state:

[0091] When the vehicle is in a stopped state, adjust the length of the front guiding line of the current segment so that it gradually shortens to the stopping position. At the same time, the color of the guiding line and its change parameters will also be adjusted to the target values corresponding to the stopped state to prompt relevant personnel that the vehicle has stopped. The length change parameter here mainly reflects the shortening rate of the length, and the color change parameter mainly presents the change process of the acceleration in the stopped state, which also mainly depends on the magnitude of the acceleration. For example, the smaller the acceleration (negative value), the darker the color, and the larger the acceleration (negative value), the lighter the color.

[0092] 3) Constant speed driving state:

[0093] In the constant speed driving state, the target length of the guiding line can be determined according to the planned length of the constant speed driving trajectory. At this time, the color of the guiding line is set to the target color corresponding to the constant speed driving state, and the length change parameter and the color change parameter can be not set to maintain the stability of the length and color in the constant speed driving state.

[0094] 4) Accelerating driving state:

[0095] When the vehicle is in the accelerating driving state, the target length of the guiding line is determined according to the planned length of the accelerating driving trajectory. The length change parameter can be not set. The color of the front guiding line in the accelerating driving state can be set to the color corresponding to the accelerating driving state. The color change parameter mainly presents the change process of the acceleration in the accelerating driving state, which mainly depends on the magnitude of the acceleration. For example, the larger the acceleration (positive value), the darker the color, and the smaller the acceleration (positive value), the lighter the color.

[0096] 5) Decelerating driving state:

[0097] When the vehicle is in the decelerating driving state, the target length of the guiding line is determined according to the planned length of the decelerating driving trajectory. The length change parameter can be not set. The color of the front guiding line in the decelerating driving state can be set in advance to the color corresponding to the decelerating driving state. The color change parameter mainly presents the change process of the acceleration in the decelerating driving state, which mainly depends on the magnitude of the acceleration. For example, the smaller the acceleration (negative value), the darker the color, and the larger the acceleration (negative value), the lighter the color.

[0098] By dynamically adjusting the rendering parameters of the front guiding line according to the driving state of the vehicle in the embodiments of the present application, such as length, color and its changes, etc., a more intuitive and clear visual guidance is provided for the driver, which helps to improve the driving experience and safety.

[0099] In some embodiments of the present application, the basic data of the front guiding line includes the longitude and latitude, speed and acceleration of the path planning trajectory points.

[0100] As described above, the basic data of the vehicle front guiding line in the embodiments of the present application mainly refers to the path planning data sent by the path planning module, which may specifically include data such as the longitude, latitude, speed, and acceleration of the path planning trajectory points, serving as the basis for rendering the vehicle front guiding line subsequently. Of course, for which specific data is further required, those skilled in the art can flexibly select according to actual needs and no specific limitation is made herein.

[0101] In some embodiments of the present application, for the scenario where there are traffic lights in the intersection area, the change process of the vehicle front guiding line can be presented in combination with the state change of the traffic lights. For example, when the traffic light in the intersection area is red, the vehicle needs to control deceleration until it stops. At this time, the change of the vehicle front guiding line can be that the red color gradually deepens and the length shortens to the stop position. When the traffic light in the intersection area becomes green, the vehicle needs to start and accelerate. At this time, the change of the vehicle front guiding line can be that the blue color gradually deepens and the length extends to the target length corresponding to the path planning trajectory.

[0102] In summary, the present application has at least achieved the following technical effects:

[0103] 1) Real-time response: The color and length of the guiding line are adjusted in real time through the driving state data of the vehicle, enabling the driver or other observers to quickly understand the dynamic decisions of the vehicle.

[0104] 2) Intuitive color and length gradient: Through color gradient and length adjustment, the acceleration change of the vehicle can be intuitively displayed, and the guiding line is shortened in time when decelerating or stopping, improving the accuracy of visual feedback.

[0105] 3) Enhanced user experience: For passengers of autonomous vehicles and nearby pedestrians, vehicles, etc., clear and easy-to-understand visual feedback can be provided, enhancing safety and trust.

[0106] 4) Flexible gradient effect: Different guiding line effects are presented according to different driving decisions, which can intuitively display the decision-making process of the vehicle and avoid the limitation that traditional solid-color guiding lines cannot be dynamically displayed.

[0107] The embodiments of the present application also provide a display device 500 for the vehicle front guiding line. As Figure 5 shown, a schematic structural diagram of a display device for the vehicle front guiding line in the embodiments of the present application is provided. The display device 500 for the vehicle front guiding line includes: an acquisition unit 510, a first determination unit 520, a second determination unit 530, and a rendering and display unit 540, wherein:

[0108] The acquisition unit 510 is configured to acquire the basic data of the vehicle front guiding line;

[0109] The first determination unit 520 is configured to determine the driving state of the vehicle according to the basic data of the vehicle front guiding line;

[0110] A second determination unit 530, configured to determine rendering parameters of the vehicle front guiding line according to the vehicle front guiding line basic data and the driving state of the vehicle;

[0111] A rendering and display unit 540, configured to render and display the vehicle front guiding line according to the vehicle front guiding line basic data and the rendering parameters of the vehicle front guiding line.

[0112] In some embodiments of the present application, the vehicle front guiding line basic data includes the speed and acceleration of path planning. The first determination unit 520 is specifically configured to: if the speed is less than a preset speed threshold and the acceleration is greater than 0, determine that the driving state of the vehicle is a starting state; if the speed is less than the preset speed threshold and the acceleration is less than a preset acceleration threshold, determine that the driving state of the vehicle is a braking stop state; if the speed is not less than the preset speed threshold and the acceleration is equal to 0, determine that the driving state of the vehicle is a uniform driving state; if the speed is not less than the preset speed threshold and the acceleration is greater than 0, determine that the driving state of the vehicle is an accelerating driving state; if the speed is not less than the preset speed threshold and the acceleration is less than 0, determine that the driving state of the vehicle is a decelerating driving state.

[0113] In some embodiments of the present application, the vehicle front guiding line basic data further includes a path planning trajectory. The first determination unit 520 is specifically configured to: determine the driving states of multiple segments corresponding to the path planning trajectory according to the speed and the acceleration; the second determination unit 530 is specifically configured to: determine the rendering parameters of the vehicle front guiding lines of multiple segments according to the vehicle front guiding line basic data and the driving states of multiple segments.

[0114] In some embodiments of the present application, the vehicle front guiding line basic data further includes the length of the path planning trajectory. The rendering parameters include the target length and length change parameter of the vehicle front guiding line, color and color change parameter. The second determination unit 530 is specifically configured to: determine the target length of the vehicle front guiding line according to the length of the path planning trajectory; determine the length change parameter, color and color change parameter of the vehicle front guiding line according to the driving state of the vehicle.

[0115] In some embodiments of the present application, the driving state of the vehicle includes the driving states of multiple segments. The second determination unit 530 is specifically configured to: determine the target length of the vehicle front guiding line of each segment according to the length of the path planning trajectory of each segment; determine the length change parameter, color and color change parameter of the vehicle front guiding line of each segment according to the driving state of each segment.

[0116] In some embodiments of the present application, the second determination unit 530 is specifically configured to: when the driving state of the current segment is the starting state, determine that the length change parameter of the vehicle front guiding line of the current segment is to increase the length of the vehicle front guiding line of the current segment to the target length of the vehicle front guiding line of the current segment, and determine the color and color change parameter of the vehicle front guiding line of the current segment as the target color and color change parameter corresponding to the starting state; when the driving state of the current segment is the braking state, determine that the length change parameter of the vehicle front guiding line of the current segment is to decrease the length of the vehicle front guiding line of the current segment to the braking position, and determine the color and color change parameter of the vehicle front guiding line of the current segment as the target color and color change parameter corresponding to the braking state; when the driving state of the current segment is the uniform driving state, determine the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determine the color of the vehicle front guiding line of the current segment as the target color corresponding to the uniform driving state; when the driving state of the current segment is the accelerating driving state, determine the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determine the color and color change parameter of the vehicle front guiding line of the current segment as the target color and color change parameter corresponding to the uniform driving state; when the driving state of the current segment is the decelerating driving state, determine the target length of the vehicle front guiding line of the current segment according to the length of the path planning trajectory of the current segment, and determine the color and color change parameter of the vehicle front guiding line of the current segment as the target color and color change parameter corresponding to the decelerating driving state.

[0117] In some embodiments of the present application, the vehicle front guiding line basic data includes the longitude and latitude, speed, and acceleration of the path planning trajectory points.

[0118] It can be understood that the above-described vehicle front guiding line display device can implement each step of the vehicle front guiding line display method provided in the foregoing embodiments. The relevant explanations regarding the vehicle front guiding line display method are applicable to the vehicle front guiding line display device and will not be elaborated herein.

[0119] Figure 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Please refer to Figure 6 , at the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. Among them, the memory may include a memory, such as a high-speed random access memory (Random-Access Memory, RAM), and may also include a non-volatile memory, such as at least one disk memory, etc. Of course, the electronic device may also include other hardware required for other services.

[0120] The processor, network interface, and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 6 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0121] Memory, used to store programs. Specifically, the program can include program code, and the program code includes computer operation instructions. The memory can include a memory and a non-volatile memory, and provide instructions and data to the processor.

[0122] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a display device for the front guiding line at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0123] Obtain the basic data of the front guiding line of the vehicle;

[0124] Determine the driving state of the vehicle according to the basic data of the front guiding line;

[0125] Determine the rendering parameters of the front guiding line according to the basic data of the front guiding line and the driving state of the vehicle;

[0126] Render and display the front guiding line according to the basic data of the front guiding line and the rendering parameters of the front guiding line.

[0127] The above is as in this application Figure 1The method executed by the display device of the vehicle front guiding line disclosed in the illustrated embodiment can be applied to or implemented by a processor. The processor may be an integrated circuit chip with the ability to process signals. In the implementation process, the steps of the above method can be completed by the integrated logic circuit of the hardware in the processor or the instructions in the form of software. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0128] The embodiments of the present application also propose a computer program product. The computer program product stores one or more programs. The one or more programs include instructions that, when executed by an electronic device including a plurality of application programs, can enable the electronic device to execute Figure 1 the method executed by the display device of the vehicle front guiding line in the illustrated embodiment, and specifically used to execute:

[0129] Obtain the basic data of the vehicle front guiding line;

[0130] Determine the driving state of the vehicle according to the basic data of the vehicle front guiding line;

[0131] Determine the rendering parameters of the vehicle front guiding line according to the basic data of the vehicle front guiding line and the driving state of the vehicle;

[0132] Render and display the vehicle front guiding line according to the basic data of the vehicle front guiding line and the rendering parameters of the vehicle front guiding line.

[0133] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0134] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processors of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0135] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0137] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0138] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0139] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0140] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0141] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0142] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for displaying a guide line in front of a vehicle, wherein: The method for displaying the front guide line of the vehicle comprises: Obtain the basic data of the vehicle's front guide line; Determining the driving state of the vehicle according to the basic data of the front guide line of the vehicle; Determining rendering parameters of the front guide line according to the front guide line basic data and the driving state of the vehicle; The front guide line of the vehicle is rendered and displayed according to the basic data of the front guide line of the vehicle and the rendering parameters of the front guide line of the vehicle.

2. The method for displaying a guide line in front of a vehicle as claimed in claim 1, wherein: The basic data of the front guide line includes the speed and acceleration of the path planning, and determining the driving state of the vehicle according to the basic data of the front guide line includes: If the speed is less than a preset speed threshold and the acceleration is greater than 0, determining that the driving state of the vehicle is a start state; If the speed is less than a preset speed threshold and the acceleration is less than a preset acceleration threshold, determining that the driving state of the vehicle is a brake stop state; If the speed is not less than the preset speed threshold and the acceleration is equal to 0, it is determined that the driving state of the vehicle is a uniform speed driving state; If the speed is not less than the preset speed threshold and the acceleration is greater than 0, determining that the driving state of the vehicle is an accelerating driving state; If the speed is not less than the preset speed threshold and the acceleration is less than 0, it is determined that the driving state of the vehicle is a deceleration driving state.

3. The method for displaying a front guide line of a vehicle as claimed in claim 2, wherein: The basic data of the front guide line of the vehicle also includes a path planning trajectory, and determining the driving state of the vehicle according to the basic data of the front guide line of the vehicle includes: Determining the driving states of the multiple segments corresponding to the path planning trajectory according to the speed and the acceleration; The step of determining the rendering parameters of the front guide line according to the front guide line basic data and the driving state of the vehicle comprises: The rendering parameters of the plurality of segmented vehicle front guide lines are determined according to the vehicle front guide line basic data and the driving states of the plurality of segments.

4. The method for displaying a guide line in front of a vehicle as claimed in claim 1, wherein: The basic data of the front guide line also includes the length of the path planning trajectory, the rendering parameters include the target length and length change parameter, color and color change parameter of the front guide line, and the rendering parameters of the front guide line are determined according to the basic data of the front guide line and the driving state of the vehicle, including: Determining a target length of the front guide line of the vehicle according to the length of the path planning trajectory; The length variation parameter, color and color variation parameter of the front guide line of the vehicle are determined according to the driving state of the vehicle.

5. The method for displaying a guide line in front of a vehicle as claimed in claim 4, wherein: The driving state of the vehicle includes a plurality of segmented driving states, and the determining of the rendering parameters of the front guide line according to the front guide line basic data and the driving state of the vehicle includes: Determine the target length of the vehicle front guide line of each segment according to the length of the path planning trajectory of each segment; The length variation parameter, color and color variation parameter of the vehicle front guide line of each segment are determined according to the driving status of each segment.

6. The method for displaying a guide line in front of a vehicle as claimed in claim 5, wherein: The step of determining the rendering parameters of the front guide line according to the front guide line basic data and the driving state of the vehicle comprises: When the driving state of the current segment is the start state, determining the length change parameter of the vehicle front guide line of the current segment is to increase the length of the vehicle front guide line of the current segment to the target length of the vehicle front guide line of the current segment, and determining the color and color change parameter of the vehicle front guide line of the current segment is the target color and color change parameter corresponding to the start state; When the driving state of the current segment is a brake stop state, the length change parameter of the vehicle front guide line of the current segment is determined to reduce the length of the vehicle front guide line of the current segment to the brake stop position, and the color and color change parameter of the vehicle front guide line of the current segment are determined to be the target color and color change parameter corresponding to the brake stop state; When the driving state of the current segment is a uniform speed driving state, the target length of the vehicle front guide line of the current segment is determined according to the length of the path planning trajectory of the current segment, and the color of the vehicle front guide line of the current segment is determined to be the target color corresponding to the uniform speed driving state; When the driving state of the current segment is the accelerated driving state, the target length of the vehicle front guide line of the current segment is determined according to the length of the path planning trajectory of the current segment, and the color and color change parameters of the vehicle front guide line of the current segment are determined to be the target color and color change parameters corresponding to the uniform speed driving state; When the driving state of the current segment is a deceleration driving state, the target length of the vehicle front guide line of the current segment is determined according to the length of the path planning trajectory of the current segment, and the color and color change parameters of the vehicle front guide line of the current segment are determined to be the target color and color change parameters corresponding to the deceleration driving state.

7. The method for displaying a guide line in front of a vehicle according to any one of claims 1 to 6, wherein: The basic data of the front guide line of the vehicle includes the longitude and latitude, speed and acceleration of the path planning trajectory points.

8. A display device for a guide line in front of a vehicle, wherein: The display device of the front guide line of the vehicle comprises: An acquisition unit, used for acquiring basic data of the front guide line of the vehicle; A first determining unit, configured to determine a driving state of a vehicle according to the basic data of the front guide line of the vehicle; A second determining unit, configured to determine a rendering parameter of the front guide line according to the front guide line basic data and the driving state of the vehicle; The rendering and display unit is used to render and display the front guide line of the vehicle according to the basic data of the front guide line of the vehicle and the rendering parameters of the front guide line of the vehicle.

9. An electronic device, comprising: processor; and a memory arranged to store computer executable instructions, wherein when the executable instructions are executed, the processor executes the method for displaying a front guide line of a vehicle according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program or an instruction, wherein when the computer program or the instruction is executed by a processor, the method for displaying a front guide line of a vehicle according to any one of claims 1 to 7 is implemented.

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