Identification display method, vehicle, storage medium and computer program product

Abstract

The invention discloses an identifier display method, a vehicle, a storage medium and a computer program product, and relates to the technical field of vehicles. The method comprises the following steps: acquiring a real-time distance between a vehicle and a navigation key point; in response to the fact that the real-time distance is smaller than or equal to a first threshold value and a key point identifier corresponding to the navigation key point does not exist in an augmented reality HUD view field range of the vehicle, displaying the key point identifier based on a first position of the augmented reality HUD view field range; and performing dynamic display control on the key point identifier according to the real-time distance, the first position and the second position in response to the fact that the real-time distance is in the distance range and the key point identifier exists in the field of view of the augmented reality HUD. The technical problems of poor navigation guidance effectiveness and poor user experience of an augmented reality head-up display system in related technologies are solved.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and in particular, to an identification display method, a vehicle, a storage medium, and a computer program product. Background Art

[0002] In the technical field of vehicles, the Augmented Reality Head-Up Display (AR HUD) system, as a cutting-edge technology, aims to provide intuitive driving assistance information for drivers, such as navigation guidance, route prompts, etc., to improve driving safety and driving experience. In this regard, in related application scenarios, especially in the field of presenting navigation information, there is an urgent need for a wider field of view coverage and a more stable and accurate display effect to ensure that drivers can obtain key information without frequently adjusting their line of sight.

[0003] However, according to related technologies, on the one hand, limited by the vehicle's hardware performance, the visible range of the AR HUD display area is much smaller than the driver's actual field of view. On the other hand, to adapt to the visual habits of different drivers (such as drivers with different heights and sitting postures), the AR HUD display area is usually designed to be height-adjustable. That is to say, when the height of the display area is adjusted, the visible range also follows the adjustment. Based on the above two situations, when the real position of a real element remains unchanged, the display position of the corresponding Augmented Reality (AR) element in the AR HUD display area is uncertain and is very likely to exceed the visible range, which may lead to the AR HUD being unable to provide effective visual guidance and poor user experience.

[0004] At present, no effective solution has been proposed for the above problems. Summary of the Invention

[0005] Embodiments of this application provide an identification display method, a vehicle, a storage medium, and a computer program product to at least solve the technical problem that the rendered augmented reality elements in related technologies may exceed the visible range of the augmented reality HUD field of view, resulting in poor navigation guidance effectiveness and poor user experience of the augmented reality head-up display system.

[0006] According to one aspect of the embodiments of the present application, a method for identifying and displaying is provided, including: obtaining the real-time distance between the vehicle and the navigation key point; in response to the real-time distance being less than or equal to the first threshold and there being no key point identifier corresponding to the navigation key point in the augmented reality HUD field of view range of the vehicle, displaying the key point identifier based on the first position in the augmented reality HUD field of view range; in response to the real-time distance being within the distance range and there being a key point identifier in the augmented reality HUD field of view range, performing dynamic display control on the key point identifier according to the real-time distance, the first position, and the second position.

[0007] Further, the distance range is determined by a first threshold and a second threshold, and the second threshold is less than the first threshold. Performing dynamic display control on the key point identifier according to the real-time distance, the first position, and the second position includes: determining an interpolation coefficient according to the real-time distance, the first threshold, and the second threshold; performing interpolation calculation on the first position and the second position by using the interpolation coefficient to obtain a target position, where the first position corresponds to the first threshold and the second position corresponds to the second threshold; controlling the display position of the key point identifier to move along the moving display path in the augmented reality HUD field of view range to the target position, where the moving display path is determined according to the first position and the second position.

[0008] Further, the method for identifying and displaying further includes: performing interpolation calculation on a first scaling ratio and a second scaling ratio by using the interpolation coefficient to obtain a target scaling ratio, where the first scaling ratio corresponds to the first threshold, the second scaling ratio corresponds to the second threshold, and the first scaling ratio is less than the second scaling ratio; controlling the key point identifier to perform scaling display according to the target scaling ratio.

[0009] Further, the navigation key point is the intersection key point of the turning intersection in the navigation guidance mode, and the key point identifier is a turning arrow identifier.

[0010] Further, the method for identifying and displaying further includes: in response to the real-time distance being less than the second threshold and there being a key point identifier in the augmented reality HUD field of view range, obtaining the navigation road segment type point data corresponding to the real-time position of the vehicle and the vehicle azimuth data; calculating a target angle by using the real-time position, the navigation road segment type point data, and the vehicle azimuth data, where the target angle is the included angle between the driving direction of the vehicle and the exit direction of the turning intersection; controlling the turning arrow identifier to perform rotation display according to the target angle.

[0011] Further, the method for identifying and displaying further includes: in response to the vehicle passing through the current turning intersection, updating the navigation key point to the intersection key point of the next turning intersection on the navigation guidance path, and obtaining the real-time distance between the vehicle and the navigation key point; in response to the real-time distance being less than or equal to the first threshold, performing dynamic display control on the key point identifier according to the real-time distance, the first position, and the second position.

[0012] Further, the identification display method further includes: in response to the real-time distance being greater than the first threshold, controlling the cancellation of the display of the turning arrow identification.

[0013] Further, the navigation key point is at least one of the navigation end point and multiple navigation waypoints on the navigation guiding path, and the identification display method further includes: determining a first position and a second position from the candidate positions according to the direction information of the navigation key point relative to the vehicle.

[0014] According to another aspect of the embodiments of the present application, there is also provided a vehicle, including: a memory storing an executable program; a processor for running the program, wherein when the program runs, it executes the identification display method of any one of the above.

[0015] According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium, the computer-readable storage medium including a stored executable program, wherein when the executable program runs, it controls the device where the storage medium is located to execute the identification display method of any one of the above.

[0016] According to another aspect of the embodiments of the present application, there is also provided a computer program product, including a computer program, which implements the identification display method according to any one of the above when executed by a processor.

[0017] In the embodiments of the present application, the real-time distance between the vehicle and the navigation key point is obtained; in response to the real-time distance being less than or equal to the first threshold and there being no key point identification corresponding to the navigation key point in the augmented reality HUD field of view range of the vehicle, the key point identification is displayed based on the first position in the augmented reality HUD field of view range; in response to the real-time distance being within the distance range and there being a key point identification in the augmented reality HUD field of view range, dynamic display control of the key point identification is performed according to the real-time distance, the first position, and the second position. Thus, in the embodiments of the present application, according to the real-time distance between the vehicle and the navigation key point, the navigation key point is displayed at a specified position in the augmented reality HUD field of view range, that is to say, the specified position is related to the real-time distance and the preset first position and second position, which ensures that the key point identification corresponding to the navigation key point (i.e., the augmented reality element) is necessarily within the visible range of the augmented reality HUD field of view, and effective visual guidance corresponding to the navigation key point can be provided in different application scenarios. In addition, as the vehicle travels, the above real-time distance is dynamically changing, and correspondingly, dynamic display control of the key point identification can be performed based on the real-time distance, facilitating the driver to intuitively and quickly understand the relative distance information between the vehicle and the navigation key point through the key point identification displayed in the augmented reality HUD field of view.

[0018] In summary, the embodiments of the present application achieve the purpose of dynamically displaying the key point identifiers corresponding to the navigation key points at the specified positions in the augmented reality HUD field of view according to the real-time distance, thereby realizing the technical effects of improving the navigation guidance effectiveness of the augmented reality head-up display system and optimizing the user experience, and further solving the technical problems in the related art that the rendered augmented reality elements may exceed the visible range of the augmented reality HUD field of view, resulting in poor navigation guidance effectiveness and poor user experience of the augmented reality head-up display system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and the related descriptions of the embodiments are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0020] Figure 1 is a hardware structure block diagram of an optional computing terminal for implementing the identifier display method according to an embodiment of the present application;

[0021] Figure 2 is a flowchart of an identifier display method according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of an optional turning arrow identifier display control logic according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of an optional moving display path according to an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of an optional display control process of a turning arrow identifier according to an embodiment of the present application;

[0025] Figure 6 is a schematic diagram of an optional display control process of a waypoint identifier according to an embodiment of the present application;

[0026] Figure 7 is a structure block diagram of an identifier display device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only include some embodiments of the present application, rather than all 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.

[0028] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] According to an embodiment of the present application, a method embodiment of an identification display method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0030] The embodiment of the present application provides an identification display method. This identification display method can be used to provide the identification display function of the AR HUD for a preset application scenario. The above-mentioned preset application scenario may include the following scenarios in the vehicle field: commuting autonomous driving scenario, artificial intelligence (AI) driving scenario for household cars, automatic parking assist (APA) scenario (such as memory parking for own parking spaces in the garage, intelligent parking for designated parking spaces in the parking lot, etc.), intelligent navigation assist (Navigation Guided Pilot, NGP) scenario in urban areas or highway areas. In addition, the above-mentioned preset application scenario may also include but is not limited to: the AR HUD identification display scenario for intelligent driving trucks or driverless trucks in the logistics transportation field, and the AR HUD identification display scenario for autonomous driving agricultural vehicles in the agricultural machinery field.

[0031] When the above-mentioned preset application scenario is a scenario in other fields except the vehicle field, those skilled in the art should be able to understand that the vehicle in the above-mentioned identification display method can be replaced with other objects (such as agricultural machinery, drones, robots, etc.), and correspondingly, the AR HUD display area can be replaced with the augmented reality HUD field of view range related to other objects. On this basis, the specific implementation manner of the above-mentioned identification display method is exemplarily described in the embodiment of the present application taking the vehicle technology field as an example.

[0032] First, the operating environment of the above method embodiment is exemplarily described.Figure 1 is a hardware block diagram of an optional computing terminal for implementing an identification display method according to an embodiment of the present application. As Figure 1 shown, the computing terminal 10 (for example, a computer terminal, a mobile intelligent terminal, a vehicle terminal, or a cloud computing virtual terminal, etc.) may include: one or more processors 102, a memory 104 for storing data, and a transmission device 106 for implementing communication functions. Among them, each processor 102 may include, but is not limited to, a processing component such as a microcontroller unit (MCU) or a field programmable gate array (FPGA).

[0033] The above computing terminal 10 may further include: a display device 110, an input / output device 108, a universal serial bus (USB) port (this USB port may be one of the ports of the computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and a camera (not shown in the figure). Those of ordinary skill in the art can understand that Figure 1 the structure of the computing terminal 10 shown is only schematic and does not strictly limit the structure of the above computing terminal 10. For example, the computing terminal 10 may further include more or fewer components than Figure 1 shown, or the computing terminal 10 may have different categories of components from Figure 1 shown.

[0034] It should be noted that one or more processors 102 and / or other data processing circuits in the above computing terminal 10 may be embodied in whole or in part as software, hardware, firmware, or any combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be fully or partially integrated into any one of other elements in the vehicle terminal (or mobile device).

[0035] The memory 104 may be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the identification display method in the embodiments of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implements the above identification display method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, a flash memory, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely set relative to the processor 102, and these remote memories may be connected to the vehicle terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0036] The transmission device 106 is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by the communication provider of the vehicle terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), and this network adapter can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a Radio Frequency (RF) module, and this RF module is used to communicate with the Internet wirelessly.

[0037] Under the above operating environment, the embodiment of the present application provides an identification display method as Figure 2 shown, Figure 2 which is a flowchart of an identification display method according to an embodiment of the present application. As Figure 2 shown, this method includes the following implementation steps S201 to step S203.

[0038] Step S201, obtain the real-time distance between the vehicle and the navigation key point.

[0039] The above navigation key points can be locations that need to be specially marked in the vehicle driving scenario, such as path change points, turning points, navigation waypoints, navigation end points, etc. In the application scenario, the distance between the current position of the vehicle and the navigation key point can be calculated in real time through vehicle positioning technology. For example, the vehicle positioning technology can be a technology implemented based on the Global Positioning System (GPS), vehicle sensors, etc. By obtaining the real-time position, it can provide a data basis for subsequent judgment on whether the key point identifier in the augmented reality HUD field of view needs to be displayed and how to control the display of this key point identifier.

[0040] Step S202, in response to the real-time distance being less than or equal to the first threshold and there being no key point identifier corresponding to the navigation key point in the augmented reality HUD field of view of the vehicle, display the key point identifier based on the first position in the augmented reality HUD field of view.

[0041] The above first threshold can be a preset distance value. When the real-time distance reaches this threshold, the system will trigger the display of the key point identifier. It should be noted that during vehicle driving, the above real-time distance usually gradually decreases from greater than the first threshold to equal to the first threshold, and then further decreases to less than the first threshold. Exemplarily, the above first threshold can be set to 80 meters.

[0042] The above-mentioned augmented reality HUD field of view range refers to the visible area in the AR HUD system for presenting virtual information (such as augmented reality elements). The above-mentioned first position can be preset according to scene requirements, and the first position is used to specify the pop-up display position of the key point identifier in the augmented reality HUD field of view range.

[0043] The above-mentioned key point identifier can be an augmented reality display identifier corresponding to a navigation key point, and can also be called an AR element corresponding to a navigation key point. For example, when the navigation key point is a turning point, the key point identifier can be a turning arrow identifier; when the navigation key point is a navigation waypoint, the key point identifier can be a waypoint identifier.

[0044] Exemplarily, the above-mentioned first position can be set as: 100 pixels (px) away from the upper edge of the augmented reality HUD field of view range and 100 pixels (px) away from the right edge of the augmented reality HUD field of view range. Based on this first position, the positioning point of the key point identifier is popped up and displayed at this first position, and this positioning point can be specified when designing the key point identifier.

[0045] In the application scenario, when the vehicle detects that the real-time distance is less than or equal to the first threshold, if the key point identifier corresponding to the navigation key point is not currently displayed in the augmented reality HUD field of view range, then the key point identifier is displayed based on the first position. It should be noted that when the real-time distance is exactly equal to the first threshold, the positioning point of the key point identifier is displayed at this first position. When the real-time distance is less than the first threshold, the positioning point of the key point identifier can also be displayed at the corresponding position on the line connecting the first position and the second position according to the real-time distance, the first threshold, and the second threshold.

[0046] It should be noted that multiple key point identifiers corresponding to multiple different navigation key points can be simultaneously displayed in the augmented reality HUD field of view range. For example, when multiple navigation key points to be displayed include a target turning point and a target navigation waypoint, display control is performed separately for each navigation key point. For the target turning point, obtain the first distance between the vehicle and the target turning point. When it is detected that the first distance is less than or equal to the threshold f1 (i.e., the first threshold preset for the turning point type) and there is no turning arrow identifier in the augmented reality HUD field of view range, the turning arrow identifier is displayed based on the position xz1 (i.e., the first position preset for the turning point type). For the target navigation waypoint, obtain the second distance between the vehicle and the target navigation waypoint. When it is detected that the second distance is less than or equal to the threshold b1 (i.e., the first threshold preset for the navigation waypoint type) and there is no waypoint identifier in the augmented reality HUD field of view range, the waypoint identifier is displayed based on the position xt1 (i.e., the first position preset for the navigation waypoint type).

[0047] Step S203, in response to the real-time distance being within the distance range and the key point marker existing in the field of view of the augmented reality HUD, dynamically displaying and controlling the key point marker according to the real-time distance, the first position and the second position.

[0048] The first position may be a first pixel position preset in the field of view of the augmented reality HUD. The second position may be a second pixel position preset in the field of view of the augmented reality HUD.

[0049] The upper limit value of the distance range may correspond to the first position, and the lower limit value of the distance range may correspond to the second position. The distance range is used to characterize the process of the vehicle gradually approaching the key navigation point until it is "about to arrive" at the key navigation point. For example, when the real-time distance is equal to the upper limit value of the distance range, it is considered that the vehicle has entered the vicinity of the key navigation point; when the real-time distance gradually decreases from the upper limit value of the range but is still greater than the lower limit value of the range, it is considered that the vehicle is gradually approaching the key navigation point; when the real-time distance is equal to the lower limit value of the range, it is considered that the vehicle is "about to arrive" at the key navigation point.

[0050] The second position may be a pre-specified position in the enhanced range display area according to the display requirements of the key point identification of the navigation key point, and the second position is used to specify the display position of the key point identification when the vehicle is "about to reach" the navigation key point.

[0051] For example, the second position can be set to be 300 pixels (px) from the upper edge of the augmented reality HUD field of view, and 300 pixels (px) from the right edge of the augmented reality HUD field of view. Based on the first position and the second position, when the real-time position changes within the distance range, the key point mark can be controlled to be dynamically displayed based on the line connecting the first position and the second position.

[0052] It should be noted that for scenarios where multiple different key point identifiers need to be displayed simultaneously in the field of view of the augmented reality HUD, a second threshold and a second position can be pre-set for each key point identifier, and the key point identifier can be dynamically displayed and controlled according to the first threshold, the second threshold, the first position and the second position corresponding to each key point identifier.

[0053] Through the technical solutions provided by the above steps S201 to S203, the embodiment of the present application realizes intelligent dynamic control of navigation key point markers in the ARHUD system, ensuring the timely display and dynamic adjustment of the key point markers, that is, it can automatically adjust the display position of the key point markers according to the real-time distance between the vehicle and the navigation key point and the pre-specified first position and second position in the augmented reality HUD field of view, providing the driver with more intuitive and accurate navigation information, thereby significantly improving the navigation efficiency and safety during driving.

[0054] It is easy to notice that in the embodiments of the present application, the key point identifier is displayed in the specified pixel area corresponding to the navigation key point within the field of view of the augmented reality HUD, which can ensure that in different scenarios, the key point identifier corresponding to the navigation key point is always within the visible range of the field of view of the augmented reality HUD, effectively avoiding the situation that the rendered augmented reality elements may exceed the visible range of the field of view of the augmented reality HUD in the related art.

[0055] In addition, the dynamic display control scheme implemented according to the real-time distance can overcome the static limitations of information display in traditional navigation systems, making the navigation information displayed in the AR HUD more in line with the actual driving experience of the driver and reducing the driving risks caused by frequently checking the instrument panel or the central control screen.

[0056] As described above, in the embodiments of the present application, according to the real-time distance between the vehicle and the navigation key point, the navigation key point is displayed at a specified position within the field of view of the augmented reality HUD. That is to say, the specified position is related to the real-time distance and the preset first position and second position. This ensures that the key point identifier corresponding to the navigation key point (i.e., the augmented reality element) is necessarily within the visible range of the field of view of the augmented reality HUD, and can provide effective visual guidance corresponding to the navigation key point in different application scenarios. In addition, as the vehicle travels, the above real-time distance changes dynamically. Correspondingly, based on the real-time distance, the dynamic display of the key point identifier can be controlled, facilitating the driver to intuitively and quickly understand the relative distance information between the vehicle and the navigation key point through the key point identifier displayed in the field of view of the augmented reality HUD. The embodiments of the present application achieve the purpose of dynamically displaying the key point identifier corresponding to the navigation key point at a specified position within the field of view of the augmented reality HUD according to the real-time distance, thereby realizing the technical effects of improving the navigation guidance effectiveness of the augmented reality head-up display system and optimizing the user experience, and further solving the technical problems that the rendered augmented reality elements in the related art may exceed the visible range of the field of view of the augmented reality HUD, resulting in poor navigation guidance effectiveness and poor user experience of the augmented reality head-up display system.

[0057] The following further explains other optional execution steps included in the identifier display method provided in the embodiments of the present application in combination with application scenarios.

[0058] As an optional implementation manner, the distance range is determined by a first threshold and a second threshold, and the second threshold is less than the first threshold. In step S203 above, according to the real-time distance, the first position, and the second position, the dynamic display control of the key point identifier may further include the following execution steps:

[0059] Step S231: Determine an interpolation coefficient according to the real-time distance, a first threshold, and a second threshold.

[0060] Step S232: Perform interpolation calculation on a first position and a second position by using the interpolation coefficient to obtain a target position, where the first position corresponds to the first threshold and the second position corresponds to the second threshold.

[0061] Step S233: Control the display position of the key point identifier to move along a moving display path within the augmented reality HUD field of view to the target position, where the moving display path is determined according to the first position and the second position.

[0062] The above-mentioned second threshold may be a preset distance value, and this second threshold is less than the first threshold. That is to say, the upper limit value of the above-mentioned distance range may be the first threshold, and the lower limit value of the distance range may be the second threshold. When the real-time distance changes within this distance range (usually gradually decreasing from the first threshold to the second threshold), control the key point identifier within the augmented reality HUD field of view to perform a moving display. Exemplarily, the above-mentioned second threshold may be set to 20 meters.

[0063] The above-mentioned interpolation coefficient is a scaling factor used to measure the relative position of the real-time distance between the first threshold and the second threshold. According to this interpolation coefficient, the adjustment degree of the display position of the key point identifier can be determined. When calculating the interpolation coefficient based on the real-time distance, the first threshold, and the second threshold, it is set that the value of the interpolation coefficient ranges from 0 to 1. When the real-time distance is equal to the first threshold, the interpolation coefficient takes 0; when the real-time distance is equal to the second threshold, the interpolation coefficient takes 1; when the real-time distance is between the first threshold and the second threshold, the value of the interpolation coefficient is calculated according to the linear interpolation calculation method. For example, if the first threshold is 80 meters and the second threshold is 20 meters, when the real-time distance is 50 meters, the value of the interpolation coefficient is 0.5.

[0064] Furthermore, perform interpolation calculation on the first position and the second position by using the interpolation coefficient to obtain the target position. The first position is the ideal display position corresponding to the key point identifier when the real-time distance is equal to the first threshold, and the second position corresponds to the ideal display position corresponding to the key point identifier when the real-time distance is equal to the second threshold. For example, when the value of the interpolation coefficient is 0.5, the target position may be the midpoint position of the line connecting the first position and the second position. The linear interpolation calculation ensures that the adjustment of the real-time display position (i.e., the target position) corresponding to the key point identifier is based on the linear change of the real-time distance, thereby avoiding abrupt changes in the display effect and improving the fluency of the navigation information presentation and the user acceptance.

[0065] The above-mentioned moving display path corresponds to the line segment between the first position and the second position. The system will control the key point identifier to move along the moving display path from the current position to the target position calculated according to the real-time distance. Thus, mapping the key point identifier corresponding to the navigation key point to the moving display path for moving display control can not only ensure that the key point identifier is necessarily within the augmented reality HUD field of view, but also characterize the real-time distance between the vehicle and the navigation key point through the display position of the key point identifier.

[0066] In an exemplary application scenario, when the multiple navigation key points to be displayed include the target turning point and the target navigation waypoint, dynamic display control is performed for each navigation key point respectively. For the target turning point, the first distance between the vehicle and the target turning point is obtained. When it is detected that the first distance is between the threshold f1 and the threshold f2 (i.e., the second threshold preset for the turning point type) and there is a turning arrow identifier within the augmented reality HUD field of view, based on the first distance, the threshold f1, the threshold f2, the position xz1 and the position xz2 (i.e., the second position preset for the turning point type), dynamic display control is performed on the turning arrow identifier. Specifically, the turning arrow identifier can be displayed at a specific interpolation position on the line connecting the position xz1 and the position xz2 according to the first distance, the threshold f1 and the threshold f2. As the first distance changes, the real-time display position of the turning arrow identifier on this line can also be adjusted.

[0067] For the target navigation waypoint, the second distance between the vehicle and the target navigation waypoint is obtained. When it is detected that the second distance is between the threshold b1 and the threshold b2 (i.e., the second threshold preset for the navigation waypoint type) and there is a waypoint identifier within the augmented reality HUD field of view, based on the first distance, the threshold b1, the threshold b2, the position xt1 and the position xt2 (i.e., the second position preset for the navigation waypoint type), dynamic display control is performed on the waypoint identifier. Specifically, the waypoint identifier can be displayed at a specific interpolation position on the line connecting the position xt1 and the position xt2 according to the second distance, the threshold b1 and the threshold b2. As the second distance changes, the real-time display position of the waypoint identifier on this line can also be adjusted.

[0068] Through the technical solutions provided in the above steps S231 to S233, the present application can achieve smooth and continuous dynamic display of key point markers in the augmented reality HUD field of view by defining the first threshold and the second threshold and combining real-time distance dynamic calculation and adjustment of the display position of key point markers. The above solution avoids the sudden change display of key point markers in the augmented reality HUD field of view, reduces the visual burden on the driver, and at the same time can simulate the parallax effect related to the real-time distance through the moving display control, enhancing the intuitiveness and accuracy of navigation information, significantly improving the navigation efficiency and safety during driving, providing a more natural and immersive navigation experience for the driver, enabling intuitive understanding and response to navigation instructions without additional operations, and optimizing the driving process.

[0069] As an alternative implementation, the above marker display method may further include the following execution steps:

[0070] Step S241, perform interpolation calculation on the first scaling ratio and the second scaling ratio using an interpolation coefficient to obtain a target scaling ratio, where the first scaling ratio corresponds to the first threshold, the second scaling ratio corresponds to the second threshold, and the first scaling ratio is less than the second scaling ratio;

[0071] Step S242, control the key point marker to be scaled and displayed according to the target scaling ratio.

[0072] The above interpolation coefficient is a parameter dynamically generated according to the real-time distance between the vehicle and the navigation key point, the first threshold, and the second threshold. This interpolation coefficient can be used for linear or non-linear interpolation calculation between two preset scaling ratios. The above first scaling ratio corresponds to the first threshold, and the above second scaling ratio corresponds to the second threshold.

[0073] The above first scaling ratio is used to determine a scaling critical effect when the key point marker is displayed, which can be understood as the scaling ratio when the key point marker is the smallest during the scaling dynamic display process. The above second scaling ratio is used to determine another scaling critical effect of the key point marker when the vehicle "approaches" the navigation key point, which can be understood as the scaling ratio when the key point marker is the largest during the scaling dynamic display process.

[0074] Specifically, when the vehicle approaches the navigation key point from a distance, the real-time distance gradually decreases from the first threshold to the second threshold, and the target scaling ratio of the key point marker will smoothly transition from the first scaling ratio to the second scaling ratio according to the interpolation coefficient. For example, the first threshold is 80 meters, and correspondingly, the first scaling ratio is 0.7. The second threshold is 20 meters, and correspondingly, the second scaling ratio is 1.0. When the real-time distance is 60 meters, the target scaling ratio determined through interpolation calculation is 0.8; when the real-time distance is 40 meters, the target scaling ratio determined through interpolation calculation is 0.9.

[0075] Further, according to the target scaling ratio, real-time scaling control is performed on the key point identifiers displayed within the field of view of the augmented reality HUD. Since the target scaling ratio is dynamically generated based on the real-time position of the vehicle and the distance to the navigation key points, it ensures that the key point identifiers can be presented in an appropriate size within the driver's field of vision, thereby achieving the best visibility and clarity.

[0076] It should be noted that when using the target scaling coefficient to perform scaling display control on the key point identifiers, the key point identifiers may be in the process of being controlled to move and display along the moving display path at the same time. Based on this, performing both moving display control and scaling display control on the key point identifiers can simulate the natural parallax effect of "objects appear larger when closer and smaller when farther away". By dynamically adjusting the size of the key point identifiers, the driver can visually perceive the relative distance change between the navigation key points and the vehicle, enhancing the intuitiveness and immersion of the navigation information.

[0077] Through the technical solutions provided in the above steps S201 to S204, the embodiments of the present application can ensure the dynamic scaling display of the key point identifiers in the AR HUD navigation application. Through precise interpolation calculation and real-time scaling control, a parallax effect matching the change in the actual driving distance of the vehicle is simulated. The above technical solutions significantly improve the intuitiveness and accuracy of the navigation information, enabling the driver to obtain key navigation information more naturally without frequently shifting the line of sight, thereby optimizing the driving experience as a whole and improving the safety during driving. By dynamically adjusting the size of the identifiers, the driver can react more intuitively in advance to upcoming path changes or navigation key points, reducing the distraction caused by improper display of navigation information during driving and enhancing the continuity and smoothness of driving.

[0078] As an alternative implementation manner, in the above identifier display method, the navigation key point is the key point of the turning intersection in the navigation guidance mode, and the key point identifier is a turning arrow identifier.

[0079] In an exemplary application scenario, the key point of the turning intersection can be a specific position where the driver needs to make a direction selection in the navigation guidance mode. For example, it is the intersection position between the entrance plane of the turning intersection and the vehicle driving trajectory. The above turning intersection can be a left-turn intersection, a right-turn intersection or other types of intersections. The above key point identifier is an arrow identifier preset for the key point of the intersection, and the arrow direction of the arrow identifier is used to indicate the turning direction of the turning intersection.

[0080] Specifically, when the vehicle approaches the key point of the intersection, the system generates a virtual arrow (i.e., the turning arrow mark) corresponding to the key point of the intersection in the AR HUD display area to intuitively indicate the driving direction that the driver should take. Combining the foregoing method steps of the embodiments of the present application, by performing dynamic display control of moving and scaling the turning arrow mark, the intuitiveness and readability of the navigation information can be enhanced, which helps the driver quickly and accurately understand the driving route.

[0081] In an exemplary application scenario, when the navigation key point is the key point of the turning intersection in the navigation guidance mode and the key point mark is the turning arrow mark, according to the foregoing method steps, the following Figure 3 shows a display control logic of a turning arrow mark. As Figure 3 shown, during the driving process of the vehicle, when the turning arrow mark is in a hidden state, it is monitored whether the real-time distance is less than or equal to a first threshold (such as 80 meters). When the real-time distance is greater than the first threshold, the turning arrow mark is kept in a hidden state; when the real-time distance is less than or equal to the first threshold, the turning arrow mark is displayed at a specified position (determined by the first position within the enhanced reality HUD display range). Further, as the vehicle moves forward, the system performs moving and scaling display control of the turning arrow mark and simultaneously monitors whether the real-time distance is less than a second threshold.

[0082] It should be noted that the turning arrow mark can be a specific visual cue, and the shape and dynamic change effect (such as appearance, enlargement, reduction, movement, or disappearance, etc.) of the turning arrow mark are closely related to the real-time distance between the vehicle and the navigation key point (such as the turning intersection). By accurately rendering the turning arrow mark on the windshield in front of the driver (i.e., the AR HUD display area), the turning arrow mark coincides with the road from the driver's perspective, thereby simulating a real parallax effect, that is, making the turning arrow mark look gradually larger and closer as the vehicle approaches, providing a visual experience of near-big and far-small.

[0083] Through the above optional implementation manners, the embodiments of the present application accurately associate the virtual turning arrow mark with the actual key point of the turning intersection, not only ensuring the timeliness and accuracy of the navigation information, but also realizing a parallax simulation effect matching the driving state of the driver by dynamically adjusting the display position and size of the arrow mark. The above technical solution significantly enhances the driver's intuitive perception of the navigation information, reduces visual interference during driving, and improves the user experience of navigation guidance and driving safety. Specifically, when the vehicle approaches the navigation key point, the timely appearance and dynamic adjustment of the turning arrow mark enable the driver to understand the route change information in advance and naturally, without frequently shifting the line of sight, thereby reducing the driving risk and enhancing the driving concentration and the practical value of the navigation information.

[0084] As an alternative implementation, the above-mentioned identification display method may further include the following execution steps:

[0085] Step S251, in response to the real-time distance being less than the second threshold and there being a key point identifier in the augmented reality HUD field of view, obtain the navigation road segment type point data corresponding to the real-time position of the vehicle and the vehicle azimuth data;

[0086] Step S252, use the real-time position, the navigation road segment type point data, and the vehicle azimuth data to calculate a target angle, where the target angle is the included angle between the driving direction of the vehicle and the exit direction of the turning intersection;

[0087] Step S253, control the turning arrow identifier to rotate and display according to the target angle.

[0088] In the application scenario, when it is detected that the real-time distance is less than the second threshold, obtain the navigation road segment type point data corresponding to the real-time position of the vehicle and the vehicle azimuth data. The navigation road segment type point data is used to represent multiple link type points on the navigation path, and the vehicle azimuth data is used to represent the real-time driving direction of the vehicle. Further, when the real-time distance between the vehicle and the navigation key point is less than the second threshold and greater than zero, use the real-time position, the navigation road segment type point data, and the vehicle azimuth data to calculate the included angle between the real-time driving direction and the exit direction of the turning intersection, and determine the target angle. Control the turning arrow identifier to rotate and display according to the target angle.

[0089] In an exemplary application scenario, still as Figure 3 shown, during the process of controlling the movement and scaling of the turning arrow identifier, monitor whether the real-time distance is less than the second threshold. If the real-time distance is greater than or equal to the second threshold, maintain the control of the movement and scaling display of the turning arrow identifier; if the real-time distance is less than the second threshold, then enter the control of the rotation display of the turning arrow identifier.

[0090] It is easy to notice that when the real-time distance is less than the second threshold, it is considered that the vehicle is "approaching" the turning intersection, triggering the turning arrow identifier to start rotating and displaying. During the process of the vehicle moving from "approaching" the turning intersection to reaching the exit of the turning intersection, the real-time driving direction is constantly changing, that is, the real-time driving direction will gradually change from the entrance direction of the turning intersection to the exit direction of the turning intersection.

[0091] By comprehensively analyzing the vehicle's real-time position, driving direction, and the exit direction of the upcoming turning intersection, the included angle between the two is calculated, which is the target angle. Through precise positioning and angle calculation, the system can real-time evaluate the relative position relationship between the vehicle and the turning point, providing data support for the subsequent rotation control of the turning arrow mark, ensuring that the direction of the guiding arrow matches the turning direction, and providing clear turning guidance for the driver.

[0092] In the application scenario, the timing of starting the rotation display can be accurately positioned by setting a second threshold, ensuring that the dynamic control of the turning arrow mark is closely related to the actual driving situation when the vehicle approaches the turning point, thereby improving the immediacy and accuracy of the guidance. It should be noted that when starting to control the turning arrow mark to rotate and display, the turning arrow mark can be correspondingly displayed at the second position (that is, the display positioning point of the turning arrow mark coincides with the second position).

[0093] Based on the target angle, the system dynamically adjusts the rotation posture of the turning arrow mark in the AR HUD to ensure that the arrow points in the correct direction after turning. Thus, during the vehicle's driving process, it can real-time adapt to the changes in the vehicle's position and direction, dynamically adjusting the direction of the turning arrow mark, thereby overcoming the limitation of the fixed icon in the traditional navigation display, providing a more intuitive and dynamic navigation guidance for the driver, and improving the navigation information reception efficiency and driving safety during the driving process.

[0094] Through the technical solutions provided in the above steps S251 to S253, the embodiment of the present application performs dynamic rotation control on the turning arrow mark in the AR HUD system. By combining the precise calculation of the vehicle's real-time position, driving direction, and turning direction, it intelligently adjusts the posture of the arrow mark to ensure that its direction is consistent with the turning direction. The above technical solutions significantly improve the accuracy and real-time performance of the AR navigation guidance, making the virtual navigation information more conform to the driver's actual driving perspective, reducing the driver's attention dispersion, and thus significantly enhancing the navigation experience and safety during the driving process. Through dynamic rotation control, the system can provide a more intuitive and driving-situation-compliant turning guidance, reducing the driving risk caused by unclear navigation information for the driver.

[0095] As an alternative implementation manner, the above mark display method may further include the following execution steps:

[0096] Step S261, in response to the vehicle passing through the current turning intersection, update the navigation key point to the key point of the next turning intersection on the navigation guiding path, and obtain the real-time distance between the vehicle and the navigation key point;

[0097] Step S262, in response to the real-time distance being less than or equal to the first threshold, perform dynamic display control on the key point mark according to the real-time distance, the first position, and the second position.

[0098] In the application scenario, after the system detects that the vehicle has passed the turning intersection in the current navigation path, it automatically updates the navigation key point to the next turning intersection on the navigation path that is about to be reached. Thus, the embodiments of the present application can update the navigation key point in real time and intelligently, ensuring that the AR HUD system can timely provide the driver with the navigation information of the next turning point.

[0099] Furthermore, through the vehicle positioning system and the navigation algorithm, calculate the real-time distance between the current position of the vehicle and the updated navigation key point (i.e., the next turning intersection). That is, after the navigation key point is updated, the real-time distance is also updated to the distance between the vehicle and the updated navigation key point. Based on this, re-determine whether the updated real-time distance is less than or equal to the first threshold. If the real-time distance is less than or equal to the first threshold, perform dynamic display control on the key point identifier according to the real-time distance, the first position, and the second position.

[0100] It should be noted that the dynamic display control of the key point identifier may include moving display control and zoom display control, and may also include rotation display control of the key point identifier when it is further detected that the real-time distance is less than the second threshold.

[0101] It is easy to note that the above first threshold may be 80 meters. After the vehicle passes the current turning intersection, if the real-time distance between the vehicle and the next turning intersection is less than or equal to 80 meters, continue to perform dynamic display control on the turning arrow identifier displayed within the field of view of the augmented reality HUD according to the real-time distance. That is to say, there is no need to control the turning arrow identifier to cancel the display and redisplay, which can ensure the smooth transformation of the display content within the field of view of the augmented reality HUD.

[0102] Through the technical solutions provided in the above steps S261 to S262, the embodiments of the present application significantly improve the smooth effect of information presentation of the AR HUD system in the navigation turning intersection scenario by automatically updating the navigation key point and dynamically controlling the display of the key point identifier in real time. Specifically, after the vehicle passes each turning intersection, it can immediately obtain the accurate navigation information of the next turning point, and the dynamic display of the key point identifier creates a parallax effect, increasing the intuitiveness and visual smoothness of the navigation information, which helps the driver identify and respond to the navigation guidance earlier and more accurately, thus avoiding the risks that may be brought about by searching for information or reaction delay during driving, and greatly improving the driving experience and safety.

[0103] As an alternative embodiment, the above identifier display method may further include the following execution steps:

[0104] Step S207, in response to the real-time distance being greater than the first threshold, control the cancellation of the display of the turning arrow identifier.

[0105] The above real-time distance is the real-time distance re-acquired after the vehicle travels through the current turning intersection and updates the navigation key point to the key point of the next turning intersection on the navigation guidance path.

[0106] Exemplarily, the above first threshold may be 80 meters. After the vehicle travels through the current turning intersection, if the real-time distance between the vehicle and the next turning intersection is greater than 80 meters, it is considered that the turning arrow identifier corresponding to the next turning intersection does not need to be displayed at this time, and the cancellation of the display of the turning arrow identifier can be controlled.

[0107] It should be noted that in order to ensure the smoothness of the display content in the augmented reality HUD, the fading out of the turning arrow identifier can be controlled.

[0108] Based on the above limitations, the embodiments of the present application can ensure that the turning arrow identifier will be displayed on the augmented reality HUD only when the vehicle approaches the turning intersection, thereby avoiding the display of redundant information when the distance from the navigation key point is relatively far, reducing the visual interference of the driver, and maintaining the simplicity of the display interface and the effectiveness of the information.

[0109] In an exemplary application scenario, still as Figure 3 shown, as the vehicle exits the current turning intersection, re-determine the navigation key point, update the real-time distance, and monitor whether the updated real-time distance is less than or equal to the first threshold. If the real-time distance is greater than the first threshold, control the turning arrow identifier to fade out, that is, restore the turning arrow identifier to the hidden state. If the real-time distance is less than or equal to the first threshold, adjust the turning arrow identifier to the specified position and continue to control the movement and scaling display of the turning arrow identifier.

[0110] Through the technical solution provided in the above step S207, the embodiments of the present application can realize the intelligent control of the turning arrow identifier in the field of view of the augmented reality HUD, ensure that the turning arrow identifier is displayed in a timely manner when the vehicle approaches the turning intersection, and automatically cancel the display when the vehicle is beyond a certain range from the key point of the turning intersection (that is, the real-time distance is greater than the first threshold). The above dynamic display control method not only improves the accuracy and timeliness of the navigation information presentation, but also greatly reduces the visual interference in the non-critical stage, enabling the driver to focus more on the current driving environment, thereby significantly improving the driving safety and the overall efficiency of the driving experience.

[0111] As an alternative embodiment, the navigation key point is at least one of the navigation end point and multiple navigation waypoints on the navigation guidance path. The above identifier display method may further include the following execution steps:

[0112] Step S208: Determine a first position and a second position from the candidate positions according to the direction information of the navigation key point relative to the vehicle.

[0113] In the application scenario, the navigation guidance path of the vehicle may include a navigation starting point, a navigation ending point, and multiple navigation waypoints. Based on this, the driver can select at least one of the navigation ending point and the multiple navigation waypoints as the navigation key point. During the driving process of the vehicle, according to the foregoing method steps in the embodiments of the present application, the key point identifier corresponding to the navigation key point is displayed within the field of view of the augmented reality HUD, and dynamic display control is performed on the key point identifier.

[0114] According to the direction information of the navigation key point relative to the vehicle, the target orientation of the navigation key point relative to the vehicle can be determined, and the target orientation can be the left front or the right front. The above candidate positions may include a first candidate position, a second candidate position, a third candidate position, and a fourth candidate position. Among them, the first candidate position is the first position when the preset target orientation is the left front, the second candidate position is the second position when the preset target orientation is the left front, the third candidate position is the first position when the preset target orientation is the right front, and the fourth candidate position is the second position when the preset target orientation is the right front. Based on this, determine the target orientation according to the above direction information, and further determine the first position and the second position to be used.

[0115] It is easy to understand that when performing display control on the navigation ending point or the navigation waypoint, the waypoint identifier corresponding to the navigation ending point or the navigation waypoint can be displayed in the corresponding area within the field of view of the augmented reality HUD according to the direction information of the navigation ending point or the navigation waypoint relative to the vehicle, and the corresponding area is determined by the first position and the second position selected based on the direction information. For example, when the navigation waypoint is located in the left front of the vehicle, the waypoint identifier corresponding to the navigation waypoint is displayed in the left area within the field of view of the augmented reality HUD; when the navigation waypoint is located in the right front of the vehicle, the waypoint identifier corresponding to the navigation waypoint is displayed in the right area within the field of view of the augmented reality HUD.

[0116] Through the technical solution provided in the above step S208, when the system dynamically determines the display position of the identifier according to the direction information of the navigation key point, it not only considers the distance factor but also takes into account the direction factor, making the identifier display more conform to the actual driving perspective of the driver, enhancing the immersion of the navigation information and the natural fluency of the navigation experience.

[0117] Based on the above method steps, the following further explains the technical solution provided in the embodiments of the present application in combination with specific application scenarios and Figures 4 to 6 makes a further explanatory description.

[0118] As Figure 4 shown, according to the application scenario requirements or user preferences to set information, determine the first position (such as the P1 position shown in Figure 4 ) and the second position (such as the P2 position shown in Figure 4 ) within the field of view of the augmented reality HUD. As Figure 4 shown, determine the moving display path of the key point identifier based on the line segment between the P1 position and the P2 position.

[0119] As Figure 5 shown, in the display control scenario of the turning arrow identifier corresponding to the intersection key point at the turning intersection, after the turning arrow identifier in the minimum display state is displayed based on the P1 position, based on the moving display path and the preset zoom factor, perform moving and zooming display control on the turning arrow identifier until the turning arrow identifier moves to the position displayed based on the P2 position and is adjusted to the maximum display state at the same time. At this time, it is considered that the vehicle is "approaching" the turning intersection. Subsequently, as the vehicle travels in the turning intersection, control the turning arrow identifier to perform rotation display control. Visually, the turning arrow identifier is in the "return to normal" state.

[0120] As Figure 6 shown, in the display control scenario of the waypoint identifier corresponding to the navigation waypoint, according to the azimuth relationship between the navigation waypoint and the vehicle, determine that the navigation waypoint is located in the front left of the vehicle. Then, as Figure 6 shown, when the display condition of the waypoint identifier is met, display the waypoint identifier in the minimum display state based on the first position predetermined for the left area. Further, based on the first position and the second position predetermined for the left area, perform moving and zooming display control on the waypoint identifier until the waypoint identifier moves to the display position corresponding to the second position and is adjusted to the maximum display state at the same time. At this time, it is considered that the vehicle is "approaching" the navigation waypoint. In particular, the above-mentioned second position may also correspond to the position of the navigation waypoint. When the waypoint identifier moves to the display position corresponding to the second position and is adjusted to the maximum display state at the same time, it can be considered that the vehicle has reached the navigation waypoint.

[0121] In summary, the embodiments of the present application achieve the purpose of dynamically displaying the key point identifier corresponding to the navigation key point at the specified position within the field of view of the augmented reality HUD according to the real-time distance, thereby realizing the technical effects of improving the navigation guidance effectiveness of the augmented reality head-up display system and optimizing the user experience. Furthermore, it solves the technical problem that the rendered augmented reality elements in the related art may exceed the visible range of the field of view of the augmented reality HUD, resulting in poor navigation guidance effectiveness and poor user experience of the augmented reality head-up display system.

[0122] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties. Moreover, the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions, and corresponding operation entrances are provided for users to choose to authorize or reject.

[0123] It should be noted that for the above method embodiments, for the sake of simple description, the technical solutions in the method embodiments are described as a series of action combinations. However, those skilled in the art should know that this application is not limited by the action sequence in the described action combinations, because according to this application, some of the above steps can be performed in other sequences or simultaneously. In addition, those skilled in the art should also know that the embodiments described in the specification of this application are preferred embodiments, and the actions and modules involved are not necessarily essential for implementing the technical solutions of this application.

[0124] According to the embodiments of this application, an apparatus embodiment of an identification display device is also provided. The identification display device is used to implement the above method embodiments and various optional implementation manners of the method embodiments. The technical content that has been described above will not be repeated in the apparatus embodiment. It should be noted that in the following related descriptions of the apparatus embodiment, a "module" can be software, hardware, or a combination of software and hardware for implementing a specified function.

[0125] Figure 7 is a structural block diagram of an identification display device according to the embodiments of this application. As Figure 7 shown, the identification display device includes: an acquisition module 701, configured to acquire the real-time distance between the vehicle and the navigation key point; a display module 702, configured to, in response to the real-time distance being less than or equal to a first threshold and there being no key point identifier corresponding to the navigation key point in the augmented reality HUD field of view of the vehicle, display the key point identifier at a first position in the augmented reality HUD field of view; a control module 703, configured to, in response to the real-time distance being within a distance range and there being a key point identifier in the augmented reality HUD field of view, perform dynamic display control on the key point identifier according to the real-time distance, the first position, and a second position.

[0126] Optionally, the distance range is determined by a first threshold and a second threshold, and the second threshold is less than the first threshold. The control module 703 is further configured to: determine an interpolation coefficient according to the real-time distance, the first threshold, and the second threshold; perform interpolation calculation on the first position and the second position by using the interpolation coefficient to obtain a target position, where the first position corresponds to the first threshold and the second position corresponds to the second threshold; and control the display position of the key point identifier to move along a moving display path in the augmented reality HUD field of view range to the target position, where the moving display path is determined according to the first position and the second position.

[0127] Optionally, the identifier display device further includes: a scaling module (not shown in the figure), configured to perform interpolation calculation on a first scaling ratio and a second scaling ratio by using the interpolation coefficient to obtain a target scaling ratio, where the first scaling ratio corresponds to the first threshold, the second scaling ratio corresponds to the second threshold, and the first scaling ratio is less than the second scaling ratio, and control the key point identifier to be scaled and displayed according to the target scaling ratio.

[0128] Optionally, in the identifier display device, the navigation key point is the intersection key point of a turning intersection in the navigation guidance mode, and the key point identifier is a turning arrow identifier.

[0129] Optionally, the identifier display device further includes: a rotation module (not shown in the figure), configured to, in response to the real-time distance being less than the second threshold and there being a key point identifier in the augmented reality HUD field of view range, obtain the navigation road segment type point data corresponding to the real-time position of the vehicle and the vehicle azimuth data, and calculate a target angle by using the real-time position, the navigation road segment type point data, and the vehicle azimuth data, where the target angle is the included angle between the driving direction of the vehicle and the exit direction of the turning intersection, and control the turning arrow identifier to be rotationally displayed according to the target angle.

[0130] Optionally, the identifier display device further includes: an update module (not shown in the figure), configured to, in response to the vehicle driving through the current turning intersection, update the navigation key point to the intersection key point of the next turning intersection on the navigation guidance path, obtain the real-time distance between the vehicle and the navigation key point, and, in response to the real-time distance being less than or equal to the first threshold, perform dynamic display control on the key point identifier according to the real-time distance, the first position, and the second position.

[0131] Optionally, the identifier display device further includes: a cancellation module (not shown in the figure), configured to control the cancellation display of the turning arrow identifier in response to the real-time distance being greater than the first threshold.

[0132] Optionally, the navigation key point is at least one of the navigation end point and multiple navigation way points on the navigation guiding path, and the above-mentioned identification display device further includes: a selection module (not shown in the figure), configured to determine a first position and a second position from the candidate positions according to the direction information of the navigation key point relative to the vehicle.

[0133] It should be noted that the above-mentioned acquisition module 701, display module 702, and control module 703 correspond to steps S201 to S203 in the method embodiment. The functions of these three modules are the same as those of the corresponding steps in terms of the implemented examples and application scenarios, but are not limited to the content disclosed in the above method embodiment.

[0134] It should be noted that each module mentioned in the above device embodiment can be implemented by software, hardware, or a combination of software and hardware. For example, when implementing the above modules in hardware, each module can be set in the same processor, or each module can be set in different processors in any combination. Additionally, the above modules can be hardware components or software components stored in a memory and processed by one or more processors, and the above modules can also operate as part of a device in a computing terminal.

[0135] According to an embodiment of the present application, an embodiment of a vehicle is further provided. The vehicle includes an in-vehicle memory and an in-vehicle processor. The in-vehicle memory stores a computer program, and the in-vehicle processor is configured to run the computer program to implement the above-mentioned identification display method.

[0136] According to an embodiment of the present application, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored program, and when the program runs, it controls the device where the computer-readable storage medium is located to implement the above-mentioned identification display method.

[0137] Optionally, the above computer storage medium may include, but is not limited to: a hard disk drive (HDD), a solid state drive (SSD), a USB flash drive, an optical disc, a memory card, a cloud storage medium, and a network-attached storage (NAS), etc.

[0138] Optionally, the above computer-readable storage medium may be configured to store a computer program for performing the following steps: obtaining a real-time distance between a vehicle and a navigation key point; in response to the real-time distance being less than or equal to a first threshold and there being no key point identifier corresponding to the navigation key point in the augmented reality HUD field of view of the vehicle, displaying the key point identifier based on a first position in the augmented reality HUD field of view; in response to the real-time distance being within a distance range and there being a key point identifier in the augmented reality HUD field of view, performing dynamic display control on the key point identifier according to the real-time distance, the first position, and a second position.

[0139] According to an embodiment of the present application, there is also provided a computer program product. The computer program product includes a computer program that can implement the above identifier display method when executed by a processor.

[0140] Optionally, the above computer program product may provide an identifier display service based on the above identifier display method.

[0141] Optionally, in this embodiment, the above computer program product may be a set of instructions and codes pre-written according to the above identifier display method. The computer program product can run on various different computer platforms, including personal computers, servers, mobile devices, etc.

[0142] Optionally, in this embodiment, the instructions and codes corresponding to the computer program product are used to implement the following method steps: obtaining a real-time distance between a vehicle and a navigation key point; in response to the real-time distance being less than or equal to a first threshold and there being no key point identifier corresponding to the navigation key point in the augmented reality HUD field of view of the vehicle, displaying the key point identifier based on a first position in the augmented reality HUD field of view; in response to the real-time distance being within a distance range and there being a key point identifier in the augmented reality HUD field of view, performing dynamic display control on the key point identifier according to the real-time distance, the first position, and a second position.

[0143] In the above multiple embodiments of the present application, the descriptions of the various embodiments have their own focuses. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0144] In the several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of multiple modules can be a logical function division, and there can be any other possible division methods in actual implementation in the application scenario; furthermore, multiple modules (or units or components in a module) can be combined with each other and integrated into another system. For example, some features in the method embodiments described above can be ignored or skipped.

[0145] It should be noted that in the above embodiments, the modules, components or units described as separate components may be physically separated or physically integrated. The components shown as modules or units may be physical modules or physical units, or virtual modules or virtual units. That is to say, multiple modules or multiple units may be in the same location, or may be distributed to multiple locations or multiple spaces. In the application scenario, according to the actual needs of the scenario, some or all of them can be selected from multiple modules or multiple units to implement the technical solutions of the embodiments of the present application, so as to achieve the corresponding technical purposes.

[0146] In particular, for the integrated functional modules or functional units, if they are implemented in the form of software functional units and sold or used as independent products, the modules or functional units can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0147] The above are only the preferred embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for displaying an identifier, characterized in that, Including: Obtain the real-time distance between the vehicle and the navigation key point; In response to the real-time distance being less than or equal to the first threshold and there being no key point identifier corresponding to the navigation key point in the augmented reality HUD field of view range of the vehicle, display the key point identifier based on the first position in the augmented reality HUD field of view range; In response to the real-time distance being within the distance range and there being the key point identifier in the augmented reality HUD field of view range, perform dynamic display control on the key point identifier according to the real-time distance, the first position, and the second position.

2. The identification display method according to claim 1, wherein The distance range is determined by the first threshold and the second threshold, and the second threshold is less than the first threshold. Performing dynamic display control on the key point identifier according to the real-time distance, the first position, and the second position includes: Determine an interpolation coefficient according to the real-time distance, the first threshold, and the second threshold; Perform interpolation calculation on the first position and the second position using the interpolation coefficient to obtain a target position, where the first position corresponds to the first threshold and the second position corresponds to the second threshold; Control the display position of the key point identifier to move along the moving display path in the augmented reality HUD field of view range to the target position, where the moving display path is determined according to the first position and the second position.

3. The identification display method according to claim 2, characterized in that The identifier display method further includes: Perform interpolation calculation on the first scaling ratio and the second scaling ratio using the interpolation coefficient to obtain a target scaling ratio, where the first scaling ratio corresponds to the first threshold, the second scaling ratio corresponds to the second threshold, and the first scaling ratio is less than the second scaling ratio; Control the key point identifier to perform scaling display according to the target scaling ratio.

4. The identification display method according to claim 1, characterized in that The navigation key point is the intersection key point of the turning intersection in the navigation guidance mode, and the key point identifier is a turning arrow identifier.

5. The identification display method according to claim 4, characterized in that The identifier display method further includes: In response to the real-time distance being less than the second threshold and there being the key point identifier in the augmented reality HUD field of view range, obtain the navigation road segment type point data and the vehicle azimuth data corresponding to the real-time position of the vehicle; Calculate a target angle using the real-time position, the navigation road segment type point data, and the vehicle azimuth data, where the target angle is the included angle between the driving direction of the vehicle and the exit direction of the turning intersection; Control the turning arrow identifier to perform rotation display according to the target angle.

6. The identification display method according to claim 4, wherein The identifier display method further includes: In response to the vehicle driving through the current turning intersection, update the navigation key point to the intersection key point of the next turning intersection on the navigation guidance path, and obtain the real-time distance between the vehicle and the navigation key point; In response to the real-time distance being less than or equal to the first threshold, perform dynamic display control on the key point identifier according to the real-time distance, the first position, and the second position.

7. The identification display method according to claim 6, characterized in that, The identifier display method further includes: In response to the real-time distance being greater than the first threshold, control the cancellation display of the turning arrow identifier.

8. The identification display method according to claim 1, characterized in that, The navigation key point is at least one of the navigation end point and multiple navigation waypoints on the navigation guidance path, and the identification display method further includes: Determining the first position and the second position from the candidate positions according to the direction information of the navigation key point relative to the vehicle.

9. A vehicle, characterized in that, Comprising: A memory storing an executable program; A processor for running the program, wherein when the program runs, it executes the identification display method according to any one of claims 1 to 8.

10. An identification display device, characterized in that, Comprising: An acquisition module for acquiring the real-time distance between the vehicle and the navigation key point; A display module for, in response to the real-time distance being less than or equal to a first threshold and there being no key point identification corresponding to the navigation key point in the augmented reality HUD field of view range of the vehicle, displaying the key point identification based on a first position in the augmented reality HUD field of view range; A control module for, in response to the real-time distance being within a distance range and there being the key point identification in the augmented reality HUD field of view range, performing dynamic display control on the key point identification according to the real-time distance, the first position, and the second position.

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