Display method and device for vehicle augmented reality head-up display navigation information

Abstract

The invention discloses a method and a device for displaying vehicle augmented reality head-up display navigation information. The method comprises the following steps: acquiring an initial guide light blanket of a vehicle according to light blanket control line data; the coordinate depth value of the rendering point of the initial guide light blanket is adjusted, a target guide light blanket is obtained, and the coordinate depth value is a coordinate value perpendicular to the horizontal plane direction of the vehicle coordinate system; and displaying the target guide light blanket in an augmented reality head-up display view field range of the vehicle by adopting an augmented reality head-up display mode so as to guide a driving path of the vehicle based on the target guide light blanket. The technical problem that when the vehicle adopts an augmented reality head-up display mode to provide a guide route and drives to a curve, lines behind the curve are connected, and therefore a user cannot see the route behind the curve clearly is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a method and device for displaying navigation information of a vehicle's augmented reality head-up display. Background Art

[0002] In autonomous driving technology, an Augmented Reality Head-Up Display (AR HUD) can project information such as vehicle status, navigation, and the surrounding environment onto the windshield in an augmented reality manner, providing intuitive and smooth display for the driver, thereby reducing the driver's dependence on the instrument panel and instrument screen and enhancing the driving experience.

[0003] In the augmented reality head-up display mode, the guiding light carpet can intuitively prompt the driving direction of the vehicle. Figure 1 It is a schematic diagram of a guiding light carpet for route guidance during straight driving according to the prior art. As Figure 1 shown, in the straight driving scenario, the guiding light carpet often performs excellently. The driver can clearly see the road edge line of the road ahead of the vehicle through the guiding light carpet, thus ensuring a good driving experience and safe driving. Figure 2 It is a schematic diagram of a guiding light carpet for route guidance during curved driving according to the prior art. As Figure 2 shown, when the vehicle travels to a curve, due to the angle factor, the lines behind the curve will be connected. Therefore, when the vehicle is in a curve, the width of the light carpet usually needs to be adjusted to ensure that the light carpet is always within the driver's field of vision within the curve. Otherwise, the driver may miss the light carpet display information, resulting in a poor driving experience and driving risks.

[0004] For the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a method and device for displaying navigation information of a vehicle's augmented reality head-up display, so as to at least solve the technical problem that when the vehicle uses the augmented reality head-up display method to provide a guiding route and travels to a curve, the lines behind the curve will be connected, resulting in the user being unable to clearly see the route behind the curve.

[0006] According to one aspect of an embodiment of the present invention, there is provided a method for displaying navigation information on a vehicle augmented reality head-up display, including: obtaining an initial guiding light carpet of the vehicle according to light carpet control line data; adjusting the coordinate depth values of the rendering points of the initial guiding light carpet to obtain a target guiding light carpet, where the coordinate depth value is a coordinate value in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system; and displaying the target guiding light carpet within the field of view of the vehicle's augmented reality head-up display in an augmented reality head-up display manner to guide the driving path of the vehicle based on the target guiding light carpet.

[0007] Further, adjusting the coordinate depth values of the rendering points of the initial guiding light carpet to obtain a target guiding light carpet includes: determining a first height coordinate of a first center point and a second height coordinate of a second center point in the initial guiding light carpet, where the first center point and the second center point are adjacent or spaced center points in a lane-level guiding line, and the lane-level guiding line is used to generate the initial guiding light carpet; determining a depth adjustment value based on the first height coordinate, the second height coordinate, and a preset elevation coefficient; adjusting the coordinate depth value of a first left boundary point corresponding to the first center point based on the depth adjustment value, and adjusting the coordinate depth value of a first right boundary point corresponding to the first center point based on the depth adjustment value; and generating a target guiding light carpet based on the adjusted coordinate depth value of the first left boundary point and the adjusted coordinate depth value of the first right boundary point.

[0008] Further, determining a depth adjustment value based on the first height coordinate, the second height coordinate, and a preset elevation coefficient includes: determining the difference between the first height coordinate and the second height coordinate; multiplying the difference by the preset elevation coefficient to obtain the depth adjustment value.

[0009] Further, adjusting the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value, and adjusting the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value includes: in response to the coordinate depth value of the first right boundary point being higher than the coordinate depth value of the first left boundary point, lowering the coordinate depth value of the first left boundary point based on the depth adjustment value, and raising the coordinate depth value of the first right boundary point based on the depth adjustment value, or,

[0010] raising the coordinate depth value of the first right boundary point based on the depth adjustment value, or,

[0011] raising the coordinate depth value of the first left boundary point based on the depth adjustment value, and raising the coordinate depth value of the first right boundary point based on the depth adjustment value, and making the adjusted coordinate depth value of the first right boundary point still higher than the adjusted coordinate depth value of the first left boundary point.

[0012] Further, adjusting the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value, and adjusting the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value includes: in response to the coordinate depth value of the first left boundary point being higher than the coordinate depth value of the first right boundary point, increasing the coordinate depth value of the first left boundary point based on the depth adjustment value, and decreasing the coordinate depth value of the first right boundary point based on the depth adjustment value, or,

[0013] increasing the coordinate depth value of the first left boundary point based on the depth adjustment value, or,

[0014] increasing the coordinate depth value of the first left boundary point based on the depth adjustment value, and increasing the coordinate depth value of the first right boundary point based on the depth adjustment value, and making the coordinate depth value of the increased first left boundary point still higher than the coordinate depth value of the increased first right boundary point.

[0015] Further, obtaining the initial guiding light carpet of the vehicle according to the light carpet control line data includes: obtaining the lane-level guiding line of the vehicle according to the light carpet control line data, where the lane-level guiding line is used to guide the driving path of the vehicle; determining the left boundary point and the right boundary point based on the center point of the lane-level guiding line, the yaw angle of the vehicle, and a preset width, where the left boundary point and the right boundary point are respectively located on the left and right sides of the center point; generating a left boundary line based on the left boundary point, and generating a right boundary line based on the right boundary point; generating an initial guiding light carpet based on the left boundary line and the right boundary line.

[0016] Further, the method for displaying the navigation information of the vehicle augmented reality head-up display further includes: rendering points including the boundary points of the initial guiding light carpet and / or the points within a preset range around the boundary points.

[0017] According to another aspect of the embodiments of the present invention, there is also provided a display device for the navigation information of the vehicle augmented reality head-up display, including: an obtaining module, configured to obtain the initial guiding light carpet of the vehicle according to the light carpet control line data; an adjusting module, configured to adjust the coordinate depth value of the rendering points of the initial guiding light carpet to obtain a target guiding light carpet, where the coordinate depth value is the coordinate value in the direction perpendicular to the horizontal plane of the vehicle coordinate system; a display module, configured to display the target guiding light carpet within the field of view of the vehicle augmented reality head-up display in an augmented reality head-up display manner to guide the driving path of the vehicle based on the target guiding light carpet.

[0018] Further, the adjustment module is further configured to determine a first height coordinate of a first center point and a second height coordinate of a second center point in the initial guiding light carpet, where the first center point and the second center point are adjacent or spaced center points in the lane-level guiding line, and the lane-level guiding line is used to generate the initial guiding light carpet; determine a depth adjustment value based on the first height coordinate, the second height coordinate, and a preset elevation coefficient; adjust the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value, and adjust the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value; and generate a target guiding light carpet based on the adjusted coordinate depth value of the first left boundary point and the adjusted coordinate depth value of the first right boundary point.

[0019] Further, the adjustment module is further configured to determine a difference between the first height coordinate and the second height coordinate; multiply the difference by the preset elevation coefficient to obtain the depth adjustment value.

[0020] Further, in response to the coordinate depth value of the first right boundary point being higher than the coordinate depth value of the first left boundary point, the adjustment module is further configured to lower the coordinate depth value of the first left boundary point based on the depth adjustment value, and raise the coordinate depth value of the first right boundary point based on the depth adjustment value, or raise the coordinate depth value of the first right boundary point based on the depth adjustment value, or raise the coordinate depth value of the first left boundary point based on the depth adjustment value, and raise the coordinate depth value of the first right boundary point based on the depth adjustment value, and ensure that the adjusted coordinate depth value of the first right boundary point is still higher than the adjusted coordinate depth value of the first left boundary point.

[0021] Further, in response to the coordinate depth value of the first left boundary point being higher than the coordinate depth value of the first right boundary point, the adjustment module is further configured to raise the coordinate depth value of the first left boundary point based on the depth adjustment value, and lower the coordinate depth value of the first right boundary point based on the depth adjustment value, or raise the coordinate depth value of the first left boundary point based on the depth adjustment value, or raise the coordinate depth value of the first left boundary point based on the depth adjustment value, and raise the coordinate depth value of the first right boundary point based on the depth adjustment value, and ensure that the adjusted coordinate depth value of the first left boundary point is still higher than the adjusted coordinate depth value of the first right boundary point.

[0022] Further, the acquisition module is further configured to obtain the lane-level guiding line of the vehicle according to the light carpet control line data, where the lane-level guiding line is used to guide the driving path of the vehicle; determine a left boundary point and a right boundary point based on the center point of the lane-level guiding line, the yaw angle of the vehicle, and a preset width, where the left boundary point and the right boundary point are respectively located on the left and right sides of the center point; generate a left boundary line based on the left boundary point, and generate a right boundary line based on the right boundary point; and generate an initial guiding light carpet based on the left boundary line and the right boundary line.

[0023] Furthermore, the rendering points include the boundary points of the initial guiding light carpet and / or the points within a preset range around the boundary points.

[0024] According to another aspect of the embodiments of the present invention, an augmented reality device is further provided. The augmented reality device is used to execute the method for displaying vehicle augmented reality head-up display navigation information in various embodiments of the present invention.

[0025] According to another aspect of the embodiments of the present invention, a vehicle is further provided, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for displaying vehicle augmented reality head-up display navigation information in various embodiments of the present invention.

[0026] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored executable program. When the executable program runs, it controls the device where the computer-readable storage medium is located to execute the method for displaying vehicle augmented reality head-up display navigation information in various embodiments of the present invention.

[0027] According to another aspect of the embodiments of the present invention, a computer program product is further provided, including a computer program. When the computer program is executed by a processor, it implements the method for displaying vehicle augmented reality head-up display navigation information in various embodiments of the present invention.

[0028] In the embodiments of the present invention, an initial guiding light carpet of the vehicle is obtained according to the light carpet control line data; the coordinate depth values of the rendering points of the initial guiding light carpet are adjusted to obtain a target guiding light carpet, where the coordinate depth value is the coordinate value in the direction perpendicular to the horizontal plane of the vehicle coordinate system; the target guiding light carpet is displayed within the augmented reality head-up display field of view of the vehicle in an augmented reality head-up display manner to guide the driving path of the vehicle based on the target guiding light carpet. By adjusting the coordinate depth value of the guiding light carpet in the direction perpendicular to the horizontal plane of the vehicle coordinate system, the visual obstacle of the connected lines in the curve is solved, and the purpose of enhancing the driver's visual recognition of the route behind the curve is achieved, thereby realizing the technical effect of improving the performance and user experience of the augmented reality head-up display system in the curve driving scenario, and further solving the technical problem that when the vehicle uses the augmented reality head-up display method to provide a guiding route and drives into a curve, the lines behind the curve will be connected, resulting in the user being unable to clearly see the route behind the curve. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0030] Figure 1 It is a schematic diagram of a guiding light carpet for route guidance during straight driving according to the prior art;

[0031] Figure 2 It is a schematic diagram of a guiding light carpet for route guidance during curved driving according to the prior art;

[0032] Figure 3 It is a schematic diagram of the implementation process of a method for displaying navigation information of a vehicle's augmented reality head-up display according to an embodiment of the present invention;

[0033] Figure 4 It is a schematic diagram of an adjusted guiding light carpet for route guidance during curved driving according to an embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of a display device for displaying navigation information of a vehicle's augmented reality head-up display according to an embodiment of the present invention. Detailed implementation manners

[0035] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] In order to make it easier for those skilled in the art to understand the technical solutions of this application, the following gives some noun explanations for reference and auxiliary understanding.

[0037] Augmented Reality Head-Up Display (AR HUD): AR HUD is a head-up display system integrating augmented reality technology, which can directly project visual contents such as navigation information and road condition warnings onto the driver's line of sight, integrate with the actual road scene, provide more intuitive driving assistance information, and enhance driving safety and driving experience. Through camera perception and image processing, virtual information is seamlessly superimposed on the real scene, enabling the driver to obtain necessary information without looking down at the dashboard.

[0038] Yaw Angle: The yaw angle refers to the angle between the current direction of the vehicle and the predetermined direction, indicating the rotation state of the vehicle on the horizontal plane. In the AR HUD system, the accurate measurement and application of the yaw angle are crucial for adjusting the display angle of the guiding route to ensure its consistency with the actual driving direction of the vehicle, thereby improving the accuracy of information display.

[0039] Advanced Driver Assistance Systems (ADAS): ADAS is a set of electronic systems designed to improve vehicle safety and convenience, including but not limited to functions such as blind spot monitoring, automatic emergency braking, and lane keeping assistance. The perception information provided by ADAS can be used to generate the guiding route of the AR HUD, thus ensuring a high degree of fit between the guiding route and the vehicle driving environment and providing accurate navigation guidance for the driver.

[0040] Light Carpet: The light carpet is a key visual element in the AR HUD system, usually presented as a highlighted virtual path for guiding the driver's driving direction.

[0041] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0042] According to an embodiment of the present invention, an embodiment of a method for displaying navigation information of a vehicle augmented reality head-up display 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 herein can be executed in an order different from that here.

[0043] The embodiment of the present application provides a method for displaying navigation information on a vehicle's augmented reality head-up display. The method for displaying navigation information on a vehicle's augmented reality head-up display can be used to provide a route guidance function for a preset application scenario. The above preset application scenarios may include the following scenarios in the vehicle field: a commuting autonomous driving scenario, an artificial intelligence (AI) chauffeur scenario for a household car, an automatic parking assist (APA) scenario (such as memory parking for a self-owned parking space in a garage, intelligent parking for a designated parking space in a parking lot, etc.), and a navigation guided pilot (NGP) scenario in an urban area or a highway area.

[0044] Figure 3 It is a schematic diagram of the implementation process of a method for displaying navigation information on a vehicle's augmented reality head-up display according to an embodiment of the present invention, as Figure 3 shown, the method includes the following steps:

[0045] Step S32, obtain the initial guiding light carpet of the vehicle according to the light carpet control line data.

[0046] In the embodiment of the present invention, the light carpet control line data can be understood as the shape point data obtained through cloud computing, which is used to guide the display shape and position of the light carpet. Exemplarily, the shape point data defines the boundary and contour of the guiding light carpet, including the left and right boundaries of the light carpet and the dynamic change form of the light carpet in special scenarios (such as curves), ensuring that the light carpet can accurately cover and match the driving path of the vehicle. Through accurate point data, the system can determine the accurate position of the light carpet projected on the vehicle's front windshield, ensuring that the light carpet coincides with the driver's visual focus and the actual road conditions, providing intuitive driving guidance, which is not limited here.

[0047] The initial guiding light carpet can be understood as a virtual image generated by the AR HUD system before any specific optimization or adjustment, according to the current position, driving direction of the vehicle, and the path information provided by the navigation system, for intuitively guiding the driver's driving path. Exemplarily, the initial guiding light carpet usually appears as a light band or line extending from the current position to the front. Figure 1 It is a schematic diagram of a guiding light carpet for route guidance during straight driving according to the prior art, as Figure 1 shown, during straight driving, the initial guiding light carpet can clearly guide to indicate the best route or lane that the vehicle should follow, which is not limited here.

[0048] Obtaining the initial guiding light carpet based on the light carpet control line data can be understood as using the light carpet control line data to obtain the unprocessed initial guiding light carpet for guiding the driving path of the vehicle. Exemplarily, the AR HUD system generates a virtual light path or light band (i.e., the guiding light carpet) based on the real-time position information of the vehicle, navigation data, and the predetermined driving route of the vehicle. This light path is directly projected in front of the driver's line of sight and combined with the actual road environment to visually indicate the driver to drive along the correct path. There is no limitation here.

[0049] In the embodiment of the present invention, obtaining the initial guiding light carpet based on the light carpet control line data provides clear and intuitive route guidance for the driver, helping the driver accurately understand how to turn, accelerate, or decelerate the vehicle to stay on the correct road without frequently checking the navigation device, thereby reducing distraction during driving and improving driving safety and comfort.

[0050] Step S34: Adjust the coordinate depth value of the rendering points of the initial guiding light carpet to obtain the target guiding light carpet, where the coordinate depth value is the coordinate value in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system.

[0051] In the embodiment of the present invention, the rendering points can be understood as the points on the guiding light carpet that need to adjust the coordinates. Exemplarily, the rendering points include the boundary points on the guiding light carpet and the points within a certain range around the boundary points. There is no limitation here.

[0052] The coordinate depth value can be understood as the coordinate value in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system in the ADAS coordinate system. Exemplarily, Figure 2 is a schematic diagram of a guiding light carpet guiding the route during cornering according to the prior art. As Figure 2 shown, when the vehicle travels to a corner, the points on the guiding light carpet behind the corner are visually connected into a line, which greatly affects the driver's driving experience. For the points on the initial guiding light carpet, adjusting the coordinate depth value means changing the coordinate positions of these points in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system to achieve a visual width change or inclination effect. For example, when the vehicle enters a corner, by adjusting the coordinate depth value of the rendering points in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system, it is possible to prevent the points of the light carpet from being visually connected into a line, affecting the driver's clear recognition of the route behind the corner. There is no limitation here.

[0053] The target guiding light carpet can be understood as a guiding light carpet obtained by adjusting the coordinate depth values of the rendering points on the initial guiding light carpet. Exemplarily, the target guiding light carpet is obtained by raising or lowering the rendering points of the initial guiding light carpet in the horizontal plane direction perpendicular to the vehicle's own coordinate system. The target guiding light carpet can simulate the visual effect of the light carpet widening or tilting in a curve, thus ensuring that the display of the light carpet does not cause visual confusion with the actual road environment, enabling the driver to clearly see the guiding information even in a curve, and improving the driving experience and safety.

[0054] Adjusting the coordinate depth values of the rendering points of the initial guiding light carpet to obtain the target guiding light carpet can be understood as raising or lowering the coordinate depth values of the rendering points on the initial guiding light carpet in the horizontal plane direction perpendicular to the vehicle's own coordinate system, thereby obtaining the target guiding light carpet. Exemplarily, Figure 4 is a schematic diagram of route guidance during curve driving of an adjusted guiding light carpet according to an embodiment of the present invention. As Figure 4 shown, when the vehicle encounters a curve or other scenarios with limited vision, the AR HUD system will raise or lower the coordinate depth values of the rendering points of the initial guiding light carpet in the horizontal plane direction perpendicular to the vehicle's own coordinate system, so as to obtain a target light carpet that can clearly display the light carpet behind the curve, improving the driver's driving experience and driving safety.

[0055] In the embodiment of the present invention, by adjusting the coordinate depth values of the rendering points of the initial guiding light carpet in the horizontal plane direction perpendicular to the vehicle's own coordinate system, the target guiding light carpet is obtained to produce the visual effect of the light carpet rising or widening. The AR HUD system provides the driver with an intuitive route guidance, reduces the dependence on the navigation device during driving, and improves driving safety and comfort.

[0056] Step S36, using the augmented reality head-up display method to display the target guiding light carpet within the augmented reality head-up display field of view of the vehicle, so as to guide the driving path of the vehicle based on the target guiding light carpet.

[0057] In the embodiments of the present invention, the augmented reality head-up display method can be understood as a technology that integrates digital information with the real-world environment where the user is located, and is used to directly superimpose navigation information, vehicle status information, etc. in the form of virtual images on the driver's forward field of view, so that this information is integrated with the actual road environment, thereby enhancing the driving experience and improving driving safety. Exemplarily, compared with the traditional head-up display method, the AR HUD can provide more accurate and intuitive navigation guidance. The traditional head-up display method can only display simple text and icon information, and this information is usually fixed at a certain position in the driver's field of view and cannot be dynamically adjusted according to the actual driving environment and direction of the vehicle. While ordinary self-driving navigation systems (such as mobile phone navigation, in-vehicle navigation screens) are usually independent of the driver's line of sight, and the driver needs to briefly shift their line of sight to view the navigation information, which will, to a certain extent, distract the driver's attention and increase driving risks. In contrast, the AR HUD captures the road conditions in front of the vehicle through a camera and, using image processing and positioning technologies, can project navigation information, obstacle warnings, etc. in the form of a virtual light carpet directly onto the actual position of the road, making the information highly integrated with the environment, and directly displaying the navigation information in the driver's normal driving line of sight, avoiding frequent shifts of the line of sight, so that the driver can receive real-time guidance from the navigation system while focusing on the road, providing a more immersive driving assistance experience, and also improving driving safety and convenience, which is not limited here.

[0058] The augmented reality head-up display field of view range of a vehicle can be understood as the viewing angle range or visible area where the driver can directly see and receive augmented reality information through the vehicle's AR HUD system. Exemplarily, this display field of view range can be the lower area of the front windshield, or can be displayed through a special small transparent panel (usually located above the instrument panel) to provide more intuitive and practical driving assistance, which is not limited here.

[0059] Displaying a target guiding light carpet within the augmented reality head-up display field of view range of a vehicle using the augmented reality head-up display method can be understood as displaying the adjusted target guiding light carpet in the lower area of the front windshield or other display field of view ranges that are convenient for the driver to directly view in the form of the augmented reality head-up display method. Exemplarily, using the AR HUD system equipped on the vehicle, the optimized target guiding light carpet (i.e., the guiding light carpet whose depth coordinate value has been adjusted in a curve scene after specific processing) is directly projected in the form of a virtual image into the driver's forward field of view range. The augmented reality head-up display method matches the driver's line of sight direction, making the light carpet display effect seamlessly integrated with the actual driving environment, and the driver can clearly see the light carpet indication without shifting their line of sight from the road, thereby providing intuitive route guidance and driving assistance, which is not limited here.

[0060] Guiding the driving path of a vehicle based on a target guiding light carpet can be understood as that the driver can continue to drive the vehicle according to the route indicated by the adjusted target guiding light carpet. Exemplarily, the driver can rely on the target guiding light carpet information displayed in the AR HUD system to make correct driving decisions. The target guiding light carpet is dynamically adjusted according to the current position, driving direction, and target driving path of the vehicle. Especially in complex road conditions such as curves, through precise adjustment of the coordinate depth value, it can ensure that the display effect of the light carpet fits the actual road environment more closely, avoiding visual misguidance of the light carpet in the case of limited vision, such as the problem that the part of the light carpet behind the curve looks "connected in a line" or disappears. The driver can intuitively follow the guidance of the light carpet and master how to steer, accelerate, or decelerate the vehicle to stay on the correct route and lane, thereby not only improving driving safety but also enhancing the driving experience and comfort, which is not limited here.

[0061] In the embodiments of the present invention, the AR HUD method is adopted to display the target guiding light carpet, and the driving path of the vehicle is guided based on the target guiding light carpet, which combines virtual navigation information with the real driving environment and provides route guidance for the driver in the most intuitive way, ensuring the continuity and accuracy of information during the driving process, thereby helping the driver drive safely and efficiently to the destination and also enhancing the driving experience.

[0062] As an alternative embodiment, the present application can also determine whether the light carpet appears to be connected in a line based on the pixels output by the rendering engine. Specifically, by calculating the length of the vertical line between two points, the width of the current light carpet is judged. If the width of the light carpet is in the range of x - n, then the light carpet needs to be raised by n degrees, so as to achieve the visual effect of making the light carpet wider by raising the light carpet.

[0063] It can be understood that in the pure manual driving mode of the user, although both displaying the navigation information during the vehicle driving process on the car machine screen and displaying the navigation information during the vehicle driving process through the AR HUD can provide navigation guidance, the AR HUD shows navigation information not just changing the display subject with the same navigation information, but there are essential differences in the generation implementation logic and effects of the displayed navigation information, and these differences determine their respective characteristics and application scenarios.

[0064] The core of the AR HUD is to integrate the navigation guiding light carpet with the actual road, integrate the perceived information such as the front lane lines, motor vehicles, non - motor vehicles, pedestrians or animals in the surrounding environment that need to be prompted with the real environment, and present them on the windshield in front of the driver's line of sight. In terms of the effect, this alignment and fitting of the navigation virtual information with the real world makes the virtual information highly consistent with the real - world elements, providing the user with an intuitive and immersive driving assistance experience.

[0065] In contrast, the navigation information on the in-vehicle screen is presented. The navigation route (excluding the navigation guiding light carpet), the vehicle itself, and virtual information such as surrounding vehicles are rendered through animation on a fixed display screen inside the vehicle. The navigation route and virtual information do not need to be spatially integrated with the external environment. The main display function is to show the user what the general surrounding environment is like, and there is not such a high demand for accuracy.

[0066] The specific differences are as follows.

[0067] Table 1

[0068]

[0069] As shown in Table 1, regarding whether the virtual information fits the actual road, the essential difference in the navigation display function between the AR HUD and the traditional in-vehicle screen is that, due to its augmented reality feature, the AR HUD can directly superimpose navigation information within the driver's line of sight, and can display the navigation guiding light carpet on the road where the vehicle is currently located, making the navigation guiding light carpet fit the actual road. The user can clearly know how to drive on the road ahead, which is very intuitive. However, the navigation on the in-vehicle screen does not require direct visual integration with the road, and does not display the navigation information through a light carpet. Instead, it marks the passable roads in front of the vehicle with colors to show the user which roads are passable. The user knows which roads can be taken, and as for which road to take, the user decides by themselves. In addition, the AR HUD can display prompt information such as the lane lines ahead within a certain range, motor vehicles, non-motor vehicles, pedestrians, or animals in the surrounding environment, and visually prompt the user with external factors that may affect driving operations. Especially in an environment with low visibility, the user may not notice what the surrounding environment is like. These information can greatly help the user make decisions to avoid traffic accidents. However, the navigation on the in-vehicle screen will render some surrounding objects, but only have a general understanding that there may be an object around, and the user cannot intuitively feel the specific position of the object.

[0070] Regarding whether it is necessary to predict the position of the vehicle ahead in real time, since the underlying implementation logics of these two technologies are different. For example, assume that in low visibility conditions, the position elements of the vehicle ahead need to be displayed through an AR HUD to help the user identify the distance between the self-vehicle and the vehicle ahead. It is very important for the user to ensure that this position element fits the vehicle ahead, and it is necessary to predict the position of the vehicle ahead to achieve a better fit. For instance, if the vehicle ahead suddenly accelerates or decelerates, in order for the animation rendering on the AR HUD to keep up with the vehicle ahead, it is necessary to predict the position of the vehicle ahead. Specifically, multiple predicted positions of the vehicle ahead need to be obtained first (for example, some predicted positions of the vehicle ahead are the positions after acceleration, and some are the positions after deceleration). Then, the position of the vehicle ahead in the current frame is averaged within a window to obtain a predicted position. At this time, this predicted position can be used for display on the AR HUD. Even if the vehicle ahead suddenly accelerates, this predicted position is relatively well-fitted.

[0071] For the navigation screen displayed on the in-vehicle screen, there will be animation rendering of the vehicle ahead. However, this animation rendering does not have such a strong requirement for fitting the vehicle ahead. Even if there is a certain distance difference between the rendered position of the vehicle ahead and the actual position, it doesn't matter. The in-vehicle screen only needs to indicate a general relative position of the vehicle ahead, rather than a particularly accurate position of the vehicle ahead. That is to say, the navigation displayed on the in-vehicle screen does not predict the speed of the vehicle ahead, but instead detects and calculates in real time whether the self-vehicle will collide with the vehicle ahead through sensing data, without the need to know whether the self-vehicle will collide with the vehicle ahead in the future.

[0072] Regarding whether there is an issue of the navigation guidance light carpet exceeding the frame, since the display field of view shown by the AR HUD only includes the content within a certain range in front of the self-vehicle, and the navigation guidance light carpet needs to fit the road conditions. For example, when turning right or making a U-turn ahead, in this case, the navigation guidance light carpet will have the problem of exceeding the frame. However, the image displayed on the in-vehicle screen includes the passable road ahead (the navigation guidance light carpet is not shown). Even when turning right or making a U-turn ahead, the passable road ahead will be shown in the image. Therefore, there is no problem of the navigation guidance light carpet exceeding the frame on the in-vehicle screen.

[0073] In an embodiment of the present invention, an initial guiding light carpet of a vehicle is obtained according to light carpet control line data; the coordinate depth values of rendering points of the initial guiding light carpet are adjusted to obtain a target guiding light carpet, where the coordinate depth value is a coordinate value in a direction perpendicular to the horizontal plane of the vehicle's own coordinate system; the target guiding light carpet is displayed within the augmented reality head-up display field of view of the vehicle in an augmented reality head-up display manner, so as to guide the driving path of the vehicle based on the target guiding light carpet. By adjusting the coordinate depth value of the guiding light carpet in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system, the visual obstacle of line connection in a curve is solved, and the purpose of enhancing the driver's visual recognition of the route behind the curve is achieved, thereby realizing the technical effect of improving the performance and user experience of the augmented reality head-up display system in a curve driving scenario, and further solving the technical problem that when the vehicle uses the augmented reality head-up display manner to provide a guiding route and drives into a curve, the lines behind the curve will be connected, resulting in the user being unable to clearly see the route behind the curve.

[0074] Optionally, in step S34, adjusting the coordinate depth values of the rendering points of the initial guiding light carpet to obtain the target guiding light carpet includes the following steps:

[0075] Step S341, determining a first height coordinate of a first center point and a second height coordinate of a second center point in the initial guiding light carpet, where the first center point and the second center point are adjacent or spaced center points in a lane-level guiding line, and the lane-level guiding line is used to generate the initial guiding light carpet;

[0076] Step S342, determining a depth adjustment value based on the first height coordinate, the second height coordinate, and a preset elevation coefficient;

[0077] Step S343, adjusting the coordinate depth value of a first left boundary point corresponding to the first center point based on the depth adjustment value, and adjusting the coordinate depth value of a first right boundary point corresponding to the first center point based on the depth adjustment value;

[0078] Step S344, generating the target guiding light carpet based on the adjusted coordinate depth value of the first left boundary point and the adjusted coordinate depth value of the first right boundary point.

[0079] In an embodiment of the present invention, the first height coordinate can be understood as the height coordinate value of the first center point in the initial guiding light carpet in the coordinate system in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system.

[0080] The second height coordinate can be understood as the height coordinate value of the second center point adjacent or spaced from the first center point in the coordinate system in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system.

[0081] The lane-level guiding line can be understood as a virtual line on the road ahead of the vehicle determined using the vehicle's positioning information, perception data, and high-precision map information, and is used to guide the vehicle to stay in the correct lane. Exemplarily, the lane-level guiding line is the basis for generating the initial guiding light carpet. Through the lane-level guiding line, the AR HUD system can closely combine the display of the light carpet with the actual road conditions to provide more accurate navigation, which is not limited here.

[0082] The preset elevation coefficient can be understood as a value preset by the system or the user according to vehicle characteristics, driving environment, or personal preferences, and is used to calculate the depth adjustment value. Exemplarily, the preset elevation coefficient reflects the degree to which the depth value of the rendering points on the light carpet is adjusted to solve the invisibility problem when the vehicle enters specific scenarios such as curves, which is not limited here.

[0083] The depth adjustment value can be understood as a value indicating how much the coordinate depth value of the rendering points in the initial light carpet should be adjusted in the horizontal plane direction perpendicular to the vehicle's own coordinate system. Exemplarily, the depth adjustment value will determine the degree of inclination or width change of the light carpet in a curve scenario, which is not limited here.

[0084] The first left boundary point and the first right boundary point can be understood as the boundary points on the left and right sides adjacent to the first center point in the initial guiding light carpet. Exemplarily, the first left boundary point and the first right boundary point define the width and position of the light carpet in the initial state of the light carpet. By adjusting the coordinate depth values of the first left boundary point and the first right boundary point, the visual width change or inclination effect of the light carpet can be achieved to adapt to scenarios such as curves, which is not limited here.

[0085] Determining the first height coordinate of the first center point and the second height coordinate of the second center point in the initial guiding light carpet can be understood as obtaining the position information of two adjacent or spaced center points in the horizontal plane direction perpendicular to the vehicle's own coordinate system. The first height coordinate of the first center point and the second height coordinate of the second center point correspond to two adjacent or spaced center points, and are the basic data for calculating the depth adjustment value in subsequent steps.

[0086] Determining the depth adjustment value based on the first height coordinate, the second height coordinate, and the preset elevation coefficient can be understood as the system calculating a depth adjustment value according to the height coordinate difference between the first center point and the second center point and the preset elevation coefficient. Exemplarily, a tangent line is drawn connecting the center point and its next center point to calculate the slope. The slope of the straight line is relatively small, while the slope of the curve is relatively large. Based on this, the calculated slope is multiplied by the preset elevation coefficient to further determine the amplitude by which each point should be elevated, that is, depth adjustment value = (p1 - p2).y * coefficient, which is not limited here.

[0087] Adjusting the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value and adjusting the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value can be understood as that after determining the depth adjustment value, the system will adjust the position of the boundary point on the left side of the first center point in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system, and adjust the coordinate depth value of the boundary point on the right side of the first center point. Exemplarily, if the vehicle turns right, the coordinate depth value of the first left boundary point will be raised based on the depth adjustment value. If the vehicle turns left, the coordinate depth value of the first right boundary point will be raised based on the depth adjustment value, so as to achieve the visual inclination or widening of the light carpet, thereby ensuring that the overall visual effect of the light carpet conforms to the actual situation of the curve and improving the accuracy of driving assistance. This is not limited here.

[0088] Generating a target guiding light carpet based on the adjusted coordinate depth value of the first left boundary point and the adjusted coordinate depth value of the first right boundary point can be understood as that the system will regenerate or optimize the guiding light carpet according to the adjusted coordinate depth values of the boundary points. Exemplarily, visually adaptive adjustments are made to the initial guiding light carpet according to the characteristics of the curve, including but not limited to inclination, width change, etc., to ensure that the light carpet can still clearly and intuitively indicate the driving path of the vehicle in a curve or a scene with limited view, thereby improving the driving experience and safety, and avoiding visual misguidance or partial invisibility of the light carpet caused by view problems. This is not limited here.

[0089] In the embodiment of the present invention, first, the depth adjustment value is calculated based on the height coordinate values of the above-mentioned first center point and second center point and a preset elevation coefficient. Then, the calculated depth adjustment value is used to adjust the coordinate depth values of the first left boundary point and the first right boundary point corresponding to the first center point respectively. Finally, based on the above-adjusted coordinate depth values, the system regenerates the target guiding light carpet. The optimized light carpet not only provides accurate navigation information during straight driving, but also ensures a perfect match between the display effect of the light carpet and the actual road conditions in a curve scene by dynamically adjusting the positions of the boundary points, thereby avoiding invisibility or misleading display caused by view problems and significantly improving the driving experience and safety.

[0090] Optionally, in step S342, determining the depth adjustment value based on the first height coordinate, the second height coordinate, and the preset elevation coefficient includes the following steps:

[0091] Step S3421, determining the difference between the first height coordinate and the second height coordinate;

[0092] Step S3422, multiplying the difference by the preset elevation coefficient to obtain the depth adjustment value.

[0093] In the embodiments of the present invention, determining the difference between the first height coordinate and the second height coordinate can be understood as the system first calculating the position difference in the vertical direction between a first center point and a second center point that are adjacent to or spaced apart from each other on the lane-level guiding line. Exemplarily, the difference between the first height coordinate and the second height coordinate reflects the relative height change between the two center points, and this difference can indicate whether the vehicle encounters a curve or a road slope change in the next driving segment. During straight driving, the height coordinate difference between two adjacent or spaced-apart center points is usually small or tends to zero, while in a turn or on a slope, the vehicle must adjust its driving direction or height to adapt to the road surface change, so the difference will increase significantly, which is not limited herein.

[0094] Multiplying the difference by a preset elevation coefficient to obtain a depth adjustment value can be understood as multiplying the difference between the first height coordinate and the second height coordinate by the elevation coefficient to obtain the depth adjustment value. Exemplarily, the calculated depth adjustment value is directly used to adjust the coordinate depth values of the left and right boundary points on the left and right sides of the first center point of the light carpet, so as to achieve the visual tilt or widening of the light carpet in a curve. The larger the depth adjustment value, the greater the visual adjustment range of the light carpet, and vice versa, which is not limited herein.

[0095] In the embodiments of the present invention, by quantifying the change of the vehicle in the horizontal plane direction perpendicular to the vehicle coordinate system (i.e., the height coordinate difference between two adjacent or spaced-apart center points), and combining with the preset elevation coefficient, the system can accurately calculate at which points and by what amplitude the coordinate depth needs to be adjusted to ensure that the guiding light carpet is still clearly visible in a curve, closely fits the actual road conditions, and provides accurate and intuitive navigation information for the driver.

[0096] Optionally, in step S343, adjusting the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value, and adjusting the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value includes the following steps:

[0097] Step S3431, in response to the coordinate depth value of the first right boundary point being higher than the coordinate depth value of the first left boundary point, lowering the coordinate depth value of the first left boundary point based on the depth adjustment value, and raising the coordinate depth value of the first right boundary point based on the depth adjustment value, or, raising the coordinate depth value of the first right boundary point based on the depth adjustment value, or, raising the coordinate depth value of the first left boundary point based on the depth adjustment value, and raising the coordinate depth value of the first right boundary point based on the depth adjustment value, and making the coordinate depth value of the raised first right boundary point still higher than the coordinate depth value of the raised first left boundary point.

[0098] Step S3432: In response to the coordinate depth value of the first left boundary point being higher than that of the first right boundary point, increase the coordinate depth value of the first left boundary point based on the depth adjustment value, and decrease the coordinate depth value of the first right boundary point based on the depth adjustment value, or increase the coordinate depth value of the first left boundary point based on the depth adjustment value, or increase the coordinate depth value of the first left boundary point based on the depth adjustment value, and increase the coordinate depth value of the first right boundary point based on the depth adjustment value, and ensure that the coordinate depth value of the adjusted first left boundary point is still higher than that of the adjusted first right boundary point.

[0099] In an embodiment of the present invention, in response to the coordinate depth value of the first right boundary point being higher than that of the first left boundary point, it can be understood that the AR HUD detects that the current vehicle driving state or road conditions cause the right boundary of the light carpet to appear higher or farther than the left boundary in the driver's perspective. Exemplarily, when the vehicle turns left into a curve, due to the vehicle's own movement and the curvature of the road, the right virtual light carpet boundary may appear higher or farther than the left virtual light carpet boundary, that is, the vehicle is currently in a left-turn state, which is not limited here.

[0100] Decreasing the coordinate depth value of the first left boundary point based on the depth adjustment value and increasing the coordinate depth value of the first right boundary point based on the depth adjustment value can be understood as when the vehicle is in a left-turn state, in order to make the road at the turning more clear, based on the calculated depth adjustment value, the coordinate depth value of the left boundary point is decreased, and at the same time, the coordinate depth value of the right boundary point is increased, so that the light carpet presents a more natural and road-curve-fitting shape in the driver's perspective.

[0101] Increasing the coordinate depth value of the first right boundary point based on the depth adjustment value can be understood as when the vehicle is in a left-turn state, in order to optimize the display effect of the light carpet in the driver's perspective, the coordinate depth value of only the right boundary point can also be increased based on the calculated depth adjustment value, and the left boundary point remains unchanged, so as to provide more intuitive, clear and continuous driving guidance information.

[0102] Increasing the coordinate depth value of the first left boundary point based on the depth adjustment value and increasing the coordinate depth value of the right boundary point based on the depth adjustment value, and ensuring that the coordinate depth value of the adjusted right boundary point is still higher than that of the adjusted left boundary point can be understood as when the vehicle is in a left-turn state, in order to guide the display effect of the light carpet during turning, the coordinate depth value of the left boundary point can also be increased based on the calculated depth adjustment value, and at the same time, the coordinate depth value of the right boundary point is increased, and the coordinate depth value of the adjusted right boundary point is still higher than that of the adjusted left boundary point, so as to enhance the driver's visual perception of the road conditions and improve driving safety and comfort.

[0103] In response to the coordinate depth value of the first left boundary point being higher than that of the first right boundary point, it can be understood that in the driver's perspective, the left boundary of the light carpet appears higher or farther than the right boundary. Exemplarily, when the vehicle is turning right, due to perspective and vehicle dynamics, the right boundary of the road is relatively close, and the left boundary of the road appears higher or farther due to road curvature and other reasons, which is not limited here.

[0104] Based on the depth adjustment value, increasing the coordinate depth value of the first left boundary point and decreasing the coordinate depth value of the first right boundary point, it can be understood that when the vehicle is in a right-turning state, by increasing the coordinate depth value of the left boundary point and decreasing the coordinate depth value of the right boundary point at the same time, it helps to maintain the visual balance of both sides of the light carpet when the vehicle is turning right, preventing sudden changes in the shape of the light carpet or discontinuity of the lines, thereby enhancing the user experience.

[0105] Based on the depth adjustment value, increasing the coordinate depth value of the first left boundary point, it can be understood that when the vehicle is in a right-turning state, it is also possible to only increase the coordinate depth value of the left boundary point while keeping the right boundary point unchanged, making the left boundary of the light carpet more obvious in the driver's perspective and helping the driver to more clearly identify the driving route.

[0106] Based on the depth adjustment value, increasing the coordinate depth value of the first left boundary point and increasing the coordinate depth value of the first right boundary point, and making the coordinate depth value of the increased first left boundary point still higher than that of the increased first right boundary point, it can be understood that when the vehicle is in a right-turning state, it is also possible to increase the coordinate depth value of the right boundary point based on the calculated depth adjustment value, and at the same time increase the coordinate depth value of the left boundary point, and the coordinate depth value of the increased left boundary point is still higher than that of the increased right boundary point to optimize the display effect of the light carpet and improve the user's driving experience.

[0107] In addition, since the data is in a dynamic state of change in each frame, in order to prevent the light carpet from fluctuating near a specific threshold, that is, some points sometimes meet the elevation condition and sometimes do not, according to the characteristics of the light carpet in the longitudinal and transverse directions, all rendering points are elevated and maintained in a continuous elevation state, so as to avoid the unstable phenomenon that the display effect is sometimes elevated and sometimes not. Although this solution will also elevate the points on the straight line part, considering that the slope of the straight line is small and the elevation of the points in the vertical direction has extremely limited influence on the visual fitting effect and related issues, it can effectively ensure the stability of the elevation solution and avoid the unstable jumping phenomenon of the guiding light carpet. And this application also takes into account the visual characteristic of the human eye that objects appear larger when closer and smaller when farther away. According to the distance between the points and the observer, the corresponding linear parameters are obtained to accurately adjust the elevation amplitude, so that the display effect of the guiding light carpet can be coordinated and natural at different distances.

[0108] In the embodiment of the present invention, according to the vehicle driving direction and road conditions, the display of the guiding light carpet in the AR HUD is dynamically adjusted, so that the guiding light carpet can be clearly visible during turning, and it is more in line with the actual vision of the driver, reducing visual misguidance and improving driving safety and the user experience of the navigation system.

[0109] Optionally, in step S32, obtaining the initial guiding light carpet of the vehicle according to the light carpet control line data includes the following steps:

[0110] Step S321, obtaining the lane-level guiding line of the vehicle according to the light carpet control line data, where the lane-level guiding line is used to guide the driving path of the vehicle;

[0111] Step S322, determining the left boundary point and the right boundary point based on the center point of the lane-level guiding line, the yaw angle of the vehicle, and a preset width, where the left boundary point and the right boundary point are respectively located on the left and right sides of the center point;

[0112] Step S323, generating a left boundary line based on the left boundary point and a right boundary line based on the right boundary point;

[0113] Step S324, generating an initial guiding light carpet based on the left boundary line and the right boundary line.

[0114] In the embodiment of the present invention, the yaw angle can be understood as the angular difference between the current driving direction of the vehicle and the expected driving direction of the vehicle. Exemplarily, when the vehicle is driving straight, the yaw angle is close to zero, and when the vehicle is turning or offsetting, the yaw angle will increase, which is not limited here.

[0115] The preset width can be understood as a fixed or adjustable parameter of the light carpet in the vehicle driving direction in the AR HUD system, which is used to define the lateral dimension of the light carpet. Exemplarily, the setting of the preset width ensures that the light carpet can maintain a certain visible width in different driving scenarios (such as going straight, turning, etc.), avoiding affecting the driver's reception of the light carpet information due to being too narrow or too wide. This is not limited herein.

[0116] Obtaining the lane-level guidance line of the vehicle based on the light carpet control line data can be understood as using the light carpet control line data to obtain a set of virtual points generated based on vehicle positioning, high-precision maps, and navigation data, which are used to guide the vehicle to drive along the correct path. Exemplarily, by obtaining the lane-level guidance line, the system can understand the most accurate path that the vehicle should follow in real time. This is not limited herein.

[0117] Determining the left boundary point and the right boundary point based on the center point of the lane-level guidance line, the yaw angle of the vehicle, and the preset width can be understood as that on the basis of obtaining the vehicle yaw angle and the lane-level guidance line, the system starts to construct the boundary of the light carpet. Exemplarily, the center point is a key point on the lane-level guidance line, which is used to define the central axis of the light carpet. Using the yaw angle, the system can calculate the rotation angle of the light carpet relative to the vehicle's due front, so as to ensure that the light carpet can accurately fit the driver's line of sight direction. The preset width provides a standard for the lateral dimension of the light carpet. By expanding the corresponding distance on the left and right sides of the center point, the positions of the left boundary point and the right boundary point are determined. Thus, the boundary points of the light carpet are consistent with the vehicle driving direction and the driver's field of vision, providing a basis for generating the boundary line and the light carpet later. This is not limited herein.

[0118] Generating the left boundary line based on the left boundary point and generating the right boundary line based on the right boundary point can be understood as that after determining the positions of the boundary points, the system forms the boundary line of the light carpet by connecting these points. Exemplarily, the left boundary points are connected by a smooth and continuous line to generate the left boundary line, and the right boundary points are also connected to generate the right boundary line. The left boundary line and the right boundary line not only define the outer contour of the light carpet, but also ensure that the light carpet is closely fitted to the driver's perception and the road conditions visually. This is not limited herein.

[0119] Generating the initial guiding light carpet based on the left boundary line and the right boundary line can be understood as that the system uses the left boundary line and the right boundary line as boundaries to render and generate the initial guiding light carpet covering this area. Exemplarily, the initial guiding light carpet is projected into the driver's line of sight through the AR HUD device, acting as an intuitive display platform for vehicle navigation and road information. This is not limited herein.

[0120] Exemplarily, the present invention can obtain an initial guiding light carpet based on a standard-precision map or a high-precision map. When the vehicle obtains the initial guiding light carpet based on the standard-precision map, first, the positioning information of the vehicle is sent to the cloud server, and the first shape point data returned by the cloud server is received, wherein the first shape point data is generated based on the positioning information, the target address of the vehicle, and the first map data, and the first shape point data is used to render the driving direction of the vehicle; then the first shape point data in the map coordinate system is converted into the vehicle coordinate system to obtain the second shape point data; finally, the second shape point data is rendered into an initial guiding light carpet, and the initial guiding light carpet is displayed in the navigation display area within the field of view of the head-up display. When the vehicle obtains the initial guiding light carpet based on the high-precision map, first, the positioning information of the vehicle is sent to the cloud server, and the first navigation data returned by the cloud server is received, wherein the first navigation data at least includes that the vehicle is currently in the Mth lane of the road where it is located and the first shape point data, and the first navigation data is generated based on the positioning information, the target address of the vehicle, and the first map data; secondly, the perception data of the vehicle is obtained, and based on the perception data, it is determined that the vehicle is currently in the Nth lane of the road where it is located; then, in response to the successful matching of the Mth lane and the Nth lane, the first shape point data is converted from the first map coordinate system corresponding to the first navigation data to the vehicle coordinate system corresponding to the perception data to obtain the second shape point data; finally, the second shape point data is rendered into an initial guiding light carpet, and the initial guiding light carpet is displayed in the navigation display area within the field of view of the head-up display, wherein the starting point of the initial guiding light carpet is mapped within the Nth lane, and there is no limitation here.

[0121] In the embodiment of the present invention, an initial guiding light carpet is generated based on the center point, yaw angle, and preset width of the lane-level guiding line. Through the initial guiding light carpet, not only lane-level navigation guidance is provided, but also augmented reality information of the surrounding environment is integrated, helping the driver better understand the road conditions ahead and make accurate driving decisions. The generation of the initial light carpet provides a basis for subsequent visual optimization, ensuring clear visual guidance for the driver both in a straight line or a complex curve.

[0122] Optionally, the method for displaying vehicle augmented reality head-up display navigation information further includes: the rendering points include the boundary points of the initial guiding light carpet and / or the points within a preset range around the boundary points.

[0123] In the embodiment of the present invention, the rendering points include the boundary points of the initial guiding light carpet and / or the points within a preset range around the boundary points, which can be understood as that the rendering points not only include the points located at the edge of the guiding light carpet, but also include the points within a certain range around the edge of the guiding light carpet, which may be inside the light carpet but close to the boundary, and there is no limitation here. Exemplarily, in a turning scenario, the AR HUD may increase or decrease the coordinate depth value of the boundary points based on the depth adjustment value, and at the same time, correspondingly adjust the points within a preset range around the boundary points to maintain the coherence of the shape of the guiding light carpet and the visual fit, and there is no limitation here.

[0124] 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. And 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.

[0125] According to an embodiment of the present invention, an embodiment of a display device for vehicle augmented reality head-up display navigation information is provided. It should be noted that this device can be used to execute the above-mentioned display method for vehicle augmented reality head-up display navigation information.

[0126] Figure 5 is a schematic diagram of a display device for vehicle augmented reality head-up display navigation information according to an embodiment of the present invention, as Figure 5 shown, the display device 500 for vehicle augmented reality head-up display navigation information includes: an acquisition module 501, configured to acquire an initial guiding light carpet of the vehicle according to the light carpet control line data; an adjustment module 502, configured to adjust the coordinate depth value of the rendering points of the initial guiding light carpet to obtain a target guiding light carpet, where the coordinate depth value is the coordinate value in the direction perpendicular to the horizontal plane of the vehicle coordinate system; a display module 503, configured to display the target guiding light carpet within the augmented reality head-up display field of view of the vehicle in an augmented reality head-up display manner, so as to guide the driving path of the vehicle based on the target guiding light carpet.

[0127] Furthermore, the adjustment module 502 is further configured to determine a first height coordinate of a first center point and a second height coordinate of a second center point in the initial guiding light carpet, where the first center point and the second center point are adjacent or spaced center points in the lane-level guiding line, and the lane-level guiding line is used to generate the initial guiding light carpet; determine a depth adjustment value based on the first height coordinate, the second height coordinate, and a preset elevation coefficient; adjust the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value, and adjust the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value; generate a target guiding light carpet based on the adjusted coordinate depth value of the first left boundary point and the adjusted coordinate depth value of the first right boundary point.

[0128] Furthermore, the adjustment module 502 is further configured to determine the difference between the first height coordinate and the second height coordinate; multiply the difference by the preset elevation coefficient to obtain a depth adjustment value.

[0129] Further, the adjustment module 502 is further configured to, in response to the coordinate depth value of the first right boundary point being higher than the coordinate depth value of the first left boundary point, lower the coordinate depth value of the first left boundary point based on the depth adjustment value, and raise the coordinate depth value of the first right boundary point based on the depth adjustment value, or raise the coordinate depth value of the first right boundary point based on the depth adjustment value, or raise the coordinate depth value of the first left boundary point based on the depth adjustment value, and raise the coordinate depth value of the first right boundary point based on the depth adjustment value, and make the coordinate depth value of the raised first right boundary point still higher than the coordinate depth value of the raised first left boundary point.

[0130] Further, the adjustment module 502 is further configured to, in response to the coordinate depth value of the first left boundary point being higher than the coordinate depth value of the first right boundary point, raise the coordinate depth value of the first left boundary point based on the depth adjustment value, and lower the coordinate depth value of the first right boundary point based on the depth adjustment value, or raise the coordinate depth value of the first left boundary point based on the depth adjustment value, or raise the coordinate depth value of the first left boundary point based on the depth adjustment value, and raise the coordinate depth value of the first right boundary point based on the depth adjustment value, and make the coordinate depth value of the raised first left boundary point still higher than the coordinate depth value of the raised first right boundary point.

[0131] Further, the acquisition module 501 is further configured to obtain the lane-level guiding line of the vehicle according to the light carpet control line data, where the lane-level guiding line is used to guide the driving path of the vehicle; determine the left boundary point and the right boundary point based on the center point of the lane-level guiding line, the yaw angle of the vehicle, and a preset width, where the left boundary point and the right boundary point are respectively located on the left and right sides of the center point; generate a left boundary line based on the left boundary point, and generate a right boundary line based on the right boundary point; generate an initial guiding light carpet based on the left boundary line and the right boundary line.

[0132] Further, the rendering points include the boundary points of the initial guiding light carpet and / or the points within a preset range around the boundary points.

[0133] According to another aspect of the embodiments of the present invention, there is also provided an augmented reality device, which is configured to execute the method for displaying vehicle augmented reality head-up display navigation information in each embodiment of the present invention.

[0134] According to another aspect of the embodiments of the present invention, there is also provided a vehicle, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for displaying vehicle augmented reality head-up display navigation information in each embodiment of the present invention.

[0135] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored executable program. When the executable program runs, it controls the device where the computer-readable storage medium is located to execute the method for displaying vehicle augmented reality head-up display navigation information in various embodiments of the present invention.

[0136] According to another aspect of the embodiments of the present invention, there is also provided a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the method for displaying vehicle augmented reality head-up display navigation information in various embodiments of the present invention.

[0137] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] In the several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the units or modules can be in an electrical or other form.

[0139] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0141] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the 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 can 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 invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs.

[0142] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for displaying navigation information in a vehicle's augmented reality head-up display, characterized in that, Including: Obtain the initial guiding light carpet of the vehicle according to the light carpet control line data; Adjust the coordinate depth value of the rendering points of the initial guiding light carpet to obtain the target guiding light carpet, where the coordinate depth value is the coordinate value in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system; Use the augmented reality head-up display method to display the target guiding light carpet within the augmented reality head-up display field of view of the vehicle, so as to guide the driving path of the vehicle based on the target guiding light carpet.

2. The method according to claim 1, wherein The adjusting the coordinate depth value of the rendering points of the initial guiding light carpet to obtain the target guiding light carpet includes: Determine the first height coordinate of the first center point and the second height coordinate of the second center point in the initial guiding light carpet, where the first center point and the second center point are adjacent or spaced center points in the lane-level guiding line, and the lane-level guiding line is used to generate the initial guiding light carpet; Determine the depth adjustment value based on the first height coordinate, the second height coordinate and the preset elevation coefficient; Adjust the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value, and adjust the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value; Generate the target guiding light carpet based on the adjusted coordinate depth value of the first left boundary point and the adjusted coordinate depth value of the first right boundary point.

3. The method according to claim 2, wherein The determining the depth adjustment value based on the first height coordinate, the second height coordinate and the preset elevation coefficient includes: Determine the difference between the first height coordinate and the second height coordinate; Multiply the difference by the preset elevation coefficient to obtain the depth adjustment value.

4. The method according to claim 2, wherein The adjusting the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value, and adjusting the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value includes: In response to the coordinate depth value of the first right boundary point being higher than the coordinate depth value of the first left boundary point, lower the coordinate depth value of the first left boundary point based on the depth adjustment value, and raise the coordinate depth value of the first right boundary point based on the depth adjustment value, or Raise the coordinate depth value of the first right boundary point based on the depth adjustment value, or Raise the coordinate depth value of the first left boundary point based on the depth adjustment value, and raise the coordinate depth value of the first right boundary point based on the depth adjustment value, and make the coordinate depth value of the raised first right boundary point still higher than the coordinate depth value of the raised first left boundary point.

5. The method according to claim 2, wherein The adjusting the coordinate depth value of the first left boundary point corresponding to the first center point based on the depth adjustment value, and adjusting the coordinate depth value of the first right boundary point corresponding to the first center point based on the depth adjustment value includes: In response to the coordinate depth value of the first left boundary point being higher than the coordinate depth value of the first right boundary point, increase the coordinate depth value of the first left boundary point based on the depth adjustment value, and decrease the coordinate depth value of the first right boundary point based on the depth adjustment value, or, increase the coordinate depth value of the first left boundary point based on the depth adjustment value, or, increase the coordinate depth value of the first left boundary point based on the depth adjustment value, and increase the coordinate depth value of the first right boundary point based on the depth adjustment value, and make the coordinate depth value of the increased first left boundary point still higher than the coordinate depth value of the increased first right boundary point.

6. The method according to any one of claims 1-5, characterized in that The obtaining of the initial guiding light carpet of the vehicle according to the light carpet control line data includes: Obtaining the lane-level guiding line of the vehicle according to the light carpet control line data, where the lane-level guiding line is used to guide the driving path of the vehicle; Determining a left boundary point and a right boundary point based on the center point of the lane-level guiding line, the yaw angle of the vehicle, and a preset width, where the left boundary point and the right boundary point are respectively located on the left and right sides of the center point; Generating a left boundary line based on the left boundary point, and generating a right boundary line based on the right boundary point; Generating the initial guiding light carpet based on the left boundary line and the right boundary line.

7. The method according to any one of claims 1 to 5, characterized in that The rendering points include the boundary points of the initial guiding light carpet and / or the points within a preset range around the boundary points.

8. A display device for displaying navigation information in a vehicle's augmented reality head-up display, characterized in that, including: An obtaining module, configured to obtain the initial guiding light carpet of the vehicle according to the light carpet control line data; An adjusting module, configured to adjust the coordinate depth values of the rendering points of the initial guiding light carpet to obtain a target guiding light carpet, where the coordinate depth value is the coordinate value in the direction perpendicular to the horizontal plane of the vehicle's own coordinate system; A display module, configured to display the target guiding light carpet within the augmented reality head-up display field of view of the vehicle in an augmented reality head-up display manner, so as to guide the driving path of the vehicle based on the target guiding light carpet.

9. An augmented reality device, characterized in that, The augmented reality device is used to execute the display method of the vehicle augmented reality head-up display navigation information described in any one of claims 1 to 7 above.

10. A vehicle, comprising a memory and a processor, characterized in that, A computer program is stored in the memory, and the processor is set to run the computer program to execute the display method of the vehicle augmented reality head-up display navigation information described in any one of claims 1 to 7 above.

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