Interface element processing method, augmented reality head-up display device and vehicle

Abstract

The invention discloses an interface element processing method, an augmented reality head-up display device and a vehicle. The method comprises the following steps: in response to a display instruction for a first element, obtaining first position information of the first element under a vehicle coordinate system and second position information of a second element under a screen coordinate system; performing multi-level conversion on the second position information to obtain third position information under the vehicle coordinate system; performing collision detection on the first element and the second element based on the first position information and the third position information to obtain a collision detection result; and under the condition that the collision detection result represents that the first element and the second element are overlapped, performing mask processing on the first element or the second element. The technical problem that the efficiency of interaction between a driver and a head-up display interface is low due to element overlapping in the augmented reality head-up display interface in the related technology is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular, to a method for processing interface elements, an augmented reality head-up display device, and a vehicle. Background Art

[0002] The application prospect of augmented reality head-up display technology in the field of vehicle driving assistance is good. The augmented reality head-up display device projects real-time navigation, vehicle status and other information within the driver's line of sight, which can improve driving safety and convenience.

[0003] However, there is a problem of element overlap in the current augmented reality head-up display technology in related art, that is, two-dimensional elements such as dashboard data will overlap with three-dimensional elements such as virtual navigation arrows in the display area, affecting the display effect of each element, and also making it difficult for the driver to clearly identify the elements to be viewed. In addition, the simultaneous presentation of too much information is likely to cause visual interference and increase the driver's attention burden. Especially in an emergency, it may cause delayed response due to chaotic information processing, increasing the driving risk. In summary, element overlap occurs in the augmented reality head-up display interface in related technology, resulting in low efficiency of the driver's interaction with the head-up display interface.

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

[0005] Embodiments of the present invention provide a method for processing interface elements, an augmented reality head-up display device, and a vehicle, so as to at least solve the technical problem that element overlap occurs in the augmented reality head-up display interface in related technology, resulting in low efficiency of the driver's interaction with the head-up display interface.

[0006] According to one aspect of the embodiments of the present invention, there is provided a method for processing interface elements, including: in response to a display instruction for a first element, obtaining first position information of the first element in a vehicle coordinate system and second position information of a second element in a screen coordinate system, where the display instruction is used to display the first element in an augmented reality head-up display interface of the vehicle, the second element is an element that has been displayed in the augmented reality head-up display interface and is of a different type from the first element, the vehicle coordinate system is a coordinate system with the vehicle as the origin, and the screen coordinate system is a coordinate system in the augmented reality head-up display interface; performing multi-level conversion on the second position information to obtain third position information in the vehicle coordinate system; based on the first position information and the third position information, performing collision detection on the first element and the second element to obtain a collision detection result, where the collision detection result is used to characterize whether the first element and the second element will overlap; and in the case where the collision detection result characterizes that the first element and the second element will overlap, performing masking processing on the first element or the second element.

[0007] According to another aspect of the embodiments of the present invention, there is also provided a processing device for interface elements, including: an acquisition module, configured to respond to a display instruction for a first element, and acquire first position information of the first element in a vehicle coordinate system and second position information of a second element in a screen coordinate system, where the display instruction is used to display the first element in an augmented reality head-up display interface of a vehicle, the second element is an element that has been displayed in the augmented reality head-up display interface and is of a different type from the first element, the vehicle coordinate system is a coordinate system with the vehicle as the origin, and the screen coordinate system is a coordinate system in the augmented reality head-up display interface; a conversion module, configured to perform multi-level conversion on the second position information to obtain third position information in the vehicle coordinate system; a collision detection module, configured to perform collision detection on the first element and the second element based on the first position information and the third position information to obtain a collision detection result, where the collision detection result is used to represent whether the first element and the second element will overlap; a masking processing module, configured to perform masking processing on the first element or the second element when the collision detection result represents that the first element and the second element will overlap.

[0008] According to another aspect of the embodiments of the present invention, there is also provided an augmented reality head-up display device, including: a memory storing an executable program; a processor configured to run the program, where when the program runs, it executes the methods in the various embodiments of the present invention.

[0009] According to another aspect of the embodiments of the present invention, there is also provided a vehicle, including: the above-mentioned augmented reality head-up display device.

[0010] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored executable program, and when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0011] According to another aspect of the embodiments of the present invention, there is also provided a computer program product, including a computer program, where when the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0012] According to another aspect of the embodiments of the present invention, there is also provided a computer program product, including a non-volatile computer-readable storage medium storing a computer program, where when the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0013] According to another aspect of the embodiments of the present invention, there is also provided a computer program, where when the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0014] In an embodiment of the present invention, first, in response to a display instruction for a first element, obtain first position information of the first element in a vehicle coordinate system and second position information of a second element in a screen coordinate system. The display instruction is used to display the first element in an augmented reality head-up display interface of the vehicle. The second element is an element that has been displayed in the augmented reality head-up display interface and is of a different type from the first element. The vehicle coordinate system is a coordinate system with the vehicle as the origin, and the screen coordinate system is the coordinate system in the augmented reality head-up display interface. Next, perform multi-level conversion on the second position information to obtain third position information in the vehicle coordinate system. Then, based on the first position information and the third position information, perform a collision detection on the first element and the second element to obtain a collision detection result, which is used to characterize whether the first element and the second element will overlap. Finally, in the case where the collision detection result indicates that the first element and the second element will overlap, perform a masking process on the first element or the second element. It is easy to notice that by responding to the display instruction, accurately obtaining and converting the element position information, performing multi-level coordinate conversion on the position information of the second element, unifying the position information between different coordinate systems, and performing a collision detection on the first element and the second element in the same vehicle coordinate system, the collision detection becomes simple and efficient. The collision detection can be achieved only by comparing coordinates, avoiding complex multi-dimensional space calculations, and improving the efficiency of collision detection for different types of elements. When it is detected that an overlap will occur, a masking process will be performed on the first element or the second element to preferentially display emergency or critical information elements, avoiding mutual occlusion of information, improving the neatness and user experience of the augmented reality head-up display interface, avoiding visual chaos caused by excessive information being displayed simultaneously, solving the problem of collision mutual exclusion between information elements in the augmented reality head-up display, and providing a safer, clearer, and more personalized driving assistance information display method for the driver, thereby solving the technical problem in the related art that element overlap occurs in the augmented reality head-up display interface, resulting in a low efficiency of interaction between the driver and the head-up display interface. Description of the Drawings

[0015] The drawings described herein are used to provide a further understanding of the present invention and form a part of this application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 is a schematic diagram of a method for processing interface elements according to an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of an optional collision detection for elements according to an embodiment of the present invention;

[0018] Figure 3It is a schematic diagram of an optional mask processing using a mask layer according to an embodiment of the present invention;

[0019] Figure 4 It is a schematic diagram of a comparison of display effects before and after mask processing according to an embodiment of the present invention;

[0020] Figure 5 It is a schematic diagram of a processing device for interface elements according to an embodiment of the present invention;

[0021] Figure 6 It is a schematic diagram of an augmented reality head-up display device according to an embodiment of the present invention. Detailed implementation manners

[0022] 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 with reference to 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.

[0023] 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 are not necessarily used to describe a specific order or sequence. It should be understood that such 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 is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to an embodiment of the present invention, an embodiment of a method for processing interface elements is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0025] An embodiment of the present application provides a method for processing interface elements. The method for processing interface elements can be used to provide an interface element display function for a preset application scenario. The above-mentioned preset application scenarios may include the following scenarios in the vehicle field: the scenario of a driver driving a vehicle, the scenario of assisted navigation driving, and the Navigation Guided Pilot (NGP) scenario in urban or highway areas. In addition, the above-mentioned preset application scenarios may also include, but are not limited to: the interface element display scenario of an assisted navigation truck or driverless truck in the logistics transportation field, the interface element display scenario of an assisted navigation agricultural vehicle in the agricultural machinery field, the interface element display scenario for controlling a drone, and the interface element display scenario for controlling an intelligent robot (such as a cleaning robot, a service robot, a delivery robot, etc.).

[0026] When the above-mentioned preset application scenario is a scenario in other fields except the vehicle field, those skilled in the art should be able to understand that the vehicle in the above-mentioned method for processing interface elements can be replaced with other objects (such as agricultural machinery, drones, robots, etc.). Accordingly, the interface element display function applied to the vehicle is replaced with an interface element display function related to other objects. On this basis, in the embodiment of the present application, taking the vehicle field as an example, the specific implementation manner of the above-mentioned method for processing interface elements is described by way of example.

[0027] Figure 1 is a method for processing interface elements according to an embodiment of the present invention, as Figure 1 shown, the vehicle can execute the following manner, and the method includes the following steps:

[0028] Step S102, in response to a display instruction for a first element, obtain first position information of the first element in the vehicle coordinate system and second position information of a second element in the screen coordinate system.

[0029] Among them, the display instruction is used to display the first element in the augmented reality head-up display interface of the vehicle. The second element is an element that has been displayed in the augmented reality head-up display interface and is of a different type from the first element. The vehicle coordinate system is a coordinate system with the vehicle as the origin, and the screen coordinate system is the coordinate system in the augmented reality head-up display interface.

[0030] The above-mentioned Augmented Reality Head-Up Display (AR HUD) can project virtual information in the form of images or text into the driver's line of sight, enabling the driver to more conveniently obtain and understand various information during driving. This augmented reality head-up display can be located in front of the vehicle's dashboard and display information on the windshield or other transparent surfaces through projection technology. The driver can see this virtual information without having to shift their line of sight. The virtual information can include, but is not limited to, vehicle speed, navigation instructions, traffic signs, warning messages, phone calls, music playback, etc., which can be determined according to actual needs and are not limited here.

[0031] Although both using the in-vehicle screen to display navigation information during vehicle driving and using AR HUD to display navigation information during vehicle driving can provide navigation guidance, presenting navigation information through AR HUD is not simply using the same navigation information with a different display entity. There are essential differences in the generation implementation logic and effects of the presented navigation information, and these differences determine their respective characteristics and application scenarios.

[0032] The core of AR HUD lies in integrating the navigation guidance light carpet with the actual road, integrating the information that needs to be prompted, such as the perceived lane lines ahead, motor vehicles, non-motor vehicles, pedestrians or animals in the surrounding environment, with the real environment, and presenting it on the windshield in front of the driver's line of sight. In terms of effect, this alignment and fitting of navigation virtual information with the real world keeps the virtual information highly consistent with the real-world elements, providing users with an intuitive and immersive driving assistance experience.

[0033] In contrast, for the presentation of navigation information on the in-vehicle screen, virtual information such as the navigation route (not the navigation guidance light carpet), the vehicle itself, and surrounding vehicles is 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 users what the general surrounding environment is like, and there is not such a high demand for accuracy.

[0034] The specific differences are as follows:

[0035]

[0036] Table 1

[0037] As shown in Table 1, regarding whether the virtual information fits the actual road, the essential difference between AR HUD and the traditional in-vehicle screen in the navigation display function is that, due to its augmented reality feature, AR HUD can directly overlay navigation information within the driver's line of sight. It can display a navigation guiding light carpet on the road where the vehicle is currently located, making the navigation guiding light carpet fit the actual road. Users can clearly know how to drive on the road ahead, which is very intuitive. For the navigation on the in-vehicle screen, it does not require direct visual fusion with the road, and does not display navigation information through a light carpet. Instead, it marks the passable roads ahead of the vehicle with colors to indicate to the user which roads are passable. The user knows which roads can be taken, and as for which road to take, the user decides on their own. In addition, 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 assist the user in making decisions to avoid traffic accidents. However, the navigation on the in-vehicle screen will render some surrounding objects, but the user can only generally understand that there may be an object around, and cannot visually feel the specific position of the object.

[0038] Regarding whether it is necessary to predict the position of the vehicle ahead in real time, due to the different underlying implementation logics of these two technologies. For example, assuming in a situation with low visibility, to display the position elements of the vehicle ahead through AR HUD to help users identify the distance between their own vehicle and the vehicle ahead, it is very important for users to ensure that these position elements fit the vehicle ahead, and it is necessary to predict the position of the vehicle ahead to be more fitting. For example, if the vehicle ahead suddenly accelerates or decelerates, in order to make the animation rendering on AR HUD keep up with the vehicle ahead, it is necessary to predict the position of the vehicle ahead. Specifically, it is necessary to first obtain multiple predicted positions of the vehicle ahead (for example, some predicted positions of the vehicle ahead are the positions after acceleration, and some predicted positions of the vehicle ahead are the positions after deceleration), and then perform a window average on the current frame position of the vehicle ahead to obtain a predicted position. At this time, this predicted position can be used for display on AR HUD. Even if the vehicle ahead suddenly accelerates, this predicted position is relatively fitting.

[0039] For the navigation screen displayed on the in-vehicle screen, there will be animation rendering of the vehicle ahead, but 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. On the in-vehicle screen, only a general relative position of the vehicle ahead needs to be indicated, 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 own vehicle will collide with the vehicle ahead through sensing data, rather than knowing whether the own vehicle will collide with the vehicle ahead in the future.

[0040] Regarding the issue of whether there is an out-of-frame problem with the navigation guidance light carpet, since the display field of view shown by the AR HUD only includes the content within a certain range in front of the vehicle itself, 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 an out-of-frame problem. However, the picture shown on the in-vehicle screen includes the passable road ahead (without showing the navigation guidance light carpet). Even when turning right or making a U-turn ahead, the passable road ahead will be shown in the picture. Therefore, there is no out-of-frame problem with the navigation guidance light carpet on the in-vehicle screen.

[0041] The above screen coordinate system can refer to the coordinate system in the augmented reality head-up display interface of the vehicle. For example, in the screen coordinate system, the upper left corner of the screen can be the origin, the positive direction of the x-axis extends to the right of the screen, the positive direction of the y-axis extends downward of the screen, and the unit of the screen coordinate system can be pixels, which can be used to determine the position and size of various information displayed on the screen.

[0042] The above vehicle coordinate system can be a coordinate system with the vehicle as the origin. In the vehicle coordinate system, the position of the vehicle can be represented by three-dimensional coordinates (x, y, z), and the attitude of the vehicle can be represented by Euler angles or quaternions. For example, it can be the coordinate system of the vehicle's Advanced Driver Assistance Systems (ADAS). The coordinate system of the vehicle's ADAS takes the center of the rear axle of the vehicle itself as the coordinate origin, the front of the vehicle as the positive direction of the x-axis, the left side of the vehicle as the positive direction of the y-axis, and the upper side of the vehicle as the positive direction of the z-axis, which can be used to describe the environment around the vehicle and the position of obstacles. It can also be the vehicle body coordinate system. The vehicle body coordinate system takes the center of mass or the center of the axle of the vehicle as the origin, the front of the vehicle as the positive direction of the x-axis, the left side of the vehicle as the positive direction of the y-axis, and the upper side of the vehicle as the positive direction of the z-axis. The vehicle body coordinate system can be used to describe the motion state of the vehicle, including position, speed, acceleration, etc. The vehicle coordinate system can be determined according to the specific application scenario and the information to be described, and is not limited here.

[0043] The above first element can be an element that needs to be displayed in the augmented reality head-up display interface. It can be a three-dimensional element to be displayed. The three-dimensional element can refer to an element with a stereoscopic effect displayed in the driver's field of view. The three-dimensional element can include but is not limited to navigation arrows, intersection models, vehicle warnings, and pedestrian warnings, etc. For example, regarding the intersection model, through augmented reality technology, a three-dimensional model of the intersection is displayed in the driver's field of view, which can help the driver more intuitively understand the intersection structure. The specific type and content of the first element can be determined according to actual needs and are not limited here.

[0044] The above-mentioned second element may refer to an element that has already been displayed on the augmented reality head-up display interface. The second element may be an element with a different display dimension from the first element. Here, the second element may be a two-dimensional element that has already been displayed on the augmented reality head-up display interface. The two-dimensional element may refer to an element displayed in a planar effect. The two-dimensional element may include, but is not limited to, a speedometer, a steering indicator status, a displayed navigation route diagram, a route indication for guiding the driver's driving direction, and a distance prompt for displaying the distance between the vehicle and the vehicle or intersection ahead. The specific content of the second element can be determined according to actual needs and is not limited here.

[0045] As an alternative implementation, when the system receives an instruction to display the first element, it can obtain the coordinate position of the first element in the vehicle coordinate system to obtain the first position information. For example, based on the vehicle's perception information and map data, the first position information of the first element in the vehicle coordinate system can be obtained to provide a data basis for subsequent collision detection. At the same time, it can obtain the coordinate position of the second element that is currently displayed on the augmented reality head-up display interface in the screen coordinate system to obtain the second position information. For example, by querying the current display status of the augmented reality head-up display interface, the system can quickly locate the screen coordinates of the second element to obtain the second position information. By obtaining the first position information of the first element in the vehicle coordinate system and the second position information of the second element in the screen coordinate system, it provides a data basis for subsequent display collision detection of the first element and the second element to avoid overlapping of different types of elements when displayed on the augmented reality head-up display interface, which affects the display effect.

[0046] Step S104: Perform multi-level conversion on the second position information to obtain the third position information in the vehicle coordinate system.

[0047] As an alternative implementation, considering that the first element in the vehicle coordinate system and the second element in the screen coordinate system are in coordinate systems of different dimensions, if collision detection calculations are directly performed, it will involve complex multi-dimensional space calculations, and a large amount of computational effort will be generated during multi-dimensional collision detection calculations. The second position information of the second element in the screen coordinate system can be subjected to multi-level transformation to obtain the third position information in the vehicle coordinate system. Moreover, there is an abstract process for converting the two-dimensional screen coordinate system into a three-dimensional vehicle coordinate system, and the obtained third position information can be a collision detection plane in the three-dimensional vehicle coordinate system. Specifically, the second position information of the second element in the screen coordinate system can be converted to an intermediate coordinate system. Here, the intermediate coordinate system can be at least one intermediate transition coordinate system for multi-level transformation. The intermediate coordinate system can be a three-dimensional coordinate system based on the optimal viewing position of the driver, taking into account the sitting posture, viewing angle of the driver, and optical characteristics of the head-up display, and can be an eye box coordinate system, etc. Converting the information in the screen coordinate system to the intermediate coordinate system can realize the conversion of two-dimensional information into position information in the three-dimensional space from the viewing angle of the driver, thereby ensuring the three-dimensional accuracy of the information in the driver's field of view. Then, converting the information in the intermediate coordinate system to the vehicle coordinate system can ensure the precise positioning of the virtual information in the vehicle coordinate system, so as to accurately match with the actual road, obstacles, etc. in space. For example, in the case where the intermediate coordinate system is an eye box coordinate system, the position information of the second element in the screen coordinate system can be back-projected through the internal parameter matrix of the augmented reality head-up display optical system to obtain the position information in the eye box coordinate system. The above conversion can consider the fixed distance between the augmented reality head-up display screen and the intermediate coordinate system and the field of view angle parameters of the intermediate coordinate system to ensure that the second element on the augmented reality head-up display screen can be accurately mapped into the intermediate coordinate system, providing a basis for subsequent collision detection. Then, the obtained position information in the intermediate coordinate system can be converted to the vehicle coordinate system to obtain the third position information. For example, the coordinate transformation matrix provided by the vehicle coordinate system can be used to convert the position information in the intermediate coordinate system to the vehicle coordinate system. The vehicle coordinate system takes the center of the rear axle of the vehicle as the origin and the vehicle driving direction as the reference coordinate axis, and is a three-dimensional coordinate system that can intuitively reflect the relative position of the element and the vehicle. The above conversion steps can ensure that two-dimensional elements and three-dimensional elements can be compared and collision-detected in the same spatial coordinate system.

[0048] In the above process, through the above multi-level coordinate transformation, the problem of collision detection between two-dimensional elements and three-dimensional elements in different coordinate systems can be effectively solved. Based on the method of multi-source coordinate transformation, the position information of the second element that has been displayed is transformed into the vehicle coordinate system that is the same as that of the first element to be displayed, facilitating the comparison and collision detection of two-dimensional elements and three-dimensional elements in the same spatial coordinate system. Unifying the two-dimensional information and three-dimensional elements in the vehicle coordinate system for comparison can ensure that the positional relationship of each element is clear from a global perspective, facilitating the implementation of collision detection and obstacle avoidance logic. In the vehicle coordinate system, it is easier to set boundary conditions for collision detection. For example, simple coordinate comparison logic can be used, avoiding complex geometric calculations such as polygon projection and screen occlusion that may be required in the screen coordinate system, thereby improving the efficiency and accuracy of collision detection.

[0049] Step S106: Based on the first position information and the third position information, perform collision detection on the first element and the second element to obtain a collision detection result.

[0050] Among them, the collision detection result is used to represent whether the first element and the second element will overlap.

[0051] As an alternative implementation, collision detection can be performed on the first element and the second element according to the position information of the first element and the second element in the vehicle coordinate system. The method of collision detection can adopt methods such as coordinate comparison collision detection. In the vehicle coordinate system, the collision detection process becomes direct and efficient. Specifically, a collision detection plane can be constructed in the vehicle coordinate system based on the third position information, and the vertex coordinates of the three-dimensional element can be compared with the constructed collision detection plane. If the vertex coordinates of the three-dimensional element exceed the collision detection plane, then it can be marked that the three-dimensional element will collide with the two-dimensional element that has been displayed. By utilizing the simplicity and rapidity of coordinate comparison in three-dimensional space, complex graphic occlusion analysis and collision judgment in the two-dimensional screen coordinate system are avoided, greatly improving the response speed of collision detection. The obtained collision detection result can represent whether the first element and the second element will overlap. If the collision detection result indicates a collision, corresponding processing can be performed, such as issuing a warning, adjusting the position of the element, etc.

[0052] During the above process, collision detection is performed on the first element and the second element in the same vehicle coordinate system, making the collision detection simple and efficient. After the conversion to the same vehicle coordinate system, the collision detection can be achieved only by coordinate comparison, avoiding complex multi-dimensional space calculations and reducing the computational complexity of the multi-dimensional collision detection algorithm. Through accurate coordinate mapping, information overlap and visual interference can be avoided, facilitating the effective collision handling and hierarchical management of two-dimensional and three-dimensional elements in the augmented reality head-up display interface, and providing the driver with safer, clearer, and more intuitive driving assistance information.

[0053] Step S108, when the collision detection result indicates that the first element and the second element will overlap, perform a masking process on the first element or the second element.

[0054] As an optional implementation manner, when the collision detection result indicates that the first element and the second element will overlap, the system can activate a masking processing mechanism to avoid visual interference and ensure that the driver's line of sight will not be blocked by redundant information. Specifically, after the collision detection confirms that the first element and the second element overlap, the system can generate a masking layer to cover part or all of the first element or the second element to reduce its interference with the driver's line of sight. The target object of the masking process can be determined according to factors such as the priority or importance of the first element or the second element, which is not limited here. The masking process can specifically be generating a gradient transparency mask layer on the augmented reality head-up display interface. This mask layer can cover the covered element and overlap the area of the non-covered element. The transparency of the mask layer can gradually transition from completely opaque to completely transparent to ensure that the non-covered element can be clearly visible. The transparency and coverage range of the mask can be dynamically adjusted according to the relative positions of the first element and the second element. For example, if the non-covered element is approaching the center of the driver's line of sight, the mask layer can correspondingly increase the coverage range and opacity of the covered element to ensure that the driver can timely and clearly see the required information. According to the importance and urgency of the element, the system can also automatically adjust the masking processing strategy. For example, in an emergency situation, such as when there is an element that is a safety warning or an emergency navigation instruction, the mask can cover all possible interfering elements to ensure that the driver can quickly notice the critical information.

[0055] During the above process, through masking processing, the display of information on the augmented reality head-up display interface can be effectively optimized, avoiding visual interference caused by information overlap, thereby improving the driver's information reception efficiency and driving safety. The dynamic and intelligent nature of the masking processing strategy can effectively guide the driver's attention to important information elements, improve the information processing speed and accuracy during driving by reducing visual interference from non-critical information; and can flexibly adjust the display level and transparency of information according to the actual situation, support the simultaneous display of multiple types of information without causing confusion, and improve the practicality and information management ability of the augmented reality head-up display device.

[0056] In the embodiment of the present invention, first, in response to a display instruction for a first element, obtain the first position information of the first element in the vehicle coordinate system and the second position information of a second element in the screen coordinate system. The display instruction is used to display the first element in the augmented reality head-up display interface of the vehicle. The second element is an element that has been displayed in the augmented reality head-up display interface and is of a different type from the first element. The vehicle coordinate system is a coordinate system with the vehicle as the origin, and the screen coordinate system is the coordinate system in the augmented reality head-up display interface. Next, perform multi-level conversion on the second position information to obtain the third position information in the vehicle coordinate system. Then, based on the first position information and the third position information, perform a collision detection on the first element and the second element to obtain a collision detection result, where the collision detection result is used to represent whether the first element and the second element will overlap. Finally, in the case where the collision detection result represents that the first element and the second element will overlap, perform masking processing on the first element or the second element. It is easy to notice that by responding to the display instruction, accurately obtaining and converting the element position information, performing multi-level coordinate conversion on the position information of the second element, realizing the unification of position information between different coordinate systems, and performing collision detection on the first element and the second element in the same vehicle coordinate system, the collision detection becomes simple and efficient. The collision detection can be achieved only through coordinate comparison, avoiding complex multi-dimensional space calculations, and improving the efficiency of collision detection for different types of elements. When it is detected that an overlap will occur, masking processing will be performed on the first element or the second element, giving priority to displaying emergency or critical information elements, avoiding mutual occlusion of information, while improving the neatness and user experience of the augmented reality head-up display interface, avoiding visual chaos caused by the simultaneous display of too much information, solving the problem of collision mutual exclusion between information elements in the augmented reality head-up display, and providing a safer, clearer, and more personalized driving assistance information display method for the driver, thereby solving the technical problem in the related art that element overlap occurs in the augmented reality head-up display interface, resulting in a low efficiency of the driver's interaction with the head-up display interface.

[0057] Optionally, perform multi-level conversion on the second position information to obtain the third position information in the vehicle coordinate system, including: based on the internal parameter matrix of the augmented reality head-up display device, convert the second position information into the fourth position information in the eye box coordinate system, where the eye box coordinate system is the coordinate system in the augmented reality head-up display device, and the augmented reality head-up display interface is the display interface of the augmented reality head-up display device; convert the fourth position information into the third position information.

[0058] As an optional implementation manner, to facilitate the comparison between the second position information of the second element in the screen coordinate system and the position information of the first element in the vehicle coordinate system, the second position information can be first converted into the eye box coordinate system, and this conversion can be achieved through the internal parameter matrix of the augmented reality head-up display device. The internal parameter matrix can include information such as the relative position, distance, and optical properties of the augmented reality head-up display screen and the eye box. By applying the internal parameter matrix, the pixel position of the second element in the screen coordinate system can be mapped into the fourth position information in the eye box coordinate system, and the fourth position information can describe the position of the second element relative to the driver's eye box. Then, the fourth position information can be further converted into the vehicle coordinate system to obtain the third position information. The vehicle coordinate system is a coordinate system with the center of the rear axle of the vehicle as the origin and the vehicle driving direction as the reference, which can intuitively reflect the relative position of an object and the vehicle. Through the coordinate conversion algorithm, the position information in the eye box coordinate system can be mapped into the vehicle coordinate system, and this process can consider the vehicle attitude, motion state, and the specific position of the driver to ensure the accuracy of the conversion.

[0059] In the above process, through the multi-level coordinate conversion mechanism, it can be ensured that the element position information in different coordinate systems can be accurately converted into the same vehicle coordinate system, avoiding the collision detection error caused by coordinate differences. The converted third position information can be directly compared with the first position information, simplifying the collision detection algorithm and eliminating the need for complex multi-dimensional space collision judgment, enabling the augmented reality head-up display device to more efficiently manage the element display on the interface.

[0060] Optionally, based on the first position information and the third position information, perform collision detection on the first element and the second element to obtain a collision detection result, including: based on the third position information, construct at least one target collision detection surface; compare the first position information with at least one target collision detection surface to obtain the collision detection result.

[0061] As an alternative implementation, in the vehicle coordinate system, at least one target collision detection surface for collision detection can be constructed based on the third position information, that is, the position of the second element in the vehicle coordinate system after transformation. The target collision detection surface can be regarded as a virtual safety boundary, and the position of the target collision detection surface can be determined based on the practice of driving safety and information display. For example, the longitudinal axis positioning plane can correspond to the value of Y = Const in the vehicle coordinate system. This value has been verified through ergonomic analysis and real vehicle tests to balance the augmented reality information display and driving vision safety. To further enhance the accuracy and range of collision detection, multiple target collision detection surfaces can be constructed simultaneously, not limited to the longitudinal axis positioning plane, but also including the Z-axis plane describing the depth of field conflict, ensuring that the three-dimensional element does not invade the actual road entity and avoiding potential driving risks. The construction of the target collision detection surface can ensure the benchmark for collision detection and simplify the subsequent collision comparison process. Then, at least one constructed target collision detection surface can be used to compare the first position information of the first element in the vehicle coordinate system with it. The comparison process can detect whether the bounding box of the first element intersects with the target collision detection surface. If any vertex coordinate of the first element exceeds the longitudinal axis positioning plane of the target collision detection surface, it can be regarded as a collision or a risk of overlap. This judgment condition is fast and accurate and can be completed within a response time of microseconds, ensuring that the system can respond immediately in a complex driving environment. In addition, in different driving scenarios, the position of the target collision detection surface can be dynamically adjusted. For example, according to factors such as vehicle speed, driving behavior, and road complexity, the parameter values of the target collision detection surface can be automatically adjusted to meet different safety requirements.

[0062] In the above process, the target collision detection surface provides a clear boundary, enabling collision detection to be performed in a simple manner of coordinate comparison. This not only improves the detection efficiency but also ensures the detection accuracy, avoiding errors that may be introduced by complex calculations. The construction of the target collision detection surface enables the system to intelligently manage the hierarchy and occlusion of interface information. The dynamic adjustment mechanism of the target collision detection surface can be automatically optimized according to the personalized needs of the driver and the changes in the driving environment, adapting to the visual habits and preferences of different drivers and enhancing the user experience. Through the coordinate comparison based on the target collision detection surface, precise and efficient collision detection can be achieved, avoiding the visual interference and driving safety risks caused by information overlap on the augmented reality head-up display interface.

[0063] Optionally, constructing at least one target collision detection surface based on the third position information includes: constructing at least one initial collision detection surface based on the third position information; adjusting the initial collision detection surface based on the perception information and driving information of the vehicle to obtain the target collision detection surface.

[0064] The above driving information can be information reflecting the current operating state of the vehicle and the driving conditions of the driver, which can help the augmented reality head-up display device to dynamically optimize the information presentation strategy to enhance driving safety and user experience. The driving information can include, but is not limited to, vehicle speed information, driving duration, vehicle acceleration and other information, which can be specifically determined according to actual needs and are not limited here.

[0065] As an alternative implementation, an initial collision detection surface can be constructed based on the third position information of the second element in the vehicle coordinate system. The third position information provides a unified coordinate reference for collision detection. The initial collision detection surface can be preset according to the third position information, combined with ergonomic principles and driving safety requirements. For example, a longitudinal axis positioning plane, whose ordinate value (Y = Const) can be set based on the driving vision and the safe distance for information display. The initial collision detection surface can reflect the virtual position of the second element in the vehicle coordinate system, providing a clear comparison reference for subsequent collision detection, and enabling quick judgment of whether there is an overlap between the first element and the second element in the vehicle coordinate system. Next, the vehicle can monitor the surrounding environment and adjust the initial collision detection surface based on the vehicle's perception information and driving information. Perception information such as obstacles ahead, vehicle relative position, and road conditions can be obtained. Based on this perception information, the position of the collision detection surface can be dynamically adjusted. For example, when the driving information includes vehicle speed information, when the vehicle is driving at high speed, the ordinate value of the target collision detection surface can be adjusted forward to expand the safety vision range and ensure that the driver can notice the display information in advance. When the vehicle is in a low-speed or stationary state, the position of the target collision detection surface can be appropriately shifted backward to reduce information occlusion and improve the driver's viewing comfort. Another example is when the driving information includes driving duration. The position of the Y plane can be automatically optimized based on the driving duration. The display height of the information can be dynamically adjusted according to the driving duration to optimize the information presentation effect and driving safety. As the driving duration increases, the driver may gradually feel fatigued, and both the driver's reaction time to information and the attention range may be affected. After a long period of driving, the position of the Y plane can be raised so that the three-dimensional element is displayed further ahead in the driver's field of vision, reducing the interference of information on the driver's direct line of sight and reducing visual fatigue. Thus, it is possible to dynamically adjust the information display strategy according to the driver's real-time driving state and environmental changes, thereby improving driving safety, reducing the driver's visual fatigue, and providing a more personalized driving assistance experience. In the above process, by adjusting the initial collision detection surface based on the vehicle's perception information and vehicle speed information, the adaptability and safety of the augmented reality head-up display device in a complex and changing driving environment can be improved. The introduction of vehicle perception information and vehicle speed information enables the collision detection surface to be intelligently adjusted according to changes in the surrounding environment, avoiding visual interference or information occlusion that may be caused by fixed boundaries, and ensuring the clarity of the driver's field of vision and the accuracy of information reception. Considering the vehicle speed information ensures that when driving at high speed, the information displayed on the augmented reality head-up display interface can enter the driver's field of vision in advance and safely. When the vehicle is in a low-speed or stationary state, the information display can be more compact, reducing unnecessary occlusion of driving operations, thereby improving driving safety and information processing efficiency.

[0066] Optionally, based on the vehicle's perception information and vehicle speed information, adjust the initial collision detection surface to obtain a target collision detection surface, including: determining the head pose information of the driver in the vehicle based on the vehicle's perception information; inputting the vehicle speed information and head pose information into a compensation prediction model to output a compensation amount; adjusting the initial collision detection surface based on the compensation amount to obtain a target collision detection surface.

[0067] As an optional implementation manner, cameras and sensors in the vehicle can monitor the driver's head pose in real time, which can include information such as the tilt angle and rotation direction of the head, and can reflect the driver's current line of sight direction and attention distribution state. The obtained driver head pose information and the real-time vehicle speed information of the vehicle can be input into a pre-trained compensation prediction model. The compensation prediction model can be obtained based on machine learning technology and can learn the line-of-sight transfer patterns of the driver at different vehicle speeds and head poses from historical data, and predict the vision changes that will occur in the current driving state. The compensation prediction model can output a compensation amount according to the input vehicle speed information and head pose information. This compensation amount can reflect how much distance the initial collision detection surface needs to be displaced on the vertical axis or other relevant coordinate axes to adapt to the current driving state. For example, if the vehicle speed is high, the model predicts that the driver's attention is more concentrated on the distance ahead, and the output compensation amount can indicate that the collision detection surface moves forward to increase the display safety distance of the augmented reality information. Based on the compensation amount output by the compensation prediction model, the initial collision detection surface can be adjusted. The adjustment can be linear or non-linear, and can be specifically determined according to factors such as the prediction result of the model and the complexity of the driving scenario. The adjusted collision detection surface can be used as the target collision detection surface, which can more accurately reflect the safe display boundary between three-dimensional elements and two-dimensional elements under the current driving conditions.

[0068] In the above process, through the dynamic adjustment mechanism of the collision detection surface based on perception information and vehicle speed information, the head poses and line-of-sight transfer habits of different drivers can be considered. Through the compensation amount output by the compensation prediction model, the system can provide a more personalized and driving behavior-adaptive information display solution for each driver, improving the efficiency and comfort of information reception. The combination of the vehicle's perception information and the adjustment of the collision detection surface enables the augmented reality head-up display device to better adapt to the current driving environment, avoid improper information display caused by environmental factors, improve the safety and personalization level of the augmented reality head-up display information display, and enhance the system's adaptability to complex driving environments.

[0069] Optionally, the first position information is compared with at least one target collision detection surface in terms of coordinates to obtain a collision detection result, including: for any target collision detection surface, obtaining a target coordinate value corresponding to the target collision detection surface from the first position information; comparing the target coordinate value with the target collision detection surface to obtain a collision detection result.

[0070] As an alternative implementation, first, the coordinate values corresponding to the target collision detection surface can be extracted from the first position information. Suppose the target collision detection surface is a plane of Y = Const in the vehicle coordinate system. Then, the coordinate value related to this plane obtained from the first position information can be used as the vertical axis coordinate, that is, the target coordinate value. The obtained target coordinate value can reflect the vertical position of the first element in the vehicle coordinate system and can be used as the basis for collision detection. Next, the target coordinate value of the first element can be compared with the Y = Const value of the target collision detection surface. If the Y-axis coordinate value of the first element is greater than or equal to the Y = Const value, it can be determined that the projected position of the first element will overlap with the second element on the augmented reality head-up display interface, that is, there is a collision risk. If the Y-axis coordinate value of the first element is less than the Y = Const value, it can be considered that the display position of the first element on the interface is safe and will not overlap with the second element. In addition to the vertical axis positioning plane of Y = Const, other target collision detection surfaces can also be set, such as the Z-axis plane describing the depth of field conflict, forming a two-dimensional or even three-dimensional detection system to avoid collisions between elements in all directions and improve driving safety. The Y = Const value of the target collision detection surface can be dynamically adjusted according to factors such as vehicle speed, driving environment, and driver's head posture to adapt to the safety requirements in different scenarios and ensure the adaptability and safety of information display. And a machine learning model can be used to predict the driver's line-of-sight focus and attention distribution, adjust the position of the target collision detection surface, compensate for individual driving posture differences, optimize the information display strategy, and improve the driving assistance effect.

[0071] In the above process, comparing the target coordinate value of the first element with the target collision detection surface in terms of coordinates can quickly and accurately judge the potential collision between elements on the augmented reality head-up display interface, avoid information overlap, improve the clarity of driving information, and the coordinate comparison process is simple and efficient, which can be completed within microseconds, ensuring that the augmented reality head-up display device can respond immediately when facing a rapidly changing driving environment, improving the real-time performance and reliability of the system.

[0072] Optionally, comparing the target coordinate value with the target collision detection surface to obtain a collision detection result includes: determining a collision detection threshold based on the vehicle speed information of the vehicle and the head posture information of the driver in the vehicle; comparing the target coordinate value with the target collision detection surface based on the collision detection threshold to obtain a collision detection result.

[0073] As an alternative implementation, the collision detection threshold can be dynamically determined based on the current vehicle speed information and the driver's head pose information. The vehicle speed information can reflect the dynamic changes in the driving environment, and the head pose information captures the direction and angle of the driver's line of sight. The collision detection threshold can be a range or offset of specific coordinate values on the target collision detection surface, which can be used to define the safety boundary for whether an element is likely to collide. For example, when the vehicle is traveling at high speed, the threshold may be set wider or positioned more forward to expand the safety display area and reduce the driver's line of sight transfer distance. Then, the system can compare the target coordinate values of the first element with the target collision detection surface. In the vehicle coordinate system, comparing the target coordinate values with the collision detection threshold can quickly determine whether the projected position of the first element overlaps with the display position of the second element within the preset safety area. If the vertical or horizontal coordinate value of the first element exceeds the range defined by the collision detection threshold, it can be determined that the first element and the second element may collide. The above-mentioned collision detection threshold can also be dynamically adjusted according to the driving environment, such as weather conditions, light intensity, etc., to adapt to a wider range of usage scenarios, ensure safe information display in various driving environments, and in complex scenarios, the system can also set multiple collision detection thresholds simultaneously to form a multi-level detection system to more comprehensively avoid collisions between information elements, while considering the priorities and importance of different information elements.

[0074] In the above process, by dynamically determining the collision detection threshold and comparing the target coordinate values with the target collision detection surface based on this threshold, the dynamic adjustment mechanism of the collision detection threshold enables the system to automatically adjust the sensitivity of collision detection according to real-time information such as vehicle speed and driver's head pose, improving the adaptability to different driving conditions. The collision detection threshold adjusted based on the driver's head pose can reduce information occlusion and avoid visual discomfort caused by fixed threshold settings, providing a more personalized and comfortable information display experience for the driver.

[0075] Optionally, masking the first element or the second element includes: generating a first mask layer corresponding to the second element based on the first element; displaying the first mask layer above the second element and displaying the first element on the first mask layer.

[0076] As an alternative implementation, when the system detects a collision risk between the first element and the second element on the augmented reality head-up display interface, that is, the projection position of the first element overlaps with the display position of the second element, the system can generate a first mask layer with adjustable transparency according to the shape, size, and position information of the first element. The first mask layer can be used to occlude or fade out part of the second element, enabling the driver to clearly see the first element, while reducing the complete occlusion of the second element's information and maintaining the integrity of the driving assistance information. The generated first mask layer can be used as an intermediate layer, placed above the second element and below the projection of the first element. In actual display, the information of the second element is transmitted to the driver through the transparent area of the first mask layer, while the overlapping part becomes less obvious or completely invisible due to the occlusion effect of the mask layer, ensuring that the key information of the first element can be prominently displayed and avoiding interference to the driving vision caused by information overlap. The masking process can be intelligently adjusted according to the element type, importance, and urgency. For example, if the first element is an urgent navigation instruction or safety warning, the system may generate a first mask layer with a relatively high opacity to ensure that the driver's attention is focused on the first element; if the first element is relatively minor auxiliary information, the masking process will be more gentle to reduce the occlusion of the second element. The transparency of the first mask layer can be dynamically adjusted according to the ambient light, driving scenario, and the driver's eye movement habits. In low light conditions or when the driver's line of sight is concentrated on the first element, the first mask layer can be set to a relatively high transparency to reduce occlusion; while in strong light or when the driver's line of sight is dispersed, the transparency of the mask layer can be reduced to enhance the contrast and visibility of the information. The masking process can not only be performed through automatic detection but also provide driver-interactive adjustment options, allowing the driver to manually adjust the transparency or position of the first mask layer according to personal preferences or driving needs, further personalizing the information display.

[0077] In the above process, by generating the first mask layer in the overlapping area, the visual interference caused by information overlap on the augmented reality head-up display interface can be effectively reduced. The masking process allows the first element and the second element to coexist on the interface while maintaining the clarity and integrity of the information. This optimized information display method helps to improve the driver's information processing speed and driving comfort. Through the masking process, the augmented reality head-up display device can not only avoid information overlap but also maintain the flexibility and richness of information display, providing a more personalized and safe driving information environment for the driver, enhancing the user-friendliness and driving safety performance of the driving assistance system.

[0078] Optionally, masking the first element or the second element includes: determining the display priority of the first element and the display priority of the second element based on the current scenario in which the vehicle is located; in response to the display priority of the first element being less than the display priority of the second element, generating a second mask layer corresponding to the first element based on the second element; displaying the second mask layer above the first element, and displaying the second element on the second mask layer.

[0079] As an alternative implementation, the system can utilize vehicle sensors and the autonomous driving assistance system to identify the current driving scenario of the vehicle, which can include, but is not limited to: urban driving, highway driving, night driving, adverse weather conditions such as rain, snow, and fog, complex traffic conditions such as congestion and construction areas, etc. Each type of scenario can have its unique information requirements and driving safety considerations, and different information display strategies can be set. Based on the current driving scenario, the system can evaluate and determine the display priorities of the first element and the second element. The evaluation process can consider multiple factors, such as the type of the element, such as safety warnings, navigation instructions, regular driving information, etc., the degree of urgency, the impact on driving safety, and the driver's eye movement habits. For example, in the highway driving scenario, the priorities of safety warnings and navigation instructions are higher, while in urban driving or night driving, the priorities of regular driving information such as vehicle speed and time can increase. The priority evaluation result can be dynamic and can be adjusted in real time as the driving scenario changes. It can also allow the driver to set the default priorities of certain elements according to personal driving habits and preferences. For example, some drivers attach more importance to real-time traffic information and rely less on navigation arrows. The system can adjust the display strategy of the elements more flexibly based on these personalized settings. In addition to the driving scenario, the system can also consider environmental factors such as light and visibility on the impact of information display, dynamically adjust the element priorities and display methods to adapt to changing environmental conditions, and ensure the readability and safety of the information.

[0080] In the above process, the scenario-based priority evaluation can ensure that in emergency or high-risk driving situations, critical information can be preferentially displayed, reducing the distraction of the driver's attention caused by searching for non-critical information, significantly improving driving safety. The priority evaluation mechanism combined with the masking process can effectively reduce the overlap of information elements on the interface, avoid information interference, maintain the clarity and readability of the driving interface, and further enhance the intelligence and flexibility of the augmented reality head-up display device, providing a safer, more efficient, and personalized information display environment for the driver.

[0081] In this application, the display priorities of the first element and the second element are determined. Additionally, based on preset rules or real-time driving scenario evaluations, the display priorities can be set according to the urgency, importance, and impact on driving safety of the information. For example, safety warnings or emergency navigation instructions can have a higher display priority, while conventional driving assistance information such as speed and time display can have a lower priority. When it is detected that two elements will overlap and the display priority of the first element is lower than that of the second element, the system can generate a second mask layer to block the first element, ensuring that the second element with a higher priority is clearly visible. The second mask layer can be semi-transparent to reduce the complete occlusion of the information of the first element and maintain the driver's perception of the surrounding environment. The generated second mask layer can be placed between the first element and the second element as an occlusion layer for the first element. In actual display, the information of the first element can be transmitted to the driver through the semi-transparent area of the second mask layer, and the overlapping part with the second element becomes less obvious or invisible due to the occlusion effect of the mask layer. At the same time, the information of the second element is displayed above the second mask layer, ensuring the clarity and readability of the second element and maintaining the integrity of the driving assistance information. The system can adjust the display priorities of the elements in real time to adapt to the changing driving environment and the driver's attention requirements. For example, in an emergency, the priority of the first element can be temporarily increased to ensure the prominent display of critical information, and it can be decreased during a stable driving period to reduce the occlusion of the second element. The shape and transparency of the mask layer can be intelligently generated according to the type, size, and position of the elements to achieve a better occlusion effect. For example, for the first element with a complex shape, the mask layer generated by the system will match the shape of the first element more closely, reducing the information occlusion area and maintaining the richness of the interface information. The driver can also manually adjust the display priorities of the elements through the vehicle's control panel or voice commands to achieve personalized information display and meet different driving habits and information needs.

[0082] In the above process, the masking process based on the display priorities of the elements can ensure the clear display of critical information, reduce the driver's distraction caused by information overlap, and significantly improve driving safety. Through intelligent mask layer generation and dynamic priority adjustment, the optimization of information display is achieved, making the positions of the elements on the augmented reality head-up display interface more reasonable and the information hierarchy clearer, thereby improving the driver's information acquisition efficiency and the user-friendliness of the driving assistance system.

[0083] Optionally, the first element is a navigation guiding arrow, and at least one of the following information corresponding to the navigation guiding arrow changes dynamically during vehicle driving: display position, arrow length, and arrow area.

[0084] The above display position can be the display position of the guiding navigation arrow, which can be adjusted in real time according to the current actual position and target direction of the vehicle. For example, when approaching a turning point, the arrow can appear at an appropriate position in front of the driver's line of sight, guiding from the current lane of the vehicle to the target lane where the vehicle needs to drive, so as to remind the driver to prepare for turning. As the vehicle moves forward, the position of the arrow can be updated accordingly to ensure that it is always within the better field of view of the driver, avoiding being blocked by other objects or misleading the driver.

[0085] The above arrow length can vary dynamically according to the distance between the vehicle and the turning point or destination. When the vehicle is far from the turning point, the arrow can be longer to increase visibility; while when approaching the turning point, the arrow can be shortened to prevent visual collision with actual objects on the road surface or other static or dynamic elements of the augmented reality head-up display interface. The change in arrow length can also serve as a distance reminder to help the driver better judge the turning opportunity.

[0086] The above arrow area can also be adjusted dynamically to adapt to different driving speeds and environmental brightness. When the distance between the current driving lane of the vehicle and the target lane is relatively large, a larger arrow area can be set. A larger arrow area can prompt the driver to adjust the lane in time; while when the distance between the current driving lane of the vehicle and the target lane is relatively small, the driver has sufficient reaction time, and a smaller arrow area can be set. Reducing the arrow area can reduce the interference to the driver's line of sight and maintain the clarity of the driving interface.

[0087] As an alternative implementation, in the augmented reality head-up display interface, navigation guiding arrows in the form of three-dimensional elements can be used to intuitively indicate the steering or driving path operations that the driver needs to take. The three-dimensional navigation guiding arrows can improve the accuracy of navigation and enhance the driving experience, and can integrate navigation information into the real driving environment. At the same time, the display position, arrow length, and arrow area of the navigation guiding arrows can be dynamically changed during vehicle driving. The drawing of the navigation guiding arrows can be determined based on the current position of the vehicle. For example, when turning at an intersection, the navigation guiding arrows can be longer and larger in area when the vehicle is farther away from the intersection. If a right turn is needed but the vehicle is in the left lane, the navigation guiding arrows need to extend to the right lane. As the vehicle gets closer to the intersection, the navigation guiding arrows can become smaller or shorter, etc., to accurately reflect the actions that the user needs to perform, to ensure the effectiveness and safety of the arrows in different scenarios. The three-dimensional navigation guiding arrows can be intelligently predicted and adjusted, and the data of the vehicle's driving assistance system, such as vehicle speed, acceleration, and forward obstacle detection information, can be used. The display position, arrow length, and arrow area of the navigation guiding arrows can be intelligently predicted and adjusted. For example, before a complex operation such as a sharp turn or a rapid lane change is about to occur, the navigation guiding arrows can be enlarged and adjusted in position in advance so that the driver has enough time to prepare for it. The changes in the attributes of the navigation guiding arrows can also consider driving environment factors, such as weather conditions like rain, snow, and fog, and the light intensity affected by day or night. For example, in low light conditions, the area of the navigation guiding arrows may need to be moderately enlarged to improve their visibility; in an environment with direct strong light, the area should be reduced or the color contrast should be adjusted to avoid glare affecting the driver's line of sight.

[0088] During the above process, the dynamically adjusted navigation guiding arrows can provide clear and timely navigation information under various driving conditions, reduce the driver's distraction, and improve the safety of the driving process. Through the intelligent adjustment of the attributes of the navigation guiding arrows, it can be ensured that the navigation information can be easily captured by the driver in various situations, and the visual cue effect of the augmented reality head-up display interface on the driver can be improved.

[0089] The technical solution proposed in this application will be described below in combination with an optional embodiment. This application proposes a method and system for hierarchical collision avoidance processing of interface elements based on multi-source coordinate transformation. Augmented Reality Head-Up Display (AR HUD) is a technology that can be used in vehicle scenarios. By projecting important information such as speed, navigation instructions, and safety warnings within the driver's line of sight, it can enhance the driving experience and safety. In vehicles equipped with AR HUD, two-dimensional information such as navigation, speed, and traffic signs can be directly displayed on the windshield, reducing the driver's eye movement. At the same time, by using the vehicle's cameras and sensors, virtual information can be combined with the actual environment, and three-dimensional rendering can be used to provide more intuitive navigation guidance. However, when two-dimensional and three-dimensional information overlaps in the same field of view, it may be difficult for the driver to distinguish which information is more important. For example, the two-dimensional mini-map information may overlap with the virtual navigation arrow, making it impossible for the driver to clearly identify the road conditions. The simultaneous display of too much information may lead to visual confusion, and it may be difficult for the driver to quickly react in a short time, increasing the risk of distraction. Without reasonable information priority management, it may be difficult for the driver to quickly identify critical warnings or navigation instructions. This is particularly dangerous in emergency situations and may lead to reaction delays.

[0090] This application proposes a method and system for solving the collision and mutual exclusion between three-dimensional elements and two-dimensional elements in the AR HUD interface, properly managing the display of two-dimensional and three-dimensional information, and enabling the AR HUD to more effectively improve driving safety and convenience and reduce the negative impact of information collisions. The method for hierarchical collision avoidance processing of interface elements proposed in this application can be based on the mutual conversion algorithm of the vehicle's assisted driving system coordinates - HUD eye box coordinates - screen pixel coordinates.

[0091] The coordinate system of the vehicle's assisted driving system, which can be the above-mentioned vehicle coordinate system, can be a local coordinate system with the center of the rear axle of the vehicle as the origin, the forward direction of the vehicle as the positive direction of the X-axis, the left side of the vehicle as the positive direction of the Y-axis, and the top direction as the positive direction of the Z-axis. The coordinate unit of the vehicle's assisted driving system coordinate is meters. The vehicle's assisted driving system coordinate describes the relative position relationship between the object and the vehicle. The positions of the objects perceived by the autonomous driving, including the lane lines, surrounding vehicles, pedestrians, etc., are all in this coordinate system. The coordinate system of the augmented reality rendering engine can also be this vehicle's assisted driving system coordinate system. The eye box coordinate system is a local coordinate system with the optimal eye position as the origin, the forward direction of the vehicle as the negative direction of the Z-axis, the right side of the vehicle as the positive direction of the Y-axis, and the top direction as the positive direction of the X-axis. When the vehicle is a left-hand drive vehicle, the origin of the eye box coordinate is offset to the left relative to the center of the vehicle, has a certain height relative to the ground, and is in front of the center of the rear axle of the vehicle, that is, the origin of the assisted driving system coordinate. The key parameters can include the eye box ground height, the distance between the head-up display screen and the eye box, and the up, down, left, and right viewing angles of the eye box. Among them, the distance between the head-up display screen and the eye box is a hardware parameter of the optical engine and can be fixed. When the driver adjusts the height gear of the head-up display screen due to height differences and sitting postures, the up and down viewing angles of the head-up display and the height of the origin of the eye box coordinate are adjusted accordingly, so as to achieve the purpose of adjusting the height of the head-up display screen. The screen pixel coordinate system, which can be the above-mentioned screen coordinate system, can be the two-dimensional pixel coordinates on the head-up display screen. In this application, an example is given where the screen pixels of the optical engine are 1920*640 pixels. The screen pixels of the optical engine here can be determined according to actual needs and are not limited here.

[0092] To handle the collision and mutual exclusion problem between three-dimensional elements and two-dimensional elements, this application proposes a method and system for hierarchical collision avoidance of interface elements based on multi-source coordinate conversion. The specific process is as follows.

[0093] First, vertical axis positioning and precise mapping in multiple coordinate systems can be performed. For the method and system for hierarchical collision avoidance processing of augmented reality - head - up display interface elements, the technical process is as follows. In the screen pixel coordinate system, such as 1920×640, first, through ergonomic analysis, it is determined that the initial vertical axis is located at x = 1440 pixels. This position has been verified through real - vehicle tests to balance augmented reality information display and driving vision safety. Then, it is inversely deduced to the eye - box coordinate system through the internal parameter matrix of the head - up display optical system, and combined with the world coordinate system transformation matrix provided by the vehicle's assisted driving system, the position of this axis in the assisted driving system coordinate system is obtained. Next, rapid collision decision - making based on spatial coordinates can be carried out. In the world coordinate system of the assisted driving system, the transformed vertical axis can be abstracted as a vertical plane of Y = Const. Coordinate comparison is performed on the bounding - box vertices of each augmented reality element: when the Y - coordinate of any vertex exceeds the vertical axis plane, a collision mark is immediately triggered, and collision detection is carried out simply and efficiently. Finally, hierarchical communication can be carried out. After detecting a collision event, the event can be encapsulated as byte - stream data and directly sent to the application layer by the data layer (Java Native Interface, JNI). After receiving it, a gradient mask resource is generated near both sides of the 1440 vertical axis to cover the two - dimensional information part.

[0094] Figure 2 It is a schematic diagram of an optional method for performing collision detection on elements according to an embodiment of the present invention. As Figure 2 shown, it includes the X - axis in the vehicle coordinate system. The X - axis pixel positions (Position) of 0px, 1440px, and 1920px are shown in the figure. Among them, the X - axis position (Position) of 0px corresponds to replacing the mask at 0px, the X - axis position (Position) of 1440px corresponds to exceeding the replacement mask. In the figure, there is a three - dimensional element to be displayed, that is, a three - dimensional right - turn indicator arrow. When performing element collision detection, the three - dimensional right - turn indicator arrow in the figure can be compared with the X - axis position (Position) of 1440px to determine whether the three - dimensional right - turn indicator arrow exceeds the X - axis position (Position) of 1440px. In the figure, the light emission and shadow of the three - dimensional right - turn indicator arrow exceed the X - axis position (Position) of 1440px, that is, it is determined that subsequent masking operations need to be carried out.

[0095] Figure 3 It is a schematic diagram of an optional method for performing masking processing using a mask according to an embodiment of the present invention. The white area in the figure is the generated mask, which has covered the elements that need to be masked. The black area in the upper left corner of the figure represents the elements that do not need to be covered and need to be displayed on the upper layer, thus achieving the effect of masking processing using a mask.

[0096] Figure 4It is a schematic diagram for comparing the display effects before and after mask processing according to an embodiment of the present invention. As Figure 4 shown, in the figure, on the augmented reality head-up display interface, the navigation path (including navigation arrows, speed limit 80 prompt, and right turn prompt after 500 m) is a two-dimensional element that has been displayed. When it is necessary to prominently display the three-dimensional right turn indication arrow shown in the figure, Figure 4 the upper figure shows the display effect before mask processing, that is, the mask processing method proposed in this application is not adopted. It can be seen that the three-dimensional right turn indication arrow and the already displayed two-dimensional navigation path interfere with each other at the intersection, affecting the display effect at the intersection of three-dimensional and two-dimensional elements on the augmented reality head-up display interface; Figure 4 the lower figure shows the display effect after mask processing. Since the two-dimensional navigation path shown in the figure is masked and the three-dimensional right turn indication arrow is set on the upper layer of the mask layer, the display of the three-dimensional right turn indication arrow and the two-dimensional navigation path will not conflict, and the three-dimensional right turn indication arrow is preferentially displayed over the two-dimensional navigation path, facilitating the driver to pay more attention to the three-dimensional right turn indication arrow.

[0097] The technical solution of this application is simple and efficient. The proposed processing method can abstract the collision on the two-dimensional pixel plane into a collision in the coordinate system of the three-dimensional assisted driving system. Without complex calculations, a microsecond-level response is achieved only through coordinate comparison. It has strong scalability. By modifying the Y = Const plane parameter, multiple safety regions can be supported.

[0098] The technical solution proposed in this application can optionally perform dynamic coordinate plane mapping. Specifically, the fixed Y = Const plane can be replaced with a dynamic function plane, and the plane equation can be adjusted in real time according to the following vehicle speed.

[0099] Y = f(v) = Y_base + k·v;

[0100] where v is the vehicle speed, k is the adjustment coefficient, and Y_base is the Y reference value. In this way, the safety region is automatically expanded at high speeds. For example, when v > 80 km / h, the Y reference value shifts by +0.3 m.

[0101] Optionally, multi-plane collaborative detection can be performed. Specifically, two orthogonal planes of Y = 1440 and Z = 1.2 m can be set simultaneously in the coordinate system of the assisted driving system to construct a three-dimensional safety channel: the Y-axis plane intercepts lateral overrun, and the Z-axis plane intercepts depth-of-field conflicts to prevent augmented reality elements from invading the road entity, and the depth-of-field direction collision detection blind area in the related technology can be solved.

[0102] Optionally, intelligent assisted decision-making compensation can be performed. Specifically, a lightweight multi-layer perceptron (MLP) neural network can be deployed, and three hidden layers can be set. The setting of the hidden layers can be determined according to actual needs and is not limited here. Learn the driver's viewpoint movement pattern, input: head pose angles (α, β, γ) + vehicle speed v, output: dynamic compensation amount ΔY for the longitudinal axis position, and realize compensation for individual driving posture differences.

[0103] This application proposes a multi-level coordinate mapping method, which can convert screen pixel coordinates to eye box coordinates, and then to the conversion link of the assisted driving system coordinates, a plane truncation collision decision logic, a judgment condition for coordinate comparison based on the Y = Const plane, and a dynamic threshold adjustment algorithm, such as linearly varying with the vehicle speed. A dynamic parameter self-tuning method, an algorithm for automatically optimizing the Y plane based on driving duration:

[0104] Y_new = Y_base + Σ(ΔY_hist)*k;

[0105] Where, ΔY_hist is the historical dynamic compensation amount ΔY.

[0106] And a multi-safe area collaboration system, which can simultaneously set Y / Z double-plane detection channels; and an environment compensation mechanism, which can enhance the control logic of the mask contrast in a tunnel or strong light environment.

[0107] 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 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 refuse.

[0108] According to another aspect of the embodiments of the present invention, a processing device for interface elements is further provided. This device can execute the processing method for interface elements in the above embodiments. The specific implementation method and preferred application scenarios are the same as those in the above embodiments and will not be elaborated here.

[0109] Figure 5 is a schematic diagram of a processing device for interface elements according to an embodiment of the present application, as Figure 5 shown. This device includes the following: an acquisition module 502, a conversion module 504, a collision detection module 506, and a mask processing module 508.

[0110] Among them, the acquisition module 502 is configured to, in response to a display instruction for a first element, acquire first position information of the first element in a vehicle coordinate system and second position information of a second element in a screen coordinate system, where the display instruction is used to display the first element in an augmented reality head-up display interface of the vehicle, the second element is an element that has been displayed in the augmented reality head-up display interface and has a different type from the first element, the vehicle coordinate system is a coordinate system with the vehicle as the origin, and the screen coordinate system is a coordinate system in the augmented reality head-up display interface; the conversion module 504 is configured to perform multi-level conversion on the second position information to obtain third position information in the vehicle coordinate system; the collision detection module 506 is configured to perform collision detection on the first element and the second element based on the first position information and the third position information to obtain a collision detection result, where the collision detection result is used to represent whether the first element and the second element will overlap; the masking processing module 508 is configured to perform masking processing on the first element or the second element when the collision detection result represents that the first element and the second element will overlap.

[0111] Among them, the conversion module is further configured to, based on an internal parameter matrix of the augmented reality head-up display device, convert the second position information into fourth position information in an eyebox coordinate system, where the eyebox coordinate system is a coordinate system in the augmented reality head-up display device, and the augmented reality head-up display interface is a display interface of the augmented reality head-up display device; convert the fourth position information into the third position information.

[0112] Among them, the collision detection module is further configured to, based on the third position information, construct at least one target collision detection surface; compare the first position information with the at least one target collision detection surface to obtain a collision detection result.

[0113] Among them, the collision detection module is further configured to, based on the third position information, construct at least one initial collision detection surface; adjust the initial collision detection surface based on the perception information of the vehicle and the vehicle speed information to obtain a target collision detection surface.

[0114] Among them, the collision detection module is further configured to, based on the perception information of the vehicle, determine the head pose information of the driver in the vehicle; input the vehicle speed information and the head pose information into a compensation prediction model to output a compensation amount; adjust the initial collision detection surface based on the compensation amount to obtain a target collision detection surface.

[0115] Among them, the collision detection module is further configured to, for any one target collision detection surface, obtain a target coordinate value corresponding to the target collision detection surface from the first position information; compare the target coordinate value with the target collision detection surface to obtain a collision detection result.

[0116] The collision detection module is further configured to determine a collision detection threshold based on the vehicle speed information of the vehicle and the head pose information of the driver in the vehicle; compare the target coordinate value with the target collision detection surface based on the collision detection threshold to obtain a collision detection result.

[0117] The mask processing module is further configured to generate a first mask layer corresponding to the second element based on the first element; display the first mask layer above the second element, and display the first element on the first mask layer.

[0118] The mask processing module is further configured to determine the display priority of the first element and the display priority of the second element; in response to the display priority of the first element being less than the display priority of the second element, generate a second mask layer corresponding to the first element based on the second element; display the second mask layer above the first element, and display the second element on the second mask layer.

[0119] The mask processing module is further configured to determine the display priority of the first element and the display priority of the second element based on the current scene where the vehicle is located.

[0120] According to another aspect of the embodiments of the present invention, an augmented reality head-up display device is further provided. The system can execute the processing method of the interface elements in the above embodiments. The specific implementation method and preferred application scenarios are the same as those in the above embodiments and will not be elaborated here.

[0121] Figure 6 is a schematic diagram of an augmented reality head-up display device according to an embodiment of the present application, as Figure 6 shown, the system includes the following: a memory 602 and a processor 604.

[0122] Among them, the memory 602 stores an executable program; the processor 604 is used to run the program. When the program runs, it executes: in response to a display instruction for the first element, obtain the first position information of the first element in the vehicle coordinate system and the second position information of the second element in the screen coordinate system, where the display instruction is used to display the first element in the augmented reality head-up display interface of the vehicle, the second element is an element that has been displayed in the augmented reality head-up display interface and is of a different type from the first element, the vehicle coordinate system is a coordinate system with the vehicle as the origin, and the screen coordinate system is the coordinate system in the augmented reality head-up display interface; perform multi-level conversion on the second position information to obtain the third position information in the vehicle coordinate system; perform collision detection on the first element and the second element based on the first position information and the third position information to obtain a collision detection result, where the collision detection result is used to represent whether the first element and the second element will overlap; in the case where the collision detection result represents that the first element and the second element will overlap, perform mask processing on the first element or the second element; and the methods in the embodiments of the present invention.

[0123] The above-mentioned memory may refer to a device inside a computer for storing data and programs, which may include memory, hard disk, etc. Among them, the memory can be used to temporarily store running programs and data, and the hard disk can be used to store programs and data for a long time. The memory can be used to enable a computer to read and write data and execute programs; the above-mentioned processor can be responsible for executing instructions in a computer program and performing data processing, and can be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0124] According to another aspect of the embodiments of the present invention, a vehicle is further provided, and the vehicle includes the above-mentioned augmented reality head-up display device.

[0125] The embodiments of the present application also provide a computer-readable storage medium, and the computer-readable storage medium includes a stored executable program. Among them, when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0126] The above-mentioned computer storage medium may refer to a medium in a computer memory for storing a certain discontinuous physical quantity. The main computer storage media include semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser discs, etc.; the stored program included in the computer-readable storage medium can be a set of instructions that a computer can recognize and execute, running on an electronic computer, and is an information-based tool to meet people's certain needs.

[0127] The embodiments of the present application also provide a computer program product, including a computer program, and the computer program implements the methods in the various embodiments of the present invention when executed by a processor.

[0128] The above-mentioned computer program product may refer to a software program that has been written, tested, and released, and can run on a computer or other devices. The computer program product may include application programs, operating systems, tool software, etc., and is used to implement specific functions or solve specific problems.

[0129] The embodiments of the present application also provide a computer program product, including a non-volatile computer-readable storage medium, and the non-volatile computer-readable storage medium is used to store a computer program, and the computer program implements the methods in the various embodiments of the present invention when executed by a processor.

[0130] The above-mentioned non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep data from being lost when powered off and can be used to store data for long-term preservation, such as operating systems, application programs, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical discs, and flash storage devices, etc.

[0131] Embodiments of the present application also provide a computer program, which, when executed by a processor, implements the methods in the various embodiments of the present invention described above.

[0132] The above computer program may refer to a set of instructions for telling a computer to perform specific tasks or operations. The computer program can be written by a programmer using a specific programming language and may include contents such as algorithms, data structures, logic, and control flows. The computer program can be used for various purposes, including application software, operating systems, etc.

[0133] In the above embodiments of the present invention, the descriptions of the various embodiments each have their own focuses. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0134] 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 merely illustrative. For example, the division of the units can be a logical function division, and there can be other division methods in actual implementation. 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 couplings, direct couplings, or communication connections shown or discussed among each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0135] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or 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.

[0136] In addition, the functional units in the various embodiments of the present invention 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.

[0137] 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 such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0138] 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 processing interface elements, characterized in that, Including: In response to a display instruction for a first element, obtaining first position information of the first element in a vehicle coordinate system and second position information of a second element in a screen coordinate system, where the display instruction is used to display the first element in an augmented reality head-up display interface of the vehicle, the second element is an element that has been displayed in the augmented reality head-up display interface and is of a different type from the first element, the vehicle coordinate system is a coordinate system with the vehicle as the origin, and the screen coordinate system is a coordinate system in the augmented reality head-up display interface; Performing multi-level conversion on the second position information to obtain third position information in the vehicle coordinate system; Based on the first position information and the third position information, performing collision detection on the first element and the second element to obtain a collision detection result, where the collision detection result is used to characterize whether the first element and the second element will overlap; In the case where the collision detection result characterizes that the first element and the second element will overlap, performing a masking process on the first element or the second element.

2. The method according to claim 1, wherein The performing multi-level conversion on the second position information to obtain third position information in the vehicle coordinate system includes: Based on an internal parameter matrix of the augmented reality head-up display device, converting the second position information into fourth position information in an eye box coordinate system, where the eye box coordinate system is a coordinate system in the augmented reality head-up display device, and the augmented reality head-up display interface is a display interface of the augmented reality head-up display device; Converting the fourth position information into the third position information.

3. The method according to claim 1, wherein The performing collision detection on the first element and the second element based on the first position information and the third position information to obtain a collision detection result includes: Based on the third position information, constructing at least one target collision detection surface; Comparing the first position information with the at least one target collision detection surface in terms of coordinates to obtain the collision detection result.

4. The method according to claim 3, wherein The constructing at least one target collision detection surface based on the third position information includes: Based on the third position information, constructing at least one initial collision detection surface; Based on the perception information of the vehicle and the driving information of the vehicle, adjusting the initial collision detection surface to obtain the target collision detection surface.

5. The method according to claim 4, wherein The adjusting the initial collision detection surface based on the perception information of the vehicle and the vehicle speed information to obtain the target collision detection surface includes: Based on the perception information of the vehicle, determining the head pose information of the driver in the vehicle; Inputting the vehicle speed information and the head pose information into a compensation prediction model to output a compensation amount; Adjusting the initial collision detection surface based on the compensation amount to obtain the target collision detection surface.

6. The method according to any one of claims 1 to 5, characterized in that, The performing a masking process on the first element or the second element includes: Based on the first element, generating a first mask layer corresponding to the second element; Displaying the first mask layer above the second element and displaying the first element on the first mask layer.

7. The method according to any one of claims 1 to 5, characterized in that Masking the first element or the second element includes: Determining the display priority of the first element and the display priority of the second element based on the current scene where the vehicle is located; In response to the display priority of the first element being less than the display priority of the second element, generating a second mask layer corresponding to the first element based on the second element; Displaying the second mask layer above the first element and displaying the second element on the second mask layer.

8. The method according to any one of claims 1 to 5, characterized in that The first element is a navigation guiding arrow, and at least one of the following information corresponding to the navigation guiding arrow changes dynamically during the driving of the vehicle: display position, arrow length, and arrow area.

9. An augmented reality head-up display device, characterized in that, Comprising: A memory storing an executable program; A processor for running the program, wherein when the program runs, it executes the method according to any one of claims 1 to 8.

10. A vehicle, characterized in that, Comprising: The augmented reality head-up display device according to claim 9.

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