Head-up display device, display control method and device and storage medium

Abstract

The invention provides a head-up display device, a display control method and device and a storage medium. The method can comprise the steps that when it is detected that an obstacle exists in front of the driving direction of a vehicle, attribute information of the obstacle is obtained; when the obstacle is located on the current driving lane of the vehicle, determining a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle, and displaying the first obstacle avoidance area; detecting whether other vehicles exist on a borrowing lane where the vehicle needs to borrow the lane or not; when other vehicles are detected on the borrowing lane, determining a second obstacle avoidance area corresponding to the other vehicles according to the driving state data of the other vehicles and the driving state data of the vehicle, and displaying the second obstacle avoidance area; and controlling a display mode of a track line of the vehicle based on the first obstacle avoidance area and the second obstacle avoidance area so as to prompt to execute a driving operation of safely avoiding the obstacle.

Description

Technical Field

[0001] The present disclosure relates to the field of assisted driving technologies, and particularly to a head-up display device, a display control method, a device, and a storage medium. Background Art

[0002] A head-up display (HUD) device projects light rays of a display image output by an image source onto an imaging window (such as an imaging plate, a windshield, etc.) through, for example, a reflective optical design, so as to display vehicle status information such as vehicle speed, fuel level, etc., and indication information such as navigation, danger warning, etc. at an appropriate position in front of the driver. Thereby, the driver can obtain relevant information such as vehicle speed, fuel level, etc. without deviating the line of sight from the road surface ahead, and thus the driving safety factor and driving experience can be improved. Summary of the Invention

[0003] The present disclosure provides a head-up display device, a display control method, a device, and a storage medium; which can intuitively and safely guide the driver to avoid obstacles during driving.

[0004] The technical solution of the present disclosure is implemented as follows:

[0005] In a first aspect, the present disclosure provides a display control method, the method comprising:

[0006] When an obstacle is detected ahead in the driving direction of the vehicle, obtain the attribute information of the obstacle;

[0007] When the obstacle is on the current driving lane of the vehicle, determine a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle and display it;

[0008] Detect whether there is another vehicle on the lane to be borrowed for the vehicle to drive;

[0009] When another vehicle is detected on the lane to be borrowed, determine a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle and display it;

[0010] Based on the first obstacle avoidance area and the second obstacle avoidance area, control the display mode of the vehicle's track line to prompt the execution of a driving operation for safely avoiding the obstacle.

[0011] In a second aspect, the present disclosure provides a display control device, the display control device comprising: a detection part, an acquisition part, a determination part, and a control part; wherein,

[0012] The detection part is configured to detect whether there is an obstacle in front of the driving direction of the vehicle;

[0013] The acquisition part is configured to acquire the attribute information of the obstacle when it is detected that there is an obstacle in front of the driving direction of the vehicle;

[0014] The determination part is configured to determine and display a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle when the obstacle is in the current driving lane of the vehicle;

[0015] The detection part is further configured to detect whether there is another vehicle in the lane to be borrowed for the vehicle to drive;

[0016] The determination part is further configured to determine and display a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle when another vehicle is detected in the lane to be borrowed;

[0017] The control part is configured to control the display mode of the vehicle's trajectory line based on the first obstacle avoidance area and the second obstacle avoidance area to prompt the execution of a driving operation for safely avoiding the obstacle.

[0018] In a third aspect, the present disclosure provides a display control device, the device includes: a processor and a memory; the processor is used to execute the instructions stored in the memory to implement the display control method as described in the first aspect.

[0019] In a fourth aspect, the present disclosure provides a computer-readable storage medium, the computer-readable storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the display control method as described in the first aspect.

[0020] In a fifth aspect, the present disclosure provides a head-up display device, the head-up display device includes a display control part and a display part; wherein,

[0021] The display control part is configured to acquire the attribute information of the obstacle when it is detected that there is an obstacle in front of the driving direction of the vehicle;

[0022] And, when the obstacle is in the current driving lane of the vehicle, determine and display a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle;

[0023] And, detect whether there is another vehicle in the lane to be borrowed for the vehicle to drive;

[0024] And, when other vehicles are detected on the passing lane, a second obstacle avoidance area corresponding to the other vehicles is determined according to the driving state data of the other vehicles and the driving state data of the vehicle itself and displayed;

[0025] Based on the first obstacle avoidance area and the second obstacle avoidance area, the display mode of the vehicle's track line is controlled to prompt the execution of a driving operation for safely avoiding the obstacle;

[0026] The display unit is configured to project the first obstacle avoidance area, the second obstacle avoidance area, and the track line onto the windshield of the vehicle itself for display based on the control of the display control unit.

[0027] In a sixth aspect, the present disclosure provides a vehicle, which includes the head-up display device described in the fifth aspect.

[0028] The present disclosure provides a head-up display device, a display control method, a device, and a storage medium; during the process of the vehicle itself avoiding an obstacle, by combining the first obstacle avoidance area corresponding to the obstacle and the second obstacle avoidance area corresponding to other vehicles in the passing lane, a prompt is given to the driver for driving operations, so as to be able to intuitively and safely guide the driver to avoid obstacles during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the composition of a vehicle-mounted system provided by the present disclosure.

[0030] Figure 2 It is an exemplary top view of the vehicle provided by the present disclosure.

[0031] Figure 3 It is an exemplary perspective view from the driver's seat of the vehicle provided by the present disclosure.

[0032] Figure 4 It is a schematic diagram of the architecture of the head-up display device provided by the present disclosure.

[0033] Figure 5 It is an image schematic diagram of a track line provided by the present disclosure.

[0034] Figure 6 It is a schematic diagram of the flow of a display control method provided by the present disclosure.

[0035] FIG. 7(A) is a schematic diagram of an obstacle existing in the driving lane provided by the present disclosure.

[0036] FIG. 7(B) is a schematic diagram of the obstacle observed by the driver provided by the present disclosure.

[0037] Figure 8 (A) is a schematic diagram of an offset distance provided by the present disclosure.

[0038] Figure 8 (B) is another schematic diagram of the offset distance provided by the present disclosure.

[0039] Figure 9 (A) is a schematic diagram of a first obstacle avoidance area provided by the present disclosure.

[0040] Figure 9 (B) is another schematic diagram of the first obstacle avoidance area provided by the present disclosure.

[0041] Figure 10(A) is an observation schematic diagram of a first obstacle avoidance area provided by the present disclosure.

[0042] Figure 10(B) is another observation schematic diagram of the first obstacle avoidance area provided by the present disclosure.

[0043] Figure 11(A) is an observation schematic diagram of a second obstacle avoidance area provided by the present disclosure.

[0044] Figure 11(B) is another observation schematic diagram of the second obstacle avoidance area provided by the present disclosure.

[0045] Figure 12(A) is yet another observation schematic diagram of the second obstacle avoidance area provided by the present disclosure.

[0046] Figure 12(B) is still another observation schematic diagram of the second obstacle avoidance area provided by the present disclosure.

[0047] Figure 13 It is a schematic flowchart of controlling the display mode of the vehicle's track line provided by the present disclosure.

[0048] Figure 14 It is a schematic diagram of displaying according to the first display mode provided by the present disclosure.

[0049] Figure 15(A) is a schematic diagram of the track line length provided by the present disclosure.

[0050] Figure 15(B) is another schematic diagram of the track line length provided by the present disclosure.

[0051] Figure 16 It is a schematic diagram of displaying according to the second display mode provided by the present disclosure.

[0052] Figure 17 It is a schematic diagram of displaying according to the third display mode provided by the present disclosure.

[0053] Figure 18 It is a schematic diagram of displaying according to the fourth display mode provided by the present disclosure.

[0054] Figure 19 It is a schematic diagram of the composition of a display control device provided by the present disclosure.

[0055] Figure 20 Schematic structural diagram of a display control device provided by the present disclosure. Detailed implementation manners

[0056] Next, the technical solutions in the present disclosure will be clearly and completely described with reference to the accompanying drawings in the present disclosure.

[0057] Refer to Figure 1 , which shows an example of an in-vehicle system 100 applicable to the technical solutions of the present disclosure. In some examples, the vehicle equipped with the system 100 may be an internal combustion engine vehicle powered by an engine, a hybrid vehicle powered by an engine and an electric motor, an electric vehicle powered by an electric motor, and other types of vehicles. In the subsequent content of this specification, the vehicle equipped with the in-vehicle system 100 is referred to as the present vehicle.

[0058] As Figure 1 shown, the in-vehicle system 100 includes: a navigation subsystem 110, an environmental detection device group 120 for obtaining the environment where the vehicle is located during vehicle travel, a vehicle travel state detection device group 130, a data processing unit 140, a display control unit 150, and a display unit 160. The above components or device groups are coupled together through a communication bus 12. In some examples, the communication bus 12 is used for connection communication between the above components or device groups. It should be noted that Figure 1 only a part of the in-vehicle system 100 is shown, rather than all of the components of the in-vehicle system 100.

[0059] In Figure 1 , the navigation subsystem 110 includes: a positioning device 111 and a map information storage device 112. Among them, the positioning device 111 can position the location of the present vehicle based on positioning systems such as the global positioning system (GPS), Beidou system in China, GLONASS system in Russia, Galileo system in Europe, Quasi-Zenith Satellite System (QZSS) in Japan, and Indian Regional Navigation Satellite System (IRNSS) in India, and obtain the location information of the present vehicle. The map information storage device 112 stores map information, can obtain a navigation path leading to the destination according to the location information obtained from the positioning device 111, and display the location information and the navigation path in a map application.

[0060] In Figure 1 , the environmental detection device group 120 may include an in-vehicle communication device 121, a radar 122, a laser rangefinder 123, and a camera 124. These devices can obtain environmental information representing the surrounding environment of the present vehicle.

[0061] The in-vehicle communication device 121 can communicate wirelessly with one or more devices directly or via a communication network. These devices capable of communicating with the in-vehicle communication device 121 can be other vehicles, roadside units or roadside platforms, or mobile terminal devices used by the in-vehicle personnel of this vehicle, etc. In some examples, the in-vehicle communication device 121 can use 3G cellular communication, such as Code Division Multiple Access (CDMA), EVDO, Global System for Mobile Communications (GSM) / General Packet Radio Service (GPRS), or 4G cellular communication, such as Long Term Evolution (LTE), or 5G cellular communication. In some examples, the in-vehicle communication device 121 can also communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the in-vehicle communication device 121 can also directly communicate with devices using an infrared link, Bluetooth, or ZigBee. In some examples, the in-vehicle communication device 121 can also communicate with devices using other wireless protocols.

[0062] The radar 122 is used to sense objects within the surrounding environment of this vehicle and can also be used to sense the speed and / or forward direction of these objects. In some examples, the radar 122 can use electromagnetic waves or laser as a medium and detect objects based on the Time of Flight (TOF) method or the phase-shift method, and detect the position of the detected object, the distance to the detected object, and the relative speed. In some examples, in order to be able to detect objects located in front of, behind, or to the side of this vehicle, the radar 122 can be configured at an appropriate position outside this vehicle.

[0063] The laser rangefinder 123 can use laser to sense objects in the environment where this vehicle is located. In some embodiments, the laser rangefinder 123 can include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0064] Camera 124 can be used to capture multiple images of the surrounding environment of the vehicle. Camera 122 can be a static camera or a video camera. In some examples, in order to obtain an external image of the vehicle, Camera 122 can be located at an appropriate position outside the vehicle. For example, in order to obtain an image in front of the vehicle, Camera 122 can be disposed close to the front windshield inside the vehicle. Alternatively, Camera 122 can be disposed around the front bumper or radiator grille. In some examples, in order to obtain an image behind the vehicle, Camera 122 can be disposed close to the rear window glass inside the vehicle. Alternatively, Camera 122 can be disposed around the rear bumper, trunk or tailgate. In some examples, in order to obtain an image on the side of the vehicle, Camera 122 can be disposed close to at least one of the side windows inside the vehicle. Alternatively, Camera 122 can be disposed around the side mirror, fender or door.

[0065] In Figure 1 , the vehicle driving state detection device group 130 can include: a steering angle sensor 131 for detecting the steering angle of the vehicle, a vehicle speed sensor 132 for detecting the driving speed of the vehicle, and an acceleration sensor 133 for detecting the acceleration applied to the vehicle. In some examples, as shown by the dashed box, it can further include an inertial sensor 134 for detecting the position and orientation change of the vehicle based on inertial acceleration. The inertial sensor 134 can be a combination of the acceleration sensor 133 and a gyroscope in the specific implementation process.

[0066] In Figure 1 , the data processing unit 140 can be implemented as a computing system having a memory, a processor, an input / output interface, and a bus connecting these. In some examples, the data processing unit 140 causes the processor to execute multiple commands through program instructions stored in the memory to process the data obtained by the navigation subsystem 110, the environment detection device group 120, and the vehicle driving state detection device group 130. In some examples, the data processing unit 140 can also control the driving of the vehicle partially or entirely based on the processed data.

[0067] In Figure 1 , as shown by the dashed box, the display control unit 150 and the display unit 160 can be the main body of a Head Up Display (HUD) device 170. The display control unit 150 can, after receiving the data processed by the data processing unit 140, or after receiving the data obtained by the navigation subsystem 110, the environment detection device group 120, and the vehicle driving state detection device group 130, process the received data to obtain the display information to be displayed, and project the display information onto the windshield of the vehicle through the display unit 160 for display.

[0068] Combined with Figure 2An exemplary top view of the present vehicle as shown, and Figure 3 An exemplary perspective view from the driver's seat of the present vehicle. The present vehicle includes a windshield 204 located at the front of the vehicle. The driver and passengers in the passenger compartment 208 of the present vehicle can see the front of the present vehicle through the windshield 204.

[0069] In Figure 3 , the windshield 204 is visually located above the vehicle instrument panel 206. The driver can turn the steering wheel 210 in the passenger compartment 208 to steer the vehicle, such as changing lanes, merging, and parking the vehicle. In some embodiments, the steering wheel 210 can be retracted or omitted.

[0070] The head-up display device 170 (see Figure 4 ) projects display information 212 (e.g., a virtual image) onto a portion of the windshield 204 through one or more holes (such as hole 216) in the instrument panel 206. Although Figure 3 shows an example size of the display information 212, the display information 212 can be presented over a larger or smaller area. Examples of the display information 212 include various vehicle information, such as the current vehicle speed, the current gear of the vehicle transmission, the engine speed, the direction of the vehicle, the current infotainment system settings, and / or other vehicle information. The head-up display device 170 provides information to the vehicle driver without the driver having to shift their line of sight away from the objects in front of the vehicle.

[0071] See Figure 4 The exemplary implementation architecture of the head-up display device 170 as shown. The display control unit 150 generates a signal 412 based on the data processed by the data processing unit 140, or the data 420 transmitted by the navigation subsystem 110, the environmental detection device group 120, and the vehicle driving state detection device group 130. The display unit 160 can include: a light source 161 and an optical path component 162. The light source 161 outputs light (e.g., a virtual image) based on the signal 412 from the display control unit 150 for display on the windshield 204. For example, the light source 161 can include one or more lasers and output red, green, and blue light.

[0072] The optical path component 162 can reflect the output of the light source 161 to the windshield 204 through the hole 216. A viewer (e.g., a driver) can view the display information 212 in the display area where the display information 212 is projected onto the windshield 204. In some examples, the optical path component 162 can include one or more plane mirrors and concave mirrors (magnifying glasses). The output of the light source 161 is folded back via the plane mirror and magnified by the concave mirror and then reflected to the windshield 204 to form a virtual image 40 that can be visually observed by the driver. The visual effect presented by the virtual image 40 is that the virtual image 40 is projected onto a projection plane 41 at a set distance in front of the vehicle, but passes through the projection plane 41, and the real environment remains visible. In some examples, the optical path component 162 can also be omitted, and the light source 161 can project the display information 212 directly onto the windshield 204 to form the virtual image 40 on the projection plane 41.

[0073] Combined with the foregoing Figures 1 to 4 As shown, during the driving of the vehicle, the display control unit 150 determines the direction information of the driving trajectory of the vehicle according to the position information of the vehicle provided by the navigation subsystem 110 and the navigation path, and projects the direction information of the driving trajectory onto the windshield 204 in the form of a track line through the display unit 160. According to the guidance of the projected track line, the driver can drive the vehicle along the guided road to the destination. For example, as Figure 5 shown, in the display area 5 of the windshield 204, the track line 51 is shown as being covered on the driving road. Since the track line 51 is a virtual image formed by the display unit 160, Figure 5 its reference numeral is indicated by a dotted line in the figure. The lane lines 52 of the driving road are the scenery of the real environment, so Figure 5 its reference numeral is indicated by a solid line in the figure. In Figure 5 the figure, the track line 51 is shown as a line extending from in front of the vehicle in the driving direction, and the extending direction of the line corresponds to the direction of the driving trajectory of the vehicle. If the current driving trajectory is in a straight direction, then Figure 5 the track line 51 shown in the figure will correspondingly appear to extend in a straight line direction from in front of the vehicle. In some examples, as the direction of the driving trajectory changes, the extending direction of the track line 51 will also change correspondingly to the direction of the driving trajectory. Combined with Figure 5 it can be seen that the track line 51 can visually show the driver the direction of the driving trajectory, enabling the driver to see relevant information without having to look down, improving safety and convenience, and is a visual aid used to assist the driver in better understanding the position of the vehicle and the expected driving path during driving.

[0074] During the driving of the vehicle, when there are obstacles in front of the driving direction of the vehicle, such as static obstacles like large stones and potholes, the obstacles can be detected by devices in the environmental detection device group 120 such as the radar 122, the laser rangefinder 123, or the camera 124. The display control unit 150 warns the driver by controlling the display mode of the track line 51 based on the detected obstacles. For example, in some related solution examples, the display control unit 150 can control the extension direction of the track line 51 displayed by the display unit 160 to bypass the obstacle, so that the driver can control the driving direction of the vehicle based on the track line 51 that bypasses the obstacle in the extension direction, thereby avoiding the obstacle.

[0075] In the specific implementation of the above-mentioned related solutions, the driver usually adopts the control methods of changing to the adjacent lane or borrowing the adjacent lane to avoid the obstacle. Then, in the case where there are other vehicles driving in the adjacent lane, such control methods are likely to cause traffic accidents such as rubbing or rear-ending with other vehicles when changing lanes or borrowing lanes. In order to avoid the probability of traffic accidents and improve the safety during vehicle driving, the present disclosure expects to combine the driving conditions of vehicles in the adjacent lane to give a warning while warning of the obstacle, and intuitively and safely guide the driver to avoid the obstacle.

[0076] Based on this, as Figure 6 shown, it shows an example of a display control method provided by the present disclosure. This method can be executed by the aforementioned head-up display device 170, and in particular, can be executed by the display control unit 150 in the aforementioned head-up display device 170. Figure 6 The method shown includes steps S601 to S603.

[0077] In step S601, when it is detected that there is an obstacle in front of the driving direction of the vehicle, the attribute information of the obstacle is obtained.

[0078] In the present disclosure, in some examples, as shown in FIG. 7(A), the aforementioned Figure 1The host vehicle 71 of the vehicle-mounted system 100 shown is traveling in the current driving lane 72. When there is an obstacle 73 in front of the traveling direction of the host vehicle 71, the host vehicle 71 can detect the obstacle 73 through devices such as a radar 122, a laser rangefinder 123, or a camera 124 in the environmental detection device group 120, and can also obtain the attribute information of the obstacle 73 by using the devices in the environmental detection device group 120, such as the position and size of the obstacle 73, etc. And according to the above-mentioned attribute information of the obstacle 73, it can also be known whether the obstacle is in the current driving lane 72 of the host vehicle 71. As shown in FIG. 7(B), it shows the situation observed by the driver on the windshield when there is an obstacle 73 in the front visible to the host vehicle 71 in the current driving lane 72 of the host vehicle 71. In the present disclosure, the case where the obstacle 73 exists in the right front of the host vehicle 71 is taken as an example for elaboration. It can be understood that the technical solution provided by the present disclosure can also be applied to the case where the obstacle 73 exists in the left front of the host vehicle 71, and the present disclosure will not elaborate on this any further.

[0079] In step S602, when the obstacle is in the current driving lane of the host vehicle, a first obstacle avoidance area corresponding to the obstacle is determined according to the attribute information of the obstacle and the driving state data of the host vehicle.

[0080] In the present disclosure, during the driving process of the host vehicle 71, it usually deviates in the direction away from the obstacle to bypass the obstacle. When the vehicle deviates in the direction away from the obstacle, compared with the driving direction before deviation, the deviation distance away from the obstacle is usually related to the road area occupied by the obstacle. For example, Figure 8 (A) and Figure 8 the schematic diagrams of the road area occupied by the obstacle shown in Figure 8 (A) The area of the lane occupied by the obstacle is smaller than Figure 8 (B) The area of the lane occupied by the obstacle in Figure 8 (B), when bypassing the obstacle, Figure 8 (B) The vehicle 71 will deviate a greater distance (as shown by the distance between the dashed arrow and the solid arrow in the figure) relative to the driving direction before deviation (as shown by the solid arrow in the figure) compared with

[0081] (A) The vehicle 71 in

[0082] Based on the obstacle, the present disclosure defines the area within the above two offset distance ranges as the first obstacle avoidance area described in step S602. That is to say, if the vehicle needs to safely bypass the obstacle, the vehicle should not drive into the first obstacle avoidance area.

[0083] Regarding the above definition of the first obstacle avoidance area, in some examples, determining and displaying the first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle in step S602 may include:

[0084] Determine the lane area occupied by the obstacle on the current driving lane according to the position information and size information of the obstacle;

[0085] Determine the first safety distance between the vehicle and the boundary of the obstacle according to the occupied lane area and the driving speed of the vehicle; wherein, the first safety distance is positively correlated with the driving speed of the vehicle;

[0086] Based on the boundary of the obstacle, determine and display the first obstacle avoidance area according to the first safety distance.

[0087] For the above example, specifically, when the vehicle 71 obtains the position of the obstacle 73 according to the example described in the foregoing step S601, it can determine the specific position of the obstacle 73 on the current driving lane 72. For example, the obstacle 73 is at the center position of the lane 72, or at a position 1 meter to the right of the center of the lane 72. Subsequently, combining the size of the obstacle 73 and its specific position on the lane 72, the area of the lane 72 covered laterally by the obstacle 73, that is, the occupied lane area described in the above example, can be determined. Based on the occupied lane area of the obstacle 73, when the vehicle 71 safely bypasses the obstacle 73, a safety distance, that is, the first safety distance, needs to be reserved between the vehicle and the boundary of the obstacle 73. This safety distance is related to the speed of the vehicle, that is, the faster the speed, the greater the safety distance; the slower the speed, the smaller the safety distance. Based on this first safety distance, taking the obstacle 73 as a reference, the area within this first safety distance range can be called the first obstacle avoidance area. It should be noted that since the first safety distance is positively correlated with the driving speed of the vehicle, the range of the first obstacle avoidance area is also positively correlated with the driving speed of the vehicle, which is not elaborated in the present disclosure.

[0088] For example, taking Figure 8 the obstacle shown in (A) as an example, refer to Figure 9 (A) and Figure 9 (B), Figure 9 the driving speed of the vehicle 71 in (A) is less than Figure 9 the driving speed of the vehicle 71 in (B). Therefore, Figure 9The size of the first obstacle avoidance area 91-A corresponding to the obstacle 73 shown by the dashed arc in (A) is smaller than Figure 9 The size of the first obstacle avoidance area 91-B corresponding to the obstacle 73 shown by the dashed arc in (B). In a specific implementation process, the display control unit 150 can project the first obstacle avoidance area onto the obstacle 73 through the display unit 160 to prompt the driver. Corresponding to Figure 9 (A) and Figure 9 The first obstacle avoidance areas shown in (B), the first obstacle avoidance areas observed by the driver are shown in FIGS. 10(A) and 10(B) respectively. It can be understood that in FIGS. 10(A) and 10(B) and some of the subsequent drawings shown in the present disclosure, the display control unit 150 can also project the speed limit information of the road, the current speed information of the vehicle, and the current driving gear information of the vehicle onto the display area 5 of the windshield through the display unit 160.

[0089] In step S603, it is detected whether there are other vehicles on the lane to be borrowed for the vehicle to drive.

[0090] In the present disclosure, the vehicle 71 can offset the obstacle 73 based on the above-mentioned first obstacle avoidance area so as to bypass the obstacle 73. However, when offsetting, it usually borrows a lane to drive in the adjacent lane. When it is necessary to borrow a lane to drive, the devices such as the radar 122, the laser rangefinder 123 or the camera 124 in the environmental detection device group 120 can also be used to detect whether there are other vehicles on the borrowed lane. Taking the obstacle 73 existing in the right front of the vehicle 71 in the foregoing present disclosure as an example, the lane to be borrowed for the vehicle 71 to drive is the left lane adjacent to the current driving lane 72 of the vehicle 71. It can be understood that the devices in the environmental detection device group 120 can not only detect whether there are other vehicles on the borrowed lane, but also sense the driving state of the other vehicle when detecting other vehicles, such as the driving direction, the driving speed, and the vehicle size of the other vehicle.

[0091] In step S604, when other vehicles are detected on the borrowed lane, a second obstacle avoidance area corresponding to the other vehicles is determined and displayed according to the driving state data of the other vehicles and the driving state data of the vehicle.

[0092] In the present disclosure, if there are other vehicles on the borrowed lane, and the driving speed of the other vehicle causes the other vehicle to meet the vehicle 71 in the same direction or in the opposite direction near the obstacle 73, then the other vehicle on the borrowed lane will affect the vehicle 71 to bypass the obstacle 73. If the driving speed of the other vehicle on the borrowed lane is relatively fast and passes through the obstacle 73 earlier than the vehicle 71; or the driving speed is relatively slow and passes through the obstacle 73 later than the vehicle 71, then the other vehicle will not affect the vehicle 71 to bypass the obstacle.

[0093] Based on this, in some examples, determining and displaying a second obstacle avoidance area corresponding to another vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle itself in step S604 includes:

[0094] Determining whether the other vehicle and the vehicle itself will meet near the obstacle according to the driving direction and driving speed of the other vehicle;

[0095] When the other vehicle and the vehicle itself will meet near the obstacle, obtaining the position information of the other vehicle in the passing lane;

[0096] Obtaining the relative speed between the other vehicle and the vehicle itself according to the driving speed of the other vehicle and the driving speed of the vehicle itself;

[0097] Determining a second safety distance between the vehicle itself and the other vehicle when the other vehicle and the vehicle itself meet according to the position information of the other vehicle in the passing lane and the relative speed; wherein, the second safety distance has a positive correlation with the relative speed;

[0098] Taking the other vehicle as a reference, determining and displaying the second obstacle avoidance area according to the second safety distance.

[0099] For the above example, specifically, when it is determined that another vehicle in the passing lane will form a same-direction or oncoming meeting with the vehicle 71 near the obstacle 73, it is necessary to reserve a safety distance for the vehicle itself with respect to the other vehicle. To determine the second safety distance between the vehicle itself and the other vehicle, first, determine the position of the other vehicle in the passing lane according to the detected position information of the other vehicle, for example, the other vehicle is at the center position of the passing lane or at a position 1 meter to the right of the center of the passing lane, etc. In addition, the relative speed between the two vehicles can also be obtained according to the driving speeds of the two vehicles. If the relative speed is large, then a larger second safety distance needs to be reserved. If the relative speed is small, then a smaller second safety distance needs to be reserved. After obtaining the position information of the other vehicle in the passing lane, the area within the second safety distance range can be called the second obstacle avoidance area with the position of the other vehicle in the passing lane as a reference. It should be noted that since the second safety distance has a positive correlation with the relative speed, the range of the second obstacle avoidance area also has a positive correlation with the relative speed, and the present disclosure will not elaborate on this.

[0100] For example, as shown in FIGS. 11(A) and 11(B) respectively, in FIG. 11(A), other vehicles in the passing lane are at the center position of the passing lane, and in FIG. 11(B), other vehicles in the passing lane are at a position 1 meter to the right of the center of the passing lane. When the relative speed of other vehicles and the vehicle itself is the same, the reserved second safety distance is also the same. At this time, the second obstacle avoidance area displayed by the display control unit 150 through the display unit 160 can be seen from FIGS. 11(A) and 11(B): the position of the second obstacle avoidance area 11-A in FIG. 11(B) is to the right of the position of the second obstacle avoidance area 11-B in FIG. 11(A).

[0101] In addition, taking the example that other vehicles in the passing lane shown in FIG. 11(A) are at the center position of the passing lane, referring to FIGS. 12(A) and 12(B), the relative speed between other vehicles and the vehicle 71 in FIG. 12(A) is less than the relative speed between other vehicles and the vehicle 71 in FIG. 12(B). Therefore, the second safety distance in FIG. 12(A) is less than the second safety distance in FIG. 12(B), and then the size of the second obstacle avoidance area 12-A shown in FIG. 12(A) is smaller than the size of the second obstacle avoidance area 12-A shown in FIG. 12(B).

[0102] In step S605, based on the first obstacle avoidance area and the second obstacle avoidance area, control the display mode of the vehicle's trajectory line to prompt the driving operation of safely avoiding obstacles.

[0103] In the present disclosure, after obtaining the first obstacle avoidance area and the second obstacle avoidance area through the above steps, the display mode of the vehicle's trajectory line can be controlled to remind the driver to safely detour to avoid the obstacle while paying attention to both the first obstacle avoidance area and the second obstacle avoidance area.

[0104] Through the above Figure 6 shown technical solution, during the process of the vehicle avoiding obstacles, by combining the first obstacle avoidance area corresponding to the obstacle and the second obstacle avoidance area corresponding to other vehicles in the passing lane to prompt the driver's driving operation, the driver can be intuitively and safely guided to avoid obstacles during driving.

[0105] For Figure 6 the shown technical solution, in some possible implementation manners, referring to Figure 13 , the step S605 of controlling the display mode of the vehicle's trajectory line based on the first obstacle avoidance area and the second obstacle avoidance area to prompt the driving operation of safely avoiding the obstacle includes steps S131 to S136.

[0106] In step S131, control the vehicle's track line to be displayed in a first display mode that bypasses the obstacle along the curvature of the edge of the first obstacle avoidance area and extends between the first obstacle avoidance area and the second obstacle avoidance area.

[0107] In this implementation, as Figure 14 shown in the exemplary content displayed in the first display mode, the track line bypasses the obstacle along the curvature of the edge of the first obstacle avoidance area 91 and extends between the first obstacle avoidance area 91 and the second obstacle avoidance area 12.

[0108] In step S132, determine whether the track line displayed in the first display mode overlaps with the first obstacle avoidance area and the second obstacle avoidance area.

[0109] In step S133, when the track line displayed in the first display mode does not overlap with either the first obstacle avoidance area or the second obstacle avoidance area, keep displaying the vehicle's track line in the first display mode.

[0110] In step S134, when the track line displayed in the first display mode overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, determine whether the track line displayed in the first display mode will still overlap with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the vehicle's driving speed is reduced.

[0111] In this implementation, if the track line displayed in the first display mode overlaps with any one of the first obstacle avoidance area 91 and the second obstacle avoidance area 12, it means that the vehicle will enter the overlapping obstacle avoidance area when driving along the Figure 14 shown track line based on the current driving state. If the vehicle is about to enter the first obstacle avoidance area 91, it indicates that the vehicle has a high possibility of colliding with the obstacle. If the vehicle is about to enter the second obstacle avoidance area 12, it indicates that the vehicle has a high possibility of colliding with other vehicles driving in the passing lane. To avoid the above situations, considering that the range of the obstacle avoidance area is correlated with the vehicle's driving speed, the vehicle's driving speed can be tried to be reduced. As the vehicle's driving speed decreases, the ranges of the first obstacle avoidance area 91 and the second obstacle avoidance area 12 also decrease, so Figure 14 the probability that the

[0112] In step S135, if after the driving speed of the vehicle decreases, the track line displayed in the first display mode does not overlap with either the first obstacle avoidance area or the second obstacle avoidance area, the first display mode is combined with the display mode for prompting a speed reduction to obtain a second display mode, and the track line of the vehicle is displayed according to the second display mode to prompt the execution of a driving operation for reducing the driving speed of the vehicle.

[0113] In this implementation, if the driving speed of the vehicle is reduced so that the track line does not overlap with any one of the first obstacle avoidance area 91 and the second obstacle avoidance area 12, then on the basis of the first display mode shown in Figure 14 a second display mode is formed by combining the display mode for prompting a speed reduction, and the track line is displayed according to the second display mode, enabling the driver to intuitively obtain a driving operation prompt for reducing the driving speed of the vehicle.

[0114] In some examples, the length of the displayed track line can be a fixed length value. When the extended length of the track line is a fixed length value, in addition to displaying the track line of the vehicle according to the second display mode, the method further includes: controlling the display unit to display an identification image for indicating deceleration to prompt the execution of a driving operation for reducing the driving speed of the vehicle.

[0115] For the above example, specifically, the display control unit 150 can control the display unit 160 to additionally display a flag image for deceleration in the display area 5, thereby prompting the driver to reduce the driving speed of the vehicle.

[0116] In other examples, the length of the track line can also be adapted to the driving speed of the vehicle. Generally speaking, the higher the driving speed, the longer the track line length. As shown in FIGS. 15(A) and 15(B), the track line length shown in FIG. 15(A) is less than the track line length shown in FIG. 15(B), which also means that in the scenario shown in FIG. 15(A), the driving speed of the vehicle is less than that in the scenario shown in FIG. 15(B). Based on this, when the extended length of the track line is adapted to the driving speed of the vehicle, the displaying of the track line of the vehicle according to the second display mode includes:

[0117] Compared with the first display mode, shortening the length of the track line of the vehicle;

[0118] Displaying the track line of the vehicle according to the shortened length.

[0119] For the above example, it should be noted that since the extended length of the track line is adapted to the driving speed, the length of the track line can be shortened to prompt the driver to reduce the driving speed of the vehicle. For example, in Figure 14Based on the first display mode shown, shorten the length of the track line as the second display mode. The shortened track line is as shown in Figure 16 shown.

[0120] In step S136, if after the driving speed of the vehicle decreases, the track line displayed in the first display mode still overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, then combine the second display mode with the display mode for braking to obtain a third display mode, and display the track line of the vehicle according to the third display mode to prompt the execution of driving operations to make the distance between the vehicle and the obstacle greater than the safe distance or to brake the vehicle.

[0121] In this implementation mode, if the track line still overlaps with any one of the first obstacle avoidance area 91 and the second obstacle avoidance area 12 after reducing the driving speed, it means that reducing the driving speed can no longer safely avoid the obstacle. In this case, it is necessary to brake the vehicle to make the distance between the vehicle and the obstacle greater than the safe distance or to stop the vehicle. After waiting for other vehicles in the borrowed lane to drive away from the obstacle, the vehicle can avoid the obstacle by borrowing the lane. Therefore, on the basis of the second display mode, a third display mode can be formed by combining the display mode for prompting braking, and the track line can be displayed according to the third display mode, so that the driver can intuitively obtain that the vehicle is braked to make the distance between the vehicle and the obstacle greater than the safe distance or to stop the vehicle.

[0122] Combining the track lines of the above two length display modes, in some examples, when the extension length of the track line is a fixed length value, in addition to displaying the track line of the vehicle according to the third display mode, the method further includes:

[0123] Controlling the display unit to display an identification image for indicating braking to prompt the execution of driving operations to make the distance between the vehicle and the obstacle greater than the safe distance or to brake the vehicle.

[0124] In some examples, when the extension length of the track line is adapted to the driving speed of the vehicle, the displaying the track line of the vehicle according to the third display mode includes:

[0125] Compared with the second display mode, changing the color of the track line of the vehicle to a warning color for reminding the vehicle to brake;

[0126] Displaying the track line of the vehicle according to the warning color.

[0127] In the above example, the warning color can be selected as red.

[0128] For the above example, in order to enhance the warning effect, in addition to displaying the track line of the vehicle according to the third display method, the method further includes:

[0129] Filling the colors within the first obstacle avoidance area and the second obstacle avoidance area with a warning color for reminding the vehicle to brake.

[0130] For example, based on the second display method shown in Figure 16 it is set that Figure 16 and Figure 16 previously in the attached drawings, the filling color of the track line is green, indicating that the vehicle is driving. The filling colors of the first obstacle avoidance area and the second obstacle avoidance area are gray. In order to prompt the driver to brake the vehicle, as shown in Figure 17 the third display method, the track line can be filled with a warning color (such as red). In addition, the first obstacle avoidance area and the second obstacle avoidance area can also be filled with this warning color, so that when the driver observes this warning color, the driver brakes the vehicle.

[0131] It should be noted that the above technical solution is a display control solution when there are other vehicles driving in the borrowed lane. When no other vehicles are detected in the borrowed lane, then there is no need to combine the driving conditions of the vehicles in the adjacent lanes, and only the display of the track line needs to be controlled according to the first obstacle avoidance area corresponding to the obstacle to avoid the obstacle. Based on this, in some possible implementation manners, the method further includes:

[0132] When no other vehicles are detected in the borrowed lane, controlling the display manner of the track line of the vehicle based on the first obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle.

[0133] For the above implementation manner, in some examples, the controlling the display manner of the track line of the vehicle based on the first obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle includes:

[0134] Controlling the track line of the vehicle to be displayed according to a fourth display method of bypassing the obstacle along the curvature of the edge of the first obstacle avoidance area;

[0135] Obtaining the overlapping area between the track line displayed according to the fourth display method and the first obstacle avoidance area;

[0136] Based on the fourth display method, controlling the track line of the vehicle to be displayed according to a fifth display method according to the overlapping area.

[0137] In the above example, as shown in Figure 18The track line shown in the exemplary fourth display mode is obtained to determine whether it overlaps with the first obstacle avoidance area 91. If an overlap occurs, then based on the overlapping area, the fourth display mode can be combined with other display modes to form a fifth display mode, and the track line can be controlled to be displayed according to the fifth display mode.

[0138] For the above example, in combination with the track lines of the aforementioned two length display modes, in some specific implementation processes, when the extension length of the track line is a fixed length value, based on the fourth display mode, controlling the track line of the vehicle to be displayed according to the fifth display mode includes:

[0139] When the overlapping area is less than the first area threshold, the track line of the vehicle is maintained to be displayed in the fourth display mode;

[0140] When the overlapping area is greater than or equal to the first area threshold and less than the second area threshold, first display an identification image for indicating deceleration to perform a deceleration driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode;

[0141] When the overlapping area is greater than or equal to the second area threshold, first display an identification image for indicating braking to perform a braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode.

[0142] For the above specific implementation process, the first area threshold and the second area threshold are used to characterize the negative impact degree of the first obstacle avoidance area on the vehicle driving state. In the present disclosure, the first area threshold is less than the second area threshold.

[0143] When the overlapping area is less than the first area threshold, it can indicate that the range of the first obstacle avoidance area 91 does not affect the normal driving of the vehicle, and the driver can control the vehicle according to the indication of the track line displayed in the fourth display mode.

[0144] When the overlapping area is between the first area threshold and the second area threshold, it means that the range of the first obstacle avoidance area 91 has a negative impact on the normal driving of the vehicle. Then, it is necessary to reduce the range of the first obstacle avoidance area 91 by reducing the vehicle's driving speed, so that the first obstacle avoidance area 91 after the range reduction will not have a negative impact on the normal driving of the vehicle. In the present disclosure, the driver is prompted to reduce the vehicle's driving speed to the obstacle avoidance turning speed by first displaying an identification image indicating the speed reduction, and then the vehicle is controlled according to the indication of the track line displayed in the fourth display mode. It should be noted that the obstacle avoidance turning speed can be a speed that makes the range of the first obstacle avoidance area 91 not affect the normal driving of the vehicle, that is, it can be the driving speed of the vehicle when the overlapping area is less than the first area threshold.

[0145] When the overlapping area is greater than or equal to the second area threshold, it indicates that a faster way of reducing the driving speed is needed. In the present disclosure, the braking logo image is first displayed to brake the vehicle, and then the driving speed of the vehicle is quickly reduced to the obstacle avoidance turning speed. Then, when the driving speed is reduced to the obstacle avoidance turning speed, the vehicle is controlled according to the instructions of the track line displayed in the fourth display mode.

[0146] For the above example, in combination with the track lines of the above two length display modes, in some specific implementations, when the extension length of the track line is adapted to the driving speed of the host vehicle, the track line of the host vehicle is controlled to be displayed in a fifth display mode based on the fourth display mode and according to the overlapping area, including:

[0147] When the overlapping area is less than the third area threshold, firstly displaying an identification image for indicating deceleration to perform a deceleration driving operation so that the driving speed of the host vehicle is reduced to the obstacle avoidance turning speed, and then displaying the track line of the host vehicle in the fourth display mode;

[0148] When the overlapping area is greater than or equal to the third area threshold, an identification image indicating braking is first displayed to perform a braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then the trajectory of the vehicle is displayed in the fourth display mode.

[0149] For the above specific implementation process, the third area threshold may be used to characterize the degree of negative impact of the first obstacle avoidance area on the driving state of the vehicle.

[0150] When the overlapping area is smaller than the third area threshold, it indicates that the range of the first obstacle avoidance area 91 has a negative impact on the normal driving of the vehicle. Then, it is necessary to reduce the range of the first obstacle avoidance area 91 by reducing the vehicle's driving speed, so that the first obstacle avoidance area 91 after the range reduction will not have a negative impact on the normal driving of the vehicle.

[0151] When the overlapping area is greater than or equal to the third area threshold, it indicates that a faster way to reduce the driving speed is needed. In the present disclosure, first, an identification image for braking is displayed to brake the vehicle, and then the driving speed of the vehicle is quickly reduced to the obstacle avoidance steering speed, so that the range of the first obstacle avoidance area 91 is quickly reduced, and the negative impact of the range of the first obstacle avoidance area 91 on the normal driving of the vehicle is quickly eliminated.

[0152] It should be noted that the foregoing technical solution is a display control solution when the obstacle is in the current driving lane of the vehicle. In some examples, when the obstacle is in an adjacent lane of the current driving lane of the vehicle, the method further includes:

[0153] Obtain the attribute information of the obstacle;

[0154] When it is detected that there is another vehicle driving in the adjacent lane, detect the driving state data of the other vehicle;

[0155] Determine a third obstacle avoidance area corresponding to the other vehicle according to the attribute information of the obstacle, the driving state data of the other vehicle, and the driving speed of the vehicle;

[0156] Based on the third obstacle avoidance area, control the display mode of the vehicle's track line to prompt the driving operation of avoiding the other vehicle that borrows a lane to bypass the obstacle.

[0157] For the above implementation manner, in some examples, the determining a third obstacle avoidance area corresponding to the other vehicle according to the attribute information of the obstacle, the driving state data of the other vehicle, and the driving speed of the vehicle includes:

[0158] Determine the lane area occupied by the obstacle in the adjacent lane according to the position information and size information of the obstacle;

[0159] According to the occupied lane area and the driving speed of the other vehicle, predict the lane-changing position and lane-changing area of the other vehicle in the current driving lane of the vehicle to bypass the obstacle;

[0160] Determine a third obstacle avoidance area corresponding to the other vehicle according to the lane-changing position, lane-changing area, the driving speed of the other vehicle, and the driving speed of the vehicle.

[0161] For the above implementation manners and their examples, specifically, when the obstacle is not in front of the current driving lane of the vehicle but in an adjacent lane, first, it is determined whether the lane-changing of other vehicles driving in the adjacent lane with the obstacle will affect the vehicle. Similar to the foregoing technical solution, the third obstacle avoidance area corresponding to the other vehicle can be determined, and whether it will affect the driving of the vehicle can be determined according to the range of the third obstacle avoidance area. Specifically, the minimum lane-changing area and direction required by other vehicles in the lane where the obstacle is located can be predicted based on the size and position of the obstacle and the driving speed of other vehicles in the adjacent lane with the obstacle. The minimum lane-changing area and direction can then determine the third obstacle avoidance area.

[0162] For this third obstacle avoidance area, in combination with the driving trajectory of the vehicle, it can be determined whether the vehicle and other vehicles will have oncoming or head-on passing in the third obstacle avoidance area. If passing will occur, then the display control method described in the foregoing solution can be used to prompt the driving operation of avoiding the other vehicle that changes lanes to bypass the obstacle; if passing does not occur, it means that the lane-changing of other vehicles will not have a negative impact on the driving of the vehicle, and the vehicle can drive normally through.

[0163] Based on the same inventive concept as the foregoing technical solution, see Figure 19 , which shows a display control device 190 provided by the present disclosure. The device 190 can be Figure 1 or Figure 4 the display control unit shown in

[0164] The detection part 191 is configured to detect whether there is an obstacle in front of the driving direction of the vehicle.

[0165] The acquisition part 192 is configured to, when it is detected that there is an obstacle in front of the driving direction of the vehicle, acquire the attribute information of the obstacle.

[0166] The determination part 193 is configured to, when the obstacle is in the current driving lane of the vehicle, determine and display the first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle.

[0167] The detection part 191 is further configured to detect whether there are other vehicles in the lane-changing lane where the vehicle needs to change lanes.

[0168] The determining part 193 is further configured to determine and display a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the own vehicle when the other vehicle is detected on the passing lane;

[0169] The control part 194 is configured to control the display mode of the track line of the own vehicle based on the first obstacle avoidance area and the second obstacle avoidance area to prompt the execution of a driving operation for safely avoiding the obstacle.

[0170] In some examples, the determining part 193 is configured to:

[0171] Determine the lane area occupied by the obstacle on the current driving lane according to the position information and size information of the obstacle;

[0172] Determine a first safety distance between the own vehicle and the boundary of the obstacle according to the occupied lane area and the driving speed of the own vehicle; wherein, the first safety distance has a positive correlation with the driving speed of the own vehicle;

[0173] Determine and display the first obstacle avoidance area based on the boundary of the obstacle according to the first safety distance.

[0174] In some examples, the determining part 193 is configured to:

[0175] Determine whether the other vehicle and the own vehicle will meet near the obstacle according to the driving direction and driving speed of the other vehicle;

[0176] When the other vehicle and the own vehicle will meet near the obstacle, obtain the position information of the other vehicle on the passing lane;

[0177] Obtain the relative speed between the other vehicle and the own vehicle according to the driving speed of the other vehicle and the driving speed of the own vehicle;

[0178] Determine a second safety distance between the own vehicle and the other vehicle when the other vehicle and the own vehicle meet according to the position information of the other vehicle on the passing lane and the relative speed; wherein, the second safety distance has a positive correlation with the relative speed;

[0179] Determine and display the second obstacle avoidance area based on the other vehicle according to the second safety distance.

[0180] In some examples, the control part 194 is configured to:

[0181] Control the track line of the vehicle to display in a first display mode that bypasses the obstacle along the curvature of the edge of the first obstacle avoidance area and extends between the first obstacle avoidance area and the second obstacle avoidance area;

[0182] And, determine whether the track line displayed in the first display mode overlaps with the first obstacle avoidance area and the second obstacle avoidance area;

[0183] And, when the track line displayed in the first display mode does not overlap with either the first obstacle avoidance area or the second obstacle avoidance area, keep displaying the track line of the vehicle in the first display mode;

[0184] And, when the track line displayed in the first display mode overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, determine whether the track line displayed in the first display mode will still overlap with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the driving speed of the vehicle is reduced;

[0185] And, if after the driving speed of the vehicle is reduced, the track line displayed in the first display mode does not overlap with either the first obstacle avoidance area or the second obstacle avoidance area, combine the first display mode with a display mode for prompting speed reduction to obtain a second display mode, and display the track line of the vehicle according to the second display mode to prompt the execution of a driving operation to reduce the driving speed of the vehicle;

[0186] And, if after the driving speed of the vehicle is reduced, the track line displayed in the first display mode still overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, combine the second display mode with a display mode for braking to obtain a third display mode, and display the track line of the vehicle according to the third display mode to prompt the execution of a driving operation to make the distance between the vehicle and the obstacle greater than the safe distance or to brake the vehicle.

[0187] In some examples, the control section 194 is further configured to:

[0188] Fill the colors within the first obstacle avoidance area and the second obstacle avoidance area with a warning color for reminding the vehicle to brake.

[0189] In some examples, the control section 194 is further configured to:

[0190] When the extension length of the track line is a fixed length value, control the display unit to display an identification image for indicating deceleration to prompt the execution of a driving operation to reduce the driving speed of the vehicle.

[0191] In some examples, the control section 194 is further configured to:

[0192] When the extension length of the track line is a fixed length value, control the display section to display an identification image for indicating braking, so as to prompt to perform a driving operation of making the distance between the vehicle itself and the obstacle greater than the safe distance or braking the vehicle itself.

[0193] In some examples, the control section 194 is further configured to:

[0194] When the extension length of the track line is adapted to the driving speed of the vehicle itself, compared with the first display mode, shorten the length of the track line of the vehicle itself;

[0195] And display the track line of the vehicle itself according to the shortened length.

[0196] In some examples, the control section 194 is configured to:

[0197] When the extension length of the track line is adapted to the driving speed of the vehicle itself, compared with the second display mode, change the color of the track line of the vehicle itself to a warning color for reminding the vehicle itself to brake;

[0198] And display the track line of the vehicle itself according to the warning color.

[0199] In some examples, the control section 194 is further configured to:

[0200] When no other vehicle is detected in the borrowed lane, control the display mode of the track line of the vehicle itself based on the first obstacle avoidance area, so as to prompt a driving operation for safely avoiding the obstacle.

[0201] In some examples, the control section 194 is configured to:

[0202] Control the track line of the vehicle itself to be displayed according to a fourth display mode that bypasses the obstacle along the curvature of the edge of the first obstacle avoidance area;

[0203] And obtain the overlapping area between the track line displayed in the fourth display mode and the first obstacle avoidance area;

[0204] And based on the fourth display mode, control the track line of the vehicle itself to be displayed according to a fifth display mode according to the overlapping area.

[0205] In some examples, the control section 194 is configured to:

[0206] When the extension length of the track line is a fixed length value, if the overlapping area is less than the first area threshold, the track line of the vehicle is displayed in the fourth display mode;

[0207] And, if the overlapping area is greater than the first area threshold and less than the second area threshold, first display an identification image for indicating deceleration to perform a deceleration driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode;

[0208] And, if the overlapping area is greater than the second area threshold, first display an identification image for indicating braking to perform a braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode.

[0209] In some examples, the control section 194 is configured to:

[0210] When the extension length of the track line is adapted to the driving speed of the vehicle, if the overlapping area is less than the third area threshold, first display an identification image for indicating deceleration to perform a deceleration driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode;

[0211] And, if the overlapping area is greater than the third area threshold, first display an identification image for indicating braking to perform a braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode.

[0212] In some examples, the acquisition section 192 is further configured to acquire the attribute information of the obstacle when the obstacle is in an adjacent lane of the current driving lane of the vehicle;

[0213] The detection section 191 is further configured to detect the driving state data of other vehicles when it is detected that other vehicles are driving in the adjacent lane;

[0214] The determination section 193 is further configured to determine a third obstacle avoidance area corresponding to the other vehicle according to the attribute information of the obstacle, the driving state data of the other vehicle, and the driving speed of the vehicle;

[0215] The control section 194 is further configured to control the display mode of the track line of the vehicle based on the third obstacle avoidance area to prompt a driving operation for avoiding the other vehicle that borrows a lane by bypassing the obstacle.

[0216] In some examples, the determining part 193 is further configured to:

[0217] Determine the lane area occupied by the obstacle in the adjacent lane according to the position information and size information of the obstacle;

[0218] And, predict the lane-changing position and lane-changing area of the other vehicle in the current driving lane of the own vehicle for bypassing the obstacle according to the occupied lane area and the driving speed of the other vehicle;

[0219] And, determine the third obstacle avoidance area corresponding to the other vehicle according to the lane-changing position, lane-changing area, the driving speed of the other vehicle, and the driving speed of the own vehicle.

[0220] Please refer to Figure 20 , which shows a structural block diagram of a display control device 190 provided by an exemplary embodiment of the present disclosure. In some examples, the display control device 190 has a communication function and can access a wired network or a wireless network. In some examples, the display control device 190 can receive data based on the accessed wired network or wireless network. It can be understood that the display control device 190 undertakes the computing and processing work of the technical solution of the present disclosure, and the present disclosure does not limit this.

[0221] As Figure 20 shown, the display control device 190 in the present disclosure may include one or more of the following components: a processor 2010 and a memory 2020.

[0222] Optionally, the processor 2010 utilizes various interfaces and circuits to connect various parts within the entire computing device. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 2020, and by invoking data stored in the memory 2020, it performs various functions of the computing device and processes data. Optionally, the processor 2010 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 2010 can integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), a neural-network processing unit (NPU), and a baseband chip, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the touch display screen; the NPU is used to implement artificial intelligence (AI) functions; the baseband chip is used to process wireless communications. It can be understood that the above baseband chip may not be integrated into the processor 2010 and can be implemented separately by a single chip.

[0223] The memory 2020 can include random access memory (RAM) and can also include read-only memory (ROM). Optionally, the memory 2020 includes a non-transitory computer-readable storage medium. The memory 2020 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 2020 can include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as touch control function, sound playback function, image playback function, etc.), instructions for implementing each of the above method embodiments, etc.; the data storage area can store data created according to the use of the display control device 190, etc.

[0224] In addition, those skilled in the art can understand that the structure of the display control device 190 shown in the above drawings does not limit the display control device 190. The display control device 190 may include more or fewer components than those shown in the drawings, or combine some components, or have different component arrangements. For example, the display control device 190 may further include components such as a display screen, a camera assembly, a microphone, a speaker, a radio frequency circuit, an input unit, sensors (such as an acceleration sensor, an angular velocity sensor, a light sensor, etc.), an audio circuit, a WiFi module, a power supply, a Bluetooth module, etc., which will not be elaborated here.

[0225] The present disclosure also provides a computer-readable storage medium storing at least one instruction for being executed by a processor to implement the display control method described in each of the above embodiments.

[0226] The present disclosure also provides a computer program product including computer instructions stored in a computer-readable storage medium; a processor of a computing device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to enable the computing device to implement the display control method described in each of the above embodiments.

[0227] Those skilled in the art should be able to realize that in one or more of the above examples, the functions described in the present disclosure can be implemented by hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes computer storage media and communication media, where the communication media includes any medium facilitating the transmission of a computer program from one place to another. The storage media can be any available medium accessible by a general-purpose or special-purpose computer.

[0228] It should be noted that the technical solutions described in the present disclosure can be arbitrarily combined without conflict.

[0229] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A display control method, characterized in that, The method includes: When an obstacle is detected ahead in the driving direction of the vehicle, obtaining the attribute information of the obstacle; When the obstacle is in the current driving lane of the vehicle, determining and displaying a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle; Detecting whether there is another vehicle in the lane to be borrowed for the vehicle to drive; When another vehicle is detected in the lane to be borrowed, determining and displaying a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle; Based on the first obstacle avoidance area and the second obstacle avoidance area, controlling the display mode of the vehicle's track line to prompt the execution of a driving operation for safely avoiding the obstacle.

2. The method according to claim 1, wherein The determining and displaying a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle includes: Determining the lane area occupied by the obstacle in the current driving lane according to the position information and size information of the obstacle; Determining a first safety distance between the vehicle and the boundary of the obstacle according to the occupied lane area and the driving speed of the vehicle; wherein, the first safety distance is positively correlated with the driving speed of the vehicle; Based on the boundary of the obstacle, determining and displaying the first obstacle avoidance area according to the first safety distance.

3. The method according to claim 1, characterized in that The determining and displaying a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle includes: Judging whether the other vehicle and the vehicle will meet near the obstacle according to the driving direction and driving speed of the other vehicle; When the other vehicle and the vehicle will meet near the obstacle, obtaining the position information of the other vehicle in the lane to be borrowed; Obtaining the relative speed between the other vehicle and the vehicle according to the driving speed of the other vehicle and the driving speed of the vehicle; Determining a second safety distance between the vehicle and the other vehicle when the other vehicle and the vehicle meet according to the position information of the other vehicle in the lane to be borrowed and the relative speed; wherein, the second safety distance is positively correlated with the relative speed; Based on the other vehicle, determining and displaying the second obstacle avoidance area according to the second safety distance.

4. The method according to claim 1, wherein The controlling the display mode of the vehicle's track line based on the first obstacle avoidance area and the second obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle includes: Controlling the vehicle's track line to be displayed in a first display mode that bypasses the obstacle along the curvature of the edge of the first obstacle avoidance area and extends between the first obstacle avoidance area and the second obstacle avoidance area; Judging whether the track line displayed in the first display mode overlaps with the first obstacle avoidance area and the second obstacle avoidance area; When the track line displayed in the first display mode does not overlap with the first obstacle avoidance area and the second obstacle avoidance area, the track line of the vehicle is maintained to be displayed in the first display mode; When the track line displayed in the first display mode overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, it is judged whether the track line displayed in the first display mode will still overlap with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the driving speed of the vehicle is reduced; If the track line displayed in the first display mode does not overlap with the first obstacle avoidance area and the second obstacle avoidance area after the driving speed of the vehicle is reduced, the first display mode is combined with the display mode for prompting speed reduction to obtain a second display mode, and the track line of the vehicle is displayed according to the second display mode to prompt the execution of a driving operation to reduce the driving speed of the vehicle; If the track line displayed in the first display mode still overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the driving speed of the vehicle is reduced, the second display mode is combined with the display mode for braking to obtain a third display mode, and the track line of the vehicle is displayed according to the third display mode to prompt the execution of a driving operation to make the distance between the vehicle and the obstacle greater than the safety distance or to brake the vehicle.

5. The method according to claim 4, wherein When the extension length of the track line is adapted to the driving speed of the vehicle, the displaying the track line of the vehicle according to the second display mode includes: Compared with the first display mode, shortening the length of the track line of the vehicle; Displaying the track line of the vehicle according to the shortened length.

6. The method according to claim 4, characterized in that When the extension length of the track line is adapted to the driving speed of the vehicle, the displaying the track line of the vehicle according to the third display mode includes: Compared with the second display mode, changing the color of the track line of the vehicle to a warning color for reminding the vehicle to brake; Displaying the track line of the vehicle according to the warning color.

7. The method according to claim 1 or 2, characterized in that, The method further includes: When no other vehicle is detected in the passing lane, controlling the display mode of the track line of the vehicle based on the first obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle.

8. The method according to claim 7, characterized in that The controlling the display mode of the track line of the vehicle based on the first obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle includes: Controlling the track line of the vehicle to be displayed according to a fourth display mode that bypasses the obstacle along the curvature of the edge of the first obstacle avoidance area; Obtaining the overlapping area between the track line displayed in the fourth display mode and the first obstacle avoidance area; Based on the fourth display mode, controlling the track line of the vehicle to be displayed according to a fifth display mode according to the overlapping area.

9. The method according to claim 8, characterized in that When the extension length of the track line is a fixed length value, based on the fourth display mode, controlling the track line of the vehicle to be displayed according to the fifth display mode according to the overlapping area includes: When the overlapping area is less than the first area threshold, keep displaying the track line of the vehicle in the fourth display mode; When the overlapping area is greater than the first area threshold and less than the second area threshold, first display an identification image for indicating deceleration to perform a deceleration driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode; When the overlapping area is greater than the second area threshold, first display an identification image for indicating braking to perform a braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode.

10. The method according to claim 8, characterized in that When the extension length of the track line is adapted to the driving speed of the vehicle, based on the fourth display mode, controlling the track line of the vehicle to be displayed according to the fifth display mode according to the overlapping area includes: When the overlapping area is less than the third area threshold, first display an identification image for indicating deceleration to perform a deceleration driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode; When the overlapping area is greater than the third area threshold, first display an identification image for indicating braking to perform a braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode.

11. The method according to claim 1, characterized in that, The method further includes: When the obstacle is in an adjacent lane of the current driving lane of the vehicle, obtain the attribute information of the obstacle; When it is detected that there is another vehicle driving in the adjacent lane, detect the driving state data of the other vehicle; Determine a third obstacle avoidance area corresponding to the other vehicle according to the attribute information of the obstacle, the driving state data of the other vehicle, and the driving speed of the vehicle; Based on the third obstacle avoidance area, control the display mode of the track line of the vehicle to prompt a driving operation for avoiding the other vehicle that borrows a lane to bypass the obstacle.

12. The method according to claim 11, wherein The determining the third obstacle avoidance area corresponding to the other vehicle according to the attribute information of the obstacle, the driving state data of the other vehicle, and the driving speed of the vehicle includes: Determine the lane area occupied by the obstacle in the adjacent lane according to the position information and size information of the obstacle; Predict the lane borrowing position and lane borrowing area of the other vehicle in the current driving lane of the vehicle for bypassing the obstacle according to the occupied lane area and the driving speed of the other vehicle; Determine the third obstacle avoidance area corresponding to the other vehicle according to the lane borrowing position, lane borrowing area, the driving speed of the other vehicle, and the driving speed of the vehicle.

13. A display control device, characterized in that, The device includes: a processor and a memory; the processor is configured to execute instructions stored in the memory to implement the display control method according to any one of claims 1 to 12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, and the at least one instruction is configured to be executed by a processor to implement the display control method according to any one of claims 1 to 12.

15. A head-up display device, characterized in that, The head-up display device includes a display control unit and a display unit; wherein, the display control unit is configured to obtain attribute information of an obstacle when it is detected that there is an obstacle in front of the driving direction of the vehicle; and when the obstacle is on the current driving lane of the vehicle, determine a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle and display it; and detect whether there is another vehicle on the lane to be borrowed for the vehicle to drive; and when another vehicle is detected on the lane to be borrowed, determine a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle and display it; control the display mode of the vehicle's track line based on the first obstacle avoidance area and the second obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle; the display unit is configured to project the first obstacle avoidance area, the second obstacle avoidance area, and the track line onto the windshield of the vehicle for display based on the control of the display control unit.

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