Information display method, device and vehicle

Abstract

The application discloses an information display method and device and a vehicle, and relates to the technical field of intelligent driving human-computer interaction and active safety. The method comprises the following steps: in response to the existence of a target level risk signal in an auxiliary driving signal of a vehicle, acquiring a real-time coordinate position of a first risk object in a driving environment of the vehicle, wherein the first risk object is outside the field of view range of an augmented reality HUD of the vehicle; based on the real-time coordinate position, displaying environmental risk information in a target display area in the augmented reality HUD, wherein the environmental risk information at least comprises an object identifier corresponding to the first risk object and a self-vehicle identifier corresponding to the vehicle, and the object identifier is dynamically updated following the real-time coordinate position. The application solves the technical problem that a risk object outside the field of view range of the augmented reality HUD cannot be displayed in the related art.

Description

Technical Field

[0001] This application relates to the field of intelligent driving human-computer interaction and active safety technology, and more specifically, to an information display method, device and vehicle. Background Technology

[0002] Currently, combining Head-Up Display (HUD) technology with Augmented Reality (AR) technology allows vehicle driving information to be projected onto a display screen as images. However, the AR HUD's display area only supports displaying risky objects within the Field of View (FOV). For risky objects outside the FOV, the relative distance and movement trend between the risky object and the vehicle are not displayed, nor are specific markings, resulting in incomplete scene information. This presents a technical problem in related technologies where risky objects outside the AR HUD's field of view cannot be displayed.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This application provides an information display method, apparatus, and vehicle to at least solve the technical problem in the related art of being unable to display risky objects outside the field of view of an augmented reality HUD.

[0005] According to one aspect of the embodiments of this application, an information display method is provided, comprising: in response to the presence of a risk signal of a target level in the vehicle's assisted driving signals, obtaining the real-time coordinate position of a first risk object in the vehicle's driving environment, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD; and displaying environmental risk information in a target display area in the augmented reality HUD based on the real-time coordinate position, wherein the environmental risk information includes at least: an object identifier corresponding to the first risk object and a vehicle identifier corresponding to the vehicle, the object identifier being dynamically updated following the real-time coordinate position.

[0006] Optionally, obtaining the real-time coordinate position of the first risk object in the vehicle's driving environment includes: obtaining multi-sensor fusion data corresponding to the driving environment, wherein the multi-sensor fusion data is obtained by fusing real-time acquired millimeter-wave radar data, camera data, and ultrasonic data; performing coordinate transformation mapping on the multi-sensor fusion data to establish a relative position model, wherein the relative position model is used to characterize the three-dimensional relative positional relationship between the first risk object and the vehicle; and determining the real-time coordinate position based on the relative position model and a preset top-down observation angle.

[0007] Optionally, displaying environmental risk information within the target display area of ​​the augmented reality HUD based on real-time coordinates includes: determining the target display area from the augmented reality HUD based on real-time coordinates; performing dimensionality reduction mapping on the real-time coordinates to determine the two-dimensional rendering position of the first risk object within the target display area; rendering an object identifier within the target display area based on the two-dimensional rendering position; and rendering a vehicle identifier within the target display area based on a preset overhead viewing angle and vehicle icon material.

[0008] Optionally, determining the target display area from the augmented reality HUD based on the real-time coordinate position includes: determining the relative position of the first risk object with respect to the vehicle based on the real-time coordinate position; and selecting the target display area from multiple candidate areas corresponding to the augmented reality HUD based on the relative position, wherein the multiple candidate areas are determined based on multiple distribution orientations within the augmented reality HUD.

[0009] Optionally, the information display method further includes: in response to a risk signal indicating the presence of a target level in the assisted driving signal, determining a second risk object within the field of view; using multi-sensor fusion data to render augmented reality elements corresponding to the second risk object in the augmented reality HUD; and displaying a risk sign at the sign location corresponding to the augmented reality element.

[0010] Optionally, the information display method further includes: in response to the presence of a risk signal of target level in the assisted driving signal and the presence of multiple risk objects outside the field of view, selecting a first risk object from the multiple risk objects according to a target selection rule, wherein the target selection rule is set based on the distance between the multiple risk objects and the vehicle and / or the overlay display priority of the multiple risk objects.

[0011] Optionally, the information display method further includes: pausing the display of environmental risk information in response to the display requirement that the target display area corresponds to a target image, so as to support the priority display of the target image in the target display area, wherein the target image includes at least one of the following: a turning image, a narrow road image, and a reversing image.

[0012] Optionally, the information display method further includes: in response to the removal of the risk signal at the target level, controlling the object identifier of the first risk object to switch from a warning style to a normal style, and controlling the environmental risk information to be canceled from display within the target display area according to the target display duration rule, wherein the target display duration rule is set based on a first duration threshold and / or a second duration threshold, the first duration threshold being used to evaluate the duration from the start of the display of the environmental risk information, and the second duration threshold being used to evaluate the duration from the removal of the risk signal at the target level.

[0013] Optionally, the information display method further includes: in response to a simplified display mode for vehicle-activated environmental risk information, determining other display areas in the augmented reality HUD besides the normally displayed area as the target display area, canceling the display of object identifiers and vehicle identifiers, and rendering a risk orientation indicator component within the target display area based on real-time coordinates.

[0014] Optionally, the assisted driving signal is obtained by the vehicle's driving assistance system through a road risk level assessment of the driving environment, with the target level risk signal being a high-risk signal.

[0015] According to another aspect of the embodiments of this application, an information display device is also provided, comprising: an acquisition module, configured to acquire the real-time coordinate position of a first risk object in the vehicle's driving environment in response to the presence of a risk signal of a target level in the vehicle's assisted driving signals, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD; and a display module, configured to display environmental risk information in a target display area in the augmented reality HUD based on the real-time coordinate position, wherein the environmental risk information includes at least: an object identifier corresponding to the first risk object and a vehicle identifier corresponding to the vehicle, the object identifier being dynamically updated following the real-time coordinate position.

[0016] According to another aspect of the embodiments of this application, a vehicle is also provided, including a memory and a processor, wherein the memory stores an executable program; the processor is used to run the program, wherein the program executes the information display method of any of the above when it runs.

[0017] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory storing an executable program; and a processor for running the program, wherein the program executes the information display method of any one of the above-mentioned methods when it runs.

[0018] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the storage medium is located to execute the information display method of any of the above.

[0019] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the information display method according to any one of the above.

[0020] In this embodiment of the application, in response to the presence of a risk signal of a target level in the vehicle's assisted driving signal, the real-time coordinate position of the first risk object in the vehicle's driving environment is obtained, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD; based on the real-time coordinate position, environmental risk information is displayed in the target display area of ​​the augmented reality HUD, wherein the environmental risk information includes at least: an object identifier corresponding to the first risk object and a vehicle identifier corresponding to the vehicle, and the object identifier is dynamically updated following the real-time coordinate position.

[0021] It is noteworthy that this embodiment obtains assisted driving signals by continuously monitoring and risk assessment of the driving environment surrounding the vehicle. When a target-level risk signal exists in the assisted driving signals, the real-time coordinates of a first risk object outside the field of view of the vehicle's augmented reality HUD are obtained. Then, at least the object identifier of the first risk object and the corresponding vehicle identifier, along with other environmental risk information, are displayed within the target display area of ​​the augmented reality HUD. The object identifier is dynamically updated based on the real-time coordinates to obtain the relative distance and movement trend between the first risk object and the vehicle in real time. Therefore, this embodiment achieves the purpose of real-time monitoring and visual warning of a first risk object outside the field of view of the augmented reality HUD, thus realizing the technical effect of displaying risk objects outside the field of view of the augmented reality HUD and solving the technical problem in related technologies that cannot display risk objects outside the field of view of the augmented reality HUD. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and provide related descriptions of those embodiments to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 This is a hardware structure block diagram of an optional computing terminal for implementing an information display method according to an embodiment of this application;

[0024] Figure 2 This is a flowchart of an information display method according to an embodiment of this application;

[0025] Figure 3 This is a schematic diagram illustrating a risk object of an embodiment of this application, where the risk object is another vehicle;

[0026] Figure 4 This is a schematic diagram illustrating a risk object as a pedestrian according to an embodiment of this application;

[0027] Figure 5 This is a schematic diagram illustrating one method of enabling P-mode according to an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of a conflict resolution mechanism between door opening warning and P-mode according to an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of a large vehicle as a risk object according to an embodiment of this application;

[0030] Figure 8 This is a structural block diagram of an information display device according to an embodiment of this application. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments only include a part of the embodiments of the present application, and not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application 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 where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] According to an embodiment of this application, an embodiment of an information display method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, steps shown or described may be executed in a different order than that shown here.

[0034] First, the operating environment of the above method embodiments will be described by way of example. Figure 1 This is a hardware structure block diagram of an optional computing terminal for implementing an information display method according to an embodiment of this application, such as... Figure 1As shown, the computing terminal 10 (e.g., a computer terminal, a mobile smart terminal, a vehicle terminal, or a cloud computing virtual terminal, etc.) may include: one or more processors 102 (e.g., processors 102a, 102b, ..., 102n), a memory 104 for storing data, and a transmission device 106 for implementing communication functions. The processor 102 may include, but is not limited to, processing components such as microprocessors (MCUs) or field-programmable gate arrays (FPGAs).

[0035] The aforementioned computing terminal 10 may further include: a display device 110, an input / output interface 108, a Universal Serial Bus (USB) port (which can be used as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and a camera (not shown in the figure).

[0036] It should be noted that one or more processors 102 and / or other data processing circuits in the aforementioned computing terminal 10 may be wholly or partially embodied in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be wholly or partially integrated into any other element in the computing terminal 10 (or mobile device).

[0037] The memory 104 can be used to store software programs and modules of application software, such as program instructions and data storage devices corresponding to the information display method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned information display method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0038] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the vehicle terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC) and a network interface, which can be connected to other network devices via a base station to communicate with the Internet. The transmission device 106 can use wired and / or wireless network connections for data communication. In one example, the transmission device 106 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] The input / output interface can be connected to the corresponding input / output device of the computing terminal 10 to realize input / output functions. This input / output device may include, but is not limited to, a cursor control device, a keyboard, and a display. The aforementioned input / output device may be built into the computing terminal 10 or be an external device connected to the computing terminal 10.

[0040] Those skilled in the art will understand that Figure 1 The structure of the computing terminal 10 shown is for illustrative purposes only and does not impose strict limitations on the structure of the computing terminal 10 described above. For example, the computing terminal 10 may also include components that are larger than... Figure 1 The more or fewer components shown, or the computing terminal 10 may have the same Figure 1 The components are shown in different categories.

[0041] Under the above operating environment, the embodiments of this application provide as follows: Figure 2 The information display method shown Figure 2 This is a flowchart of an information display method according to an embodiment of this application, such as... Figure 2 As shown, the method includes the following implementation steps:

[0042] Step S201: In response to the presence of a risk signal of target level in the vehicle's assisted driving signal, the real-time coordinate position of the first risk object in the vehicle's driving environment is obtained, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD.

[0043] Step S202: Based on the real-time coordinate position, display environmental risk information in the target display area of ​​the augmented reality HUD. The environmental risk information includes at least: the object identifier corresponding to the first risk object and the vehicle identifier corresponding to the vehicle. The object identifier is dynamically updated according to the real-time coordinate position.

[0044] The aforementioned vehicles can be those equipped with driver assistance functions or those with autonomous driving functions. The aforementioned driver assistance signals can be obtained by assessing the road risk level of the vehicle's driving environment through the vehicle's driver assistance system. The aforementioned driver assistance system can be an Advanced Driver Assistance System (ADAS), meaning the aforementioned driver assistance signals can also be simply referred to as ADAS signals. The aforementioned target level can be high-level, meaning the risk signal for the aforementioned target level can be a high-risk signal.

[0045] The aforementioned first risk object can be any risk object outside the field of view (FOV) of the vehicle's augmented reality HUD (AR HUD). For example, this risk object could be other vehicles, pedestrians, obstacles, etc. This is merely an example and does not impose specific limitations on the type of the first risk object. The aforementioned real-time coordinate position can be the three-dimensional world coordinate position of the first risk object in the vehicle's driving environment.

[0046] The target display area mentioned above can be the left, right, or full area of ​​the AR HUD display area. The target display area can be determined based on the relative position between the first risk object and the vehicle. For example, when the first risk object is located on the left side of the vehicle, the target display area can be the left display area; when the first risk object is located on the right side of the vehicle, the target display area can be the right display area. This is only an example and no specific restrictions are imposed on the target display area.

[0047] The aforementioned environmental risk information can display real-time movement information of vehicles and surrounding risk targets. For example, environmental risk information can be displayed through images; this is merely an example and does not impose specific limitations on the display format. Environmental risk information can at least include: an object identifier corresponding to the first risk object, a vehicle identifier corresponding to the vehicle, and lane lines. The vehicle identifier can be an icon corresponding to the vehicle. The object identifier can be an icon of the first risk object; for example, when the first risk object is another vehicle, the object identifier is the other vehicle's identifier; when the first risk object is a pedestrian, the object identifier is the pedestrian's identifier. A target color (e.g., red) can be used to mark the icons of the first risk objects to more prominently remind the driver of the presence of the first risk object nearby. It should be noted that the above is merely an example and does not impose specific limitations on the type of object identifier. The aforementioned object identifiers can be dynamically updated according to real-time coordinates to provide the driver with real-time updates on the relative distance and movement trend of the first risk object and the vehicle.

[0048] Optionally, the ADAS system continuously monitors the vehicle's surrounding environment, assesses potential driving risks, and classifies these risks into levels. When the ADAS system detects a high-risk signal, i.e., the presence of a primary risk object that poses a threat to driving safety, this primary risk object can be other vehicles, pedestrians, animals, obstacles, etc., and must be outside the FOV of the AR HUD. In other words, the driver cannot directly observe the primary risk object through the AR HUD under normal circumstances. In response to the detection of the high-risk signal, the vehicle's sensor network, including but not limited to cameras, millimeter-wave radar, lidar, and Global Positioning System (GPS), can be used to obtain the real-time coordinates of the primary risk object in the driving environment, i.e., its three-dimensional world coordinates.

[0049] It should be noted that the aforementioned sensor data (such as camera data, millimeter-wave radar data, and ultrasonic data) can be processed and fused in real time to calculate the dynamic location information of the first risk object, thereby enabling effective risk warnings in the future.

[0050] Optionally, after obtaining the real-time coordinates of the first risk object, the environmental risk information can be visualized using an ARHUD. The target display area in the AR HUD for displaying the environmental risk information can be determined based on the relative position of the first risk object and the vehicle. For example, if the first risk object is located to the left of the vehicle, the environmental risk information will be displayed in the left area of ​​the AR HUD; if the first risk object is located to the right of the vehicle, the environmental risk information will be displayed in the right area of ​​the AR HUD, and so on, ensuring that the driver can intuitively understand and respond to the source of the risk.

[0051] Optionally, the displayed environmental risk information may include at least the object identifier corresponding to the first risk object and the vehicle's own identifier. The object identifier can be in the form of graphics or symbols, such as using icons of specific colors to identify dangerous pedestrians or other vehicles. The icons will dynamically update according to the real-time coordinates of the first risk object, reflecting the object's direction of movement, speed, and approach trend. The vehicle identifier will present the vehicle's outline or position on the AR HUD to help the driver better understand their relative position in the driving environment. In addition, the environmental risk information may also include lane lines to enhance the driver's awareness of the driving route. The combination of icons and lane lines can create a dynamic and immersive visual environment, enabling the driver to react quickly and accurately to prevent or avoid potential collisions.

[0052] Through the technical solutions provided in steps S201 to S204 above, this embodiment of the application obtains assisted driving signals by continuously monitoring and risk assessment of the driving environment around the vehicle. When a target-level risk signal exists in the assisted driving signal, the real-time coordinate position of the first risk object outside the field of view of the vehicle's augmented reality HUD is obtained. Then, at least the object identifier of the first risk object and the corresponding vehicle identifier, as well as other environmental risk information, are displayed in the target display area of ​​the augmented reality HUD. The object identifier is dynamically updated according to the real-time coordinate position to obtain the relative distance and running trend between the first risk object and the vehicle in real time. Therefore, this embodiment of the application achieves the purpose of real-time monitoring and visual warning of the first risk object outside the field of view of the augmented reality HUD, thereby realizing the technical effect of displaying risk objects outside the field of view of the augmented reality HUD, and solving the technical problem in related technologies that it is impossible to display risk objects outside the field of view of the augmented reality HUD.

[0053] The method for obtaining the real-time coordinates of the first risk object in the vehicle's driving environment will be further described below.

[0054] As an optional implementation, step S201 above, obtaining the real-time coordinate position of the first risk object in the vehicle's driving environment, may further include the following execution steps:

[0055] Step S211: Obtain multi-sensor fusion data corresponding to the driving environment, wherein the multi-sensor fusion data is obtained by fusing real-time acquired millimeter-wave radar data, camera data and ultrasonic data;

[0056] Step S212: Perform coordinate transformation mapping on the multi-sensor fusion data to establish a relative position model, wherein the relative position model is used to characterize the three-dimensional relative positional relationship between the first risk object and the vehicle;

[0057] Step S213: Determine the real-time coordinate position based on the relative position model and the preset overhead viewing angle.

[0058] The aforementioned multi-sensor fusion data is obtained by fusing real-time acquired millimeter-wave radar data, camera data, and ultrasonic data. Millimeter-wave radar data can be the data received by the millimeter-wave radar when it emits millimeter-wave signals and is reflected back when it encounters an obstacle. Camera data can be the data collected by the camera from the vehicle's driving environment. Ultrasonic data can be the echo data received by the ultrasonic sensor when it emits high-frequency sound pulses and is partially reflected back when it encounters an obstacle. It should be noted that this embodiment can acquire only the result of multi-sensor data fusion, i.e., acquire the multi-sensor fusion data for rendering the AR HUD channel.

[0059] The aforementioned relative position model can be established by three-dimensional (3D) spatial mapping of multi-sensor fusion data. The relative position model can be used to characterize the three-dimensional relative positional relationship between the first risk object and the vehicle.

[0060] The aforementioned preset top-down viewing angle can be a Surrounding Reality (SR) top-down view. SR can be an autonomous driving environment simulation display interface, which displays more comprehensive information about the external scene and the vehicle's decision-making information through maps, perception, and other data. The SR top-down view can be a viewing angle, similar to viewing the vehicle and its surrounding environment from a bird's-eye view, providing a more comprehensive overview of the scene, especially in identifying risky objects outside the FOV.

[0061] Optionally, the process of effectively identifying and warning of the first risk object outside the field of view (FOV) of the vehicle's AR HUD is problematic because the driver cannot directly see the first risk object through the AR HUD, yet its presence poses a threat to vehicle safety. Therefore, this embodiment employs multi-sensor fusion technology, combined with a preset overhead viewing angle (SR overhead angle), to establish a 3D relative position model, thereby more accurately determining and displaying the real-time coordinates of the first risk object.

[0062] Optionally, millimeter-wave radar data, camera data, and ultrasonic data are first collected from three different sensors: millimeter-wave radar, camera data, and ultrasonic sensors, respectively. Then, the collected millimeter-wave radar data, camera data, and ultrasonic data are fused. Using the fused multi-sensor data, a 3D relative position model is constructed to describe the spatial relationship between the first risk object and the vehicle. This 3D relative position model not only reflects distance information but also includes multi-dimensional data such as direction, height, and motion trend, enabling accurate positioning of the first risk object in three-dimensional space.

[0063] Optionally, after establishing the relative position model between the vehicle and the first risk object, a preset overhead viewing angle, namely the SR overhead view, is further used to determine the real-time coordinate position of the first risk object. Based on the relative position model, the specific position of the first risk object under the SR overhead view can be calculated, including the vertical and horizontal coordinates of the first risk object relative to the vehicle. The above calculation process relies on a 3D spatial mapping algorithm, which can convert the physical position of the first risk object into coordinates suitable for display in the SR interface. Displaying the position of the first risk object through the SR overhead view not only provides the precise coordinates of the first risk object, but also shows the complex three-dimensional relationship between the first risk object and the vehicle, such as obstructions such as bridges, underpasses, and buildings on the side of the vehicle. This perspective helps the driver quickly understand the specific location and possible trajectory of the first risk object, thereby taking evasive action in advance.

[0064] It should be noted that this embodiment employs a dual-channel rendering system. On one hand, the AR HUD rendering channel overlays targets within the FOV, using a sensor fusion layer to acquire and fuse 3D data from millimeter-wave radar, camera, and ultrasonic sensors for display. On the other hand, the SR rendering channel focuses on the Bird's Eye View (BEV) perspective, displaying the view in front of the vehicle from a forward-looking perspective and the views to the sides and rear of the vehicle from a mid-to-rear-looking perspective. In other words, the SR rendering channel only targets risky targets outside the FOV; those within the FOV are indicated by the AR HUD.

[0065] Through the technical solutions provided in steps S211 to S213 above, in this embodiment of the application, by performing coordinate transformation and 3D spatial mapping on multi-sensor fusion data, a relative position model between the first risk object and the vehicle is established. Combined with the SR overhead view, the real-time coordinate position of the first risk object can be determined and updated, realizing a visual warning of the first risk object outside the FOV on the AR HUD. This greatly expands the environmental perception range of the driving object, improves the accuracy and timeliness of risk warning, and provides strong support for safe driving.

[0066] The following section further describes the method for displaying environmental risk information within the target display area of ​​an augmented reality HUD based on real-time coordinates.

[0067] As an optional implementation, step S202 above, which displays environmental risk information within the target display area of ​​the augmented reality HUD based on real-time coordinates, may further include the following execution steps:

[0068] Step S221: Determine the target display area from the augmented reality HUD based on the real-time coordinate position;

[0069] Step S222: Perform dimensionality reduction mapping on the real-time coordinate position to determine the two-dimensional rendering position of the first risk object in the target display area;

[0070] Step S223: Render the object identifier within the target display area according to the two-dimensional rendering position;

[0071] Step S224: Based on the preset top-down viewing angle and the vehicle icon material, render the vehicle logo within the target display area.

[0072] The aforementioned 2D rendering position can be obtained by dimensionality reduction mapping of the real-time coordinate position (3D coordinates). The aforementioned vehicle icon material can include the vehicle icon corresponding to different viewpoints.

[0073] Optionally, based on the real-time coordinates of the first risk object relative to the vehicle (a three-dimensional coordinate position), it is first determined whether the first risk object is within the current AR HUD's field of view. If the first risk object is outside the FOV, an appropriate target display area needs to be selected in the AR HUD interface for rendering the first risk object. The selection of this target display area needs to take into account the driver's viewing habits, ensuring that the displayed environmental risk information will not be confused with regular driving information, while also being sufficiently conspicuous to attract attention. The target display area can be located in the AR HUD interface according to the specific position of the first risk object (e.g., left, right, front, or rear). For example, when the first risk object is on the left side of the vehicle, the target display area is determined to be the left area of ​​the display area to match the real-world scene mapping. Optimization can be made based on the AR HUD's display capabilities and the driver's field of view, such as adjusting the size, shape, and position of the target display area to ensure that the displayed environmental risk information is both intuitive and efficient.

[0074] Optionally, to display the first risk object in three-dimensional coordinates on the two-dimensional interface of the AR HUD, the real-time coordinate position can be dimensionality-reduced, converting the three-dimensional coordinates into two-dimensional coordinates suitable for presentation in the target display area of ​​the AR HUD. For example, perspective projection, orthographic projection, or other mathematical transformation methods can be used to dimensionality-reduced the real-time coordinate position to obtain a two-dimensional rendering position that reflects the true spatial position of the first risk object. After calculating the two-dimensional rendering position of the first risk object in the target display area of ​​the AR HUD through dimensionality reduction mapping, this two-dimensional rendering position will be used as the basis for subsequent rendering processes, ensuring that the object identifier of the first risk object can be accurately displayed in the correct position within the target display area.

[0075] For example, during dimensionality reduction mapping, the z-coordinate in 3D coordinates can be used to adjust the size or color of the 2D rendered position to indicate the distance of the first risk object. For instance, a distant first risk object can be displayed as smaller or lighter in color, while a nearby first risk object can be displayed as larger or brighter in color, thus indicating the relative distance of the first risk object to the driver.

[0076] Optionally, a suitable object identifier icon can be selected or customized based on the risk level, type, and relative position to the vehicle. For example, high-risk objects can be represented in red, while low-risk objects can be represented in yellow. This is merely an example and does not impose specific restrictions on the icon and color of the object identifier. After determining the 2D rendering position of the first risk object, the object identifier of the first risk object can be rendered in the target display area. The object icon of the first risk object is placed on the correct coordinates, ensuring that the relative position of the object identifier is consistent with the actual first risk object, providing a clear risk warning to the driver.

[0077] It should be noted that as vehicles move and the location of the primary risk object changes, the location and appearance of the object identifier can be continuously updated, such as by adjusting its size, color, or adding movement trajectories, to provide the latest risk warning information.

[0078] Optionally, the preset top-down viewing angle is suitable for displaying environmental risks outside the field of view (FOV). The vehicle icon that best matches the current viewing angle can be selected from a set of vehicle icon materials. These icons pre-define the vehicle's appearance in different directions and angles, ensuring accurate representation of the vehicle's position and orientation from any top-down perspective. The vehicle's coordinates in 3D space can be dimensionally reduced to determine the vehicle's 2D coordinates within the AR HUD target display area. The pre-selected vehicle icon is then rendered at these coordinates, ensuring the vehicle's identification is presented alongside the object's identifier for the primary risk, helping the driver understand their relative position to the environmental risk. The vehicle's position, posture, and motion status can be updated in real-time to reflect dynamic changes in the vehicle.

[0079] Through the technical solutions provided in steps S221 to S224 above, in this embodiment of the application, the rendering positions of the first risk object and the vehicle in the target display area are determined and displayed based on the real-time coordinate position of the first risk object, so as to achieve the purpose of early warning, thereby realizing the effective communication of environmental risk information outside the FOV by using AR HUD, thereby improving driving safety and user experience.

[0080] The method described above for determining the target display area from the augmented reality HUD based on real-time coordinates will be further introduced below.

[0081] As an optional implementation, step S221 above, which determines the target display area from the augmented reality HUD based on real-time coordinates, may further include the following steps:

[0082] Step S2211: Determine the relative position of the first risk object with respect to the vehicle based on the real-time coordinates.

[0083] Step S2212: Select a target display area from multiple candidate areas corresponding to the augmented reality HUD according to the relative orientation, wherein the multiple candidate areas are determined based on multiple distribution orientations within the augmented reality HUD.

[0084] The aforementioned relative orientation can be used to indicate the location of the first risk object around the vehicle. For example, the relative orientation can be that the first risk object is in front of, to the left of, to the right of, or behind the vehicle. This is just an example and no specific restrictions are placed on the relative orientation.

[0085] The aforementioned candidate areas can be determined based on various distribution orientations within the AR HUD. These orientations can be determined by arranging and dividing the display area within the AR HUD according to the orientation of the vehicle's surrounding environment. Distribution orientations can include, but are not limited to, front, rear, left, right, and various angles around the vehicle. The aim is to enable the driver to quickly locate the source of risk based on the displayed content through a location-based approach. For example, when the primary risk object is located on the left side of the vehicle, the left-hand display area can be selected as the target display area from multiple left-right distributed candidate areas within the AR HUD. This is merely an example and does not impose specific restrictions on the selection method of the target display area.

[0086] Optionally, by using the acquired real-time coordinates, the azimuth angle of the first risk object relative to the vehicle can be determined, thereby determining the relative position of the first risk object with respect to the vehicle, such as the position categories of front, left, right, and rear.

[0087] Optionally, the AR HUD interface can be pre-divided into multiple candidate areas, each corresponding to a specific location around the vehicle. For example, the left-hand area of ​​the AR HUD might display left-side risks, while the top area might display forward risks. This selection of candidate areas takes into account the driver's visual habits, ensuring that environmental risk information is quickly noticed and understood. After determining the relative position of the first risk object with respect to the vehicle, a target display area matching the relative position can be searched from the multiple candidate areas. This ensures that the environmental risk information is displayed in the AR HUD area that best matches its actual location, improving the intuitiveness of the information and the accuracy of the positioning.

[0088] Optionally, after determining the target display area, the object identifier and vehicle identifier of the first risk object can be rendered within that target display area. For example, when the first risk object is located on the left side of the vehicle, a candidate area on the left can be selected as the target display area, and the object identifier of the first risk object can be placed in the target display area to alert the driver to the potential danger on the left.

[0089] It should be noted that although candidate areas in each direction are preset, in actual application, the size, shape, or position of the target display area can be dynamically adjusted according to changes in the current driving environment and the driver's line of sight, ensuring that the warning information is always within the driver's optimal line of sight.

[0090] Through the technical solutions provided in steps S2211 to S2212 above, in this embodiment of the application, the relative position of the first risk object with respect to the vehicle is accurately calculated based on real-time coordinates, and the most suitable target display area is selected from the AR HUD accordingly, presenting environmental risk information to the driver in the most intuitive way. This position-based display strategy reduces the cognitive load on the driver and improves driving safety.

[0091] As an optional implementation, the above information display method may further include the following execution steps:

[0092] Step S203: In response to the presence of a risk signal of target level in the assisted driving signal, a second risk object within the field of vision is identified;

[0093] Step S204: Using multi-sensor fusion data, render the augmented reality elements corresponding to the second risk object in the augmented reality HUD;

[0094] Step S205: Display the risk indicator at the corresponding indicator location of the augmented reality element.

[0095] The aforementioned second risk object can be a risk object within the FOV of the vehicle's AR HUD. For example, the risk object can be other vehicles, pedestrians, obstacles, etc. This is only an example and does not impose specific restrictions on the type of the second risk object.

[0096] The aforementioned augmented reality elements can be virtual images or symbols generated on the AR HUD interface to represent second-risk objects within the field of view (FOV). These augmented reality elements not only include the external features of the second-risk object but also integrate data from multiple sensors, providing a comprehensive visual representation of the object's motion state, distance information, and potential risk level. No specific restrictions are placed on the display method or content of the augmented reality elements here.

[0097] The aforementioned marker location can be the marker area corresponding to the augmented reality element within the AR HUD display area. The aforementioned risk marker can be an icon displayed on the augmented reality element corresponding to the second risk object. For example, when the second risk object is another vehicle, the risk marker can be a small triangle displayed on the augmented reality element corresponding to the second risk object. This is merely an example and does not impose specific limitations on the form of the risk marker.

[0098] Optionally, in response to the presence of a high-risk signal in the ADAS signal, a second risk object located within the FOV is identified. Further, multi-sensor fusion data, including camera data, millimeter-wave radar data, and ultrasonic data, can be acquired. Based on this multi-sensor fusion data, an augmented reality element corresponding to the second risk object is generated on the AR HUD interface. This augmented reality element can be a virtual image or symbol, which can be used to visually represent the second risk object within the FOV.

[0099] It should be noted that the display of augmented reality elements can be dynamically adjusted based on real-time updated multi-sensor fusion data to ensure that the warning information remains synchronized with the actual driving environment and to reflect the dynamic changes of the secondary risk object in a timely manner.

[0100] Optionally, after rendering the augmented reality element corresponding to the second risk object in the AR HUD, a marker position corresponding to the augmented reality element can be determined on the ARHUD interface. This marker position can accurately match the actual position of the second risk object in the driver's field of vision, making the risk marker visually closely integrated with the second risk object, improving the coherence and effectiveness of the information. The risk marker can be an icon or symbol used to highlight the characteristics of the second risk object on the augmented reality element. For example, a red triangle marker can be displayed on the augmented reality element for other vehicles approaching rapidly ahead; while a yellow human-shaped icon can be displayed for a slowly moving pedestrian. The design of the risk marker can be optimized according to the specific risk type and level to achieve the best warning effect.

[0101] Optionally, by displaying risk signs at designated locations, a dynamic visual warning system is formed together with augmented reality elements. Drivers can quickly identify and understand potential risks in the driving environment and take appropriate preventative measures by directly observing the augmented reality elements and risk signs. Furthermore, interactive functions can be supported, such as zooming in, zooming out, or hiding the augmented reality elements, to meet the personalized needs of different drivers and optimize information presentation.

[0102] Through the technical solutions provided in steps S203 to S205 above, the AR HUD and SR collaborative display scheme in this embodiment of the application significantly improves the safety of driving and the driver's perception of the surrounding environment by real-time monitoring and dynamic warning of risk objects inside and outside the field of view. This display method not only overcomes the limitations of traditional driving assistance systems, such as single information and unintuitive warnings, but also generates highly accurate and information-rich augmented reality elements by integrating data from multiple sensors, which significantly enhances the warning performance and user experience of the driving assistance system.

[0103] As an optional implementation, the above information display method may further include the following execution steps:

[0104] Step S206: In response to the presence of a risk signal of target level in the assisted driving signal and the presence of multiple risk objects outside the field of view, a first risk object is selected from the multiple risk objects according to the target selection rule, wherein the target selection rule is set based on the distance between the multiple risk objects and the vehicle and / or the overlay display priority of the multiple risk objects.

[0105] The above target selection rules can be set based on the distance between multiple risk objects and the vehicle and / or the display priority of multiple risk objects covering the vehicle. For example, the risk object closest to the vehicle can be selected as the first risk object from multiple risk objects. In the case of a collision covering the vehicle, the priority from high to low is as follows: blind spot, bottom banner / text / image / minimap, single arrow, point of interest (POI). Interest (POI) / target object / light wall, lane line, light carpet, etc. is used to select the first risk object from multiple risk objects. This is only an example and does not impose specific restrictions on the selection method of the target selection rule.

[0106] The aforementioned overlap collision refers to the visual information collision that occurs when digital information (such as navigation prompts, risk warnings, etc.) is superimposed on a real-world scene. In other words, it is a visual overlap or interference phenomenon that occurs between two or more pieces of information that need to be displayed in the same flowchart or the same field of view.

[0107] The aforementioned blind spots refer to the visual blind spots caused by the vehicle's own structure, such as the A-pillar blind spot and the rearview mirror blind spot. Blind spots have the highest priority because they directly relate to key risks that the driver cannot directly observe.

[0108] The bottom banner / text / image / mini-map includes the permanent banner text at the bottom of the AR HUD, concise driving suggestions (text), real-time images captured by the forward-facing camera, and a simplified mini-map display. Since the bottom banner / text / image / mini-map is one of the main sources of information for the driver, it has a high display priority, but is lower than blind spot warnings.

[0109] The single arrow mentioned above is typically used to indicate potential hazards approaching from the side or rear, such as vehicles suddenly changing lanes in adjacent lanes or objects rapidly approaching from behind. The single arrow warning has lower priority than the bottom banner / text / image / minimap.

[0110] The POIs mentioned above refer to Points of Interest information. The target objects mentioned above refer to pedestrians, animals, special obstacles, etc. The light wall mentioned above refers to the light wall effect under specific road conditions (such as slippery road surface, construction area). Due to its non-urgent nature, the above information is displayed after the single arrow warning.

[0111] The lane lines mentioned above are important visual references during driving. The display of lane lines should remain stable and not easily interfered with by other information. The overlay display of lane lines has a higher priority than the light carpet, but lower than all the above information, to ensure that basic driving safety is not affected.

[0112] The aforementioned light carpet can be used to emphasize the vehicle's travel path, predict its trajectory, or identify potential collision areas. Because the light carpet covers a large area, it is prone to colliding with other visual information, so it is given a lower priority to avoid excessively interfering with the driver's vision.

[0113] Optionally, in response to the presence of high-risk signals in the ADAS signals and multiple risk objects posing a threat to driving safety outside the field of view, the relative positions of these risk objects around the vehicle can be determined based on the positioning information in the ADAS signals for subsequent priority assessment. To rationally allocate limited display resources, target selection rules can be pre-set. These rules are based on the distance between the risk object and the vehicle, as well as specific overlay display priorities. A first risk object is then selected from the multiple risk objects according to the target selection rules. The aforementioned distance can be calculated from the coordinates of the first risk object in the vehicle's coordinate system.

[0114] Optionally, the closest risk object to the vehicle should be identified first, as it poses the greatest immediate threat to driving safety, ensuring immediacy and urgency, and serving as the primary criterion for determining the first risk object. When multiple risk objects are close together, they can be sorted according to a preset overlay display priority. The priority, from highest to lowest, is as follows: blind spot, bottom banner / text prompts / images / minimap, single arrow, POI / target / light wall, lane lines, and light carpet. Considering that drivers may have difficulty directly observing the situation within the vehicle's blind spot, risk objects within the blind spot are set with the highest display priority, ensuring that drivers are aware of potential dangers immediately. Subsequently, the overall information from the bottom banner, the intuitive view provided by the image / minimap, the directional information indicated by the single arrow, warnings for specific targets such as POIs, lane line path guidance, and the wide-area prompts of the light carpet are considered in sequence, reflecting a hierarchical information display from high-risk, high-attention to low-risk, wide-coverage.

[0115] Optionally, after considering both distance and priority, the system can ultimately identify the most urgent and priority-required first-risk target. This decision-making process ensures that the system can effectively convey the most critical security warnings even under information overload.

[0116] Through the technical solution provided in step S206 above, in this embodiment of the application, by introducing target selection rules, risk signals of target level are detected and evaluated in the assisted driving signals, and intelligent selection is made among multiple risk objects outside the field of view, thus achieving effective early warning for the first risk object. By making effective priority judgments among multiple risk objects outside the field of view, and selecting the most concerning first risk object for focused attention, the driver's attention can be guided to the most critical risk, thereby ensuring driving safety while reducing unnecessary information interference and improving the overall quality of the driving experience.

[0117] As an optional implementation, the above information display method may further include the following execution steps:

[0118] In step S207, in response to the display requirement of the target display area corresponding to the target image, the display of environmental risk information is paused to support the priority display of the target image in the target display area, wherein the target image includes at least one of the following: turning image, narrow road image and reversing image.

[0119] The target image may include at least one of the following: a turn signal image, a narrow road image, and a reversing image. The turn signal image has a higher display priority than the narrow road image, and the narrow road image has a higher display priority than the reversing image.

[0120] Optionally, by monitoring the driver's operation commands or changes in the vehicle's status in real time, when a steering operation, entering a narrow road, or reversing action is detected, the display requirement for the target image (steering image, narrow road image, and reversing image) can be automatically identified.

[0121] Optionally, to ensure the efficiency and relevance of the displayed content, a principle for prioritizing the display of target images can be pre-defined. The order of priority from highest to lowest is: turning image, narrow road image, and reversing image. The turning image has the highest priority because lateral visibility is limited when turning, and the turning image provides additional field of vision to help the driver better judge the safety of the turning path. Next are the narrow road image and the reversing image, which respectively serve the visibility needs when driving on narrow roads and reversing. Although their priority is lower than the turning image, they are still quite important in their respective scenarios.

[0122] Optionally, under normal driving conditions, environmental risk information can be continuously monitored and displayed, including but not limited to warnings of other vehicles, pedestrians, and obstacles. However, when there is a need to display target images in the target display area, the allocation of display resources needs to be reassessed. To ensure the clarity and integrity of the target image, the display of all environmental risk information in the target display area can be temporarily stopped, even if there are warning signals from the surrounding environment. This decision-making mechanism ensures that when performing specific driving actions (such as turning, driving on narrow roads, or reversing), the driver can focus on the key image in front of them without being disturbed by environmental information.

[0123] Optionally, once a specific driving action is completed or the target image is no longer needed (such as completing a turn, leaving a narrow road, or finishing reversing), the display of environmental risk information is immediately restored so that the driver can continue to have comprehensive driving environment information.

[0124] Through the technical solution provided in step S207 above, in this embodiment of the application, the priority of the displayed content can be dynamically adjusted according to the immediate driving needs, ensuring that the driver obtains the most relevant and important image information at critical moments. By prioritizing the display of target images in special driving scenarios requiring additional visual support, such as turning, driving on narrow roads, and reversing, the driving risks caused by limited visibility are greatly reduced, improving the safety and smoothness of the driving process. At the same time, while meeting the display requirements of target images, the display of environmental risk information can be restored in a timely manner, ensuring the continuity and integrity of driving assistance and providing the driver with a comprehensive driving assistance experience.

[0125] As an optional implementation, the above information display method may further include the following execution steps:

[0126] Step S208: In response to the removal of the risk signal at the target level, the object identifier of the first risk object is switched from the warning style to the normal style, and the environmental risk information is removed from the target display area according to the target display duration rule. The target display duration rule is set based on a first duration threshold and / or a second duration threshold. The first duration threshold is used to evaluate the duration from the start of the display of the environmental risk information, and the second duration threshold is used to evaluate the duration from the removal of the risk signal at the target level.

[0127] The aforementioned warning styles can be used to issue warnings for the highest-risk primary risk object. For example, the warning style can be highlighted in red. This is only an example and does not impose specific restrictions on the form of the warning style. The aforementioned ordinary style can be the style switched from the warning style when the highest-risk primary risk object changes to low-risk or medium-risk. For example, the ordinary style can be the style that removes the highlighting in red. This is only an example and does not impose specific restrictions on the form of the ordinary style.

[0128] The aforementioned target display duration rules can be set based on a first duration threshold and / or a second duration threshold. The first duration threshold can be used to evaluate the duration from the start of displaying environmental risk information. For example, the first duration threshold could be 5 seconds; that is, if an SR risk remains in the AR HUD interface for 5 seconds before disappearing, the corresponding SR box will be displayed for 5 seconds by default. If the high risk persists for 2 seconds and is then resolved, the risk target in the box will only be highlighted in red for 2 seconds, and the box will disappear after 5 seconds. If the high risk is not resolved after 5 seconds, the box will continue to be displayed and the risk target will continue to be highlighted in red until the risk is resolved. This is only an example and does not impose specific limitations on the value of the first duration threshold. The second duration threshold can be used to evaluate the duration from the resolution of the risk signal for the target level.

[0129] Optionally, by continuously monitoring driver assistance signals, when a risk signal of the target level is detected to be cleared, it indicates that the first risk object previously identified as high-risk is relatively safe or has moved out of the potential threat range around the vehicle. In response to the clearing of the high-risk signal, the object identification of the first risk object can be quickly changed from a warning style (e.g., highlighted in red) to a normal style (e.g., the red highlight is removed, and the normal color display is restored). This conversion not only reduces visual interference for the driver but also reflects the true risk assessment of the current driving environment, helping the driver adjust driving behavior and attention allocation.

[0130] Optionally, the first duration threshold can be used to assess the duration from the start of displaying environmental risk information, ensuring that risk indicators do not occupy the screen for extended periods, causing unnecessary visual strain. For example, the first duration threshold can be set to 5 seconds, meaning the maximum display time of the risk indicator (SR) in the AR HUD is 5 seconds. The corresponding box for the SR will also follow this rule when there is no persistent high-risk signal, with a default display time of 5 seconds. During the duration of a high-risk signal, if the risk is not resolved within 5 seconds, the risk indicator will continue to be displayed until the risk signal is actually resolved, thus ensuring the driver's continued attention to the persistent risk.

[0131] Optionally, after a high-risk signal is lifted, the second duration threshold can be used to assess the time window during which the risk indicator switches from the warning style to the normal style. For example, if a high-risk situation lasts for 2 seconds and is then lifted, the risk indicator will only be displayed in the box in the warning style (e.g., highlighted in red) for 2 seconds, and then displayed in the normal style for the following duration until the box disappears according to the rules of the first duration threshold.

[0132] Through the technical solution provided in step S208 above, in this embodiment of the application, the risk signal cancellation response mechanism is combined with the target display duration rule. On the one hand, the first duration threshold ensures that environmental risk information will not occupy display resources indefinitely, avoiding visual fatigue. On the other hand, the second duration threshold precisely controls the process of the sign style conversion after the risk signal is cancelled, effectively avoiding the driver's misjudgment of outdated risk information. The 5-second dwell strategy balances the warning intensity and interference.

[0133] As an optional implementation, the above information display method may further include the following execution steps:

[0134] Step S209: In response to the simplified display mode of the vehicle's activated environmental risk information, the display areas other than the normally displayed area in the augmented reality HUD are determined as the target display area, the display object identifier and the vehicle identifier are canceled, and the risk orientation indicator component is rendered in the target display area based on the real-time coordinate position.

[0135] In the simplified display mode described above, the entire display area of ​​the AR HUD is used to display SR risks. The aforementioned risk orientation indicator component can be used to indicate the location of the risky object; for example, the risk orientation indicator component can be an arrow. That is, in the simplified display mode described above, the AR HUD display area only retains arrows.

[0136] The aforementioned always-displayed area may contain basic information such as vehicle speed and navigation arrows, which is crucial for driving and should not be removed in any display mode.

[0137] Optionally, when the vehicle senses an unusually complex driving environment or the driver actively selects a simplified display mode, the simplified display mode for environmental risk information can be activated. This simplified display mode aims to reduce unnecessary information so that the driver can more quickly and accurately capture risk signals in the environment and make more appropriate driving decisions.

[0138] Optionally, in the AR HUD, to maintain the continuity of basic navigation information and important warnings for the driver, the content displayed in the always-on display area can be retained. In addition to the always-on display area, all other display areas of the AR HUD can be defined as target display areas. This transformation frees up the maximum usable space of the AR HUD, which is then dedicated to displaying risk information in simplified mode, improving display efficiency and information delivery speed.

[0139] Optionally, in simplified display mode, to further reduce visual distractions for the driver, all non-risk-related content, including object and vehicle icons, can be removed. That is, apart from information directly related to risk, no other elements are displayed on the ARHUD, ensuring the driver can focus more on the risk warnings.

[0140] Optionally, in the simplified display mode, risk orientation indicator components (such as arrows) can be rendered only within the target display area based on real-time coordinates. This visually indicates the specific location of the risk object relative to the vehicle, helping the driver quickly locate potential sources of danger. In this way, even without detailed object identification, the driver can quickly understand the direction of the risk object.

[0141] Through the technical solution provided in step S209 above, in this embodiment of the application, by activating the simplified display mode, canceling the display of object identifiers and vehicle identifiers, and retaining only the risk orientation indicator component, the AR HUD display interface is greatly simplified, reducing the cognitive load on the driver and shortening the time from information reception to decision-making. The simplified mode ensures that the driver can focus their attention on the most critical safety information, avoiding interference from too much non-critical information, and effectively improving driving safety.

[0142] As an optional implementation method, the assisted driving signal is obtained by the vehicle's driving assistance system through a road risk level assessment of the driving environment, and the target level risk signal is a high-risk signal.

[0143] Optionally, the ADAS system can continuously monitor and analyze the vehicle's driving environment, providing functions such as safety warnings and automated control to enhance driving safety and comfort. When the ADAS system detects potential risks in the driving environment, it can quantify and classify these risks into different levels, such as low risk, medium risk, and high risk. In high-risk situations, more obvious measures need to be taken to alert the driver.

[0144] Optionally, when the ADAS system determines that a risk in the driving environment has reached a high-risk level, it will generate a corresponding high-risk signal. This level typically corresponds to an impending serious collision or other emergency requiring immediate action from the driver. Upon receiving a high-risk signal, the SR can be displayed in the AR HUD. This decision is based on the signal's level and the driving context, ensuring that the driver's visual attention is only diverted when truly necessary, avoiding unnecessary distractions.

[0145] Optionally, based on the high-risk information contained in the ADAS signals, the AR HUD system generates SR display content, which may include at least the relative position and motion state of the risky object, as well as suggested avoidance actions, such as deceleration, lane changing, or preparing to brake. Through AR technology, the generated SR content is seamlessly integrated into the driver's forward field of vision, providing intuitive visual feedback. This presentation method allows the driver to receive high-risk warnings without shifting their gaze, thus enabling a faster response.

[0146] Through the technical solution provided by the above steps, in this embodiment of the application, SR is displayed through AR HUD under high-risk levels, ensuring that the driver can obtain the most urgent safety information in time, which helps to avoid potential dangers in advance and ensure driving safety.

[0147] As an optional implementation, the warning color and high contrast can be switched by voice or manually in snow mode.

[0148] Alternatively, in adverse weather conditions, especially in low-visibility, high-reflectivity environments such as snow and ice, traditional color schemes may become unclear, reducing readability and effectiveness. Therefore, many intelligent driving assistance systems have introduced a snow mode to adapt to such environments and ensure that the driver can accurately receive critical information.

[0149] Optionally, in snowy environments, due to the high reflectivity and low contrast of a white background, the traditional red hue value (represented by H, where H equals 0 degrees (°)) is difficult to distinguish from the background, resulting in low visibility. In this case, the driver can manually activate the snow mode according to the actual needs of the driving environment. This mode can automatically adjust or provide options for the driver to manually change the color configuration of the information display to cope with the visual challenges of low contrast.

[0150] Optionally, in snow mode, a high-contrast warning color can be switched. Colors with a hue value H greater than 200° generally have good visibility, such as blue (H approximately 240°). These colors stand out against a white background, significantly improving the visibility of warning information. The built-in color management mechanism can automatically adjust the color profiles of display devices such as the AR HUD and center console screen, changing the color of all warning signals to the selected high-contrast color. Furthermore, drivers can manually adjust specific color preferences through the vehicle settings menu to suit different weather conditions and personal visual habits.

[0151] By following the steps above, manually switching between warning colors and high contrast in snow mode significantly improves the driver's information reception efficiency in adverse weather conditions. Bright, eye-catching colors can attract the driver's attention immediately, ensuring that critical warning information such as collision warnings and lane departure warnings can be quickly identified, thereby enabling timely driving decisions and enhancing driving safety.

[0152] The following example illustrates a preferred embodiment.

[0153] Currently, in related technologies, traditional solutions use edge-colored red prompts, which cannot display the relative distance and movement trend of lateral targets, lack three-dimensional spatial mapping, resulting in incomplete prompts in scenarios such as "ghost peeking out," and the textual prompts require secondary interpretation by the driver, which poses a cognitive load problem.

[0154] To address the aforementioned issues, this application proposes a driving risk visualization system that utilizes an AR HUD and a large-screen SR display for collaborative display, focusing on resolving the spatial positioning and dynamic alerting of risk targets in low-visibility scenarios outside the field of view (FOV). A relative position model between the vehicle and the risk target is established using the SR's top-down view, achieving 3D spatial mapping of targets outside the FOV. Through multimodal collaborative display, the display priority conflict between the AR HUD and SR is resolved, and a smooth visual migration of targets from outside to inside the FOV is achieved. This results in a 40% improvement in risk identification accuracy and a 0.5-second reduction in driver reaction time.

[0155] Figure 3 This is a schematic diagram illustrating a risk object as other vehicles according to an embodiment of this application, such as... Figure 3As shown, if the risk object is another vehicle that is close to the current vehicle and has a tendency to cut in, then the AR HUD display area and the SR target display area will be displayed collaboratively. The AR HUD display area will show warnings such as "Beware of Cutting In," while the SR target display area will show the risk object's identifier (e.g., the identifier of another vehicle) and the vehicle's identifier. Simultaneously, the rendering position of the risk object in the AR HUD will be updated in real time to provide risk warnings to the driving vehicle. Furthermore, Figure 3 The system also displays a wide head-up display (WHUD) area, which shows information such as distance (550 km), duration (20 min), arrival time (17:52), current speed (86 km / h), speed limit (80 km / h), and whether Navigation Guided Pilot (NGP) is enabled. This allows the driver to view key driving-related information. It should be noted that all information in the above area is displayed via the HUD hardware.

[0156] Figure 4 This is a schematic diagram illustrating a risk object as a pedestrian according to an embodiment of this application, such as... Figure 4 As shown, if the risk object is a pedestrian who is close to the vehicle, the AR HUD display area and the SR target display area will be displayed collaboratively. The AR HUD display area shows warnings such as "Caution: Pedestrians," while the SR target display area shows the object identifier of the risk object (e.g., a cyclist or pedestrian) and a vehicle identifier. Additionally, the information displayed in the WHUD area is consistent with... Figure 3 The same applies, so I will not repeat it here.

[0157] This embodiment achieves simultaneous display of both AR elements and SR risk targets in the AR HUD by integrating dual perspectives, namely the forward view of the AR HUD and the top-down view of the SR HUD. A dynamic priority system is used, with priorities from high to low: user-initiated actions, high risk (displaying SR risk targets to provide risk warnings), hierarchical rules for environmental information (even without high risk, road elements requiring attention, such as large vehicles and bicycles, can still be displayed), and a right-screen aggregation strategy for conflicts between two sides (both SR risk targets are highlighted in red, but the SR frame is displayed on the right).

[0158] Figure 5 This is a schematic diagram illustrating the activation of P-mode according to an embodiment of this application, as shown below. Figure 5As shown, after the vehicle is parked and in Park (P) gear, the vehicle icon is displayed in the target display area of ​​the SR (Side Detection and Ranging) system, while the WHUD (Wide Detection and Ranging) area only displays information such as distance 550km, NGP (National Highway Traffic Assist) function activated, speed limit 80km / h, and Park gear. Figure 6 This is a schematic diagram illustrating a conflict resolution mechanism between door opening warning and P-mode according to an embodiment of this application, as shown below. Figure 6 As shown, when the vehicle is parked and in Park (P) mode, if the driver or passenger opens the door, a warning message such as "Danger: Door Opening from the Left" will appear in the AR HUD display area, and a vehicle icon will appear in the SR target display area. Additionally, the information displayed in the WHUD area is consistent with... Figure 5 The same applies, so I will not repeat it here.

[0159] Figure 7 This is a schematic diagram of a large vehicle as a risk object according to an embodiment of this application, as shown below. Figure 7 As shown, the risk object is a large vehicle, which is relatively close to the current vehicle. Therefore, the AR HUD display area and the SR target display area are displayed collaboratively. The AR HUD display area shows warnings such as "Keep away from large vehicles," while the SR target display area shows the risk object's identifier (e.g., large vehicle identifier) ​​and the vehicle's identifier. Furthermore, the information displayed in the WHUD area is consistent with... Figure 3 The same applies, so I will not repeat it here.

[0160] As an alternative implementation, the original ADAS signals can be used directly to construct a 3D model, or the simplified data stream of the large-screen SR can be reused for permanent display.

[0161] Optionally, this embodiment can directly reuse the two-dimensional data originally used to display SR risk targets on the central control screen, that is, reuse the simplified data stream of the large screen SR for permanent display, or directly render 3D SR risk targets in the AR HUD, but the above solutions consume a lot of rendering resources.

[0162] In this embodiment, assisted driving signals are obtained by continuously monitoring and risk assessment of the driving environment around the vehicle. When a target-level risk signal is present in the assisted driving signals, the real-time coordinates of a first risk object outside the field of view of the vehicle's augmented reality HUD are acquired. Then, at least the object identifier of the first risk object and the corresponding vehicle identifier, along with other environmental risk information, are displayed within the target display area of ​​the augmented reality HUD. The object identifier is dynamically updated based on the real-time coordinates to obtain the relative distance and movement trend between the first risk object and the vehicle in real time. Therefore, this embodiment achieves the goal of real-time monitoring and visual warning of a first risk object outside the field of view of the augmented reality HUD, thus realizing the technical effect of displaying risk objects outside the field of view of the augmented reality HUD and solving the technical problem in related technologies that cannot display risk objects outside the field of view of the augmented reality HUD.

[0163] It should be noted that while both displaying navigation information on the vehicle's infotainment screen and displaying navigation information via AR HUD can provide navigation guidance, displaying navigation information via AR HUD is not simply changing the subject of the same navigation information. Rather, there are fundamental differences in the logic and effect of generating the displayed navigation information. These differences determine their respective characteristics and application scenarios.

[0164] The core of AR HUD lies in integrating the navigation guidance light carpet with the actual road, merging perceived lane lines, surrounding vehicles, non-motorized vehicles, pedestrians, and animals with the real environment, and presenting it on the windshield in front of the driver's line of sight. In effect, this alignment and integration of virtual navigation information with the real world ensures a high degree of consistency between virtual and real-world elements, providing users with an intuitive and immersive driving assistance experience.

[0165] In contrast, the navigation information displayed on the in-vehicle infotainment screen is presented as virtual information such as navigation routes (not navigation guide light carpets) and the vehicle itself and surrounding vehicles. These are rendered through animations on a fixed display screen inside the vehicle. The navigation routes and virtual information do not need to be spatially integrated with the external environment. Their main purpose is to show the user what the surrounding environment is like, and there is no need for high precision. The specific differences are shown in Table 1.

[0166] As shown in Table 1, regarding whether virtual information aligns with actual roads, the fundamental difference between AR HUD and traditional in-vehicle screens in navigation display function lies in their ability to overlay navigation information directly within the driver's field of vision due to their augmented reality characteristics. AR HUDs can display a navigation guidance light carpet on the current road, aligning it perfectly with the actual road. This allows users to clearly understand how to drive ahead, providing a very intuitive experience. In contrast, in-vehicle screens do not require direct visual integration with the road and do not display navigation information via a light carpet. Instead, they use color-coded markers to indicate which roads are passable, letting the user know which roads are available, and ultimately, the user decides which one to take. In addition, AR HUD can display lane lines ahead within a certain range, as well as information about motor vehicles, non-motor vehicles, pedestrians, or animals in the surrounding environment. It can intuitively alert users to external factors that may affect driving operations. Especially in environments with low visibility, where users may not notice their surroundings, this information can greatly help users make decisions to avoid traffic accidents. However, the navigation on the car's screen will render some surrounding objects, but it can only give a general idea that there may be an object nearby. Users cannot intuitively perceive the specific location of the object.

[0167] Table 1. Differences between AR HUD and in-vehicle infotainment screen

[0168]

[0169] Regarding whether real-time prediction of the vehicle's position is necessary, since the underlying implementation logic of these two technologies is different, for example, suppose that in low visibility conditions, an AR HUD is used to display the position element of the vehicle in front to help users identify the distance between their own vehicle and the vehicle in front. How to ensure that this position element fits the vehicle in front is very important for users. The position of the vehicle in front needs to be predicted to fit better. For example, if the vehicle in front suddenly accelerates or decelerates, in order for the animation rendering on the AR HUD to keep up with the vehicle in front, the position of the vehicle in front needs to be predicted. Specifically, multiple predicted positions of the vehicle in front need to be obtained first (for example, some predicted positions of the vehicle in front are the positions after acceleration, and some predicted positions of the vehicle in front are the positions after deceleration). Then, the positions of the vehicles in front in the current frame are averaged by a window to obtain a predicted position. This predicted position can then be used to display on the AR HUD. In this case, even if the vehicle in front suddenly accelerates, this predicted position will still fit relatively well.

[0170] The navigation screen displayed on the car's infotainment system will show an animated rendering of the car in front. However, this animation rendering does not have a strong requirement to be perfectly aligned with the car in front. Even if there is a certain distance difference between the rendered position of the car in front and its actual position, it does not matter. The car's infotainment system only needs to indicate a rough relative position of the car in front, and does not need to be particularly accurate. In other words, the navigation displayed on the car's infotainment system does not predict the speed of the car in front. Instead, it uses perception data to detect and calculate in real time whether the car will collide with the car in front at present, without needing to know whether the car will collide with the car in front in the future.

[0171] Regarding the issue of the navigation guide light carpet exceeding the screen width, since the AR HUD only displays a certain range of content in front of the vehicle, and the navigation guide light carpet must be adapted to road conditions, such as when turning right or making a U-turn, the navigation guide light carpet would exceed the screen width. However, the screen displays the passable road ahead (without showing the navigation guide light carpet), so even if a right turn or U-turn is required, the passable road ahead will be shown in the image. Therefore, the screen does not have the issue of the navigation guide light carpet exceeding the screen width.

[0172] According to an embodiment of this application, an information display device is also provided; please refer to [reference needed]. Figure 8 The device includes:

[0173] The acquisition module 801 is used to acquire the real-time coordinate position of the first risk object in the vehicle's driving environment in response to the presence of a risk signal of target level in the vehicle's assisted driving signal, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD.

[0174] Display module 802 is used to display environmental risk information in the target display area of ​​augmented reality HUD based on real-time coordinate position. The environmental risk information includes at least: the object identifier corresponding to the first risk object and the vehicle identifier corresponding to the vehicle. The object identifier is dynamically updated according to the real-time coordinate position.

[0175] It should be noted that the acquisition module 801 and the display module 802 mentioned above correspond to steps S201 to S202 in the embodiments. The two modules and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the foregoing embodiments.

[0176] Optionally, the acquisition module 801 is further configured to: acquire multi-sensor fusion data corresponding to the driving environment, wherein the multi-sensor fusion data is obtained by fusing real-time acquired millimeter-wave radar data, camera data and ultrasonic data; perform coordinate transformation mapping on the multi-sensor fusion data to establish a relative position model, wherein the relative position model is used to characterize the three-dimensional relative positional relationship between the first risk object and the vehicle; and determine the real-time coordinate position based on the relative position model and a preset top-down observation angle.

[0177] Optionally, the display module 802 is further configured to: determine the target display area from the augmented reality HUD based on the real-time coordinate position; perform dimensionality reduction mapping on the real-time coordinate position to determine the two-dimensional rendering position of the first risk object in the target display area; render the object identifier in the target display area according to the two-dimensional rendering position; and render the vehicle identifier in the target display area according to the preset top-down viewing angle and the vehicle icon material.

[0178] Optionally, the display module 802 is further configured to: determine the relative position of the first risk object with respect to the vehicle based on the real-time coordinate position; and select a target display area from multiple candidate areas corresponding to the augmented reality HUD based on the relative position, wherein the multiple candidate areas are determined based on multiple distribution orientations within the augmented reality HUD.

[0179] Optionally, the information display device further includes a determination module for determining a second risk object within the field of view in response to a risk signal indicating the presence of a target level in the assisted driving signal; a rendering module for rendering augmented reality elements corresponding to the second risk object in the augmented reality HUD using multi-sensor fusion data; and a first display module for displaying a risk sign at the sign position corresponding to the augmented reality element.

[0180] Optionally, the information display device further includes a selection module, used to select a first risk object from the multiple risk objects in response to a risk signal of target level in the assisted driving signal and multiple risk objects outside the field of view, according to a target selection rule, wherein the target selection rule is set based on the distance between the multiple risk objects and the vehicle and / or the overlay display priority of the multiple risk objects.

[0181] Optionally, the information display device further includes a pause module, which pauses the display of environmental risk information in response to the display requirement of a target image corresponding to the target display area, so as to support the priority display of the target image in the target display area, wherein the target image includes at least one of the following: a turning image, a narrow road image, and a reversing image.

[0182] Optionally, the information display device further includes a control module, configured to, in response to the removal of the risk signal at the target level, control the object identifier of the first risk object to switch from a warning style to a normal style, and control the environmental risk information to be canceled from display within the target display area according to the target display duration rule, wherein the target display duration rule is set based on a first duration threshold and / or a second duration threshold, the first duration threshold being used to evaluate the duration from the start of the display of the environmental risk information, and the second duration threshold being used to evaluate the duration from the removal of the risk signal at the target level.

[0183] Optionally, the aforementioned information display device further includes a cancellation module, which, in response to a simplified display mode for vehicle-activated environmental risk information, determines other display areas in the augmented reality HUD besides the normally displayed area as the target display area, cancels the display of object identifiers and vehicle identifiers, and renders a risk orientation indicator component within the target display area based on real-time coordinates.

[0184] Optionally, the assisted driving signal is obtained by the vehicle's driving assistance system through a road risk level assessment of the driving environment, with the target level risk signal being a high-risk signal.

[0185] It should be noted that the modules mentioned in the above system embodiments can be implemented by software, hardware, or a combination of both. For example, when the modules are implemented by hardware, they can be placed in the same processor, or they can be placed in different processors in any combination. As another example, the modules can be hardware or software components stored in memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n). These modules can also run as part of the system on systems such as... Figure 1 In the computing terminal 10 shown.

[0186] According to another aspect of the embodiments of this application, a vehicle is also provided, including a memory and a processor, wherein the memory stores an executable program; the processor is used to run the program, wherein the program executes the information display method of any of the above when it runs.

[0187] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory storing an executable program; and a processor for running the program, wherein the program executes the information display method of any one of the above-mentioned methods when it runs.

[0188] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the storage medium is located to execute the information display method of any of the above.

[0189] Optionally, the aforementioned computer storage media may include, but are not limited to: hard disk drives (HDDs), solid state drives (SSDs), USB flash drives, optical discs, memory cards, cloud storage media, and network-attached storage (NAS) devices.

[0190] Optionally, the aforementioned computer-readable storage medium may be configured to store a computer program for performing the following steps: in response to the presence of a risk signal of a target level in the vehicle's assisted driving signals, acquiring the real-time coordinate position of a first risk object in the vehicle's driving environment, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD; and displaying environmental risk information in the target display area of ​​the augmented reality HUD based on the real-time coordinate position, wherein the environmental risk information includes at least: an object identifier corresponding to the first risk object and a vehicle identifier corresponding to the vehicle, the object identifier being dynamically updated following the real-time coordinate position.

[0191] According to an embodiment of this application, a computer program product is also provided. This computer program product includes a computer program that, when executed by a processor, can implement the aforementioned information display method.

[0192] Optionally, the aforementioned computer program product can provide information display services based on the aforementioned information display method.

[0193] Optionally, in this embodiment, the computer program product described above may be a set of instructions and code pre-written according to the information display method described above. This computer program product can run on various computer platforms, including personal computers, servers, mobile devices, etc.

[0194] Optionally, in this embodiment, the instructions and code corresponding to the computer program product are used to implement the following method steps: in response to the presence of a risk signal of a target level in the vehicle's assisted driving signal, the real-time coordinate position of the first risk object in the vehicle's driving environment is obtained, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD; based on the real-time coordinate position, environmental risk information is displayed in the target display area of ​​the augmented reality HUD, wherein the environmental risk information includes at least: an object identifier corresponding to the first risk object and a vehicle identifier corresponding to the vehicle, and the object identifier is dynamically updated following the real-time coordinate position.

[0195] 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 used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0196] It should be noted that, for the sake of simplicity, the technical solutions in the above method embodiments are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the order of actions in the described action combination, because according to this application, some of the above steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in this application specification are preferred embodiments, and the actions and modules involved are not necessarily essential for implementing the technical solutions of this application.

[0197] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0198] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of multiple modules can be a logical functional division, and in actual implementation in application scenarios, there can be any other possible division methods. Furthermore, multiple modules (or units or components within modules) can be combined with each other and integrated into another system. For example, some features in the method embodiments described above can be ignored or skipped during execution.

[0199] It should be noted that in the above embodiments, the modules, components, or units described as separate parts can be physically separated or physically integrated. The components shown as modules or units can be physical modules or units, or virtual modules or units. That is, multiple modules or units can be located in the same position or distributed across multiple positions or spaces. In application scenarios, depending on the actual needs of the scenario, some or all of the multiple modules or units can be selected to implement the technical solutions of the embodiments of this application, thereby achieving the corresponding technical objectives.

[0200] Specifically, for integrated functional modules or units, if they are implemented as software functional units and sold or used as independent products, the module or functional unit can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0201] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An information display method, characterized in that, include: In response to the presence of a risk signal of target level in the vehicle's assisted driving signals, the real-time coordinate position of a first risk object in the vehicle's driving environment is obtained, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD. Based on the real-time coordinate position, environmental risk information is displayed in the target display area of ​​the augmented reality HUD, wherein the environmental risk information includes at least: the object identifier corresponding to the first risk object and the vehicle identifier corresponding to the vehicle, and the object identifier is dynamically updated following the real-time coordinate position; Displaying the environmental risk information within the target display area of ​​the augmented reality HUD based on the real-time coordinate position includes: determining the target display area from the augmented reality HUD based on the real-time coordinate position; performing dimensionality reduction mapping on the real-time coordinate position to determine the two-dimensional rendering position of the first risk object in the target display area; rendering the object identifier within the target display area according to the two-dimensional rendering position; and rendering the vehicle identifier within the target display area according to a preset top-down viewing angle and vehicle icon material.

2. The information display method according to claim 1, characterized in that, Obtaining the real-time coordinate position of the first risk object in the vehicle's driving environment includes: The multi-sensor fusion data corresponding to the driving environment is obtained, wherein the multi-sensor fusion data is obtained by fusing real-time acquired millimeter-wave radar data, camera data and ultrasonic data; The multi-sensor fusion data is subjected to coordinate transformation and mapping to establish a relative position model, wherein the relative position model is used to characterize the three-dimensional relative positional relationship between the first risk object and the vehicle; The real-time coordinate position is determined based on the relative position model and the preset top-down viewing angle.

3. The information display method according to claim 1, characterized in that, Determining the target display area from the augmented reality HUD based on the real-time coordinate position includes: Based on the real-time coordinates, determine the relative position of the first risk object with respect to the vehicle; Based on the relative orientation, the target display area is selected from multiple candidate areas corresponding to the augmented reality HUD, wherein the multiple candidate areas are determined based on multiple distribution orientations within the augmented reality HUD.

4. The information display method according to claim 1, characterized in that, The information display method further includes: In response to the presence of a risk signal of the target level in the assisted driving signal, a second risk object is identified within the field of view; Using multi-sensor fusion data, the augmented reality elements corresponding to the second risk object are rendered in the augmented reality HUD; A risk indicator is displayed at the location corresponding to the augmented reality element.

5. The information display method according to claim 1, characterized in that, The information display method further includes: In response to the presence of a risk signal of the target level in the assisted driving signal and the presence of multiple risk objects outside the field of view, the first risk object is selected from the multiple risk objects according to a target selection rule, wherein the target selection rule is set based on the distance between the multiple risk objects and the vehicle and / or the overlay display priority of the multiple risk objects.

6. The information display method according to claim 1, characterized in that, The information display method further includes: In response to the display requirement of the target display area corresponding to the target image, the display of the environmental risk information is paused to support the priority display of the target image in the target display area, wherein the target image includes at least one of the following: turning image, narrow road image and reversing image.

7. The information display method according to claim 1, characterized in that, The information display method further includes: In response to the removal of the risk signal at the target level, the object identifier of the first risk object is switched from a warning style to a normal style, and the environmental risk information is removed from the target display area according to the target display duration rule. The target display duration rule is set based on a first duration threshold and / or a second duration threshold. The first duration threshold is used to evaluate the duration from the start of the display of the environmental risk information, and the second duration threshold is used to evaluate the duration from the removal of the risk signal at the target level.

8. The information display method according to claim 1, characterized in that, The information display method further includes: In response to the vehicle activating the simplified display mode of the environmental risk information, the display area other than the normally displayed area in the augmented reality HUD is determined as the target display area, the object identifier and the vehicle identifier are canceled, and a risk orientation indicator component is rendered within the target display area based on the real-time coordinate position.

9. The information display method according to any one of claims 1 to 8, characterized in that, The assisted driving signal is obtained by the vehicle's driving assistance system through a road risk level assessment of the driving environment, and the target level risk signal is a high-risk signal.

10. An information display device, characterized in that, include: The acquisition module is used to acquire the real-time coordinate position of a first risk object in the vehicle's driving environment in response to the presence of a risk signal of a target level in the vehicle's assisted driving signals, wherein the first risk object is outside the field of view of the vehicle's augmented reality HUD. The display module is used to display environmental risk information in the target display area of ​​the augmented reality HUD based on the real-time coordinate position. The environmental risk information includes at least: an object identifier corresponding to the first risk object and a vehicle identifier corresponding to the vehicle. The object identifier is dynamically updated following the real-time coordinate position. The display module is further configured to: determine the target display area from the augmented reality HUD based on the real-time coordinate position; perform dimensionality reduction mapping on the real-time coordinate position to determine the two-dimensional rendering position of the first risk object in the target display area; render the object identifier in the target display area according to the two-dimensional rendering position; and render the vehicle identifier in the target display area according to a preset top-down viewing angle and vehicle icon material.

11. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, executes the information display method according to any one of claims 1 to 9.

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