Vehicle augmented reality navigation method, augmented reality head-up display device, and vehicle

Abstract

The application discloses a kind of vehicle augmented reality navigation method, augmented reality heads-up display device and vehicle.Therein, the method comprises: in augmented reality heads-up display interface rendering shows first navigation light blanket;In response to the lane change signal obtained according to the path planning of vehicle, the lane change line segment in first navigation light blanket is redrawn, and second navigation local light blanket is obtained, the terminal end of second navigation local light blanket is located in the middle of target lane, and the starting end of second navigation local light blanket is located in perigee position;In augmented reality heads-up display interface, the lane change line segment of first navigation light blanket is switched to second navigation local light blanket and is rendered and shown;In the process that vehicle travels to target lane according to second navigation local light blanket, the terminal end of second navigation local light blanket is always located in the middle of target lane.The application solves the technical problem that the guiding property and stability of navigation light blanket in the lane change or intersection lane misplacement scene in the prior art are poor.

Description

Technical Field

[0001] This invention relates to the fields of vehicles, augmented reality, and navigation technology, and more specifically, to a vehicle augmented reality navigation method, an augmented reality head-up display device, and a vehicle. Background Technology

[0002] With the rapid development of intelligent driving and augmented reality technologies, AR HUD (Augmented Reality Head-Up Display) has become an indispensable part of modern automobiles. By projecting key driving information directly into the driver's line of sight, AR HUD reduces the need for the driver to look away, thus improving driving safety. Figure 1a In the lane-changing scenario shown, the navigation light carpet on the AR HUD originates from the curve of the vehicle's journey to the target lane. However, due to the limited field of view of augmented reality devices, the driver sees only the navigation light carpet starting a distance in front of the vehicle (e.g., 20 meters away) through the augmented reality head-up display, making it impossible to accurately interpret information about lane changes or lane misalignment at intersections. Therefore, in order to... Figure 1b The lane-changing trend shown is illustrated by the current technical solution of compressing the curve from the vehicle's origin to the target lane, bringing it within the range of the augmented reality head-up display. However, this compression method may bring issues such as... Figure 1c The reverse bow phenomenon shown causes the far end of the navigation light blanket to fail to conform to the target lane, resulting in poor guidance and stability of the navigation light blanket in lane changing or lane misalignment scenarios at intersections.

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

[0004] This invention provides a vehicle augmented reality navigation method, an augmented reality head-up display device, and a vehicle, to at least solve the technical problem of poor guidance and stability of navigation light carpets in lane changing or lane misalignment scenarios at intersections in related technologies.

[0005] According to one aspect of the present invention, a vehicle augmented reality navigation method is provided, comprising: rendering and displaying a first navigation light carpet on an augmented reality head-up display interface; and redrawing lane change segments in the first navigation light carpet in response to obtaining lane change signals based on the vehicle's path planning to obtain a second navigation partial light carpet, wherein the lane change signals are used to characterize changes in the lane ahead of the vehicle, the end point of the second navigation partial light carpet is located in the middle of a target lane, the target lane is the lane ahead of the vehicle after changes according to the path planning, and the beginning point of the second navigation partial light carpet is located on the augmented reality head-up display interface. The near-point location; within the augmented reality head-up display interface, the lane change line segment of the first navigation light carpet is switched to the second navigation partial light carpet for rendering and display; wherein, during the process of the vehicle traveling to the target lane according to the second navigation partial light carpet, the end point of the second navigation partial light carpet is always located in the middle of the target lane. The second navigation partial light carpet includes a starting segment, a first curved segment, and a second curved segment. One end of the starting segment is the starting end of the second navigation partial light carpet, and the other end of the starting segment is connected to one end of the first curved segment. The other end of the first curved segment is connected to one end of the second curved segment, and the other end of the second curved segment is the end point of the second navigation partial light carpet.

[0006] Further, the lane change signal includes: the lane change start position and the lane change end position; the lane change line segment in the first navigation light carpet is redrawn to obtain the second navigation local light carpet, including: determining the position of the first control point based on the perimeter position and the lane change start position, wherein the first control point position is used to control the line segment boundary range and curvature of the first curved segment, the coordinate values ​​of the first control point position and the perimeter position in the vehicle's auto-coordinate system in a preset direction are consistent, the preset direction is perpendicular to the longitudinal symmetry plane of the vehicle, and the lane change line segment is the line segment between the lane change start position and the lane change end position; determining the position of the second control point based on the lane change end position, wherein the second control point position is used to control the line segment boundary range and curvature of the second curved segment, the coordinate values ​​of the second control point position and the lane change end position in the preset direction in the vehicle's coordinate system are consistent; generating the second navigation local light carpet based on the perimeter position, the lane change end position, the first control point position, and the second control point position.

[0007] Further, determining the position of the first control point based on the near-point location and the lane change start point location includes: determining a first distance between the near-point location and the vehicle's current position in the current direction of the vehicle's front, and a second distance between the lane change start point location and the vehicle's current position in the current direction of the vehicle's front, wherein the current direction of the vehicle's front is parallel to the vehicle's longitudinal plane of symmetry; in response to the first distance being greater than the second distance, determining the position of the first control point based on a first preset distance value between the near-point location and the current direction of the vehicle's front; in response to the first distance being less than or equal to the second distance, determining the position of the first control point based on the near-point location, the distance between the near-point location and the lane change start point location in the current direction of the vehicle's front, and the first preset distance value.

[0008] Further, the location of the second control point is determined based on the end position of the lane change, including: determining the location of the second control point based on the end position of the lane change and a second preset distance value in the current orientation of the vehicle, wherein the current orientation of the vehicle is parallel to the longitudinal symmetry plane of the vehicle.

[0009] Furthermore, after redrawing the lane change segments in the first navigation light carpet to obtain the second navigation partial light carpet, the above method also includes: splicing the second navigation partial light carpet with the non-lane change segments in the first navigation light carpet to obtain the spliced ​​navigation light carpet, wherein the non-lane change segments are the segments in the first navigation light carpet other than the lane change segments.

[0010] Furthermore, the above method also includes: sending the vehicle's positioning information to the server; receiving the first lane-level navigation data returned by the server, wherein the first lane-level navigation data includes at least: first light carpet control line data, the first lane-level navigation data being generated based on the positioning information, the vehicle's target address, and lane-level map data; converting the first light carpet control line data from the map coordinate system corresponding to the first lane-level navigation data to the vehicle's own coordinate system to obtain first conversion control line data; and rendering the first conversion control line data as a first navigation light carpet.

[0011] Furthermore, the first lane-level navigation data also includes: preset location information of the current lane, where the current lane is the lane the vehicle is currently traveling in, and the current lane is determined based on positioning information. The first lane-level navigation data is generated based on preset location information, target address, and lane-level map data. Rendering the first transition control line data into a first navigation light carpet includes: in response to acquiring a lane change signal, correcting the first transition control line data based on positioning information and preset location information to obtain corrected control line data; and rendering the corrected control line data into a first navigation light carpet.

[0012] Furthermore, based on the positioning information and preset location information, the first conversion control line data is corrected to obtain corrected control line data, including: converting the positioning information from the geographic coordinate system to the vehicle coordinate system to obtain the first vehicle position, and converting the preset location information from the map coordinate system corresponding to the lane-level map data to the vehicle coordinate system to obtain the second vehicle position; based on the deviation between the first vehicle position and the second vehicle position, the first conversion control line data is corrected to obtain corrected control line data.

[0013] Furthermore, the above method also includes: in response to detecting that the vehicle has entered the target lane, or obtaining a lane change end signal according to the vehicle's path planning, re-rendering the first transition control line data into the first navigation light carpet, and displaying the first navigation light carpet in the augmented reality head-up display interface.

[0014] Furthermore, the above method also includes: converting the near-point location from the vehicle coordinate system to the map coordinate system corresponding to the lane-level map data to obtain the converted location; sending the converted location to the server and receiving the second lane-level navigation data returned by the server, wherein the second lane-level navigation data includes at least: second light carpet control line data, wherein the second light carpet control line data is generated based on the converted location, the vehicle's target address, and the lane-level map data; converting the second light carpet control line data from the map coordinate system to the vehicle coordinate system to obtain second converted control line data; rendering the second converted control line data as a third navigation light carpet and displaying the third navigation light carpet in the augmented reality head-up display interface.

[0015] According to another aspect of the present invention, an augmented reality head-up display device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the method of any one of the above embodiments when it runs.

[0016] According to another aspect of the present invention, a vehicle is also provided, including: the augmented reality head-up display device described in the above embodiments.

[0017] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0018] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0019] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0020] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0021] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0022] In this embodiment of the invention, a first navigation light carpet is rendered and displayed on the augmented reality head-up display interface; in response to obtaining lane change signals based on the vehicle's path planning, the lane change segments in the first navigation light carpet are redrawn to obtain a second navigation partial light carpet; the lane change segments of the first navigation light carpet are switched to the second navigation partial light carpet for rendering and display within the augmented reality head-up display interface, thereby showing the driver lane change trends, such as lane changing trends or lane misalignment trends at intersections, by displaying the second navigation partial light carpet. It is noteworthy that by redrawing the lane change lines in the first navigation light carpet, a second navigation partial light carpet is obtained. This ensures that the starting point of the second navigation partial light carpet is located at the near point of the augmented reality head-up display interface, and the ending point is located in the middle of the target lane. Furthermore, as the vehicle travels to the target lane according to the second navigation partial light carpet, the ending point of the second navigation partial light carpet remains in the middle of the target lane, avoiding the reverse bow phenomenon of the second navigation partial light carpet. It also ensures that the ending point of the second navigation partial light carpet is aligned with the target lane, thereby improving the guidance and stability of the navigation light carpet in lane change or lane misalignment scenarios at intersections. This solves the problem of poor guidance and stability of the navigation light carpet in lane change or lane misalignment scenarios at intersections caused by the use of compression schemes. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1a This is a schematic diagram of a lane-changing scenario based on relevant technologies;

[0025] Figure 1b This is a schematic diagram illustrating the lane-changing trend expressed by a navigation light blanket in a lane-changing scenario based on relevant technologies;

[0026] Figure 1c This is a schematic diagram illustrating the reverse bow phenomenon caused by compressing the navigation light blanket in a lane-changing scenario based on relevant technologies.

[0027] Figure 2 This is a flowchart of a vehicle augmented reality navigation method according to an embodiment of the present invention;

[0028] Figure 3a This is a schematic diagram of the control point position and the second navigation local light carpet before the vehicle changes lanes in a lane-changing scenario according to an embodiment of the present invention.

[0029] Figure 3b This is a schematic diagram of the control point position and the second navigation local light carpet during the process of a vehicle starting to change lanes in a lane-changing scenario according to an embodiment of the present invention.

[0030] Figure 3c This is a schematic diagram of the first navigation light carpet after a vehicle has completed a lane change in a lane change scenario according to an embodiment of the present invention.

[0031] Figure 4a This is a schematic diagram of the control point position and the second navigation local light carpet before a vehicle changes lanes in a lane misalignment scenario at an intersection according to an embodiment of the present invention.

[0032] Figure 4b This is a schematic diagram of the control point position and the second navigation local light carpet during the process of a vehicle starting to change lanes in a lane misalignment at an intersection according to an embodiment of the present invention.

[0033] Figure 4c This is a schematic diagram of the first navigation light carpet after a vehicle has changed lanes during lane misalignment at an intersection, according to an embodiment of the present invention.

[0034] Figure 5 This is a schematic diagram illustrating the determination of control point positions in a vehicle coordinate system according to an embodiment of the present invention;

[0035] Figure 6a This is a schematic diagram of first lane-level navigation data when a server binds a vehicle to a preset position in a lane, according to an embodiment of the present invention.

[0036] Figure 6b This is a schematic diagram of an augmented reality head-up display device rendering a first navigation light carpet according to an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram illustrating the variation of the swirling motion of a navigation light blanket according to an embodiment of the present invention. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 the invention 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 a 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.

[0040] According to an embodiment of the present invention, a vehicle augmented reality navigation 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, the steps shown or described may be executed in a different order than that shown here.

[0041] This application provides a vehicle augmented reality navigation method. This method can be used to provide augmented reality navigation functionality for preset application scenarios. These preset application scenarios may include the following scenarios in the vehicle field: commuting scenarios (manual or autonomous driving), artificial intelligence (AI) assisted or autonomous driving scenarios for private cars, and navigation-guided pilot (NGP) scenarios in urban or highway areas. Furthermore, these preset application scenarios may also include, but are not limited to: lane changing or intersection lane misalignment scenarios in the logistics and transportation field (manually driven, intelligently driven, or unmanned trucks), lane changing or intersection lane misalignment scenarios in the agricultural machinery field (manually driven or autonomously driven agricultural vehicles), and lane changing or intersection lane misalignment scenarios for intelligent robots (such as cleaning robots, service robots, and delivery robots).

[0042] When the aforementioned preset application scenario is a scenario in a field other than the vehicle field, those skilled in the art should understand that the vehicle in the above-mentioned vehicle augmented reality navigation method can be replaced with other objects (such as agricultural machinery, drones, robots, etc.), and correspondingly, the vehicle augmented reality navigation method can be replaced with augmented reality navigation methods related to other objects. Based on this, this application embodiment takes the augmented reality navigation field as an example to illustrate the specific implementation of the above-mentioned vehicle augmented reality navigation method.

[0043] It should be noted that, since the vehicle augmented reality navigation method in this application is mainly used to assist drivers in driving vehicles, the above-mentioned vehicle augmented reality navigation method is mainly based on manual driving scenarios.

[0044] Figure 2 This is a flowchart of a vehicle augmented reality navigation method according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps:

[0045] Step S202: Render and display the first navigation light carpet on the augmented reality head-up display interface.

[0046] The aforementioned augmented reality head-up display (ARHUD) refers to the visible range of virtual information that a driver can see through the ARHUD. It can generally be viewed as a virtual screen projected by the ARHUD. Typically, ARHUD devices can render and display driver assistance information within the display's field of view, such as navigation light carpets to assist the driver. Therefore, accurately displaying driver assistance information to the driver within the ARHUD interface plays a crucial role in the driver's safety and stability while driving.

[0047] The aforementioned first navigation light carpet can be rendered and displayed within an augmented reality head-up display interface. It is an element that requires the real-world scene to be accurately observed. The first navigation light carpet is integrated with the real-world scene and presented to the driver through perspective. To facilitate the driver's accurate understanding of the driving path, the lines, color, and brightness of the first navigation light carpet will change in real time according to the real-world scene. For example, when the vehicle is traveling straight, the first navigation light carpet maintains a straight line to help the driver maintain lane centering and provide lane keeping assistance; when the vehicle is about to change lanes, the light carpet will bend to fit the changed lane, providing the driver with clear lane change guidance. The first navigation light carpet can be presented in forms including, but not limited to, virtual light carpets, dynamic arrows, etc.

[0048] In one optional embodiment, during vehicle operation, real-time route planning can be performed based on information about the vehicle's driving environment perceived by the vehicle's sensors (such as cameras, radar, etc.) and combined with the vehicle's destination address (i.e., the address of the vehicle's travel destination), to obtain first lane-level navigation data. This first lane-level navigation data may include, but is not limited to, lane line data, lane light carpet control line data, lane road shape data, and vehicle lane change data. The light carpet control line data can refer to a series of coordinate points describing the shape and position of the road the vehicle is currently traveling on. Further, based on the light carpet control line data, a first navigation light carpet can be rendered in the augmented reality head-up display (HUD) interface and displayed within the HUD interface.

[0049] In another optional embodiment, during vehicle operation, the vehicle can quickly determine its current location using a positioning system such as GPS (Global Positioning System) or BeiDou Navigation Satellite System, i.e., obtain the vehicle's positioning information. The server generates first lane-level navigation data based on the positioning information, the vehicle's destination address, and lane-level map data. After receiving the first lane-level navigation data from the server, the augmented reality head-up display (HUD) device can render it as a first navigation light carpet on the HUD interface and display it within the HUD. The aforementioned lane-level map data can be map data of the vehicle's current driving route provided by the server; it can be high-precision map data or low-precision map data, as long as it includes lane line data, lane type data, etc. Different map data can be provided by different manufacturers, and the server can communicate with different manufacturers to obtain the map data provided by these manufacturers.

[0050] It should be noted that, considering that GPS can be affected by signal interference, leading to positioning errors, in order to ensure the accuracy of the determined positioning information, various sensors on the vehicle, such as cameras, radar, and lidar, can be used to perceive environmental information around the vehicle in real time. This includes information such as road features, lane lines, traffic signs, and the positions of surrounding vehicles and pedestrians. The perceived environmental information is then used to adjust the vehicle's position as determined by GPS, thereby obtaining the accurate current location of the vehicle and constructing accurate positioning information.

[0051] Step S204: In response to obtaining the lane change signal based on the vehicle's path planning, the lane change line segment in the first navigation light carpet is redrawn to obtain the second navigation local light carpet. The lane change signal is used to represent the change of the lane in front of the vehicle. The end point of the second navigation local light carpet is located in the middle of the target lane. The target lane is the lane in front of the vehicle after the lane has changed according to the path planning. The start point of the second navigation local light carpet is located at the near point of the augmented reality head-up display interface.

[0052] The aforementioned path planning can be a driving path planned by the vehicle based on perceived data, or a driving path planned by the server based on the vehicle's positioning information. The aforementioned lane change signal can be a signal indicating a lane change ahead of the vehicle, determined based on the vehicle's path planning. This lane change can refer to a change in the vehicle's driving lane, i.e., the vehicle needs to change lanes (e.g., the vehicle changes from its current lane M to lane N), or it can refer to a lane shift at an intersection ahead of the vehicle (e.g., the shifted lane is to the right of the current lane, and the vehicle needs to move to the right, similar to a lane change). The aforementioned target lane can be the lane the vehicle needs to travel in after the lane change ahead. For example, if the vehicle changes from its current lane M to lane N, the target lane could be lane N; if a lane shift occurs at an intersection ahead of the vehicle, and the shifted lane is to the right of the current lane, the target lane could be the lane to the right of the intersection, but it is not limited to these possibilities.

[0053] To facilitate lane changes or maneuvering using navigation light carpets, lane change signals can include the start and end points of the lane change. These two points can be determined based on specific strategies and environmental conditions. Typically, the start point is located in the middle of the vehicle's current lane, and the end point is located in the middle of the target lane. For example, if the target lane's lane line is a long solid line, the distance between these two points in the direction parallel to the vehicle's longitudinal plane of symmetry is a fixed value (e.g., 60 meters). Then, it's necessary to ensure that the lane change guide line between the two points does not intersect the long solid line, thus confirming the two positions. It should be noted that the longitudinal plane of symmetry can refer to a plane passing through the vehicle's centerline and perpendicular to the ground, dividing the vehicle into two symmetrical parts. As another example, if the target lane is a turning lane, the end point of the lane change is first determined based on the target lane to ensure the vehicle can turn normally into the target lane while adhering to traffic rules. Then, the start point of the lane change can be determined based on the distance between the two points in the direction parallel to the vehicle's longitudinal plane of symmetry.

[0054] The aforementioned lane change segment can be a line segment in the first navigation light carpet representing the position between the start and end points of a lane change. In this embodiment, the lane change segment can be generated by redrawing the second navigation local light carpet instead of compressing it. By redrawing, it can be ensured that the second navigation local light carpet can both express the trend of lane changing or lane misalignment and overlap with the target lane; that is, the second navigation local light carpet has high guidance and stability.

[0055] The aforementioned perigee position can be the starting point of the navigation light carpet as seen by the driver in the augmented reality head-up display (HUD). The perigee position can include two scenarios: first, the position of the midpoint of the lower edge of the HUD in the vehicle's coordinate system; second, the position of a point on the line segment intersecting the vehicle's longitudinal plane of symmetry and the HUD, located at the lower edge of the HUD, in the vehicle's coordinate system. To ensure the driver can see the starting point of the lane change in the HUD, the starting point of the redrawn second navigation partial light carpet needs to be located at this perigee position. Furthermore, to ensure the navigation light carpet seen by the driver fits the target lane, the ending point of the redrawn second navigation partial light carpet needs to be located in the middle of the target lane. Here, the starting point can be the end closest to the vehicle that the driver can see, and the ending point can be the end furthest from the vehicle that the driver can see. Since the navigation light carpet typically has a certain width, the starting and ending points of the second navigation partial light carpet can be a line segment. It should be noted that, due to the limited size of the augmented reality head-up display, drivers may not be able to see the destination even if they see the starting point. Sometimes, it may take some time for the augmented reality head-up display to move to the end point of the lane change before the destination can be seen on the augmented reality head-up display.

[0056] Optionally, considering the lane changes ahead of the vehicle, it can usually be viewed as an S-shaped curve, such as... Figure 1a and Figure 1bAs shown, the second navigation local light carpet can therefore include two curved segments to form an S-shaped curve. To avoid a reverse bow, the curvature and boundary range of the two curved segments can be controlled based on the perimeter position and the lane change endpoint position, thus ensuring a smooth connection between the two curved segments without a reverse bow. This means the driver will not experience sudden changes in the vehicle's direction or even a U-turn during driving, allowing the vehicle to smoothly and stably travel from the first curved segment to the second curved segment. Furthermore, considering that there is usually a distance between the vehicle's current position and the lane change starting point, in order to reflect this trend in the augmented reality head-up display interface—that is, needing to drive forward for a while before starting the lane change—the second navigation local light carpet can also include an initial segment. This initial end can be a straight line segment parallel to the vehicle's longitudinal plane of symmetry. Therefore, the second navigation local light blanket that is finally redrawn may include a starting segment, a first curved segment and a second curved segment. One end of the starting segment is the starting end of the second navigation local light blanket, the other end of the starting segment is connected to one end of the first curved segment, the other end of the first curved segment is connected to one end of the second curved segment, and the other end of the second curved segment is the ending end of the second navigation local light blanket. It should be noted that, considering that only the lane change line segments in the first navigation light carpet are redrawn, and there are other line segments after the lane change line segments, in order to ensure that the second navigation partial light carpet and other line segments in the first navigation light carpet appear to be smoothly connected visually, the second navigation partial light carpet may also include an ending segment. This ending segment may also be a straight line segment, parallel to the longitudinal symmetry plane of the vehicle after the lane change. In this case, the second navigation partial light carpet may include a starting segment, a first curved segment, a second curved segment, and an ending segment. One end of the starting segment is the starting end of the second navigation partial light carpet, the other end of the starting segment is connected to one end of the first curved segment, the other end of the first curved segment is connected to one end of the second curved segment, the other end of the second curved segment is connected to one end of the ending segment, and the other end of the ending segment is the ending end of the second navigation partial light carpet.

[0057] In one optional embodiment, during the process of the driver driving the vehicle according to the first navigation light carpet, it can be determined whether the lane ahead of the vehicle has changed based on the vehicle's real-time positioning information and the pre-planned route. If it is determined that the lane ahead of the vehicle has changed, a lane change signal can be generated to inform the augmented reality head-up display device that the lane change line segment in the first navigation light carpet needs to be redrawn.

[0058] In another optional embodiment, in order to save the vehicle's computing resources, the vehicle only needs to upload its real-time positioning information to the server. The server then determines whether the lane ahead of the vehicle has changed. If it is determined that the lane ahead of the vehicle has changed, the server can send a lane change signal to the vehicle. After receiving the lane change signal, the augmented reality head-up display device can determine that the lane change line segment in the first navigation light carpet needs to be redrawn.

[0059] Furthermore, since only a portion of the line segments in the first navigation light carpet are redrawn, the light carpet control line data remains unchanged. Therefore, the redrawing here simply involves redrawing the light carpet itself; there is no step of rendering the light carpet control line data into a navigation light carpet. During the redrawing of lane change line segments, appropriate drawing methods can be used as needed. For example, the second navigation partial light carpet can be obtained using methods such as spline curves, Bézier curves, or Catmull-Röhm curves. However, this is not limited to these methods; any drawing method that yields a second navigation partial light carpet meeting the above requirements is acceptable. That is, as long as the redrawn second navigation partial light carpet includes a starting segment, a first curved segment, and a second curved segment, and one end of the starting segment is located at the perigee, the other end of the starting segment connects to the first curved end, the other end of the first curved segment connects to the second curved segment, and the other end of the second curved segment is located in the middle of the target lane, it is acceptable.

[0060] Optionally, considering that a third-order Bézier curve resembles an S-shaped curve, in this embodiment, a third-order Bézier curve construction method is used to obtain the second navigation local light carpet. That is, in addition to the perigee position and the lane change endpoint position, two control point positions also need to be determined. Based on the perigee position, the lane change endpoint position, and the two control point positions, a Bézier curve is generated as the second navigation local light carpet. Considering that a Bézier curve is a complete curve, to reflect the start and end segments, a fixed length can be added when determining the two control point positions, so that the beginning and end of the Bézier curve are straight lines. Furthermore, considering that there is a certain distance between the perigee position and the lane change start position, one control point position can be determined based on the perigee position and the lane change start position, and the other control point position can be determined based on the lane change endpoint position.

[0061] Step S206: In the augmented reality head-up display interface, switch the lane change line segment of the first navigation light carpet to the second navigation partial light carpet for rendering and display.

[0062] In one optional embodiment, after obtaining the lane change signal, the lane change line segment of the first navigation light carpet can be switched to the second navigation partial light carpet. That is, instead of displaying the lane change line segment in the augmented reality head-up display interface, the second navigation partial light carpet is displayed. At this time, for the driver, the augmented reality head-up display interface renders and displays the second navigation partial light carpet and the line segment after the end position of the lane change in the first navigation light carpet, that is, the non-lane change line segment in the first navigation light carpet. This allows the driver to clearly see the trend of lane change or lane misalignment at intersections and to clearly identify the specific location of the target lane.

[0063] Furthermore, in order to ensure that the navigation light carpet seen by the driver is a complete light carpet, the second partial navigation light carpet can be spliced ​​with the non-lane change line segments in the first navigation light carpet to obtain a complete spliced ​​navigation light carpet. Then, the first navigation light carpet can be switched to the spliced ​​navigation light carpet in the augmented reality head-up display interface, that is, the spliced ​​navigation light carpet can be directly displayed in the augmented reality head-up display interface.

[0064] Optionally, as the vehicle travels to the target lane according to the second navigation partial light carpet, the end point of the second navigation partial light carpet is always located in the middle of the target lane.

[0065] In one optional embodiment, as the vehicle travels to the target lane, its position changes in a direction perpendicular to its longitudinal plane of symmetry, causing the perigee position to also change in that direction. Therefore, the map can be redrawn based on the changed perigee position to ensure that the endpoint of the second navigation local light carpet is always located in the middle of the target lane.

[0066] It should be noted that the aforementioned augmented reality navigation method is applicable to scenarios where the driver actively drives the vehicle, not to scenarios where the vehicle is autonomously driven. In contrast, the first navigation light carpet and the second partial navigation light carpet generated by the augmented reality head-up display device in this application are only auxiliary prompts. The user does not actually need to strictly follow the first navigation light carpet or the second partial navigation light carpet when driving the vehicle. The corresponding augmented reality head-up display device can adjust the second partial navigation light carpet in real time according to the vehicle's real-time position. Based on this, the vehicle augmented reality navigation method provided in this application is different from the navigation and perception data acquired periodically along a fixed route mentioned in autonomous driving technology, and the two cannot be generalized.

[0067] It should also be noted that this application uses an augmented reality head-up display (AR-HUD) for information presentation, rather than a vehicle screen. While both displaying navigation information on a vehicle screen and displaying it via an AR-HUD can provide navigation guidance, it's important to understand that displaying navigation information via an AR-HUD is not simply changing the display subject to provide the same information. The generation logic and effects of the displayed navigation information are fundamentally different, and these differences determine their respective characteristics and application scenarios.

[0068] The core of AR HUD lies in integrating the navigation 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 of virtual information with the real world maintains a high degree of consistency, providing users with an intuitive and immersive driving assistance experience.

[0069] In contrast, the navigation information displayed on the in-vehicle infotainment screen is presented as virtual information such as navigation routes (not navigation light carpets) and the vehicle itself and surrounding vehicles. These are rendered through animations on a fixed display screen inside the car. 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 high precision is not required.

[0070] Table 1

[0071] Information display location AR HUD Car screen Does the virtual information match the actual roads? yes no Is it necessary to predict the position of the vehicle in front in real time? yes no Is there an issue with the navigation light carpet exceeding the image frame? yes no

[0072] Table 1 illustrates the differences between navigation information displayed by an AR HUD and that displayed on a traditional in-vehicle screen during vehicle operation. As shown in Table 1, regarding the alignment of virtual information with the actual road, 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 HUD can display a navigation light carpet on the current road, aligning it perfectly with the actual road, allowing the user to clearly understand how to drive ahead – a very intuitive experience. In contrast, the navigation on the in-vehicle screen does not require direct visual integration with the road and does not display navigation information via a light carpet. Instead, it marks the passable roads ahead with colors, indicating which roads are accessible to the user. The user knows which roads are available, but the choice of which road to take is left to the user. 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.

[0073] 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.

[0074] 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.

[0075] Regarding the issue of the navigation 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 light carpet needs to be adapted to road conditions, such as when turning right or making a U-turn, the navigation light carpet may exceed the screen width. However, the screen displays the passable road ahead (without showing the navigation light carpet), so even if a right turn or U-turn is required, the passable road ahead will still be displayed. Therefore, the screen does not have the issue of the navigation light carpet exceeding the screen width.

[0076] The following is an example Figure 3a The following example illustrates the lane-changing scenario. Figure 3a As shown, the two vertical solid lines represent the road the vehicle is currently traveling on. The left vertical solid line and the middle vertical dashed line form the left lane, and the right vertical solid line and the middle vertical dashed line form the right lane. The rectangle in the diagram represents the augmented reality head-up display (HUD) interface. Point A represents the vehicle's current position, point B represents the middle point of the bottom edge of the HUD interface, point C represents the start point of the lane change, point D represents the end point of the lane change, and E and F represent two control points. While the vehicle is traveling in the left lane, the HUD device can display the following information within the HUD interface: Figure 3a The first navigation light carpet, indicated by the dashed arrow, allows the vehicle to upload its real-time location information to the server. Based on this reported location information, the server determines whether the lane ahead of the vehicle has changed. If a lane change occurs—that is, the vehicle changes lanes from the left to the right—the server sends a lane change signal to the vehicle. This signal includes the starting point of the lane change (e.g., the location of the lane change). Figure 3a Point C (as shown) and the end point of the lane change (as shown) Figure 3a Point D is shown in the diagram. Point C is usually located in the middle of the left lane, and point D is usually located in the middle of the right lane. After receiving a lane change signal, the augmented reality head-up display (HUD) can determine the lane position based on the near point location on the HUD interface (e.g., ...). Figure 3aBased on the positions of points B, C, and D shown, the lane change line segment between points C and D in the first navigation light carpet is redrawn. Specifically, the position of the first control point (e.g., ...) can be determined based on the positions of points B and C. Figure 3a The location of point E is shown, and based on the location of point D, the location of the second control point is determined (e.g., ...). Figure 3a (As shown in the figure, point F is located at a certain position). Then, based on the positions of points B, E, F, and D, a Bézier curve is drawn to obtain the curve shown in the figure. Figure 3a The second navigation partial light carpet is shown by the solid line with an arrow. The augmented reality head-up display (HUD) can display the second navigation partial light carpet instead of lane change lines within the HUD interface. At this time, the HUD interface also displays the non-lane change lines from the first navigation light carpet, that is, the lines after point D. For example... Figure 3a As shown, the starting point of the second navigation partial light carpet is located at point B, and the ending point is located in the middle of the right lane. The second navigation partial light carpet consists of a forward-extending straight segment (i.e., the starting segment) and two curved segments with opposite directions. The straight segment and the two curved segments are smoothly connected, and the last curved segment is smoothly connected to the non-lane change line segment. Figure 3b As shown, as the vehicle moves into the right lane, point B will approach the middle lane line, and the vehicle will gradually approach point D. Consequently, the redrawn second navigation local light carpet will gradually become a straight line. However, the starting point of the second navigation local light carpet is always located at point B, and the ending point is always located in the middle of the right lane.

[0077] The following is an example Figure 4a The following example illustrates the misalignment scenario at the intersection. Figure 4a As shown, the vertical solid lines represent lanes, and the blank area in the middle marks intersections. The same lane is misaligned on both sides of the intersection. The rectangle in the diagram represents the augmented reality head-up display (HUD) interface. Point A represents the vehicle's current position, point B represents the center of the bottom edge of the HUD interface, point C represents the start of the lane change, point D represents the end of the lane change, and E and F represent two control points. During vehicle movement, the HUD device can display information such as... Figure 4a The first navigation light carpet, indicated by the dashed arrow, allows the vehicle to upload its real-time location information to the server. Based on this reported location information, the server determines whether the lane ahead of the vehicle has changed. If a lane change occurs—meaning the vehicle needs to enter the correct lane at the intersection—the server sends a lane change signal to the vehicle. This signal includes the starting point of the lane change (e.g., ...). Figure 4a Point C (as shown) and the end point of the lane change (as shown) Figure 4aPoint D is shown in the diagram. Point C is usually located in the middle of the vehicle's current lane, while point D is usually located in the middle of the shifted lane. After receiving the lane change signal, the augmented reality head-up display (HUD) can determine the lane position based on the near point location on the HUD interface (e.g., ...). Figure 4a Based on the positions of points B, C, and D shown, the lane change line segment between points C and D in the first navigation light carpet is redrawn. Specifically, the position of the first control point (e.g., ...) can be determined based on the positions of points B and C. Figure 4a The location of point E is shown, and based on the location of point D, the location of the second control point is determined (e.g., ...). Figure 4a (As shown in the figure, point F is located at a certain position). Then, based on the positions of points B, E, F, and D, a Bézier curve is drawn to obtain the curve shown in the figure. Figure 4a The second navigation partial light carpet is shown by the solid line with an arrow. The augmented reality head-up display (HUD) can display the second navigation partial light carpet instead of lane change lines within the HUD interface. At this time, the HUD interface also displays the non-lane change lines from the first navigation light carpet, that is, the lines after point D. For example... Figure 4a As shown, the starting point of the second navigation partial light carpet is located at point B, and the ending point is located in the middle of the misaligned lane. The second navigation partial light carpet consists of a forward-extending straight segment (i.e., the starting segment) and two curved segments with opposite directions. The straight segment and the two curved segments are smoothly connected, and the last curved segment is smoothly connected to the non-lane change line segment. Figure 4b As shown, during the process of a vehicle traveling at an intersection, point B will approach the misaligned lane, and the vehicle will gradually approach point D. As a result, the redrawn second navigation local light carpet will gradually tend to a straight line. However, the starting end of the second navigation local light carpet is always located at point B, and the ending end is always located in the middle of the right lane.

[0078] In this embodiment of the invention, a first navigation light carpet is rendered and displayed on the augmented reality head-up display interface; in response to obtaining lane change signals based on the vehicle's path planning, the lane change segments in the first navigation light carpet are redrawn to obtain a second navigation partial light carpet; the lane change segments of the first navigation light carpet are switched to the second navigation partial light carpet for rendering and display within the augmented reality head-up display interface, thereby showing the driver lane change trends, such as lane changing trends or lane misalignment trends at intersections, by displaying the second navigation partial light carpet. It is noteworthy that by redrawing the lane change lines in the first navigation light carpet, a second navigation partial light carpet is obtained. This ensures that the starting point of the second navigation partial light carpet is located at the near point of the augmented reality head-up display interface, and the ending point is located in the middle of the target lane. Furthermore, as the vehicle travels to the target lane according to the second navigation partial light carpet, the ending point of the second navigation partial light carpet remains in the middle of the target lane, avoiding the reverse bow phenomenon of the second navigation partial light carpet. It also ensures that the ending point of the second navigation partial light carpet is aligned with the target lane, thereby improving the guidance and stability of the navigation light carpet in lane change or lane misalignment scenarios at intersections. This solves the problem of poor guidance and stability of the navigation light carpet in lane change or lane misalignment scenarios at intersections caused by the use of compression schemes.

[0079] As an optional implementation, the lane change segments in the first navigation light carpet are redrawn to obtain a second navigation local light carpet, including: determining the position of a first control point based on the perimeter position and the starting position of the lane change, wherein the first control point position is used to control the segment boundary range and curvature of the first curved segment, and the coordinate values ​​of the first control point position and the perimeter position in a preset direction in the vehicle's auto-coordinate system are consistent, and the preset direction is perpendicular to the longitudinal symmetry plane of the vehicle; determining the position of a second control point based on the ending position of the lane change, wherein the second control point position is used to control the segment boundary range and curvature of the second curved segment, and the coordinate values ​​of the second control point position and the ending position of the lane change in a preset direction in the vehicle's coordinate system are consistent; and generating a second navigation local light carpet based on the starting position of the lane change, the ending position of the lane change, the first control point position, and the second control point position.

[0080] The aforementioned vehicle coordinate system can be a coordinate system constructed with the vehicle as the center, such as... Figure 5 As shown, the X-axis of the coordinate system is parallel to the vehicle's longitudinal plane of symmetry and points towards the vehicle's current orientation, while the Y-axis is perpendicular to the longitudinal plane of symmetry. The position of the vehicle's coordinate system changes as the vehicle's current position changes.

[0081] It should be noted that if the lane change signal is sent to the vehicle from the server, then the two positions contained in the lane change signal are positions in the map coordinate system. Therefore, coordinate transformation is needed to convert the two positions to the vehicle's coordinate system to obtain the starting and ending positions of the lane change. Since the vehicle's position changes in real time, the starting and ending positions of the lane change also change in real time.

[0082] In one optional embodiment, a third-order Bézier curve construction method is preferred to obtain the second navigation local light carpet. For the third-order Bézier curve, in addition to the lane change start position and lane change end position, two control point positions also need to be determined, namely the first control point position and the second control point position. Considering that there is a certain distance between the vehicle's current position and the near point, and also a certain distance between the vehicle's current position and the lane change start position, in order to represent this trend in the augmented reality head-up display interface, the first control point position can be determined based on the near point and the lane change start position, and the second control point position can be determined based on the lane change end position.

[0083] Optionally, the Y-axis coordinates of the first control point are the same as those of the nearest point, causing the near end of the second navigation local light carpet to appear as a straight line in the augmented reality head-up display. The X-axis coordinates of the first control point affect the curvature and boundary range of the first curved segment in the second navigation local light carpet; for example, the larger the X-axis coordinates of the first control point, the greater the curvature and boundary range of the first curved segment. Similarly, the Y-axis coordinates of the second control point are the same as those of the lane change endpoint, causing the far end of the second navigation local light carpet to appear as a straight line in the augmented reality head-up display. The X-axis coordinates of the second control point affect the curvature and boundary range of the second curved segment in the second navigation local light carpet; for example, the smaller the X-axis coordinates of the second control point, the greater the curvature and boundary range of the second curved segment. Furthermore, the relative positions of the first and second control points determine the smoothness of the transition between the first and second curved segments, as well as the overall shape of the second navigation local light blanket. In this application, the positions of the two control points can be determined empirically or experimentally.

[0084] Considering the high similarity in shape between the third-order Bézier curve and the desired second navigation local light blanket, the third-order Bézier curve generation method can be used to generate the second navigation local light blanket. This not only simplifies the generation speed but also ensures that the generated second navigation local light blanket meets the expected requirements. During the generation of the first control point, the starting position of the lane change is considered to ensure that the second navigation local light blanket can include an approximately straight initial segment. This not only reflects the trend of lane changes or lane misalignment at intersections but also informs the driver that there is still a distance between the vehicle's current position and the starting position of the lane change, thus eliminating the need for immediate lane change operation.

[0085] Optionally, determining the position of the first control point based on the near-point location and the lane change start point location includes: determining a first distance between the near-point location and the vehicle's current position in the current direction of the vehicle's front, and a second distance between the lane change start point location and the vehicle's current position in the current direction of the vehicle's front, wherein the current direction of the vehicle's front is parallel to the vehicle's longitudinal plane of symmetry; in response to the first distance being greater than the second distance, determining the position of the first control point based on a first preset distance value between the near-point location and the current direction of the vehicle's front; in response to the first distance being less than or equal to the second distance, determining the position of the first control point based on the near-point location, the distance between the near-point location and the lane change start point location in the current direction of the vehicle's front, and the first preset distance value.

[0086] The aforementioned first preset distance can be a predetermined length determined through experience or experimentation, ensuring that the near end of the second navigation local light carpet appears as a straight line. For example, the first preset distance could be 15 meters, 20 meters, 25 meters, etc., but is not limited to this. The aforementioned current vehicle orientation can refer to the orientation parallel to the longitudinal plane of symmetry among different vehicle orientations, i.e., the X-axis direction in the vehicle coordinate system. The aforementioned first distance can be a distance calculated based on the perimeter position and the vehicle's current position. Since the augmented reality head-up display is projected onto a fixed position on the vehicle's windshield, the first distance can also be a predetermined fixed distance, such as 20 meters, but is not limited to this. The aforementioned second distance can be a distance calculated based on the lane change starting point position and the vehicle's current position.

[0087] In one optional embodiment, since there is a certain distance between the near-point and the vehicle's current position, and also a certain distance between the vehicle's current position and the lane change start point, the influence of the lane change start point needs to be considered during the determination of the first control point position in order to reflect this trend through the second navigation local light carpet. Considering that the vehicle's current position is the origin in the vehicle coordinate system, the first distance can be a pre-stored fixed distance or a distance determined based on the X-axis coordinate value of the near-point in the vehicle coordinate system. The second distance can be a distance determined based on the X-axis coordinate value of the lane change start point in the vehicle coordinate system. If the first distance is greater than the second distance, it can be determined that the starting position of the lane change no longer needs to be displayed in the augmented reality head-up display interface, and the driver needs to change lanes as soon as possible. Therefore, at this time, the starting position of the lane change can be ignored, and the first preset distance can be directly added to the X-axis coordinate value of the near point position in the vehicle coordinate system as the X-axis coordinate value of the first control point position. The Y-axis coordinate value of the first control point position is the same as the Y-axis coordinate value of the near point position in the vehicle coordinate system. The Z-axis coordinate value of the first control point position can be a fixed value, or it can be the same as the Z-axis coordinate value of the near point position in the vehicle coordinate system. If the first distance is less than or equal to the second distance, then the lane change start point position still needs to be displayed in the augmented reality head-up display. The driver can wait a while before changing lanes. Therefore, the lane change start point position needs to be considered at this time. The X-axis coordinate value of the near point position in the vehicle coordinate system can be increased by the first preset distance, and then the target distance can be increased to obtain the X-axis coordinate value of the first control point position. The Y-axis coordinate value of the first control point position is the same as the Y-axis coordinate value of the near point position in the vehicle coordinate system. The Z-axis coordinate value of the first control point position can be a fixed value, or it can be the same as the Z-axis coordinate value of the near point position in the vehicle coordinate system. Here, the target distance refers to the distance on the X-axis between the near point position and the lane change start point position. That is, the target distance can be the difference between the X-axis coordinate value of the lane change start point position and the X-axis coordinate value of the near point position in the vehicle coordinate system. Therefore, the X-axis coordinate value of the first control point position can be considered as the X-axis coordinate value of the lane change start point position plus the first preset distance.

[0088] For example, still using Figure 5 Taking the lane-changing scenario shown as an example, points E and B are both on the same Y-axis coordinate. If the distance between AC is less than the distance between AB, the X-axis coordinate of point E can be increased by 15 meters by default from the X-axis coordinate of point B. If the distance between AC is greater than or equal to the distance between AB, the X-axis coordinate of point E can be increased by the distance between B and C by default, plus 15 meters.

[0089] By considering the influence of the lane change starting point position during the determination of the first control point position, the near end of the second navigation local light carpet can reflect the distance between the vehicle and the lane change starting point position, so that the driver can accurately grasp the timing of lane change and avoid missing the opportunity to change lanes.

[0090] Optionally, determining the location of the second control point based on the end position of the lane change includes: determining the location of the second control point based on the end position of the lane change and a second preset distance value in the current orientation of the vehicle, wherein the current orientation of the vehicle is parallel to the longitudinal symmetry plane of the vehicle.

[0091] The aforementioned second preset distance can be a length determined in advance through experience or experimentation, which can ensure that the far end of the second navigation local light blanket appears as a straight line. For example, the second preset distance can be 15 meters, 20 meters, 25 meters, etc., but is not limited to this.

[0092] In one optional embodiment, to ensure a smooth connection between the non-lane change segments in the second navigation local light carpet and the first navigation light carpet, the far end of the second navigation local light carpet needs to appear as a straight line. To reflect this trend through the second navigation local light carpet, a first preset distance is subtracted from the X-axis coordinate value of the lane change endpoint in the vehicle coordinate system to obtain the X-axis coordinate value of the second control point. The Y-axis coordinate value of the second control point is the same as the Y-axis coordinate value of the lane change endpoint in the vehicle coordinate system. The Z-axis coordinate value of the second control point can be a fixed value or the same as the Z-axis coordinate value of the lane change endpoint in the vehicle coordinate system.

[0093] For example, still using Figure 5 Taking the lane change scenario shown as an example, the positions of point F and point D are both on the same Y-axis coordinate value, and the X-axis coordinate value of point F can be reduced by 15 meters by default from the X-axis coordinate value of point D.

[0094] The location of the second control point is determined by the end point of the lane change, ensuring that the far end of the second navigation partial light carpet can reflect the straight-line driving trend of the vehicle. This allows the driver to accurately grasp the vehicle's direction after changing lanes, achieving a smooth transition between the second navigation partial light carpet and the non-lane change line segments in the first navigation light carpet.

[0095] As an optional implementation, after redrawing the lane change segments in the first navigation light carpet to obtain the second navigation partial light carpet, the above method further includes: splicing the second navigation partial light carpet with the non-lane change segments in the first navigation light carpet to obtain a spliced ​​navigation light carpet, wherein the non-lane change segments are the segments in the first navigation light carpet other than the lane change segments.

[0096] In one optional embodiment, in order to make the navigation light carpet seen by the driver a complete light carpet, the second partial navigation light carpet can be spliced ​​with the non-lane change line segments in the first navigation light carpet to obtain a complete spliced ​​navigation light carpet. Then, the first navigation light carpet can be switched to the spliced ​​navigation light carpet in the augmented reality head-up display interface, that is, the spliced ​​navigation light carpet can be directly displayed in the augmented reality head-up display interface.

[0097] By splicing the second navigation partial light carpet with the non-lane change line segments in the first navigation light carpet, the driver is ensured to see a complete light carpet in the augmented reality head-up display interface, thus improving the driver's experience.

[0098] As an optional implementation, the above method further includes: sending the vehicle's positioning information to the server; receiving first lane-level navigation data returned by the server, wherein the first lane-level navigation data includes at least: first light carpet control line data, the first lane-level navigation data being generated based on the positioning information, the vehicle's target address, and lane-level map data; converting the first light carpet control line data from the map coordinate system corresponding to the first lane-level navigation data to the vehicle's own coordinate system to obtain first conversion control line data; and rendering the first conversion control line data as a first navigation light carpet.

[0099] The aforementioned location information reflects the vehicle's current position and can be acquired in real-time to ensure the timeliness of the rendered first navigation light carpet. The target address can be selected or entered by the user on the vehicle's end and then uploaded to the server. This address can be obtained before the vehicle starts moving or modified by the user during the journey. The aforementioned server can refer to a server capable of providing map data of the vehicle's current route, such as lane-level map data, as well as navigation data to assist the user in driving. The aforementioned first lane-level navigation data refers to navigation data provided by the server to guide the vehicle from its current location corresponding to the location information to the target address. This is lane-level data and may include, but is not limited to, lane line data, first light carpet control line data, lane road pattern data, and vehicle lane change data.

[0100] In one optional embodiment, to accurately generate a guide light carpet to assist the user in driving the vehicle, the vehicle can obtain real-time positioning information through positioning systems such as GPS (Global Positioning System) and BeiDou Navigation Satellite System. Considering that positioning systems can be affected by signal interference, leading to positioning errors, various sensors on the vehicle, such as cameras, radar, and lidar, can be used in real-time to perceive environmental information around the vehicle, such as road features, lane lines, traffic signs, and the positions of surrounding vehicles and pedestrians. The perceived environmental information is then used to adjust the vehicle's position as determined by the positioning system, thereby obtaining the accurate current location of the vehicle and constructing accurate positioning information.

[0101] The location information is then sent to the aforementioned server, allowing the server to determine the vehicle's current location and corresponding lane-level map data based on the received location information. Then, based on the location information and lane-level map data, and combined with the vehicle's target address, first lane-level navigation data is generated to assist the vehicle's navigation. After generating the first navigation data, the server can send it to the vehicle. Upon receiving the first lane-level navigation data from the server, the augmented reality head-up display (HUD) can convert the first light carpet control line data from the map coordinate system to the vehicle coordinate system, since the first lane-level navigation data is data in the map coordinate system corresponding to the lane-level map data, while the rendering of the navigation light carpet requires data in the vehicle coordinate system. This results in the aforementioned first conversion control line data, which can then be rendered as the first navigation light carpet.

[0102] The server generates first lane-level navigation data to avoid wasting vehicle computing resources. By transforming coordinates, it achieves seamless integration of lane-level map data and real-time environmental information of the vehicle, improving the reliability of vehicle navigation. This allows the augmented reality head-up display device to construct an accurate first navigation light carpet based on the first light carpet control line data, thereby enhancing the user's driving experience based on the navigation light carpet.

[0103] Optionally, the first lane-level navigation data further includes: preset location information of the current lane, where the current lane is the lane the vehicle is currently traveling in, and the current lane is determined based on positioning information. The first lane-level navigation data is generated based on preset location information, target address, and lane-level map data. Rendering the first transition control line data into a first navigation light carpet includes: in response to acquiring a lane change signal, correcting the first transition control line data based on positioning information and preset location information to obtain corrected control line data; and rendering the corrected control line data into a first navigation light carpet.

[0104] It should be noted that the first navigation light carpet is merely an auxiliary prompt during the driver's operation and does not determine how the driver should drive. This means that deviations in the vehicle's position may occur during driving, resulting in a deviation in the real-time positioning information obtained by the vehicle in the direction perpendicular to the longitudinal plane of symmetry. If the server directly generates the first lane-level navigation data based on the vehicle's uploaded positioning information, it may cause the first navigation light carpet displayed in the augmented reality head-up display to jitter.

[0105] To avoid the aforementioned situation, when generating the first lane-level navigation data, the server defaults the vehicle's position within the lane to a preset position, such as the middle position. This preset position information can refer to the current lane's middle position, but is not limited to this. For example, ... Figure 6a As shown, the two vertical solid lines represent the road the vehicle is currently traveling on. The left vertical solid line and the middle vertical dashed line form the left lane, and the right vertical solid line and the middle vertical dashed line form the right lane. While the vehicle is traveling in the left lane, assuming it moves from position M to position N, since the lane the vehicle is in does not change, the server still uses position M instead of position N in the first lane-level navigation data generation process. This results in the first navigation light carpet being rendered differently in the map view. Figure 6a The curve shown by the dashed arrow in the image is not like... Figure 6a The curve indicated by the arrow in the image. However, from the vehicle's perspective, if the augmented reality head-up display renders the first navigation light carpet based on this first lane-level navigation data, the rendered first navigation light carpet will look like this. Figure 6b The curve shown by the dashed arrow in the image, instead of the curve shown by the dashed arrow. Figure 6b The curve indicated by the arrow in the image does not end in the middle of the right lane; that is, the end of the first navigation light carpet does not align with the target lane. This is especially noticeable after the vehicle has entered the right lane, where a curve resembling... Figure 7 The swaying effect shown means that before the vehicle moves into the right lane, the first navigation light carpet is a line like... Figure 7 The curve shown by the dashed arrow in the image has its endpoint close to the right lane line of the right lane. After the vehicle finishes changing lanes, the first navigation light carpet suddenly changes to a line like... Figure 7 The solid line with an arrowhead in the middle represents the straight line.

[0106] In one optional embodiment, to ensure that the end point of the first navigation light carpet aligns with the target lane line, a real-time deviation can first be determined based on positioning information and preset position information. Then, the first transition control line data can be corrected based on this real-time deviation, such as... Figure 6bAs shown, the first conversion control line data can be corrected based on this real-time deviation to obtain corrected control line data. Then, rendering is performed based on the corrected control line data to obtain the result shown below. Figure 6b The first navigation light blanket is shown by the solid line with an arrow in the image.

[0107] By correcting the control line data in the first lane-level navigation data, errors between the positioning information and the preset position information can be avoided, which could affect the rendering position of the first navigation light carpet. This also prevents the first navigation light carpet from not fitting the target lane properly, thus avoiding driver confusion and a decline in the user experience caused by swaying.

[0108] Optionally, based on the positioning information and preset location information, the first conversion control line data is corrected to obtain corrected control line data, including: converting the positioning information from the geographic coordinate system to the vehicle coordinate system to obtain the first vehicle position, and converting the preset location information from the map coordinate system corresponding to the lane-level map data to the vehicle coordinate system to obtain the second vehicle position; and correcting the first conversion control line data based on the deviation between the first vehicle position and the second vehicle position to obtain corrected control line data.

[0109] In one optional embodiment, since the positioning information is typically latitude and longitude information in a geographic coordinate system, while the preset location information is location information in a map coordinate system, the two are not comparable. Therefore, both the positioning information and the preset location information can be converted to the vehicle coordinate system to obtain two vehicle positions. Furthermore, by comparing the deviation between the two vehicle positions, the real-time deviation between the positioning information and the preset location information can be determined. Based on this real-time deviation, the first conversion control line data is then corrected to obtain corrected control line data. The specific correction process is the same as described above and will not be repeated here.

[0110] By transforming the coordinate system, the positions of the first and second vehicles become comparable, thus accurately determining the real-time deviation between the positioning information and the preset position information.

[0111] Optionally, the above method further includes: in response to detecting that the vehicle has entered the target lane, or obtaining a lane change end signal according to the vehicle's path planning, re-rendering the first transition control line data into a first navigation light carpet, and displaying the first navigation light carpet in the augmented reality head-up display interface.

[0112] The lane change termination signal mentioned above can be a signal generated by the server based on the vehicle's real-time location information and path planning to determine that the vehicle has traveled into the target lane, or it can be a signal generated based on the vehicle's real-time location information and path planning to determine that the vehicle cannot perform a lane change operation.

[0113] In one optional embodiment, after the vehicle determines through perception data that it has entered the target lane, it can be determined that the second navigation partial light carpet no longer needs to be displayed in the augmented reality head-up display interface. Therefore, the first conversion control line data can be re-rendered as the first navigation light carpet, and the first navigation light carpet can be displayed in the augmented reality head-up display interface, such as... Figure 3c or Figure 4c As shown, the first navigation light blanket can be a straight line.

[0114] In another alternative embodiment, after the vehicle receives the lane change end signal, it can be determined that the second navigation partial light carpet no longer needs to be displayed in the augmented reality head-up display interface. Therefore, the first conversion control line data can be re-rendered as the first navigation light carpet and displayed in the augmented reality head-up display interface.

[0115] It should be noted that since the rendering process of the first navigation light carpet ensures that the starting point of the first navigation light carpet is from the current position of the vehicle, that is, even if there is a deviation in the first conversion control line data, a first navigation light carpet starting from the current position of the vehicle can still be rendered. Therefore, it is not necessary to correct the first conversion control line data during the re-rendering of the first navigation light carpet.

[0116] By re-rendering and displaying the first navigation light carpet, it can be displayed normally after the driver does not need to perform a lane change operation, thus avoiding the confusion caused by displaying a partial second navigation light carpet and reducing driving safety.

[0117] As an optional implementation, the above method further includes: converting the near-point location from the vehicle coordinate system to the map coordinate system corresponding to the lane-level map data to obtain a converted location; sending the converted location to the server and receiving second lane-level navigation data returned by the server, wherein the second lane-level navigation data includes at least: second light carpet control line data, wherein the second light carpet control line data is generated based on the converted location, the vehicle's target address, and the lane-level map data; converting the second light carpet control line data from the map coordinate system to the vehicle coordinate system to obtain second converted control line data; rendering the second converted control line data as a third navigation light carpet and displaying the third navigation light carpet in the augmented reality head-up display interface.

[0118] To avoid the need for the augmented reality head-up display (HUD) to redraw lane change segments in the first navigation light carpet after acquiring the first control line data and rendering the first navigation light carpet, in one optional solution of this embodiment, the vehicle can directly send its proximity position to the server, allowing the server to generate lane-level navigation light carpets starting from the proximity position. However, since the proximity position is in the vehicle's coordinate system, a coordinate transformation is required to obtain the transformed position in the map coordinate system. The vehicle can then send this transformed position to the server, allowing the server to generate second lane-level navigation data based on the transformed position. Since the generation process of the second lane-level navigation data is similar to that of the first lane-level navigation data, the coordinate transformation process of the second light carpet control line data is similar to that of the first light carpet control line data, and the rendering process of the third navigation light carpet is similar to that of the first navigation light carpet, it will not be elaborated upon here.

[0119] By directly providing the near-geometry location to the server, the server can directly generate second-lane navigation data that meets the expected requirements, and then directly render a navigation light carpet starting from the near-geometry location, further simplifying vehicle operation.

[0120] It should be noted that, due to the different configuration information of augmented reality head-up display devices on different vehicles, adjusting the generation process of lane-level navigation data in the server would be difficult and result in significant latency. Therefore, in this embodiment, a redrawing method is preferred to generate the second navigation local light carpet.

[0121] 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.

[0122] According to an embodiment of the present invention, an augmented reality head-up display device is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0123] Embodiments of this application also provide a vehicle, including: the augmented reality head-up display device described in the above embodiments of the present invention.

[0124] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0125] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0126] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0127] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0128] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0129] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0130] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0131] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0132] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. 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 the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0133] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle augmented reality navigation method, characterized in that, include: The first navigation light carpet is rendered and displayed in the augmented reality head-up display interface; In response to obtaining lane change signals based on the vehicle's path planning, the lane change segments in the first navigation light carpet are redrawn to obtain a second navigation local light carpet. The lane change signal is used to represent a change in the lane ahead of the vehicle. The end point of the redrawn second navigation local light carpet is located in the middle of the target lane, which is the lane ahead of the vehicle after the lane has changed according to the path planning. The start point of the second navigation local light carpet is located at the near point of the augmented reality head-up display interface. The lane change signal includes a lane change start point position and a lane change end point position. The lane change segment is the line segment in the first navigation light carpet that represents the area between the lane change start point position and the lane change end point position. Within the augmented reality head-up display interface, the lane change line segments of the first navigation light carpet are switched to the second navigation partial light carpet for rendering and display. During the process of the vehicle traveling to the target lane according to the second navigation local light carpet, the end point of the second navigation local light carpet is always located in the middle of the target lane. The second navigation local light carpet includes a starting segment, a first curved segment, and a second curved segment. One end of the starting segment is the starting end of the second navigation local light carpet, and the other end of the starting segment is connected to one end of the first curved segment. The other end of the first curved segment is connected to one end of the second curved segment, and the other end of the second curved segment is the end point of the second navigation local light carpet. The length of the starting segment is determined based on a first distance and a second distance. The first distance is the distance between the perigee position and the vehicle's current position in the current direction of the vehicle's front. The second distance is the distance between the lane change starting position and the vehicle's current position in the current direction of the vehicle's front. The curvature and line segment boundary range of the first curved segment and the second curved segment are controlled based on the perigee position and the lane change ending position.

2. The method according to claim 1, characterized in that, The step of redrawing the lane change segments in the first navigation light carpet to obtain the second navigation local light carpet includes: Based on the perigee position and the lane change start position, a first control point position is determined, wherein the first control point position is used to control the line segment boundary range and curvature of the first curved segment, and the coordinate values ​​of the first control point position and the perigee position in a preset direction in the vehicle's auto-coordinate system are consistent, the preset direction is perpendicular to the longitudinal symmetry plane of the vehicle, and the lane change line segment is the line segment between the lane change start position and the lane change end position. Based on the lane change endpoint position, a second control point position is determined, wherein the second control point position is used to control the line segment boundary range and curvature of the second curved segment, and the coordinate values ​​of the second control point position and the lane change endpoint position in the preset direction in the vehicle coordinate system are consistent; The second navigation local light blanket is generated based on the near point location, the lane change endpoint location, the first control point location, and the second control point location.

3. The method according to claim 2, characterized in that, Determining the position of the first control point based on the near point position and the lane change start point position includes: In response to the first distance being greater than the second distance, the position of the first control point is determined based on the near point position and a first preset distance value in the current orientation of the vehicle front, wherein the current orientation of the vehicle front is parallel to the longitudinal symmetry plane of the vehicle; In response to the first distance being less than or equal to the second distance, the position of the first control point is determined based on the near point position, the distance between the near point position and the lane change start point position in the current orientation of the vehicle, and the first preset distance value.

4. The method according to claim 2, characterized in that, Determining the location of the second control point based on the lane change endpoint includes: The position of the second control point is determined based on the lane change endpoint and a second preset distance value in the opposite direction of the current vehicle orientation, wherein the current vehicle orientation is parallel to the longitudinal symmetry plane of the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that, After redrawing the lane change segments in the first navigation light carpet to obtain the second navigation local light carpet, the method further includes: The second navigation partial light carpet is spliced ​​with the non-lane change line segments in the first navigation light carpet to obtain a spliced ​​navigation light carpet, wherein the non-lane change line segments are the line segments in the first navigation light carpet other than the lane change line segments.

6. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Send the vehicle's location information to the server; The system receives first lane-level navigation data returned by the server, wherein the first lane-level navigation data includes at least: first light carpet control line data, and the first lane-level navigation data is generated based on the positioning information, the vehicle's target address, and lane-level map data; The first light carpet control line data is converted from the map coordinate system corresponding to the first lane-level navigation data to the vehicle's own coordinate system to obtain the first conversion control line data; The first conversion control line data is rendered as the first navigation light blanket.

7. The method according to claim 6, characterized in that, The first lane-level navigation data further includes: preset location information of the current lane, wherein the current lane is the lane the vehicle is currently traveling in, and the current lane is determined based on the positioning information; the first lane-level navigation data is generated based on the preset location information, the target address, and the lane-level map data; rendering the first conversion control line data into a first navigation light carpet includes: In response to the acquisition of the lane change signal, the first switching control line data is corrected based on the positioning information and the preset position information to obtain corrected control line data; The corrected control line data is rendered as the first navigation light blanket.

8. The method according to claim 7, characterized in that, The step of correcting the first conversion control line data based on the positioning information and the preset location information to obtain corrected control line data includes: The location information is converted from the geographic coordinate system to the vehicle coordinate system to obtain the first vehicle position, and the preset position information is converted from the map coordinate system corresponding to the lane-level map data to the vehicle coordinate system to obtain the second vehicle position. Based on the deviation between the first vehicle position and the second vehicle position, the first conversion control line data is corrected to obtain the corrected control line data.

9. The method according to claim 7 or 8, characterized in that, The method further includes: In response to detecting that the vehicle has entered the target lane, or obtaining a lane change end signal based on the vehicle's path planning, the first transition control line data is re-rendered as the first navigation light carpet, and the first navigation light carpet is displayed in the augmented reality head-up display interface.

10. The method according to claim 1, characterized in that, The method further includes: The perimeter position is transformed from the vehicle coordinate system to the map coordinate system corresponding to the lane-level map data to obtain the transformed position; The system sends the changed location to the server and receives the second lane-level navigation data returned by the server. The second lane-level navigation data includes at least: second light carpet control line data, which is generated based on the changed location, the vehicle's target address, and the lane-level map data. The second light carpet control line data is converted from the map coordinate system to the vehicle coordinate system to obtain the second conversion control line data; The second conversion control line data is rendered as a third navigation light carpet, and the third navigation light carpet is displayed in the augmented reality head-up display interface.

11. An augmented reality head-up display device, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 10.

12. A vehicle, characterized in that, include: The augmented reality head-up display device according to claim 11.

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