Data visualization method and device for vehicle and vehicle

Abstract

The invention relates to a data visualization method and device for a vehicle and the vehicle. The data visualization method for the vehicle comprises the following steps: acquiring a radar signal data frame in a first communication format, wherein the radar signal data frame comprises output data for a target environment corresponding to a millimeter wave radar device of the vehicle; generating a visual graphic data set of a target object in the target environment based on the radar signal data frame; and transmitting the visual graphic data set of the target object through a publish-subscribe mechanism among a plurality of ROS (Robot Operating System) nodes, so that the visual graphic data set is transmitted to at least one ROS node to serve as a data source for visually displaying the target object. According to the invention, the output data of the millimeter wave radar device of the vehicle is converted and transmitted into the visually displayed data source, so that the performance perception or verification of the radar device can be conveniently realized.

Description

Technical Field

[0001] The present disclosure relates to the technical field of data visualization, and more particularly to a data visualization method and apparatus for a vehicle, an on-vehicle computing device, a computer-readable storage medium, a computer program product, and a vehicle. Background Art

[0002] The following describes the relevant technical background of the present invention, but these descriptions do not necessarily constitute the prior art of the present invention.

[0003] An increasing number of vehicles are being equipped with automated systems (e.g., advanced driver assistance systems (ADAS) / autonomous driving (AD) systems) and the autonomous driving features or functions they provide. For some autonomous driving features or functions, such as automatic emergency braking (AEB), adaptive cruise control (ACC), and traffic jam assist (TJA), driving the vehicle (e.g., road testing) can provide users (such as developers or testers) with an intuitive product experience (e.g., through key performance indicator (KPI) reports, i.e., whether the relevant function is triggered), thereby verifying the performance of the relevant autonomous driving function.

[0004] Millimeter-wave radar products, with their advantages of short wavelength, wide detection range, and minimal weather impact, are widely used in areas such as autonomous driving, including the aforementioned and other autonomous driving features or functions. However, compared to autonomous driving features or functions, it is difficult for users (such as developers or testers) to intuitively perceive the specific performance of a vehicle's millimeter-wave radar products. Summary of the Invention

[0005] The purpose of the present invention is to overcome at least some of the above-mentioned deficiencies in the prior art, and to provide a data visualization method, apparatus, on-board computing device, computer-readable storage medium, computer program product, and vehicle for a vehicle.

[0006] According to a first aspect of the present invention, a data visualization method for a vehicle is provided, the method comprising: acquiring a radar signal data frame in a first communication format, the radar signal data frame comprising output data for a target environment corresponding to a millimeter-wave radar device of the vehicle; generating a visualization graphic dataset of a target object in the target environment based on the radar signal data frame; and transmitting the visualization graphic dataset of the target object between a plurality of Robot Operating System (ROS) nodes via a publish-subscribe mechanism, such that the visualization graphic dataset is transmitted to at least one ROS node among the plurality of ROS nodes to serve as a data source for visually displaying the target object.

[0007] According to a second aspect of the present invention, a data visualization device for a vehicle is provided, the device comprising: an acquisition unit configured to acquire a radar signal data frame in a first communication format, the radar signal data frame comprising output data for a target environment corresponding to a millimeter-wave radar device of the vehicle; a generation unit configured to generate a visualization graphic dataset of a target object in the target environment based on the radar signal data frame; and a transmission unit configured to transmit the visualization graphic dataset of the target object between a plurality of Robot Operating System (ROS) nodes via a publish-subscribe mechanism, so that the visualization graphic dataset is transmitted to at least one ROS node among the plurality of ROS nodes to be used as a data source for visually displaying the target object.

[0008] According to a third aspect of the present invention, there is provided an in-vehicle computing device, comprising: a processor, a memory, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the method described in the first aspect.

[0009] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in the first aspect is implemented.

[0010] According to a fourth aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0011] According to a fifth aspect of the present invention, a vehicle is provided, comprising: the data visualization apparatus for a vehicle according to the second aspect or the in-vehicle computing device according to the third aspect.

[0012] The present invention facilitates the performance perception or verification of the radar device by converting and transmitting the output data of the vehicle's millimeter-wave radar device into a data source for visual display. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Other features and advantages of the present invention will be better understood from the following detailed description of preferred embodiments with reference to the accompanying drawings, in which the same reference numerals represent the same or similar components.

[0014] Figure 1 Exemplary scenarios are shown in which embodiments of the present disclosure may be applied.

[0015] Figure 2 An exemplary system for visualizing vehicle data according to an embodiment of the present disclosure is shown.

[0016] Figure 3A flowchart of an exemplary data visualization method for a vehicle according to an embodiment of the present disclosure is shown.

[0017] Figure 4 A block diagram of an exemplary data visualization apparatus for a vehicle according to an embodiment of the present disclosure is shown.

[0018] Figure 5 A block diagram of an exemplary vehicle-mounted computing device according to an embodiment of the present disclosure is shown.

[0019] Figure 6 An exemplary visualization display screen according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0020] The following detailed description is merely illustrative in nature and is not intended to limit the application and use of the present invention. Furthermore, the present invention is not intended to be limited by any expressed or implied theory presented in the foregoing technical field, background technology, summary of the invention, or the following detailed description.

[0021] As used herein, the terms "including," "comprising," and similar terms are open-ended terms, meaning "including but not limited to," indicating that other contents may also be included. The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," and the term "another embodiment" means "at least one additional embodiment," etc.

[0022] The vehicle described in this specification may include motor vehicles, such as cars, trucks, taxis, buses, shared cars, etc.

[0023] The traffic objects described in this specification may include but are not limited to traffic entities (or participants) in the traffic environment, such as vehicles, non-motor vehicles or pedestrians; and may also include obstacles, traffic facilities, etc. in the traffic environment.

[0024] Millimeter-wave wavelength is short, antenna aperture is small and component size is small, which makes millimeter-wave radar devices small in size and light in weight, and easy to install on vehicles for application in autonomous driving functions. As mentioned above, it is difficult for users (such as developers or testers) to intuitively perceive the performance of the vehicle's millimeter-wave radar products. At present, most solutions to this problem utilize hardware and host software provided by a third party, which will develop driving assistance functions, including support for visual display. However, such solutions have the following disadvantages: high third-party software costs; poor independence, must be updated and iterated with software versions, and also occupy data acquisition resources; poor customization and limited visualization; inconvenient maintenance, and maintenance is time-consuming and inefficient for errors in third-party software. Due to the limitations of third-party software in terms of cost and customization, this greatly limits the performance of visual display. As described below, some exemplary embodiments of the present disclosure provide a data visualization solution based on ROS. In at least some embodiments, the output data of the vehicle's millimeter-wave radar device is converted and transmitted as a data source for visual display to solve the above-mentioned problems in the prior art, as shown below in combination with Figures 1-6 Described in more detail.

[0025] refer to Figure 1 , shows an exemplary scene 100 in which embodiments of the present disclosure can be applied. Scene 100 includes a traffic environment 120 running from east (E) to west (W). The traffic environment 120 may include several movable traffic entities, such as vehicles, non-motor vehicles or pedestrians, or stationary objects, such as obstacles, traffic fences, etc. Figure 1 In the example, the traffic environment 120 includes vehicles 101 to 103, non-motor vehicles 104, and pedestrians 105. The vehicle 101 may be provided with several millimeter-wave radars (four are shown in the figure, for illustration only), including two front millimeter-wave radar devices 110a and 110b and two rear millimeter-wave radar devices 110c and 110d. As shown in the figure, the millimeter-wave radar devices 110a and 110b respectively transmit millimeter waves 111a and 111b for detecting traffic objects in front of and on both sides of the vehicle 101, and the millimeter-wave radar devices 110c and 110d respectively transmit millimeter waves 111c and 111d for detecting objects behind and on both sides of the vehicle 101. It should be understood that the vehicle 101 may be provided with more or fewer (for example, 1, 2, 5, etc.) millimeter-wave radar devices, and the millimeter-wave radar devices may be provided at any appropriate position of the vehicle (not limited to Figure 1 The position around the vehicle body shown) makes it possible to still achieve the principles and inventive objectives of the present disclosure.

[0026] refer to Figure 2An exemplary system 200 for realizing data visualization of a vehicle according to an embodiment of the present disclosure is shown. The system 200 may be applied to a vehicle equipped with a millimeter wave radar device, such as Figure 1 The system 200 includes vehicle-mounted millimeter wave radar devices 220a and 220c (two are shown in the figure for illustration only and not limitation) connected to the first vehicle communication network 210. Each radar device can be Figure 1 Any one of the radar devices 110a to 110d. For example, radar device 220a can be directly connected to the first vehicle communication network 210, radar device 220c can be connected to a radar electronic processing unit (ECU) 220b on the vehicle, and radar ECU 220b is connected to the first vehicle communication network 210. For example, radar device 220a can have a radar ECU that integrates an RF front-end processing chip and a computing power chip, while radar device 220c can have an RF front-end processing chip and provide the RF-processed signal to radar ECU 220b for further processing. System 200 also includes an on-board computing device 230a. On-board computing device 230a can include a first communication interface 231a for connecting to the first vehicle communication network 210, a second communication interface 232a for connecting to the second communication network 240, and a processor 234a. An operating system 235a can be executed on processor 234a, and an ROS system 236a and visualization tool software 237a can run on operating system 235a. Multiple ROS nodes 238a and 239a can be created and run on the ROS system 236a, and data can be transmitted between the multiple ROS nodes 238a and 239a via a publish-subscribe mechanism. For example, the processor 234a can directly receive a data frame including output data from the radar device 220a via the first communication interface 231a or indirectly receive a data frame including output data from the radar device 220c (e.g., via the radar ECU 220b) via the first vehicle communication network 210, parse the output data from the data frame, and transmit the parsed data or data further generated based on the parsed data between the multiple ROS nodes 238a and 239a. At least one ROS node (e.g., ROS node 239a) can be connected to the visualization software 237a running on the operating system 235a, so that the visualization software 237a provides visualization of the transmitted data. The onboard computing device 230a also includes a display interface 233a, and the visualization software 237a can display the transmitted data graphically on a display device via the display interface 233a. At least one of the first communication interface 231a, the second communication interface 232a, and the display interface 233a may be independent of the processor 234a or integrated into the processor 234a. The display device may be independent of the computing device 230a or included in the computing device 230a.

[0027] System 200 also includes another computing device 230b, which includes a communication interface 232b for connecting to a second communication network 240 and a processor 234b. An operating system 235b can be executed on processor 234b, and a ROS system 236b and visualization tool software 237b can be run on operating system 235b. At least one ROS node 238b can be created and run on ROS system 236b. Data (e.g., output data from radar devices 220a and 220c, or data generated based on the output data, as described above) can be transmitted between ROS nodes 238a, 239a, and 238b of multiple computing devices 230a and 230b via a publish-subscribe mechanism over second communication network 240b. At least one ROS node (e.g., ROS node 238b) can be connected to visualization software 237b running on operating system 235b, so that visualization software 237b provides visualization of the transmitted data. Computing device 230b also includes a display interface 233b, through which visualization software 237b can graphically display the transmitted data on a display device. At least one of communication interface 232b and display interface 233b can be independent of processor 234b or integrated into processor 234b. The display device can be independent of computing device 230b or included in computing device 230b.

[0028] The first vehicle communication network 210 may include, but is not limited to, a CAN bus network, a CAN-FD bus network, an in-vehicle Ethernet (eg, a 100 / 1000BASE-T1 network), or other various types of in-vehicle wired or wireless networks.

[0029] Second communication network 240 may include, but is not limited to, an in-vehicle Ethernet network, an in-vehicle wireless network, or a mobile network (e.g., a 4G or 5G mobile communication network). For example, when second communication network 240 is an in-vehicle communication network, computing device 230b may be located in the same vehicle as computing device 230a. For example, when second communication network 240 is a mobile communication network, computing device 230b may be located in a remote location relative to computing device 230a located in the vehicle.

[0030] Multiple computing devices 230a and 230b can be used by multiple users to independently assess or verify the performance of the radar device. For example, computing device 230a may be associated with a user developing or testing a first automated driving function, while computing device 230b may be associated with a user developing or testing a second automated driving function. Data corresponding to the radar device can be mapped to one or more automated driving function development or testing projects as needed. For example, by configuring a mapping relationship between radar output data and projects in a mapping configuration file, the data corresponding to the radar device can be adapted to various projects.

[0031] refer to Figure 3 , shows a flow chart of an exemplary data visualization method 300 for a vehicle according to an embodiment of the present disclosure. The method 300 may be applicable to, for example, Figure 1 Scene 100, vehicle 101, Figure 2 system 200 and can be provided by, for example, Figure 2 computing devices 230a, 230b, Figure 4 Data visualization device 400 for a vehicle, Figure 5 Any one of the vehicle-mounted computing devices 500 is executed. Figure 3 As shown, the method 300 includes steps S310 to S330.

[0032] In step S310, a radar signal data frame in a first communication format is obtained, and the radar signal data frame includes output data for a target environment corresponding to the millimeter-wave radar device of the vehicle. For example, the millimeter-wave radar device can emit millimeter waves, and the millimeter waves are scattered after encountering objects in the environment to form scattered echoes, and are received and processed by the millimeter-wave radar device to generate output data. The data generated by the millimeter-wave radar device can be raw output data, point cloud output data generated after processing the raw output data (by, for example, a sensor gateway unit (SGU) of the radar device), target output data generated after further processing the raw output data or point cloud output data (for example, removing noise, fusing data to reduce the amount of data processing) (by, for example, a location gateway unit (LGU) of the radar device), or other types of output data for identification of target objects in the target environment where the vehicle is located. In Figure 2 In the example shown in FIG2 , radar device 220a packages output data for the target environment into radar signal data frames in a first communication format and provides them to computing device 230a via first vehicle communication network 210. Radar device 220c transmits output data for the target environment to radar ECU 220b. Radar ECU 220b processes the data and packages the processed output data into radar signal data frames in the first communication format and provides them to computing device 230a via first vehicle communication network 210. For example, the output data for the target environment may include information characterizing the location, shape, likelihood of existence, motion state, or other attributes of target objects in the target environment. In some examples, radar signal data frames in the first communication format may be acquired in real time to track the current conditions in the target environment. In some examples, the acquired radar signal data frames may be stored in a storage device (e.g., an onboard vehicle memory, a cloud storage device, or other remote device), and real-time and / or historical radar signal data frames may be acquired from the storage device to track the current and / or historical conditions in the target environment.

[0033] In step S320, a visualization graphic dataset of a target object in the target environment is generated based on the radar signal data frame. For example, an attribute dataset of the target object (e.g., one or more of its location, shape, likelihood of existence, state of motion, or other attributes) can be obtained based on information representing the attributes of the target object in the radar signal data frame. A visualization object corresponding to the target object is constructed, and a corresponding graphic configuration for the visualization object is determined to generate a corresponding visualization graphic dataset for the target object or the corresponding visualization object, thereby achieving a customizable data source. The graphic configuration information can be used to map the target object to the corresponding graphic configuration as needed.

[0034] In step S330, a visualization graph dataset of the target object is transmitted between the plurality of Robot Operating System (ROS) nodes via a publish-subscribe mechanism, such that the visualization graph dataset is transmitted to at least one of the plurality of ROS nodes for use as a data source for visually displaying the target object. For example, the visualization graph dataset may be transmitted in a second communication format via the ROS publish-subscribe mechanism, allowing the ROS nodes to automatically implement asynchronous transmission of the visualization graph dataset.

[0035] Method 300 facilitates performance perception or verification of a vehicle's millimeter-wave radar device by converting and transmitting the output data of the vehicle's millimeter-wave radar device into a data source for customizable visual presentation.

[0036] As an example, radar signal data frames in a first communication format can be acquired via first vehicle communication network 210. First vehicle communication network 210 may include a communication network based on CAN technology, such as a CAN bus network, a CAN-FD bus network, or various future-developed CAN networks (such as the third-generation CAN communication technology, CAN XL bus network). Data corresponding to different radar devices can be received via different CAN IDs, allowing radar signal data frames to be filtered by determining whether the CAN ID of the radar signal data frame is in a list of allowed CAN IDs. For example, if the CAN ID of a received data frame is determined to be in the list of allowed CAN IDs, the data frame is accepted; if the CAN ID of a received data frame is determined to be not in the list of allowed CAN IDs, the data frame is rejected or discarded. This eliminates the need to convert or transmit data from radar devices that the user is not interested in, saving processing resources and improving transmission and processing efficiency. Furthermore, when data frames corresponding to multiple radar devices are simultaneously transmitted on first vehicle communication network 210, the CAN ID can be used to determine priority. In other examples, first vehicle communication network 210 may include, but is not limited to, other types of in-vehicle communication networks, such as various existing communication networks known in the art or various communication networks developed in the future.

[0037] As an example, the graphic configuration information may include, but is not limited to, one or more of the following: color (e.g., red, blue, green, black, etc.), pattern shape (e.g., cuboid, cylinder, sphere, etc.), marking symbol (e.g., ■, △, *, ●, etc.), line type (e.g., thick line, thin line, solid line, dashed line, etc.), etc. As needed, the same or different graphic configuration information can be configured for target objects of the same type, or different graphic configuration information can be configured for target objects of different types, so as to generate a visual graphic dataset by obtaining the graphic configuration information. For example, various attribute data of the target object (e.g., <object 1, position, size>) can be parsed from the output data of the radar signal data frame, and the attribute data (e.g., <object 1, position, size, color>) can be expanded using the graphic configuration information to generate a visual graphic dataset, thereby achieving a customizable visual display.

[0038] As an example, a visualization graph dataset can be transferred between multiple ROS nodes deployed on the same computing device or different computing devices. Figure 2 As shown, the ROS node 239a deployed at the onboard computing device 230a can be configured as a publisher of the topic Visdata_Topic about the visualization graph dataset, and the ROS node 238a deployed at the computing device 230a and the ROS node 238b deployed at the computing device 230b can be configured as subscribers of the topic Visdata_Topic.

[0039] For example, in ROS1, publishers and subscribers of the topic Visdata_Topic can be configured by registering ROS nodes 238a, 239a, and 238b with the ROS Master, which is the central node of ROS. Topic messages corresponding to the topic Visdata_Topic must be forwarded by the ROS Master. For example, the publisher of the topic Visdata_Topic can be configured by registering with the ROS Master by initializing a publisher list in the ROS system. When ROS node 239a publishes a corresponding topic message to the topic Visdata_Topic (e.g., by calling a callback function), the ROS node 238a that subscribes to the topic can obtain the topic message published by the ROS node 239a locally on the vehicle computing device (e.g., via localhost:port number), and the ROS node 238b can obtain the topic message published by the ROS node 239a via the second communication network (e.g., via address information of the ROS node 239a on the second communication network, such as an IP address).

[0040] For example, in ROS2, there is no ROS Master node. However, the Data Distribution Service (DDS) enables automatic discovery of publishers and subscribers for the topic Visdata_Topic. In DDS, the primary mechanism for enabling different logical networks to share a physical network is called a domain ID. ROS2 nodes with the same domain ID can freely discover and send messages to each other.

[0041] In ROS communication, the publisher does not know which ROS node will receive the message, and the subscriber does not know which ROS node the message comes from. ROS nodes are loosely coupled, which makes ROS publish-subscribe transmission very suitable for real-time and periodic messages, and thus suitable for the transmission of real-time data output by the vehicle's millimeter-wave radar device.

[0042] As an example, the visualization tool software 237a can obtain the transmitted visualization graphic dataset from the ROS node 238a and display the visualization object corresponding to the target object based on the visualization graphic dataset. For example, the visualization tool software 237a can draw the visualization object based on the graphic configuration element assigned to the visualization object and display the visualization object on the display device through the display interface 233a. Similarly, the visualization tool software 237b can obtain the transmitted visualization graphic dataset from the ROS node 238b and display the visualization object corresponding to the target object. The visualization tool software 237a and 237b can be open source tools that are free for public use, such as Foxglove and Rviz, so that visualization display can be achieved at a low cost.

[0043] refer to Figure 4 , shows a block diagram of an exemplary data visualization device 400 for a vehicle according to an embodiment of the present disclosure. Each unit of the device 400 can be implemented using software, hardware (e.g., integrated circuit, FPGA, etc.) or a combination of software and hardware. Figure 4 As shown, the apparatus 400 includes an acquiring unit 410 , a generating unit 420 and a transmitting unit 430 .

[0044] The acquisition unit 410 is configured to acquire a radar signal data frame in a first communication format, where the radar signal data frame includes output data corresponding to the millimeter wave radar device of the vehicle and corresponding to the target environment.

[0045] The generating unit 420 is configured to generate a visualization graphic dataset of a target object in a target environment based on the radar signal data frame.

[0046] The transmission unit 430 is configured to transmit the visualization graphic dataset of the target object between multiple Robot Operating System (ROS) nodes via a publish-subscribe mechanism, so that the visualization graphic dataset is transmitted to at least one ROS node among the multiple ROS nodes to be used as a data source for visual display of the target object.

[0047] The acquisition unit 410, the generation unit 420, and the transmission unit 430 may also be configured to execute one or more sub-steps of the acquisition step S310, the generation step S320, and the transmission step S330 in the above method 300, which will not be described in detail.

[0048] Optionally, the apparatus 400 may further include a visualization unit configured to obtain a visualization graph dataset from the ROS node and perform visualization on the visualization graph dataset, as described above with respect to the method 300 .

[0049] refer to Figure 5 , shows a block diagram of an exemplary in-vehicle computing device 500 according to an embodiment of the present disclosure. The in-vehicle computing device 500 includes at least one processor 510 and a memory 520 coupled to the at least one processor 510. The memory 520 is used to store computer programs or instructions. When the computer programs or instructions are executed by the at least one processor 510, the processor 510 performs any one or more steps of the various methods in the above embodiments.

[0050] Figure 6 FIG. 6 shows an exemplary visualization display screen 600 according to an embodiment of the present disclosure. The visualization display screen 600 may be, for example, Figure 2 The visualization tool software 237a, 237b is displayed on the display device via the display interfaces 233a, 233b. Figure 6 The visual display screen 600 can be graphically presented with Figure 1The exemplary scene 100 includes visualization objects 602, 603, 604, and 605 corresponding to the target objects 102, 103, 104, and 105, and optionally, a visualization object 601 corresponding to the vehicle 101 is also shown for reference. For example, the visualization objects 602 and 603 depicted with red dots or rectangles correspond to the target objects 102 and 103 of the motor vehicle type in the environment 120, the visualization object 605 depicted with green dots or spheres corresponds to the target object 105 of the pedestrian type in the environment 120, the visualization object 604 depicted with blue dots or cylinders corresponds to the target object 104 of the non-motor vehicle type in the environment 120, and the visualization object 601 depicted with black dots or rectangles is the vehicle 101 on which the user is currently testing or verifying the millimeter-wave radar. It should be understood that as the vehicle 101 moves in the environment 120, the screen 600 can update the motion trajectory of the target object in real time based on the relative position and speed of the target object and the vehicle 101. In addition, while presenting the image of the visual object, the user can also obtain the image of the target object in the environment 120 through the vehicle-mounted camera equipment, and compare the obtained image with the obtained image of the visual object, so as to easily confirm whether the millimeter wave radar can normally detect or identify the relevant target object.

[0051] Reference back Figure 1 , an embodiment of the present disclosure further provides a vehicle, the vehicle including a data visualization device for the vehicle (eg, Figure 4 400) or a vehicle-mounted computing device (e.g., Figure 5 The vehicle-mounted computing device 500).

[0052] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program or instructions stored thereon. When the computer program or instructions are executed by a processor, one or more steps of the various methods described above are implemented.

[0053] An embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, one or more steps in the various methods described above are implemented.

[0054] As discussed above, although the present application discusses a method for visualizing output data of a vehicle's millimeter-wave radar, the method and apparatus disclosed herein are also applicable to the arrangement of other vehicle-mounted components.

[0055] The foregoing discussion is merely a disclosure and description of exemplary embodiments of the present invention. Through these discussions, the accompanying drawings, and the claims, those skilled in the art will readily appreciate that various changes, modifications, and variations may be made to the present invention without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims

1. A data visualization method for a vehicle, characterized in that: The method comprises: Acquire a radar signal data frame in a first communication format, the radar signal data frame including output data corresponding to a millimeter-wave radar device of the vehicle with respect to a target environment; generating a visualization graphic dataset of a target object in the target environment based on the radar signal data frame; and The visualization graph dataset of the target object is transmitted between multiple Robot Operating System (ROS) nodes via a publish-subscribe mechanism, so that the visualization graph dataset is transmitted to at least one ROS node among the multiple ROS nodes to be used as a data source for visually displaying the target object.

2. The method according to claim 1, characterized in that Acquiring the radar signal data frame in the first communication format includes acquiring the radar signal data frame via a first vehicle communication network, wherein the first vehicle communication network includes a CAN bus network or a CAN-FD bus network.

3. The method according to claim 2, characterized in that Acquiring a radar signal data frame in a first communication format via a first vehicle communication network includes: receiving the radar signal data frame via the CAN bus network or the CAN-FD bus network; The radar signal data frame is filtered using the CAN ID list.

4. The method according to claim 1, wherein Generating a visualization graphic dataset of the target object in the target environment based on the radar signal data frame includes: determining an attribute data set of a target object in the target environment based on the radar signal data frame; Obtaining graphic configuration information of the target object; A visualization graphic dataset of the target object is generated based on the graphic configuration information and the attribute dataset.

5. The method according to claim 1, wherein: The plurality of ROS nodes further include a first ROS node deployed on an onboard computing device, the at least one ROS node includes a second ROS node deployed on the onboard computing device, the first ROS node is configured as a publisher of a topic about the visual graph dataset, and the second ROS node is configured as a subscriber to the topic, and Transmitting the visualization graph dataset of the target object between the multiple ROS nodes via a publish / subscribe mechanism includes: The first ROS node is configured to publish a topic message corresponding to a topic about the visual graph dataset, the topic message including the visual graph dataset; The second ROS node is configured to locally obtain the topic message published by the first ROS node on the in-vehicle computing device.

6. The method according to claim 1, wherein: The plurality of ROS nodes further include a first ROS node deployed on an onboard computing device, the at least one ROS node includes a third ROS node deployed on another computing device communicatively connected to the onboard computing device via a second communication network, the first ROS node is configured as a publisher of a topic regarding the visualization graph dataset, and the third ROS node is configured as a subscriber to the topic, and Transmitting the visualization graph dataset of the target object between the multiple ROS nodes via a publish-subscribe mechanism includes: The first ROS node is configured to publish the topic message to the third ROS node via the second communication network.

7. The method according to claim 1, characterized in that The method further comprises: The visualization graph dataset is obtained from the at least one ROS node and is visually displayed.

8. A data visualization device for a vehicle, characterized in that: The data visualization device comprises: an acquiring unit configured to acquire a radar signal data frame in a first communication format, the radar signal data frame including output data corresponding to a millimeter-wave radar device of the vehicle with respect to a target environment; A generating unit configured to generate a visual graphic dataset of a target object in the target environment based on the radar signal data frame; and A transmission unit is configured to transmit a visualization graphic dataset of the target object between a plurality of Robot Operating System (ROS) nodes via a publish-subscribe mechanism, so that the visualization graphic dataset is transmitted to at least one ROS node among the plurality of ROS nodes to be used as a data source for visually displaying the target object.

9. An in-vehicle computing device, comprising: A processor, a memory, and a computer program stored in the memory, wherein when the computer program is executed by the processor, the data visualization method for a vehicle according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the data visualization method for a vehicle according to any one of claims 1 to 7.

11. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the data visualization method for a vehicle according to any one of claims 1 to 7 is implemented.

12. A vehicle, characterized in that: The vehicle includes the data visualization apparatus for a vehicle according to claim 8 or the in-vehicle computing device according to claim 9 .

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