HMI (Human Machine Interface) message display method and system and vehicle-mounted equipment

Abstract

The invention relates to an HMI message display method and system, and a vehicle-mounted device. The HMI display method comprises the following steps: receiving a V2X message; identifying the type of the V2X message to obtain the message type of the V2X message; after the message type of the V2X message is obtained, the following steps are executed: if the message type of the V2X message is an early warning message, early warning scene display is dynamically switched according to the early warning sequence of the early warning message; and if the message type of the V2X message is other messages, updating and displaying on the map according to the priority processing sequence of the other messages. According to the method, the V2X messages are identified and classified, so that the problem of insufficient message classification granularity is effectively solved, and meanwhile, the early warning information is dynamically switched and displayed according to the priority and the early warning sequence of the sequence value, so that the problems of multi-scene superposition conflict and dynamic switching mechanism deficiency can be avoided; and the efficiency and the response time of receiving the external information by the user are obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent terminal display, and more specifically, to an HMI message display method and system, and a vehicle-mounted device. Background Art

[0002] With the rapid development of vehicle-to-everything (V2X) technology, vehicles obtain real-time road environment information (such as collision warnings, traffic light status, pedestrian crossing prompts, etc.) through interactive methods such as V2V (vehicle-to-vehicle communication) and V2I (vehicle-to-road communication). The on-board human-machine interaction system (HMI) is the key interface for drivers to receive warning information, and its display logic directly affects driving safety and decision-making efficiency.

[0003] In the existing technology, HMI display solutions for V2X messages have the following main defects:

[0004] Insufficient message classification granularity: Existing systems fail to categorize V2X messages in a refined manner (e.g., they fail to distinguish between emergency collision warnings (V2V), traffic rule reminders (V2I), and infrastructure guidance (V2N). This results in a mixed display logic for messages of different priorities. For example, fixed partitions are used to display different message types, but the display hierarchy is not dynamically adjusted based on the scenario.

[0005] Multi-scenario overlapping conflicts: When multiple warning scenarios (such as emergency braking ahead and intersection collision risks) are triggered simultaneously, existing HMI systems often use information parallel superposition or simple priority override strategies, resulting in interface information overload. This makes it difficult for drivers to quickly focus on key threats, significantly increasing safety risks.

[0006] Lack of dynamic switching mechanisms: Existing technologies lack dynamic fragment switching strategies based on message urgency, duration, and driving scenarios. For example, pop-up warning solutions cannot adaptively adjust the display mode based on real-time vehicle speed and position changes, resulting in ineffective prompts that distract the driver. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide an HMI message display method and system, and a vehicle-mounted device in response to the problems existing in the prior art.

[0008] The technical solution adopted by the present invention to solve the technical problem is to construct an HMI message display method, comprising the following steps:

[0009] Receive V2X messages;

[0010] Performing type identification on the V2X message to obtain a message type of the V2X message; the message type includes: warning message and other messages;

[0011] After obtaining the message type of the V2X message, perform the following steps:

[0012] If the message type of the V2X message is a warning message, dynamically switching the warning scene display according to the warning order of the warning message;

[0013] If the message type of the V2X message is other messages, the map is updated and displayed according to the priority processing order of the other messages.

[0014] In the HMI message display method of the present invention, identifying the type of the V2X message to obtain the message type of the V2X message includes:

[0015] Obtaining a key value of the V2X message and a class name of the V2X message;

[0016] A message type of the V2X message is determined based on the key value and the class name.

[0017] In the HMI message display method of the present invention, if the message type of the V2X message is a warning message, dynamically switching the warning display according to the warning order of the warning message includes:

[0018] If the message type of the V2X message is a warning message, obtaining the priority of the warning message and the sequence value of the warning message;

[0019] Determining an alert order of the alert message according to the priority and the sequence value;

[0020] After the warning sequence is determined, the warning message is processed and the warning scene display is dynamically switched according to the warning sequence.

[0021] In the HMI message display method of the present invention, processing the warning message according to the warning sequence and dynamically switching the warning scene display includes:

[0022] Obtain the subtype and message content of the warning message;

[0023] Determining whether the subtype and message content of the warning message are consistent with the subtype and message content of the previous warning message;

[0024] If they are consistent, the timestamp of the current warning scenario is updated and no new warning scenario is created;

[0025] If they are inconsistent, the warning scene display is dynamically switched based on the subtype and message content of the warning message.

[0026] In the HMI message display method of the present invention, the dynamic switching of warning scene display based on the subtype and message content of the warning message includes:

[0027] If the subtype of the warning message is the same as the subtype of the previous warning message, and the message content of the warning message is different from the message content of the previous warning message, the warning scene of the warning message is not displayed, and the warning scene of the warning message is removed from the warning memory;

[0028] If the subtype of the warning message is different from the subtype of the previous warning message, determine whether the warning scene of the warning message already exists. If so, directly display the warning scene of the warning message and hide the normal driving scene. If not, create and display the warning scene of the warning message.

[0029] In the HMI message display method of the present invention, the method further includes:

[0030] After the warning scene display of the warning message is dynamically switched, the display of the warning message is canceled based on the display timestamp and countdown of the warning message.

[0031] In the HMI message display method of the present invention, if the message type of the V2X message is other messages, updating and displaying the other messages on the map according to the priority processing order of the other messages includes:

[0032] If the message type of the V2X message is other message, obtaining the priority of the other message and the sequence value of the other message;

[0033] Determining a priority processing order of the other messages according to the priority and the sequence value;

[0034] The other messages are updated and displayed on the map according to the priority processing order.

[0035] In the HMI message display method of the present invention, the other messages include: connected vehicle messages, vulnerable traffic participant messages, and road traffic messages;

[0036] The updating and displaying of the other messages on the map according to the priority processing order includes:

[0037] If the other message is a connected vehicle message, obtaining real-time data of the current connected vehicle in the connected vehicle message, and updating and displaying the current connected vehicle on the map according to the real-time data;

[0038] If the other message is a vulnerable traffic participant message, obtaining coordinate information and direction information of the current participant according to the vulnerable traffic participant message, and displaying and moving the current participant on the map according to the coordinate information and the direction information;

[0039] If the other message is a road traffic message, road information in the road traffic message is obtained, and a prompt is displayed on the map according to the road information.

[0040] The present invention also provides an HMI message display system, comprising:

[0041] A message receiving unit, configured to receive V2X messages;

[0042] a message identification unit, configured to identify the type of the V2X message and obtain a message type of the V2X message; the message type includes: a warning message and other messages;

[0043] An early warning display unit, configured to dynamically switch early warning displays according to a priority processing order of the early warning messages;

[0044] A map updating unit is used to update and display the other messages on the map according to the priority processing order of the other messages.

[0045] The present invention also provides a vehicle-mounted device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the steps of the HMI message display method described above by calling the computer program stored in the memory.

[0046] The HMI message display method, system, and vehicle-mounted equipment of the present invention have the following beneficial effects: The HMI display method includes: receiving a V2X message; identifying the type of the V2X message to obtain the message type of the V2X message; and after obtaining the message type of the V2X message, executing the following steps: if the message type of the V2X message is a warning message, dynamically switching the warning scene display according to the warning order of the warning message; if the message type of the V2X message is other messages, updating the display on the map according to the priority processing order of the other messages. The present invention effectively solves the problem of insufficient message classification granularity by identifying and classifying V2X messages. At the same time, dynamically switching the warning scene display for warning information according to its priority and sequence value can avoid the problems of multiple scene superposition conflicts and the lack of a dynamic switching mechanism, significantly improving the efficiency and response time of users receiving external information. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0048] Figure 1 This is a flow chart of an embodiment of an HMI message display method provided by the present invention;

[0049] Figure 2 This is a flow chart of another embodiment of the HMI message display method provided by the present invention;

[0050] Figure 3 This is a flow chart of another embodiment of the HMI message display method provided by the present invention;

[0051] Figure 4 It is a schematic diagram of message classification of the HMI message display method provided by the present invention;

[0052] Figure 5 This is a logic block diagram of the HMI message display system provided by the present invention. DETAILED DESCRIPTION

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] refer to Figure 1 In a preferred embodiment, the HMI message display method includes the following steps:

[0055] Step S100: Receive a V2X message.

[0056] Specifically, V2X messages are information exchanged between vehicles (V2V), vehicles and infrastructure (V2I), vehicles and pedestrians (V2P), and vehicles and networks (V2N) within the connected vehicle network. The process for generating these V2X messages is as follows: After the vehicle's human-machine interface (HMI) system establishes a communication connection with the on-board unit (OBU) via Wi-Fi, the HMI receives V2X messages from roadside V2X devices, which are forwarded by the OBU.

[0057] Step S200: Identify the type of the V2X message to obtain the message type of the V2X message.

[0058] Optionally, in some embodiments, the message types include: warning messages and other messages. Optionally, in embodiments of the present invention, other messages include: connected vehicle messages (BSM messages), vulnerable traffic participant messages (RSI messages), and road traffic messages (PTC messages).

[0059] In some embodiments, identifying the type of a V2X message to obtain the message type of the V2X message includes: obtaining a key value and a class name of the V2X message; and determining the message type of the V2X message based on the key value and the class name. Specifically, after receiving a V2X message, the HMI system first identifies the V2X message to determine its message type. Then, the HMI system displays the message according to its type. For example, if the V2X message is a warning message, the warning scenario is displayed according to step S300; if the V2X message is another message, the map is updated and displayed according to step S400. Specifically, identifying the type of the V2X message involves using the parseData method (data processing method) in the MsgParserImpl class (message parsing implementation class) to identify the message type of the V2X message in the MsgType class based on the key value (key) and class name (className) in each JSON message. Among them, the key value is the name used to identify the attribute in the object. It is the "label" or "name" of the data in the JSON object, which is used to uniquely identify and access the corresponding value. At the same time, the subtype and message content of the V2X message can also be obtained. The parseData method is a data processing method defined in MsgParserImpl (message parsing implementation class). This method has a return type of MsgInfo (message body), that is, the message classification of the MsgType (message type) class is executed in this method, and MsgInfo (message body) is returned. Finally, the parseData method obtains the classified message body.

[0060] After obtaining the message type of the V2X message, perform the following steps:

[0061] Step S300: If the message type of the V2X message is a warning message, the warning scene display is dynamically switched according to the warning sequence of the warning message.

[0062] In some embodiments, such as Figure 2 As shown, if the message type of the V2X message is a warning message, the warning display is dynamically switched according to the warning order of the warning message. The specific steps are as follows:

[0063] Step S301: If the message type of the V2X message is a warning message, obtain the priority of the warning message and the sequence value of the warning message.

[0064] Specifically, the priority and sequence value of the warning message can be directly obtained in the message body. The priority determines the priority of the warning message, and the sequence value determines the order of the warning messages.

[0065] Step S302: Determine the warning order of the warning message according to the priority and sequence value.

[0066] Specifically, determining the warning order of warning messages based on priority and sequence value is as follows: first, sort multiple warning messages according to priority, and then determine the warning order of each warning message based on the sequence value of the multiple warning messages. For example, for three warning messages, warning message A, warning message B, and warning message C, where warning message A has a priority of 100, warning message B has a priority of 100, and warning message C has a priority of 10, the sequence value of warning message A is 1, the sequence value of warning message B is 3, and the sequence value of warning message C is 2. From this, it can be seen that warning messages A and warning message B have higher priorities, while warning message C has the lowest priority. Since warning messages A and warning message B have the same priority, it is necessary to sort them based on the sequence value. Since warning message A has a sequence value of 1 and warning message B has a sequence value of 3, it means that warning message A was sent earlier. Therefore, the final warning order is: warning message A > warning message B > warning message C, that is, warning message A has the highest warning order.

[0067] Step S303: After the warning sequence is determined, the warning message is processed and the warning scene display is dynamically switched according to the warning sequence.

[0068] In some embodiments, such as Figure 3 As shown, the following steps are performed to process warning messages and dynamically switch warning scene displays according to the warning sequence:

[0069] Step S3031: Obtain the subtype and message content of the warning message.

[0070] Step S3032: Determine whether the subtype and message content of the warning message are consistent with the subtype and message content of the previous warning message.

[0071] Step S3033: If they are consistent, the timestamp of the current warning scenario is updated, and a new warning scenario is not created.

[0072] Step S3034: If they are inconsistent, the warning scene display is dynamically switched based on the subtype and message content of the warning message. Specifically, the dynamic switching of the warning scene display based on the subtype and message content of the warning message includes: if the subtype of the warning message is the same as the subtype of the previous warning message, and the message content of the warning message is different from the message content of the previous warning message, then the warning scene of the warning message is not displayed, and the warning scene of the warning message is removed from the warning memory; if the subtype of the warning message is different from the subtype of the previous warning message, then it is determined whether the warning scene of the warning message already exists. If so, the warning scene of the warning message is directly displayed and the normal driving scene is hidden. If not, the warning scene of the warning message is created and displayed.

[0073] Specifically, the scenarios for warning messages are shown as follows:

[0074] After identifying the current V2X message as a warning message and determining the warning order of the current warning message, the current warning message is compared with the previous warning message. If the subtype and content of the current warning message are exactly the same as those of the previous warning message, only the timestamp of the message body of the current warning message is updated to extend the warning display, and no new warning scene (i.e., warning fragment (UI fragment)) is created; if the subtype of the current warning message is the same as that of the previous warning message, but the content is different, the fragment of the current warning message is removed from the warning memory (i.e., fragment management container), and the fragment of the normal scene is displayed at the same time, and the corresponding warning scene is displayed when a subsequent warning message arrives; if the subtype of the current warning message is different from that of the previous message, first determine whether a warning scene of this type already exists. If so, directly display the warning scene of the current warning message and the normal driving fragment. If not, directly create the warning scene of the current warning message.

[0075] It should be noted that in the embodiment of the present invention, after the warning scene display of the warning message is dynamically switched, the display of the warning message is canceled based on the display timestamp and countdown of the warning message. For example, the display of the warning scene is canceled after displaying for 3 seconds.

[0076] In the embodiment of the present invention, a fragment is a UI component that can be embedded in an Activity (an interface directly operated by a user), and it represents an independent, reusable modular interface part.

[0077] Optionally, in an embodiment of the present invention, the warning message may include but is not limited to: forward collision warning, left and right blind spot warning, overtaking warning, vehicle merging warning, speed limit warning, red light running warning, vehicle failure warning, rear emergency vehicle warning, rear special vehicle warning, left and right lane change warning and other subtypes. Correspondingly, the set warning scenes (i.e., warning fragments) may include but are not limited to: FCWSceneFragment (forward collision warning), ICWSceneFragment (intersection collision warning), LTASceneFragment (left turn auxiliary warning), LCWSceneFragment (left / right lane change warning), DNPWSceneFragment (reverse overtaking warning), EBWSceneFragment (emergency braking warning), AVWSceneFragment (front abnormal Normal vehicle warning), CLWSceneFragment (vehicle loss of control warning), EVWSceneFragment (emergency special vehicle warning), BSWSceneFragment (left and right blind spot warning), RLVWSceneFragment (red light running warning), RTESceneFragment (road traffic incident warning), RTSSceneFragment (road traffic sign warning), SLWSceneFragment (speed limit reminder ahead), VRUCWSceneFragment (vulnerable traffic participant reminder), SVPReservedSceneFragment (reserved lane warning), CLCWSceneFragment (collaborative lane change warning), CRIWSceneFragment (collaborative merging warning), etc.

[0078] Step S400: If the message type of the V2X message is other messages, the map is updated and displayed according to the priority processing order of other messages.

[0079] In some embodiments, if the message type of the V2X message is other messages, updating and displaying the other messages on the map according to the priority processing order of the other messages includes: if the message type of the V2X message is other messages, obtaining the priority of the other messages and the sequence value of the other messages; determining the priority processing order of the other messages according to the priority and sequence value; and updating and displaying the other messages on the map according to the priority processing order.

[0080] Specifically, the priority processing order for other messages is explained using BSM messages as an example: First, multiple BSM messages are sorted based on their priority, and then their sequence values ​​are combined to determine the warning order for each BSM message. For example, consider three BSM messages: BSM message A, BSM message B, and BSM message C. BSM message A has a priority of 100, BSM message B has a priority of 100, and BSM message C has a priority of 10. The sequence values ​​for BSM message A, BSM message B, and BSM message C are 1, 3, and 2, respectively. This shows that BSM messages A and BSM message B have higher priority, while BSM message C has the lowest. Since BSM messages A and BSM message B have the same priority, they need to be sorted based on their sequence values. Since BSM message A has a sequence value of 1 and BSM message B has a sequence value of 3, BSM message A was sent earlier. Therefore, the final priority processing order is: BSM message A > BSM message B > BSM message C, meaning that BSM message A has the highest priority.

[0081] In some embodiments, updating and displaying other messages on the map according to the priority processing order includes: if the other message is a connected vehicle message, obtaining the real-time data of the current connected vehicle in the connected vehicle message, and updating and displaying the current connected vehicle on the map based on the real-time data; if the other message is a vulnerable traffic participant message, obtaining the coordinate information and direction information of the current participant according to the vulnerable traffic participant message, and displaying and moving the current participant on the map based on the coordinate information and direction information; if the other message is a road traffic message, obtaining the road information in the road traffic message, and displaying a prompt on the map based on the road information.

[0082] Specifically, for BSM messages, after the priority order is determined, the map can be updated and displayed based on the real-time data of the current connected vehicle contained in the BSM message. Specifically, the vehicle is plotted on the map based on the latitude and longitude coordinates, heading angle, speed, and vehicle type contained in the BSM message, and the display is updated based on the vehicle's real-time data. BSM messages are categorized as messages for the current vehicle and other connected vehicles, and the real-time status of the current vehicle and other connected vehicles is displayed on the map in real time.

[0083] PTC messages, including V2X roadside equipment identification of participants, including pedestrians, non-motorized vehicles, and other vehicles, can be displayed and moved on a map in real time based on their coordinates and direction information. PTC messages classify vulnerable traffic participants and display their status on the map in real time.

[0084] RSI messages include road signs and traffic signs, including road construction, speed limits, toll booths, tunnels, schools, sharp turns, obstacles, and slippery roads. These signs are displayed on the map at their corresponding locations, providing a warning. RSI messages categorize road events, allowing for real-time display of road signs and events on the map.

[0085] like Figure 4 As shown, the present invention intelligently identifies and classifies multi-source heterogeneous messages, combined with a dynamic fragment switching mechanism, optimizes information presentation logic, reduces the driver's cognitive load, and thus improves road safety. Furthermore, the present invention effectively displays warning messages in real time by displaying them in a scenario-based interface. By filtering messages based on hierarchical classification, the efficiency of receiving warning messages from the HMI is improved.

[0086] refer to Figure 5 , the present invention also provides an HMI message display system.

[0087] like Figure 5 As shown, the HMI message display system includes:

[0088] The message receiving unit 501 is configured to receive a V2X message.

[0089] The message identification unit 502 is configured to identify the type of the V2X message and obtain the message type of the V2X message, wherein the message type includes: warning message and other messages.

[0090] The warning display unit 503 is used to dynamically switch the warning display according to the priority processing order of the warning messages.

[0091] The map updating unit 504 is configured to update the display on the map according to the priority processing order of other messages.

[0092] Specifically, the specific coordination operation process between the units in the HMI message display system here can refer to the above-mentioned HMI message display method, which will not be repeated here.

[0093] The HMI message display method and system of the present invention can solve the problems currently encountered by many car owners, such as untimely warning information prompts, incomplete or delayed display on the HMI, and deal with the problem of multiple warning and concurrent messages being messy, thereby improving the efficiency of car owners in receiving external information, thereby improving the reaction time when encountering problems, and providing support for the development of vehicle-road-cloud integration.

[0094] In addition, a vehicle-mounted device of the present invention includes a memory and a processor; the memory is used to store a computer program; and the processor is used to execute the computer program to implement any of the HMI message display methods described above. Specifically, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed by the vehicle-mounted device and, when executed, performs the above-mentioned functions defined in the method of the embodiment of the present invention.

[0095] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0096] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0097] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0098] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the present invention and implement it accordingly. They are not intended to limit the scope of protection of the present invention. All equivalent variations and modifications within the scope of the claims of the present invention are intended to be covered by the claims of the present invention.

Claims

1. A method for displaying an HMI message, characterized in that: The following steps are involved: Receive V2X messages; Performing type identification on the V2X message to obtain a message type of the V2X message; the message type includes: warning message and other messages; After obtaining the message type of the V2X message, perform the following steps: If the message type of the V2X message is a warning message, dynamically switching the warning scene display according to the warning order of the warning message; If the message type of the V2X message is other messages, the map is updated and displayed according to the priority processing order of the other messages.

2. The HMI message display method according to claim 1, characterized in that: The performing type identification on the V2X message to obtain the message type of the V2X message includes: Obtaining a key value of the V2X message and a class name of the V2X message; A message type of the V2X message is determined based on the key value and the class name.

3. The HMI message display method according to claim 1, characterized in that: If the message type of the V2X message is a warning message, dynamically switching the warning display according to the warning order of the warning message includes: If the message type of the V2X message is a warning message, obtaining the priority of the warning message and the sequence value of the warning message; Determining an alert order of the alert message according to the priority and the sequence value; After the warning sequence is determined, the warning message is processed and the warning scene display is dynamically switched according to the warning sequence.

4. The HMI message display method according to claim 1, characterized in that: The processing of the warning message according to the warning sequence and the dynamic switching of the warning scene display include: Obtain the subtype and message content of the warning message; Determining whether the subtype and message content of the warning message are consistent with the subtype and message content of the previous warning message; If they are consistent, the timestamp of the current warning scenario is updated and no new warning scenario is created; If they are inconsistent, the warning scene display is dynamically switched based on the subtype and message content of the warning message.

5. The HMI message display method according to claim 4, characterized in that: The dynamically switching warning scene display based on the subtype and message content of the warning message includes: If the subtype of the warning message is the same as the subtype of the previous warning message, and the message content of the warning message is different from the message content of the previous warning message, the warning scene of the warning message is not displayed, and the warning scene of the warning message is removed from the warning memory; If the subtype of the warning message is different from the subtype of the previous warning message, determine whether the warning scene of the warning message already exists. If so, directly display the warning scene of the warning message and hide the normal driving scene. If not, create and display the warning scene of the warning message.

6. The HMI message display method according to any one of claims 1 to 5, characterized in that: The method further comprises: After the warning scene display of the warning message is dynamically switched, the display of the warning message is canceled based on the display timestamp and countdown of the warning message.

7. The HMI message display method according to claim 1, characterized in that: If the message type of the V2X message is other messages, updating and displaying the other messages on the map according to the priority processing order of the other messages includes: If the message type of the V2X message is other message, obtaining the priority of the other message and the sequence value of the other message; Determining a priority processing order of the other messages according to the priority and the sequence value; The other messages are updated and displayed on the map according to the priority processing order.

8. The HMI message display method according to claim 7, characterized in that: The other messages include: connected vehicle messages, vulnerable traffic participant messages, and road traffic messages; The updating and displaying of the other messages on the map according to the priority processing order includes: If the other message is a connected vehicle message, obtaining real-time data of the current connected vehicle in the connected vehicle message, and updating and displaying the current connected vehicle on the map according to the real-time data; If the other message is a vulnerable traffic participant message, obtaining coordinate information and direction information of the current participant according to the vulnerable traffic participant message, and displaying and moving the current participant on the map according to the coordinate information and the direction information; If the other message is a road traffic message, road information in the road traffic message is obtained, and a prompt is displayed on the map according to the road information.

9. An HMI message display system, characterized in that: include: A message receiving unit, configured to receive V2X messages; a message identification unit, configured to identify the type of the V2X message and obtain a message type of the V2X message; The message types include: warning messages and other messages; An early warning display unit, configured to dynamically switch early warning displays according to a priority processing order of the early warning messages; A map updating unit is used to update and display the other messages on the map according to the priority processing order of the other messages.

10. A vehicle-mounted device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor executes the steps of the HMI message display method according to any one of claims 1 to 7 by calling the computer program stored in the memory.

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