Vehicle, head-up display element rendering method thereof and augmented reality head-up display device

Abstract

The invention discloses a vehicle, a head-up display element rendering method thereof and an augmented reality head-up display device. The method is applied to an augmented reality head-up display device, and comprises the following steps: simultaneously rendering a far-field AR information interface and a near-field information interface in a head-up display field range of a vehicle; far-field rendering elements of the far-field AR information interface comprise an AR navigation guide light blanket and / or an AR lane line, the starting end of the AR navigation guide light blanket and the starting end of the AR lane line are both penetrated by a target intersection line in the head-up display view field range of the vehicle, and the target intersection line is an intersection line of a plane where the head-up display view field range is located and a longitudinal symmetry plane of the vehicle; the near-field rendering elements in the near-field information interface at least comprise a first rendering element, and the first rendering element is traversed by the target intersection line in the head-up display field of view range of the vehicle. According to the invention, the technical problem that elements rendered in a head-up display view field range have guide errors in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles and augmented reality technology, and in particular to a vehicle and a head-up display element rendering method thereof, and an augmented reality head-up display device. Background Art

[0002] With the rapid development of intelligent driving and augmented reality technology, ARHUD (Augmented Reality Head-Up Display) has become an indispensable part of modern cars. By directly projecting key driving information within the driver's field of view, ARHUD reduces the driver's gaze distraction and improves driving safety. However, existing ARHUDs still have certain limitations and challenges when providing information guidance, especially in the process of integrating far-field AR (Augmented Reality) elements. For example, when ARHUD strives to place far-field rendered AR elements in the center of the optical machine's FOV (Field of View), these elements will inevitably deviate from the center of the vehicle's actual lane and fail to perfectly fit the real environment. As a result, the AR elements originally used to provide intuitive navigation support may mislead the driver due to positioning errors. Conversely, if the AR elements are rendered strictly in accordance with the actual lane layout and driving environment so that the AR elements are seamlessly connected to the scene of the vehicle's driving road, the AR elements will no longer remain centered in the optical machine's FOV, which may make users feel that the information layout is unnatural, affecting the rapid understanding and utilization of information, and causing a certain degree of cognitive error in the driver.

[0003] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0004] Embodiments of the present invention provide a vehicle and a head-up display element rendering method thereof and an augmented reality head-up display device, so as to at least solve the technical problem in the related art that there is a guidance error in the elements rendered within the head-up display field of view.

[0005] According to one aspect of an embodiment of the present invention, a method for rendering head-up display elements of a vehicle is provided, which is applied to an augmented reality head-up display device, including: simultaneously rendering a far-field AR information interface and a near-field information interface within the head-up display field of view of the vehicle, wherein the near-field rendering elements of the near-field information interface and the far-field rendering elements of the far-field AR information interface are independent of each other in the rendering logic dimension; the far-field rendering elements of the far-field AR information interface include an AR navigation guide light carpet and / or an AR lane line, and the starting end of the AR navigation guide light carpet and the starting end of the AR lane line are both passed through by a target intersection line within the head-up display field of view of the vehicle, and the target intersection line is the intersection line of the plane where the head-up display field of view is located and the longitudinal symmetry plane of the vehicle; the near-field rendering elements in the near-field information interface include at least a first rendering element, and the first rendering element is passed through by the target intersection line within the head-up display field of view of the vehicle.

[0006] Optionally, the above method also includes: identifying a first rendering element in the near-field information interface within the head-up display field of view; modifying the initial coordinates of the first rendering element to target coordinates based on the offset value, so that the first rendering element is rendered and displayed in the target area in the near-field information interface, and the target intersection line passes through the target area, wherein the offset value is used to represent the deviation value between the center line of the near-field information interface and the target intersection line, and the center line is parallel to the longitudinal symmetry plane.

[0007] Optionally, the initial coordinates of the first rendering element are modified to target coordinates based on the offset value, so that the first rendering element is rendered and displayed in the target area of ​​the near-field information interface, including: compressing the near-field information interface in a direction perpendicular to the longitudinal symmetry plane based on the offset value, so that the first rendering element is compressed into the target area; or, the near-field rendering element in the near-field information interface further includes at least two second rendering elements, and the at least two second rendering elements are located on both sides of the first rendering element; based on the offset value, compressing the redundant area between the first rendering element and the second rendering element in a direction perpendicular to the longitudinal symmetry plane, so that the first rendering element is compressed into the target area; wherein the area of ​​the compressed near-field information interface is smaller than the original area of ​​the near-field information interface; and the left and right boundaries of the compressed near-field information interface are symmetrical with respect to the target intersection line.

[0008] Optionally, based on the offset value, the near-field information interface is compressed in a direction perpendicular to the longitudinal symmetry plane, including: determining a compression coefficient of the near-field information interface based on the offset value; and compressing the near-field information interface in a direction perpendicular to the longitudinal symmetry plane based on the compression coefficient.

[0009] Optionally, based on the offset value, the compression coefficient of the near-field information interface is determined, including: determining the compressed near-field information interface based on the offset value and the size parameters of the near-field information interface; determining the compression coefficient based on the near-field information interface and the compressed near-field information interface.

[0010] Optionally, the offset value at least includes: an installation error value, wherein the installation error value is a deviation value generated by installing the augmented reality head-up display device, and the installation error value is determined by calibrating the augmented reality head-up display device.

[0011] Optionally, when the vehicle is turning, making a U-turn, or changing lanes, the starting end of the AR navigation guidance light carpet moves within a preset range relative to the target intersection line.

[0012] Optionally, the first rendering element includes at least one of the following: code speed, driving direction guidance information, and prompt text.

[0013] Optionally, the preset angle ranges from 1.5° to 9°.

[0014] Optionally, the preset angle is determined based on the type of vehicle.

[0015] According to another aspect of an embodiment of the present invention, an augmented reality head-up display device is provided, including: a memory storing an executable program; and a processor for running the program, wherein any one of the above methods is executed when the program is running.

[0016] According to another aspect of an embodiment of the present invention, a vehicle is provided, including: the above-mentioned augmented reality head-up display device.

[0017] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0018] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0020] According to another aspect of the embodiments of the present invention, a computer program is provided. When the computer program is executed by a processor, the methods in various embodiments of the present invention are implemented.

[0021] In an embodiment of the present invention, a far-field AR information interface and a near-field information interface are rendered simultaneously within the head-up display field of view of the vehicle. The near-field rendering elements of the near-field information interface and the far-field rendering elements of the far-field AR information interface are independent of each other in the rendering logic dimension; the far-field rendering elements of the far-field AR information interface include an AR navigation guide light carpet and / or an AR lane line. The starting end of the AR navigation guide light carpet and the starting end of the AR lane line are both passed by a target intersection line within the head-up display field of view of the vehicle. The target intersection line is the intersection line of the plane where the head-up display field of view is located and the longitudinal symmetry plane of the vehicle; the near-field rendering elements in the near-field information interface At least a first rendering element is included, and the first rendering element is crossed by a target intersection line within the field of view of a head-up display of the vehicle. By rendering the above-mentioned far-field rendering element and near-field rendering element in correspondence with the position of the target intersection line, it is possible to ensure that the far-field rendering element can be well adapted to the driving environment of the vehicle while enabling the far-field rendering element to match the associated first rendering element, thereby enhancing the intuitiveness and accuracy of the multiple rendering elements displayed to the driver, as well as the correlation between different rendering elements, thereby solving the technical problem of guidance error in elements rendered within the field of view of the head-up display in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a flowchart of a method for rendering head-up display elements of a vehicle according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram illustrating a head-up display field of view according to an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a target intersection line according to an embodiment of the present application;

[0026] Figure 4 is a schematic diagram showing a rendering result of a far-field AR information interface according to an embodiment of the present application;

[0027] Figure 5 is a schematic diagram showing a rendering result of a first rendering element according to an embodiment of the present application;

[0028] Figure 6 is a schematic diagram showing a near-field information interface projection result according to an embodiment of the present application;

[0029] Figure 7is a schematic diagram showing a near-field information interface offset result according to an embodiment of the present application;

[0030] Figure 8 is a schematic diagram showing a near-field information interface compression result according to an embodiment of the present application;

[0031] Figure 9 is a schematic diagram showing a rendering element compression result according to an embodiment of the present application;

[0032] Figure 10 Another result of compressing the near-field information interface is also shown;

[0033] Figure 11 It is a schematic diagram showing an installation error result according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] According to an embodiment of the present invention, an embodiment of a method for rendering a head-up display element of a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0037] An embodiment of the present application provides a method for rendering head-up display elements of a vehicle. The method for rendering head-up display elements of a vehicle can be used to provide augmented reality guidance functions for preset application scenarios. The above-mentioned preset application scenarios may include the following scenarios in the vehicle field: commuting manual driving scenarios, artificial intelligence (AI) driving scenarios for family cars, and intelligent navigation assistance (Navigation Guided Pilot, NGP) scenarios in urban areas or high-speed areas. In addition, the above-mentioned preset application scenarios may also include but are not limited to: automatic cargo loading and unloading scenarios of smart driving trucks or unmanned trucks in the field of logistics and transportation, and precise sowing and harvesting scenarios of manually driven agricultural vehicles in the field of agricultural machinery.

[0038] When the aforementioned pre-defined application scenarios are for fields other than vehicles, those skilled in the art will appreciate that the vehicle in the aforementioned head-up display element rendering method can be replaced with another object (such as agricultural machinery, drones, robots, etc.), and accordingly, manual commuting driving can be replaced with automated execution of tasks related to the other object. Based on this, the embodiments of this application use the augmented reality guidance field as an example to illustrate the specific implementation of the aforementioned head-up display element rendering method for vehicles.

[0039] It should be noted that, since the head-up display elements rendered in this application are mainly used to assist the driver in driving the vehicle, the head-up display element rendering method of the above-mentioned vehicle is mainly based on manual driving scenarios.

[0040] Figure 1 is a flow chart of a method for rendering head-up display elements of a vehicle according to an embodiment of the present invention, which is applied to an augmented reality head-up display device, such as Figure 1 As shown, the method includes the following steps:

[0041] Step S102 , simultaneously rendering the far-field AR information interface and the near-field information interface within the vehicle's head-up display field of view.

[0042] Among them, the near-field rendering elements of the near-field information interface and the far-field rendering elements of the far-field AR information interface are independent of each other in the rendering logic dimension.

[0043] The above-mentioned head-up display field of view may refer to the visible range of virtual information that the driver can see through the HUD (Head-Up Display, head-up display system), which can be regarded as a virtual screen formed by the HUD projection. Generally, the augmented reality head-up display device can render some auxiliary driving information within the head-up display field of view, such as the vehicle's current speed, the light carpet that assists the vehicle's driving, the turn prompt icon, the current time and other information to assist the driver in driving the vehicle. Therefore, accurately displaying the auxiliary driving information to the driver within the head-up display field of view plays a vital role in the driver's safety and stability when driving the vehicle.

[0044] The above-mentioned near-field information interface may refer to an interface used to render the above-mentioned near-field rendering elements, and may be an interface projected by a WHUD (Windshield Head-Up Display). Since the display principle of WHUD relies on short-distance projection onto the vehicle's windshield to form a virtual image located in front of the driver, the display position, area and information layout of the WHUD are relatively fixed in terms of visual effects and are usually not affected by the vehicle's driving environment. The above-mentioned far-field AR information interface may refer to an interface for rendering far-field rendering elements, and may be an interface projected by ARHUD. Since ARHUD is mainly used to deeply integrate virtual information with the vehicle driving scene to provide more immersive and intuitive driving assistance information, the visual effects of ARHUD are usually affected by the vehicle driving environment. For example, the position of the virtual navigation light carpet or obstacle warning mark rendered in ARHUD is usually adjusted in real time based on the actual driving route of the vehicle and environmental changes. When the vehicle turns, the navigation light carpet will bend and move accordingly to fit the new road trajectory; in bad weather or low visibility conditions, ARHUD may also adjust the brightness and outline of the elements to enhance its recognition in the real background.

[0045] The aforementioned near-field rendered elements may refer to elements rendered within the HUD's field of view that can be observed without reference to objects in the real world outside the HUD's field of view. These near-field rendered elements can present the driver with static or dynamic information directly related to the vehicle, independent of changes in the vehicle's driving environment. This information may include, but is not limited to, speed, fuel level, engine speed, and next turn instructions. Near-field rendered elements do not directly overlap with the real world, but rather overlay as an independent, non-transparent layer of information in the driver's field of view.

[0046] Far-field rendering elements (FLEs) are elements rendered within the HUD's field of view (FOV) that require real-world objects outside the HUD's FOV to accurately perceive. These FLEs can present static or dynamic information to the driver that is affected by the vehicle's driving environment and indirectly related to the vehicle. These information may include, but is not limited to, a light carpet to assist with driving, distance indicators for vehicles ahead, obstacle warnings, speed limit indicators, and augmented reality lane markings. FLEs directly integrate with the real-world scene, presenting information directly to the driver's view in a perspective manner, providing information that allows the driver to interact directly with the vehicle's driving environment. For added convenience, a light carpet assisting with driving can guide the driver's driving path. Its lines, color, and brightness adjust in real time based on road conditions. For example, as the vehicle approaches a curve, the light carpet naturally curves to align with the roadway, providing clear steering guidance. On straight roads, the light carpet maintains a straight line, helping the driver maintain lane center and providing lane-keeping assistance. For the distance indication of the vehicle in front, the safe distance between the current vehicle and the vehicle in front can be displayed in the form of a virtual line or a numerical value behind the vehicle in front within the driver's field of view. The length and color of the line will change according to the distance, so that the driver can quickly judge the relative position with the vehicle in front and make timely decisions to slow down or keep a safe distance, thereby effectively preventing rear-end collisions. For obstacle warning, when the ARHUD system detects an obstacle in front of the road (such as pedestrians, animals, construction areas, etc.), it can generate a warning sign above the actual position of the obstacle, such as a flashing red circle or triangle, and even display the outline of the obstacle. For speed limit For traffic prompts, map data can be used to identify the speed limit of the current road section, and the speed limit sign can be displayed in AR form in front of the road in the driver's field of view, corresponding to the actual position of the traffic sign; for AR lane lines, in low visibility conditions, such as at night and in rainy and foggy weather, ARHUD can provide clear guidance to the driver by generating high-brightness, high-contrast virtual lane lines, covering the lane markings of the real road. These AR lane lines can not only maintain consistency with the actual lanes, but also dynamically adjust according to the driving status of the vehicle, ensuring that the driver can always accurately judge the vehicle's position and driving direction, thereby improving driving safety.

[0047] In an optional solution of this embodiment, considering that the near-field rendering elements usually only rely on the vehicle's own operating data, their display position and display content are also relatively fixed, and visually they usually do not change with changes in the vehicle's driving environment; while the far-field rendering elements need to be combined with the vehicle's sensor data, such as information about the vehicle's driving environment perceived by cameras, radars and other equipment, to perform real-time element calculation and element rendering to ensure that the rendered far-field rendering elements can maintain a high degree of consistency with the vehicle's driving environment. Therefore, the above-mentioned near-field rendering elements and far-field rendering elements can be independent of each other in the rendering logic dimension. Based on this, the above-mentioned far-field AR information interface and near-field information interface can be included simultaneously within the vehicle's head-up display field of view, and the augmented reality head-up display device can simultaneously render the far-field AR information interface and the near-field information interface, that is, render the above-mentioned near-field rendering elements in the near-field information interface, and render the above-mentioned far-field rendering information in the far-field AR information interface. Considering the aforementioned differences in the logic of the element calculation and rendering processes for near-field and far-field rendering elements, for example, near-field rendering elements are unaffected by the vehicle's driving environment and typically have a fixed position and size. Only the corresponding vehicle's own operating data needs to be considered during rendering, whereas far-field rendering elements typically need to incorporate changes in the vehicle's driving environment during rendering. Therefore, in terms of rendering logic, the near-field rendering elements rendered in the near-field information interface are typically independent of the far-field rendering elements rendered in the far-field AR information interface. The corresponding augmented reality head-up display device can separately process the display, control, and update mechanisms for the near-field and far-field rendering elements. This allows the augmented reality head-up display device to monitor and display the vehicle's operating status in real time through the near-field rendering elements while also analyzing and displaying environmental information in the vehicle's driving environment that may affect vehicle driving in real time through the far-field rendering elements. This avoids resource conflicts between the near-field and far-field rendering resources, which could affect the timeliness of the rendered far-field rendering resources, thereby providing greater safety for the driver.

[0048] For ease of understanding, Figure 2 is a schematic diagram showing a head-up display field of view according to an embodiment of the present application. Figure 2 As shown, the head-up display field of view may include at least two parts: a near-field information interface 202 and a far-field AR information interface 204. In the near-field information interface 202, multiple near-field rendering elements may be rendered, such as the current time 2021, a turn indicator icon 2022, mileage 2023, current driving speed 2024, etc. In the far-field information interface 204, multiple far-field rendering elements may be rendered, such as a light carpet 2041, distance to the destination 2042, time to the destination 2043, distance to the obstacle ahead 2044, etc. It should be noted that Figure 2The near-field information interface and far-field AR information interface shown separately displayed within the head-up display field of view are only exemplary displays. The two can also overlap with each other to render corresponding near-field rendering elements and far-field rendering elements within the head-up display field of view according to appropriate display parameters, such as the display position and display size of different elements, thereby improving the convenience for the driver to view different elements. The specific display parameters can be defined by the driver according to actual needs and are not limited here.

[0049] It should be noted that this application uses an augmented reality head-up display device ARHUD for information presentation, rather than a car screen. In comparison, ARHUD focuses on real-time superposition on the real road, requiring high-precision projection technology and stronger computing power to integrate real and virtual information in real time, while the car screen is not superimposed on the real road. For example, assuming that in a scene with low visibility, the position element of the vehicle in front is to be displayed through ARHUD. How to ensure that this position element is consistent with the vehicle in front is very important for ARHUD. The position of the vehicle in front needs to be predicted to be more consistent. For example, if the vehicle in front suddenly accelerates or decelerates, in order for the corresponding animation rendering to keep up with the vehicle in front, the position of the vehicle in front needs to be predicted. Specifically, it is necessary to first obtain multiple predicted positions of the vehicle in front (for example, some predicted positions of the vehicle in front are positions after acceleration, and some predicted positions of the vehicle in front are positions after deceleration), and then perform window averaging on the position of the vehicle in front in the current frame to obtain a predicted position. This predicted position of the vehicle in front may be different from the actual position of the vehicle in front. At this time, this predicted position can be displayed on ARHUD. At this time, even if the vehicle in front suddenly accelerates, the predicted position is relatively consistent. The autonomous driving displayed on the car screen Sr (Screen Representation) does not predict the speed of the vehicle in front. It calculates and detects in real time because its frame rate is relatively high. It is equivalent to the car trying to calculate whether it will collide with the vehicle in front in every frame, without knowing whether it will collide with this vehicle in the future. The autonomous driving displayed on Sr will have animation rendering of the vehicle in front, but this animation rendering does not have such a strong requirement for whether it can fit the vehicle in front. It doesn’t matter if the position of the rendering of the vehicle in front has a certain distance difference. The SR only needs to show an approximate relative position, and it does not need to be particularly accurate. However, when drawing these things on the ARHUD, they must fit the reality.

[0050] Optionally, the far-field rendering elements of the far-field AR information interface include an AR navigation guide light carpet and / or AR lane lines. The starting end of the AR navigation guide light carpet and the starting end of the AR lane line are both passed through by a target intersection line within the head-up display field of view of the vehicle. The target intersection line is the intersection line of the plane where the head-up display field of view is located and the longitudinal symmetry plane of the vehicle.

[0051] The above-mentioned AR navigation guidance light carpet, that is, the light carpet mentioned above, can refer to an application of augmented reality technology in a vehicle HUD system. Through the AR navigation guidance light carpet, the augmented reality head-up display device can project a virtual navigation path similar to a glowing carpet within the head-up display field of view based on the vehicle's driving path and the relative position of one or more driving lanes in front of the vehicle to guide the driver to stay on the correct driving path.

[0052] The AR lane markings described above are another example of augmented reality technology being used in vehicle HUD systems. Through AR lane markings, the augmented reality head-up display can enhance the actual lane markings on the road ahead with a virtual augmented display. This display helps drivers more clearly identify lanes, especially at night, in fog, or in low-light conditions. The enhanced lane markings can significantly improve driving safety.

[0053] The aforementioned longitudinal symmetry plane may refer to a symmetry plane passing through the center axis of the vehicle in the forward direction of the vehicle, and the vehicle may be divided into two completely symmetrical left and right parts through the longitudinal symmetry plane.

[0054] The target intersection line can be seen as the intersection line between the plane where the field of view is located and the longitudinal symmetry plane. It is virtual and is for easy understanding. Figure 3 is a schematic diagram of a target intersection line according to an embodiment of the present application, such as Figure 3 As shown, assuming that 301 represents the plane where the head-up display field of view is located, and 302 represents the longitudinal symmetry plane of the vehicle, the straight line 303 where these two planes intersect can be referred to as the target intersection line.

[0055] In an optional solution of this embodiment, in order to facilitate guiding the driver to drive the vehicle safely and stably, the far-field rendering elements rendered in the above-mentioned far-field AR information interface may include one or more of the above-mentioned AR navigation guide light carpet and AR lane lines, so as to guide the driver to the area where the vehicle needs to be driven through the AR navigation guide light carpet, and remind the driver of the lane lines corresponding to different lanes on the road where the vehicle is currently driving through the AR lane lines, thereby ensuring the safety of the driver when driving the vehicle. Considering that under normal circumstances, in order to ensure that the driver can drive the vehicle according to the correct driving route, the AR navigation guidance light carpet used to guide the vehicle's current driving route needs to be extended forward based on the vehicle's current position. Therefore, based on the driver's observation angle, it is necessary to ensure that the starting end of the AR navigation guidance light carpet viewed by the driver through the head-up display field of view matches the vehicle's current driving position on the road. If the starting end of the AR navigation guidance light carpet observed by the driver does not match the vehicle's current driving position on the road, the driver may deviate from the correct route or lane when driving the vehicle according to the AR navigation guidance light carpet, thereby affecting the driver's driving safety. Therefore, when the augmented reality head-up display device renders the above-mentioned AR navigation guidance light carpet in the far-field AR information interface, it needs to consider the vehicle's current driving position on the road, so as to correctly determine the position for rendering the starting end of the AR navigation guidance light carpet within the head-up display field of view.

[0056] Considering that the vehicle's driving position on the road is closely related to the vehicle's longitudinal symmetry plane, the above-mentioned AR navigation guide light carpet is rendered within the head-up display field of view. Therefore, when determining the position for rendering the starting end of the AR navigation guide light carpet, the augmented reality head-up display device can first determine the plane in which the head-up display field of view is located, and the intersection line of the plane and the longitudinal symmetry plane of the vehicle, that is, determine the above-mentioned target intersection line. The position of the target intersection line within the head-up display field of view can be regarded as the vehicle's current driving position on the road. Correspondingly, the augmented reality head-up display device can render the above-mentioned AR navigation guide light carpet based on the target intersection line to ensure that the starting end of the rendered AR navigation guide light carpet can match the vehicle's current driving position on the road. Correspondingly, at this time, the starting end of the AR navigation guide light carpet can be regarded as being passed through by the target intersection line within the vehicle's head-up display field of view.

[0057] Corresponding to the AR navigation guidance light carpet, considering that AR lane lines are usually used to guide the driver's current lane position, and the driver usually drives the vehicle in the center of the lane, that is, the vehicle is usually between the two lane lines of the current lane, the AR lane lines observed by the driver through the head-up display field of view need to be on both sides of the vehicle's current driving position on the road observed by the driver. Therefore, when rendering the AR lane lines used to guide the vehicle's driving lane, the augmented reality head-up display device also needs to consider the vehicle's current driving position on the road. Based on this, when rendering the AR lane lines, the augmented reality head-up display device needs to first determine the above-mentioned target intersection line, and then render the AR lane lines based on the target intersection line, so as to ensure that the starting end of the rendered AR lane line matches the vehicle's current driving position on the road. Correspondingly, at this time, the starting end of the AR lane line can be regarded as being crossed by the target intersection line within the vehicle's head-up display field of view.

[0058] It should be noted that the specific rendering method of the AR navigation guidance light carpet and AR lane markings can be customized by the driver based on actual needs and is not limited here. For example, the driver can choose the color, type, size, length and other parameters of the rendered AR navigation guidance light carpet according to their own preferences, as well as the number of AR lane markings corresponding to the vehicle's lanes, the display method, color, and type of different AR lane markings when the vehicle turns, and other parameters.

[0059] To facilitate understanding of the above rendering rules for AR navigation guide light carpet and AR lane lines in the far-field AR information interface, Figure 4 This is a schematic diagram of a far-field AR information interface rendering result according to an embodiment of the present application, wherein 204 represents the far-field AR information interface, 303 represents the target intersection line, 401 represents the AR navigation guide light carpet, 4011 represents the starting end of the AR navigation guide light carpet, 402 represents the AR lane line, and 4021 represents the starting end of the AR lane line. Figure 4 As shown, assuming that there are three lanes on the road where the vehicle is currently driving and the driver needs to drive the vehicle in the middle lane, in order to accurately guide the driver to drive the vehicle, the augmented reality head-up display device can combine the position of the target intersection line 303 that can represent the current position of the vehicle, first determine the position 4011 of the starting end of the AR navigation guide light carpet and the position 4021 of the starting end of the AR lane line in the far-field AR information interface, and then use the position 4011 as a reference and combine it with the vehicle's driving path to render the corresponding AR navigation guide light carpet 401 forward, and use the position 4021 as a reference and combine it with the lane line position of the vehicle's middle lane to render the AR lane line forward, so that the driver can clearly observe the path that the vehicle currently needs to drive.

[0060] Optionally, the near-field rendering elements in the near-field information interface include at least a first rendering element, and the first rendering element is passed through by the target intersection line within the head-up display field of view of the vehicle.

[0061] The above-mentioned first rendering element may refer to a near-field rendering element rendered in the near-field information interface, which is not affected by the vehicle driving environment, but is associated with some far-field rendering elements rendered in the far-field AR information interface, such as vehicle speed, current gear and other elements.

[0062] In an optional solution of this embodiment, considering that the driver may not be able to understand the vehicle's real-time status information, such as the vehicle's current speed, current gear, remaining fuel or battery level, etc., when viewing the far-field rendering elements rendered in the far-field AR information interface, such as the aforementioned ARE navigation guide light carpet or AR lane lines, this may affect the driver's driving stability. Therefore, the near-field rendering elements rendered in the near-field information interface may include some of the above-mentioned first rendering elements. When the driver views the far-field rendering elements, they can quickly and accurately understand the vehicle's current status and operating parameter information by combining them with the first rendering elements that are associated with them, so as to better drive the vehicle, thereby ensuring the driver's stability when driving the vehicle. However, considering that the above-mentioned near-field information interface and AR information interface can be two independent interfaces in terms of rendering logic, in the actual rendering process, the rendering position of the first rendering element may be far away from the rendering position of the corresponding far-field rendering element. When viewing the far-field rendering elements, the driver may find it difficult to find the first rendering element that is associated with it. Considering that the far-field rendering element rendered in the AR information interface is usually used to guide vehicle driving, the corresponding rendering position is usually related to the vehicle's driving position on the road, that is, related to the target intersection line. Therefore, the rendering position of the first rendering element rendered in the near-field information interface actually needs to be related to the target intersection line. For example, it is necessary to ensure that the first rendering element can be passed through by the target intersection line within the field of view of the vehicle's head-up display. This allows the driver to quickly observe the first rendering element with which it is associated from a nearby position when viewing the far-field rendering element, thereby ensuring that the driver can stably drive the vehicle based on the far-field rendering element and the first rendering element.

[0063] Based on this, similar to the aforementioned rendering of the AR navigation guide light carpet and AR lane lines, in order to enable the driver to quickly find the first rendering element that is associated with the far-field rendering element being viewed, the augmented reality head-up display device can first determine the above-mentioned target intersection line, and then render the first rendering element based on the target intersection line, thereby ensuring that the rendering position of the rendered first rendering element can match the rendering position of the far-field rendering element with which it has an associated relationship. Correspondingly, at this time, within the vehicle's head-up display field of view, the first rendering element can be regarded as being passed through by the target intersection line.

[0064] For ease of understanding, Figure 5 501 represents the near-field information interface, 303 represents the target intersection line, 502 represents the far-field rendering element, and 503 represents the first rendering element associated with the far-field rendering element. Figure 5 Rendering the first rendering element in the manner shown can ensure that when the driver views the far-field rendering element 502, the driver can quickly find the first rendering element 503 associated with the far-field rendering element 502, thereby enabling the driver to drive the vehicle safely and stably based on the far-field rendering element 502 and the first rendering element 503.

[0065] In an embodiment of the present invention, a far-field AR information interface and a near-field information interface are simultaneously rendered within the vehicle's head-up display field of view. The near-field rendering elements of the near-field information interface and the far-field rendering elements of the far-field AR information interface are independent of each other in terms of rendering logic. The far-field rendering elements of the far-field AR information interface include an AR navigation guidance light carpet and / or AR lane lines. The starting ends of the AR navigation guidance light carpet and the starting ends of the AR lane lines are both crossed by a target intersection line within the vehicle's head-up display field of view. The target intersection line is the intersection line of the plane in which the head-up display field of view is located and the longitudinal symmetry plane of the vehicle. The near-field rendering elements in the near-field information interface include at least a first rendering element. The first rendering element is crossed by the target intersection line within the vehicle's head-up display field of view. By dynamically adjusting the position and display content of the first rendering element, the purpose of real-time matching of information and environment is achieved, thereby achieving the technical effect of improving driving safety and navigation accuracy, and further solving the technical problem of guidance errors in elements rendered within the head-up display field of view in the related art.

[0066] Optionally, the above method also includes: identifying a first rendering element in the near-field information interface within the head-up display field of view; modifying the initial coordinates of the first rendering element to target coordinates based on the offset value, so that the first rendering element is rendered and displayed in the target area in the near-field information interface, and the target intersection line passes through the target area, wherein the offset value is used to represent the deviation value between the center line of the near-field information interface and the target intersection line, and the center line is parallel to the longitudinal symmetry plane.

[0067] In an optional solution of this embodiment, the rendering of the above-mentioned first rendering element in the near-field information interface is usually achieved by the WHUD equipped on the vehicle, such as an optical machine. The optical machine can project the above-mentioned near-field information interface through the optical machine lens within the head-up display field of view, as well as the first rendering element rendered in the near-field information interface. By coordinating the optical machine with the augmented reality head-up display device, accurate near-field rendering information and far-field rendering information can be provided to the driver within the head-up display field of view. Taking into account that the orientation of the optical machine lens usually determines the orientation of the near-field information interface, and in order to facilitate the driver to view the near-field rendering elements rendered in the near-field information interface, the optical machine is generally deployed on the left side of the vehicle, that is, close to the driver, so the near-field information interface actually projected by the optical machine is usually not located directly in front of the vehicle body, but biased towards the left side of the vehicle. Further considering that the far-field rendering elements rendered in the AR information interface are usually used to guide the driver to drive the vehicle, the AR information interface is usually located directly in front of the vehicle. At this time, the near-field information interface will be biased to the left of the far-field AR information interface, that is, the two will not completely overlap, and the corresponding rendering position of the first rendering element rendered in the near-field information interface will be difficult to match the rendering position of the associated far-field rendering element. In response to this situation, in order to keep the near-field information interface corresponding to the far-field AR information interface without affecting the overall configuration of the vehicle, you can choose to rotate the optical machine lens in a clockwise direction with the z-axis of the vehicle coordinate system as the center axis while keeping the optical machine position unchanged. This allows the near-field information interface projected from the optical machine lens to be offset to the right, for example, to the front of the vehicle body, so as to overlap with the corresponding far-field AR information interface, so that the rendering position of the first rendering element rendered in the near-field information interface can match the rendering position of the far-field rendering element rendered in the far-field AR information interface.

[0068] For ease of understanding, Figure 6 This is a schematic diagram of a near-field information interface projection result according to an embodiment of the present application, wherein 601 represents the head-up display field of view, 602 represents the optical machine, 603 represents the position of the near-field information interface without changing the optical machine orientation, 604 represents the position of the near-field information interface when the optical machine orientation is changed, and 303 represents the target intersection line, which can be used to represent the front of the vehicle body. Figure 6 As shown, under normal circumstances, the near-field information interface projected by the optical machine will be biased to the left side of the vehicle, and will not match the position of the far-field AR information interface directly in front of the vehicle body. However, if the optical machine lens is rotated clockwise to the position of the target intersection line in the aforementioned manner, the position of the near-field information interface projected by the optical machine can match the position of the far-field AR information interface, so that the first rendering element rendered in the near-field information interface corresponds to the far-field rendering element rendered in the far-field AR information interface. It should be noted that the deflection direction of the optical machine can be determined by the relative positions of the near-field information interface and the far-field AR information interface. For example, if the far-field AR information interface is to the right of the near-field information interface, the yaw angle of the optical machine can be changed only in the clockwise direction. If the far-field AR information interface is to the upper right of the near-field information interface, in addition to changing the yaw angle of the optical machine in the clockwise direction, the pitch angle of the optical machine can be changed in the counterclockwise direction to ensure that the adjusted near-field information interface can overlap with the far-field AR information interface. It should be noted that since the position, orientation and other parameters of the first rendering element rendered in the near-field information interface are usually fixed, in order to facilitate the driver's viewing, the center line of the near-field information interface used to render the first rendering element usually needs to be parallel to the target intersection line to avoid the rendered first rendering element from being misplaced or rotated, which makes it impossible for the driver to quickly understand the element information presented by the first rendering element.

[0069] Furthermore, considering that whether the orientation of the optical machine is changed manually or by a machine, a certain degree of deflection error will be generated, that is, the near-field information interface after the offset may not be in the expected position directly in front of the vehicle body, and does not overlap with the far-field AR information interface. At this time, directly rendering the above-mentioned first rendering element in the near-field information interface will still result in the rendering position of the first rendering element not matching the rendering position of the corresponding far-field rendering element. Therefore, before finally displaying the rendered first rendering element, the augmented reality head-up display device can also adjust the rendering position of the first rendering element to ensure that the rendering position of the first rendering element finally displayed to the driver within the head-up display field of view can match the rendering position of the corresponding far-field rendering element. For ease of understanding, Figure 7 : is a schematic diagram of a near-field information interface offset result according to an embodiment of the present application, wherein 303 represents the target intersection line, 701 represents the expected offset position of the near-field information interface, which can be the front of the vehicle body, 702 represents the preliminary offset position of the near-field information interface, which can be the position of the near-field information interface projected after manual or machine preliminary adjustment of the direction of the optical machine, 703 represents the expected rendering position of the first rendering element associated with the far-field rendering element, and 703' represents the preliminary rendering position of the first rendering element, such as Figure 7 As shown, after changing the orientation of the optical machine, there will still be certain errors in the position of the near-field information interface projected by the optical machine and the rendering position of the first rendering element rendered in the near-field information interface. Based on this, considering that the position of the first rendering element in the near-field information interface is usually fixed, the error corresponding to the rendering position of the corresponding first rendering element is usually caused by the error corresponding to the position of the near-field information interface. In order to ensure that the rendering position of the first rendering element rendered in the near-field information interface can match the rendering position of the corresponding far-field rendering element, after changing the orientation of the optical machine, the augmented reality head-up display device can first identify the near-field information interface within the head-up display field of view to identify the above-mentioned first rendering element, the initial coordinates of the first rendering element, and the centerline position of the near-field information interface and the intersection line position of the target intersection line from the near-field information interface, and then according to the center position of the near-field information interface and the intersection line position of the target intersection line The first rendering element is set to the target coordinate, and the deviation value between the two is determined, that is, the above-mentioned offset value is determined, and then the initial coordinates of the first rendering element are modified to the target coordinates using the offset value. For example, the initial coordinates are directly adjusted by the offset value to quickly obtain the above-mentioned target coordinates. Alternatively, an angle fine-tuner can be set on the optical machine lens, and then the optical machine lens is adjusted using the angle fine-tuner through the offset value, so that the near-field information interface projected from the optical machine lens can be in the desired position, thereby indirectly modifying the initial coordinates of the first rendering element to the target coordinates in the target area, so that the first rendering element can be displayed in the target area in the near-field information interface, such as the above-mentioned desired rendering position. Corresponding to the above, the target area can be passed through by the target intersection line. It should be noted that the above-mentioned method of adjusting the projection port of the optical machine using the angle fine-tuner can only be achieved when the control ability of the angle fine-tuner reaches a high level. Under normal circumstances, the direction of the projection port of the optical machine cannot be changed at will.

[0070] Optionally, the initial coordinates of the first rendering element are modified to target coordinates based on the offset value, so that the first rendering element is rendered and displayed in the target area of ​​the near-field information interface, including: compressing the near-field information interface in a direction perpendicular to the longitudinal symmetry plane based on the offset value, so that the first rendering element is compressed into the target area; or, the near-field rendering element in the near-field information interface further includes at least two second rendering elements, and the at least two second rendering elements are located on both sides of the first rendering element; based on the offset value, compressing the redundant area between the first rendering element and the second rendering element in a direction perpendicular to the longitudinal symmetry plane, so that the first rendering element is compressed into the target area; wherein the area of ​​the compressed near-field information interface is smaller than the original area of ​​the near-field information interface; and the left and right boundaries of the compressed near-field information interface are symmetrical with respect to the target intersection line.

[0071] In an optional solution of this embodiment, in order to accurately modify the initial coordinates of the first rendering element to the target coordinates, in addition to the aforementioned direct change of the initial coordinates of the first rendering element and the use of the angle fine-tuner to adjust the optical machine lens, the augmented reality head-up display device can also use the offset value to directly compress the near-field information in the direction perpendicular to the longitudinal symmetry plane, so that the first rendering element is compressed into the target area. Correspondingly, the area of ​​the compressed near-field information interface is smaller than the original area of ​​the near-field information interface, and the left and right boundaries of the compressed near-field information interface are symmetrical relative to the target intersection line. For ease of understanding, Figure 8 : is a schematic diagram of a near-field information interface compression result according to an embodiment of the present application, wherein 303 represents the target intersection line, 702 represents the preliminary offset position of the near-field information interface, 703 represents the expected rendering position of the first rendering element, which may refer to the target area, 703' represents the preliminary rendering position of the first rendering element, 801 may refer to the interface after the near-field information interface after the position is adjusted is compressed according to the offset value, 802 is the position of the first rendering element whose coordinates change accordingly as the near-field information interface is compressed, through Figure 8 The compression method shown can modify the initial coordinates of the first rendering element into target coordinates, so that the first rendering element is compressed into the target area.

[0072] In addition to directly compressing the near-field information interface as a whole, the augmented reality head-up display device can also include at least two second rendering elements in the near-field rendering element, and when these two second rendering elements are located on both sides of the first rendering element, the redundant area between the first rendering element and the second rendering element is compressed in the direction perpendicular to the longitudinal symmetry plane according to the offset value, so that the first rendering element can be compressed into the target area. Figure 9 : is a schematic diagram of a rendering element compression result according to an embodiment of the present application, wherein 303 represents a target intersection line, 702 represents a preliminary offset position of the near-field information interface, 703 represents a desired rendering position of the first rendering element, which may refer to a target area, 703' represents a preliminary rendering position of the first rendering element, 901 represents a preliminary offset position of the second rendering element in the near-field information interface, 802 represents the position of the first rendering element for compressing the redundant area, and 902 represents the position of the second rendering element after compressing the redundant area. Figure 9 The compression method shown can modify the initial coordinates of the first rendering element into target coordinates, so that the first rendering element is compressed into the target area.

[0073] Optionally, based on the offset value, the near-field information interface is compressed in a direction perpendicular to the longitudinal symmetry plane, including: determining a compression coefficient of the near-field information interface based on the offset value; and compressing the near-field information interface in a direction perpendicular to the longitudinal symmetry plane based on the compression coefficient.

[0074] In an optional scheme of this embodiment, in order to facilitate the compression of the near-field information interface in the direction of the longitudinal symmetry plane, the augmented reality head-up display device can first determine the compression coefficient corresponding to the near-field information interface based on the offset value, and then use the compression coefficient to compress the near-field information interface in the direction perpendicular to the longitudinal symmetry plane.

[0075] Optionally, based on the offset value, the compression coefficient of the near-field information interface is determined, including: determining the compressed near-field information interface based on the offset value and the size parameters of the near-field information interface; determining the compression coefficient based on the near-field information interface and the compressed near-field information interface.

[0076] In an optional solution of this embodiment, to ensure the rationality of compressing the near-field information interface so that the compressed near-field information interface is bilaterally symmetrical with respect to the target intersection line, the augmented reality head-up display system may determine the compressed near-field information interface based on the offset value and the size parameters of the near-field information interface, and then determine the compression coefficient based on the near-field information interface and the compressed near-field information interface. For example, the augmented reality head-up display device may first determine the side length of the compressed near-field information interface based on the side length of the near-field information interface that intersects the target intersection line and the offset value, and then determine the compression coefficient based on the ratio of the two side lengths.

[0077] In an optional solution of this embodiment, taking into account the aforementioned adjustment of the light machine orientation, the distance from the side of the adjusted near-field information interface that is parallel to the target intersection line to the target intersection line may be shorter, resulting in that when the near-field information interface is compressed, while ensuring that the left and right sides of the compressed near-field information interface are symmetrical relative to the target intersection line, the compressed near-field information interface may be too small, which in turn may cause the first rendering element in the near-field information interface to be too small, affecting the driver's viewing of the information presented by the first rendering element. Therefore, in addition to the aforementioned Figure 8 The left and right sides of the compressed near-field information interface are symmetrical with respect to the target intersection line. Figure 10 Another result of compressing the near-field information interface is also shown. Figure 10: is a schematic diagram of another near-field information interface compression result according to an embodiment of the present application, wherein 303 represents the target intersection line, 701 represents the expected offset position of the near-field information interface, 702 represents the preliminary offset position of the near-field information interface, and 1001 represents the intersection area of ​​the expected offset position and the preliminary offset position. In order to avoid the inability to clearly display the first rendering element after compressing the near-field interface information, the augmented reality head-up display device can directly compress the preliminary offset near-field information interface to Figure 10 In the intersection area 1001 shown, the clarity of the first rendering element is ensured as much as possible while ensuring that the first rendering element is close to the target area. Correspondingly, when determining the above-mentioned compression coefficient under this compression method, the augmented reality head-up display device can first determine a first distance from a side that is parallel to and closest to the target intersection line to the target intersection line based on half the length of the side that intersects with the target intersection line in the near-field information interface and the offset value. Based on this first distance and half the above-mentioned side length, the augmented reality head-up display device can determine the side length of the side that intersects with the target intersection line in the phase angle area 1001. Based on the ratio of this side length to the side length of the side that intersects with the target intersection line in the near-field information interface, the corresponding compression coefficient can be determined.

[0078] Optionally, the offset value at least includes: an installation error value, wherein the installation error value is a deviation value generated by installing the augmented reality head-up display device, and the installation error value is determined by calibrating the augmented reality head-up display device.

[0079] In an optional solution of this embodiment, as described above, since there will be some degree of installation error regardless of whether the optical machine orientation is adjusted manually or by a machine, the detected offset value can at least include the corresponding installation error value to avoid ignoring the installation error value, which may lead to errors when compressing the near-field information interface or redundant area according to the offset value. The installation error value can be determined by calibrating the enhanced display head-up display device or can be manually confirmed, and the specific details are not limited.

[0080] To understand the process of determining the installation error value here, Figure 11This is a schematic diagram of an installation error result according to an embodiment of the present application, wherein 602 represents the optical machine, 702 represents the preliminary offset position of the near-field information interface, 703 represents the expected rendering position of the first rendering element, 1101 represents the offset position actually reached after the preliminary offset of the near-field information interface, a represents the adjustment angle used when adjusting the orientation of the optical machine in terms of the yaw angle, b represents the installation error angle measured by the augmented reality head-up display device, m represents the vertical distance from the optical machine to the plane where the near-field information interface is located, and n represents the installation error value generated during installation. Through geometric mathematical processing, the corresponding installation error value n can be determined based on the above-mentioned angles a and b, and the vertical distance m.

[0081] In an alternative embodiment of this embodiment, the yaw angle adjustment angle for the optical engine is typically between 1.5° and 9°, and can be set by the operator. It should be noted that since the optical engine installation method, angle, and other parameters may vary on different types of vehicles, the corresponding adjustment angles may also vary for different types of vehicles. In other words, the corresponding adjustment angle can be determined by the type of vehicle.

[0082] 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, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0083] An embodiment of the present application further provides an augmented reality head-up display device, 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 when running.

[0084] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0085] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0086] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0087] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0088] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0089] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0090] Units described as separate components may or may not be physically separate, and 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 may be selected to achieve the purpose of the present embodiment according to actual needs.

[0091] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0092] 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, or the portion 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 for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard drives, magnetic disks, or optical disks.

[0093] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for rendering head-up display elements of a vehicle, characterized in that: Applied to an augmented reality head-up display device, the method includes: Simultaneously rendering a far-field AR information interface and a near-field information interface within the vehicle's head-up display field of view, wherein the near-field rendering elements of the near-field information interface and the far-field rendering elements of the far-field AR information interface are independent of each other in terms of rendering logic; The far-field rendering elements of the far-field AR information interface include an AR navigation guide light carpet and / or AR lane markings, wherein the starting ends of the AR navigation guide light carpet and the starting ends of the AR lane markings are both crossed by a target intersection line within the head-up display field of view of the vehicle, and the target intersection line is the intersection line of the plane of the head-up display field of view and the longitudinal symmetry plane of the vehicle; The near-field rendering elements in the near-field information interface include at least a first rendering element, and the first rendering element is passed through by the target intersection line within the head-up display field of view of the vehicle.

2. The method according to claim 1, characterized in that The method further comprises: Identifying a first rendering element in a near-field information interface within a field of view of the head-up display; Based on the offset value, the initial coordinates of the first rendering element are modified to the target coordinates, so that the first rendering element is rendered and displayed in the target area of ​​the near-field information interface, and the target intersection line passes through the target area, wherein the offset value is used to represent the deviation value between the center line of the near-field information interface and the target intersection line, and the center line is parallel to the longitudinal symmetry plane.

3. The method according to claim 2, characterized in that The modifying the initial coordinates of the first rendering element to target coordinates based on the offset value so that the first rendering element is rendered and displayed in the target area of ​​the near-field information interface includes: Based on the offset value, compressing the near-field information interface in a direction perpendicular to the longitudinal symmetry plane so that the first rendering element is compressed into the target area; or, The near-field rendering element in the near-field information interface further includes at least two second rendering elements, the at least two second rendering elements being located on both sides of the first rendering element; based on the offset value, compressing a redundant area between the first rendering element and the second rendering element in a direction perpendicular to the longitudinal symmetry plane, so that the first rendering element is compressed into the target area; wherein the area of ​​the compressed near-field information interface is smaller than the original area of ​​the near-field information interface; The left boundary and the right boundary of the compressed near-field information interface are symmetrical with respect to the target intersection line.

4. The method according to claim 3, characterized in that The compressing the near-field information interface in a direction perpendicular to the longitudinal symmetry plane based on the offset value includes: determining a compression coefficient of the near-field information interface based on the offset value; The near-field information interface is compressed in the direction perpendicular to the longitudinal symmetry plane based on the compression coefficient.

5. The method according to claim 4, characterized in that The determining, based on the offset value, a compression coefficient of the near-field information interface includes: determining the compressed near-field information interface based on the offset value and a size parameter of the near-field information interface; The compression coefficient is determined based on the near-field information interface and the compressed near-field information interface.

6. The method according to any one of claims 1 to 5, characterized in that The offset value at least includes: an installation error value, wherein the installation error value is a deviation value generated by installing the augmented reality head-up display device, and the installation error value is determined by calibrating the augmented reality head-up display device.

7. The method according to any one of claims 1 to 5, characterized in that The first rendering element includes at least one of the following: code speed, driving direction guidance information and prompt text.

8. An augmented reality head-up display device, characterized in that: include: a memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 7 when running.

9. A vehicle, characterized in that: include: The augmented reality head-up display device according to claim 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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