Track display method and device, equipment and storage medium

Abstract

The invention discloses a track display method and device, equipment and a storage medium. The method comprises the following steps: determining high-risk participants; determining a target driving track according to the driving track of the target vehicle and the driving track of the high-risk participant; displaying the target driving track in a display page of the target vehicle; wherein the target driving track comprises a driving track of the target vehicle and a driving track of the high-risk participant, which are not overlapped; wherein the driving track of the target vehicle and the driving track of the high-risk participant intersect at an intersection point, and the intersection point reflects the predicted collision position of the target vehicle and the high-risk participant. According to the invention, the driving track of the high-risk participant is accurately and clearly displayed, and the trust feeling and experience feeling of the user to the navigation auxiliary driving system are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a trajectory display method, device, equipment and storage medium. Background Art

[0002] When navigation-assisted driving is enabled, the vehicle will perform targeted evasive maneuvers such as slowing down, lateral deviation, and nudges when encountering high-risk road users, such as adjacent vehicles or Vulnerable Road Users (VRUs). However, these maneuvers may not always meet user expectations and may differ from their expectations. Furthermore, users cannot understand the vehicle's actions through the SR environment's reconstructed display interface, which can lead to panic and a poor user experience.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a trajectory display method, device, equipment and storage medium, aiming to solve the technical problem of how to display the trajectories of traffic participants to improve the interpretability of the behavior of the vehicle during autonomous driving.

[0005] To achieve the above object, the present invention provides a trajectory display method, which includes the following steps: Identify high-risk participants; Determining a target driving trajectory based on the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant; Displaying the target driving trajectory on a display page of the target vehicle; Wherein, the target driving trajectory includes the non-overlapping driving trajectory of the target vehicle and the driving trajectory of the high-risk participant; wherein, the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant intersect at an intersection, and the intersection reflects the predicted collision position of the target vehicle and the high-risk participant.

[0006] In one embodiment, the driving trajectory of the high-risk participant is a predicted driving trajectory of the high-risk participant; and / or, The display page of the target vehicle is the SR map page of the target vehicle.

[0007] In one embodiment, the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant are displayed in different forms.

[0008] In one embodiment, the target vehicle's driving trajectory does not overlap with the high-risk participant's driving trajectory, or, The driving trajectory of the target vehicle intersects with the driving trajectory of the high-risk participant only at the position of the intersection.

[0009] In one embodiment, the intersection includes an identifier, the identifier is displayed in a different form than the target vehicle's driving trajectory and the high-risk participant's driving trajectory, and / or, The mark is displayed within the driving track of the target vehicle or the driving track of the high-risk participant.

[0010] In one embodiment, the high-risk participants include the risk participants closest to the target vehicle or the risk participants with the greatest impact on the target vehicle, and / or, The driving trajectory of the high-risk participant is a portion of the driving trajectory of the high-risk participant that does not overlap with the driving trajectory of the target vehicle.

[0011] In one embodiment, the partial driving trajectory is a portion of the driving trajectory of the high-risk participant between the current position and the position of the intersection.

[0012] In one embodiment, the high-risk participants are identified as follows: Perform trajectory prediction based on the driving perception information of each traffic participant to determine the predicted driving trajectory of each traffic participant; Risk prediction is performed based on the current driving information of the target vehicle and the predicted driving trajectory of each traffic participant, and the pre-screened risk participants are determined from multiple traffic participants based on the prediction results; When there are multiple initially screened risk participants, high-risk participants are determined based on the participant position of each initially screened risk participant.

[0013] In one embodiment, the method for determining the high-risk participants includes: Obtaining the current location of the target vehicle; Performing distance calculation based on the location of each initially screened risk participant and the current location of the target vehicle to determine the distance between the target vehicle and each initially screened risk participant; High-risk participants are determined from among the multiple initially screened risk participants according to the distances between the target vehicle and each initially screened risk participant.

[0014] In one embodiment, the portion of the high-risk participant's driving trajectory that does not overlap with the target vehicle's driving trajectory is determined as follows: determining a trajectory relationship based on the driving trajectory of the high-risk participant and the driving trajectory of the target vehicle; When the trajectory relationship is a preset intersection relationship, determining the intersection point as the trajectory intersection point; The driving trajectory of the high-risk participant is clipped according to the trajectory intersection point to obtain a clipped trajectory, and the clipped trajectory is used as the portion of the driving trajectory of the high-risk participant that does not overlap with the driving trajectory of the target vehicle.

[0015] In one embodiment, it is characterized in that displaying the target driving trajectory on the display page of the target vehicle includes: Based on basic display parameters, displaying the target driving trajectory on the display page of the target vehicle; The basic display parameters are determined according to the driving perception information of the high-risk participant.

[0016] In one embodiment, the basic display parameters include at least one of the following parameters: the target ID of the high-risk participant, the type of traffic participant, the heading angle, and the location information.

[0017] In one embodiment, the method further comprises: After the target driving trajectory is displayed for a duration reaching a preset duration, the display of the target driving trajectory is stopped.

[0018] In addition, to achieve the above-mentioned purpose, the present invention further provides a trajectory display device, the trajectory display device comprising: A processing module, configured to determine high-risk participants; and determine a target driving trajectory based on the driving trajectory of the target vehicle and the driving trajectory of the high-risk participants; A display module, configured to display the target driving trajectory on a display page of the target vehicle; The target driving trajectory includes the non-overlapping driving trajectory of the target vehicle and the driving trajectory of the high-risk participant, and the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant intersect at an intersection, and the intersection reflects the predicted collision position of the target vehicle and the high-risk participant.

[0019] In addition, to achieve the above-mentioned purpose, the present invention also proposes a trajectory display device, which includes: a memory, a processor, and a trajectory display program stored in the memory and executable on the processor, wherein the trajectory display program is configured to implement the steps of the trajectory display method described above.

[0020] In addition, to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which a trajectory display program is stored. When the trajectory display program is executed by a processor, the steps of the trajectory display method described above are implemented.

[0021] The present invention determines the high-risk participants; then determines the target driving trajectory based on the driving trajectory of the target vehicle and the driving trajectory of the high-risk participants; and then displays the target driving trajectory on the display page of the target vehicle; wherein the target driving trajectory includes the non-overlapping driving trajectory of the target vehicle and the driving trajectory of the high-risk participants. In the above manner, the driving trajectory of the high-risk participants can be determined, and the target driving trajectory including the driving trajectory of the target vehicle and the driving trajectory of the high-risk participants can be displayed on the display page of the target vehicle, thereby achieving an accurate and clear display of the driving trajectory of the high-risk participants, and at the same time helping users to predict the behavior of their own vehicles in advance, and take over in advance when it does not meet expectations, thereby reducing the risk of late takeover and emergency takeover, and improving the user's trust in and experience of the navigation-assisted driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of a trajectory display device in a hardware operating environment involved in an embodiment of the present invention; Figure 2 Schematic diagram of the process of the trajectory display method of the present invention; Figure 3 Schematic diagram of the flow of the first embodiment of the trajectory display method of the present invention; Figure 4 A schematic diagram of the system architecture of an embodiment of a trajectory display method of the present invention; Figure 5 This is a schematic diagram of SR display according to an embodiment of a trajectory display method of the present invention; Figure 6 Schematic diagram of the flow of the second embodiment of the trajectory display method of the present invention; Figure 7 Schematic diagram of the flow of the third embodiment of the trajectory display method of the present invention; Figure 8 FIG. 1 is a structural block diagram of the first embodiment of the trajectory display device of the present invention.

[0023] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0024] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] Reference Figure 1 , Figure 1This is a schematic diagram of the structure of a trajectory display device in the hardware operating environment involved in an embodiment of the present invention.

[0026] like Figure 1 As shown, the trajectory display device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display and an input unit, such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also be a storage device independent of the processor 1001.

[0027] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the trajectory display device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0028] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a trajectory display program.

[0029] exist Figure 1 In the trajectory display device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the trajectory display device of the present invention can be set in the trajectory display device. The trajectory display device calls the trajectory display program stored in the memory 1005 through the processor 1001 and executes the trajectory display method provided by the embodiment of the present invention.

[0030] An embodiment of the present invention provides a trajectory display method.

[0031] Figure 2 Schematic diagram of the flow of the trajectory display method of the present invention.

[0032] See also Figure 2, the trajectory display method includes the following steps: Step S1: Identify high-risk participants.

[0033] Step S2: Determine a target driving trajectory based on the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant.

[0034] The driving trajectory of the high-risk participant may be a predicted driving trajectory of the high-risk participant.

[0035] The target vehicle's driving trajectory is displayed differently from the high-risk participant's driving trajectory, and the different display formats include, for example, at least one of a shape, color, lane width, and style of the driving trajectory.

[0036] The target vehicle's driving trajectory does not overlap with the high-risk participant's driving trajectory, or The driving trajectory of the target vehicle intersects with the driving trajectory of the high-risk participant only at the position of the intersection.

[0037] The high-risk participants include the risk participants closest to the target vehicle or the risk participants with the greatest impact on the target vehicle, and / or, The high-risk participant's driving trajectory is a portion of the high-risk participant's driving trajectory that does not overlap with the target vehicle's driving trajectory. For example, the portion of the high-risk participant's driving trajectory is a portion of the high-risk participant's driving trajectory between the current position and the intersection.

[0038] The portion of the high-risk participant's driving trajectory that does not overlap with the target vehicle's driving trajectory can be determined in the following manner: determining a trajectory relationship based on the driving trajectory of the high-risk participant and the driving trajectory of the target vehicle; When the trajectory relationship is a preset intersection relationship, determining the intersection point as the trajectory intersection point; The driving trajectory of the high-risk participant is clipped according to the trajectory intersection point to obtain a clipped trajectory, and the clipped trajectory is used as the portion of the driving trajectory of the high-risk participant that does not overlap with the driving trajectory of the target vehicle.

[0039] Step S3: Displaying the target driving trajectory in the display page of the target vehicle; wherein the target driving trajectory includes the non-overlapping driving trajectory of the target vehicle and the driving trajectory of the high-risk participant, and the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant intersect at an intersection, and the intersection reflects the predicted collision position of the target vehicle and the high-risk participant.

[0040] The display page of the target vehicle may be an SR map page of the target vehicle.

[0041] The intersection may include an identification mark, the display form of the identification mark is different from the display form of the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant, and / or the identification mark is displayed within the driving trajectory of the target vehicle or the driving trajectory of the high-risk participant.

[0042] Through the above method, this embodiment can determine the driving trajectory of high-risk participants and display the target driving trajectory including the driving trajectory of the target vehicle and the driving trajectory of the high-risk participants on the display page of the target vehicle. This achieves accurate and clear display of the driving trajectory of high-risk participants, while helping users to predict the behavior of their own vehicles in advance and take over in advance when it does not meet expectations, reducing the risk of late takeover or emergency takeover, and enhancing users' trust in and experience of the navigation-assisted driving system.

[0043] Reference Figure 3 , Figure 3 FIG. 4 is a flow chart of a first embodiment of a trajectory display method according to the present invention.

[0044] It should be noted that in the embodiment of the present invention, the target display trajectory may be referred to as a to-be-displayed driving trajectory. The driving trajectory of the high-risk participant may be a predicted driving trajectory of the high-risk participant, and the display page of the target vehicle may be an SR map page of the target vehicle.

[0045] In this embodiment, the trajectory display method includes the following steps: Step S10: When the driving perception information of multiple traffic participants is obtained, a high-risk participant and a predicted driving trajectory of the high-risk participant are determined according to the driving perception information of each traffic participant.

[0046] That is, this embodiment can determine high-risk participants. When the driving perception information of multiple traffic participants is obtained, the high-risk participants can be determined based on the driving perception information of each traffic participant.

[0047] It should be noted that the execution subject of this embodiment is a trajectory display device, wherein the trajectory display device has functions such as data processing, data communication and program running. The trajectory display device can be an integrated controller, a control computer and other devices. Of course, it can also be other devices with similar functions. This embodiment does not limit this.

[0048] It can be understood that the target vehicle in this embodiment refers to the self-driving car that can realize the autonomous driving function. The target vehicle includes an autonomous driving domain controller and a large-screen display controller. The autonomous driving domain controller includes a perception fusion module, a prediction and control module, and a data processing module. The large-screen display controller includes an SR display rendering module. Its specific architecture is as follows: Figure 4 As shown, the data processing module and the SR display rendering module are connected via Ethernet.

[0049] In the specific implementation, the driving perception information includes but is not limited to the target ID of each traffic participant, the type of traffic participant, the heading angle and the location information. When the target vehicle turns on the navigation-assisted driving function, the perception fusion module obtains the driving perception information of multiple traffic participants, and the prediction and control module performs trajectory prediction based on the driving perception information of each traffic participant in real time to determine the predicted driving trajectory of each traffic participant in the preset time period in the future.

[0050] It should be noted that if there are multiple traffic participants, the predictive regulation and control module will perform risk prediction based on the predicted driving trajectory of each traffic participant in a preset time period in the future and the current driving information of the target vehicle. It can determine whether the traffic participant will cause the target vehicle to slow down, avoid, bias, or nudge. If so, it means that the traffic participant will have a safety impact on the driving of the target vehicle. At this time, the traffic participant is identified as a risk participant.

[0051] It is understandable that if there are multiple risk participants, the risk participant closest to the target vehicle can be regarded as a high-risk participant; the risk participant with the greatest impact on the target vehicle can also be regarded as a high-risk participant, or high-risk participants can be screened out from multiple risk participants in other ways, and this embodiment does not impose any restrictions on this. In other words, the high-risk participants include the risk participants closest to the target vehicle or the risk participants with the greatest impact on the target vehicle. The driving trajectory of the high-risk participant can be the portion of the driving trajectory of the high-risk participant that does not overlap with the driving trajectory of the target vehicle. The partial driving trajectory is the portion of the driving trajectory of the high-risk participant between the current position and the position of the intersection.

[0052] In this embodiment, the risk participant closest to the target vehicle is regarded as a high-risk participant, and only one risk participant is screened out as the high-risk participant.

[0053] Step S20: processing the predicted driving trajectory according to the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant to determine the driving trajectory to be displayed.

[0054] It should be noted that, because the current driving trajectory of the target vehicle intersects or overlaps, to avoid confusion in the SR display, the predicted driving trajectory needs to be filtered or cropped based on the trajectory relationship between the current driving trajectory and the predicted driving trajectory, thereby obtaining the driving trajectory to be displayed for auxiliary display. In this embodiment, the driving trajectory to be displayed can be the current driving trajectory and a portion of the predicted driving trajectory obtained by cropping the predicted driving trajectory, or it can include only the current driving trajectory. In other words, the driving trajectory to be displayed can include the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant, and the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant intersect at an intersection point, which reflects the predicted collision location between the target vehicle and the high-risk participant. In addition, the predicted driving trajectory of the high-risk participant can include a portion of the predicted driving trajectory of the high-risk participant. For example, the portion of the predicted driving trajectory of the high-risk participant includes the portion of the predicted driving trajectory of the high-risk participant before it intersects with the current driving trajectory of the target vehicle.

[0055] Step S30: Push and display the driving trajectory to be displayed.

[0056] It should be noted that the SR display rendering module pushes the driving trajectory to be displayed to assist in explaining the behavior of the target vehicle during autonomous driving.

[0057] It is understood that, in order to enable users to accurately obtain relevant information about high-risk participants, the push display of the to-be-displayed driving trajectory further includes: determining basic display parameters based on the high-risk participant's driving perception information; generating driving display information based on the basic display parameters and the to-be-displayed driving trajectory; and pushing the driving display information for display. In other words, the target driving trajectory can be displayed on the display page of the target vehicle based on the basic display parameters; wherein the basic display parameters are determined based on the high-risk participant's driving perception information.

[0058] In a specific implementation, the basic display parameters include but are not limited to the target ID of the high-risk participant, the type of traffic participant, the heading angle, and the location information. Based on the basic display parameters of the high-risk participant and the driving trajectory to be displayed, the driving display information corresponding to the high-risk participant is generated, and the SR display rendering module displays the driving display information. For example, Figure 5 As shown, A+B is the driving trajectory to be displayed in the driving display information, A is the current driving trajectory of the target vehicle, and B is the partial predicted driving trajectory obtained after cutting the predicted driving trajectory of the high-risk participants.

[0059] It should be noted that, in order not to affect the SR display effect, after pushing and displaying the driving display information, the method further includes: obtaining the real-time predicted trajectory and real-time driving location of the high-risk participant; performing risk calculation based on the real-time predicted trajectory and the real-time driving location to determine the driving risk result; when the driving risk result is that there is no driving risk, obtaining a preset display time; and stopping the display of the driving display information after the current time interval reaches the preset display time. In other words, the method may also include: stopping the display of the target driving trajectory after the display duration of the target driving trajectory reaches a preset duration. The method for obtaining the preset duration is described above.

[0060] It is understood that after the driving display information of the high-risk participant is displayed, the target vehicle determines the real-time predicted trajectory and real-time driving position of the high-risk participant based on the driving perception information in real time, and performs risk calculation based on the real-time predicted trajectory, real-time driving position, and the real-time driving trajectory of the target vehicle. If the driving risk result is no driving risk, it means that the high-risk participant no longer poses a risk to the target vehicle. If there are no other risky participants, a preset display time is obtained. After the driving display information continues to output the preset display time, the display stops.

[0061] In a specific implementation, the target vehicle determines in real time whether a new high-risk participant has appeared based on driving perception information. If a new high-risk participant appears, the new participant's driving information is immediately displayed, and the current high-risk participant's driving information disappears. For example, when screening the high-risk participant by considering the participant closest to the target vehicle as a high-risk participant, if a new high-risk participant closest to the target appears, the current high-risk participant's predicted driving trajectory immediately disappears and the new high-risk participant's predicted driving trajectory is displayed.

[0062] This embodiment determines high-risk participants and the predicted driving trajectories of the high-risk participants based on the driving perception information of each traffic participant when the driving perception information of multiple traffic participants is obtained; the predicted driving trajectory is processed based on the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant to determine the driving trajectory to be displayed; and the driving trajectory to be displayed is pushed for display. In the above manner, high-risk participants are screened out from multiple traffic participants based on the driving perception information of each traffic participant, and the predicted driving trajectories of the high-risk participants are predicted. The predicted driving trajectory is processed based on the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory to determine the driving trajectory to be displayed, and the driving trajectory to be displayed is pushed for display, thereby achieving accurate and clear display of the predicted driving trajectory of the high-risk participants. At the same time, it helps users to predict the behavior of their own vehicle in advance and take over in advance when it does not meet expectations, reducing the risk of late takeover or emergency takeover, and improving users' trust in and experience of the navigation-assisted driving system.

[0063] refer to Figure 6 , Figure 6 FIG. 4 is a flow chart of a second embodiment of a trajectory display method according to the present invention.

[0064] Based on the first embodiment, the trajectory display method of this embodiment includes, in step S10: Step S11: performing trajectory prediction based on the driving perception information of each traffic participant to determine the predicted driving trajectory of each traffic participant.

[0065] It should be noted that the driving perception information of each traffic participant is preprocessed and feature extracted, and based on machine learning or deep learning technologies, it is combined with the processed driving perception information of each traffic participant to predict the predicted driving trajectory of each traffic participant in a preset time period in the future.

[0066] Step S12: Perform risk prediction based on the current driving information of the target vehicle and the predicted driving trajectory of each traffic participant, and determine the preliminarily screened risk participants among multiple traffic participants based on the prediction results.

[0067] It should be noted that the predictive control module performs risk prediction based on the predicted driving trajectory of each traffic participant within a preset future time period and the current driving information of the target vehicle. It can determine whether the traffic participant will cause the target vehicle to slow down, avoid, bias, or nudge. If so, it means that the traffic participant will have a safety impact on the driving of the target vehicle. At this time, the traffic participant is identified as a pre-screened risk participant. In this embodiment, the pre-screened risk participant refers to a risk participant that has been screened from multiple traffic participants and has an impact on the driving of the target vehicle. The current driving information includes but is not limited to the target vehicle's driving speed, driving acceleration, driving trajectory, and driving position.

[0068] Step S13: When there are multiple initially screened risk participants, determine high-risk participants based on the participant position of each initially screened risk participant.

[0069] It should be noted that when there are multiple initially screened risk participants, to avoid display confusion caused by the appearance of multiple trajectories at the same time, it is necessary to identify the high-risk participant closest to the target vehicle among the multiple initially screened risk participants based on their respective positions. The predicted driving trajectory of the high-risk participant is then displayed when the trajectory is displayed. In addition to screening based on the positions of the initially screened risk participants, other methods may also be used in this embodiment, and this embodiment does not limit this.

[0070] That is, the high-risk participants can be determined according to steps S11 to S13.

[0071] It can be understood that in order to accurately screen out high-risk participants based on the participant positions of the initially screened risk participants, further, the high-risk participants are determined based on the participant positions of each initially screened risk participant, including: obtaining the current location of the target vehicle; performing distance calculation based on the participant positions of each initially screened risk participant and the current location of the target vehicle to determine the distance between the target vehicle and each initially screened risk participant; and determining high-risk participants among multiple initially screened risk participants based on the distance between the target vehicle and each initially screened risk participant.

[0072] In the specific implementation, the current location of the target vehicle is obtained, the distance between each initially screened risk participant and the target vehicle is calculated, and based on the distance between the target vehicle and each initially screened risk participant, the participant with the closest distance to the target vehicle is found among multiple initially screened risk participants and is identified as a high-risk participant.

[0073] It should be noted that if there is only one initially screened risk participant, the initially screened risk participant will be treated as a high-risk participant and will not need to enter the screening process.

[0074] Step S14: determining the predicted driving trajectory of the high-risk participant based on the predicted driving trajectory of each traffic participant.

[0075] This embodiment predicts the trajectory of each traffic participant based on their driving perception information to determine the predicted driving trajectory of each traffic participant; performs risk prediction based on the current driving information of the target vehicle and the predicted driving trajectory of each traffic participant, and determines pre-screened risk participants from multiple traffic participants based on the prediction results; when there are multiple pre-screened risk participants, determines high-risk participants based on the participant positions of each pre-screened risk participant; and determines the predicted driving trajectory of the high-risk participants based on the predicted driving trajectory of each traffic participant. In this way, high-risk participants can be accurately screened out from multiple traffic participants, and the predicted driving trajectory of the high-risk participants can be determined, so that subsequent trajectories can be displayed clearly and intuitively.

[0076] refer to Figure 7 , Figure 7 FIG. 4 is a flow chart of a third embodiment of a trajectory display method according to the present invention.

[0077] Based on the above embodiment, the trajectory display method of this embodiment includes, in step S20: Step S21: determining a trajectory relationship based on the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle.

[0078] It should be noted that in order to avoid confusion between the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle when displaying the trajectories, it is necessary to determine the trajectory relationship between the predicted driving trajectory and the current driving trajectory. The trajectory relationship includes limited overlapping relationships and intersection relationships.

[0079] It can be understood that in order to clearly display the trajectory when the trajectories overlap, further, after determining the trajectory relationship based on the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle, it also includes: when the trajectory relationship is a preset overlapping relationship, determining the relative position relationship based on the current position of the target vehicle and the participant position of the high-risk participant; when the relative position relationship is a preset front relationship, filtering the predicted driving trajectory, and determining the driving trajectory to be displayed based on the current driving trajectory.

[0080] In a specific implementation, when the current driving trajectory and the predicted driving trajectory overlap by more than a preset ratio, it indicates that the trajectory relationship between the current driving trajectory and the predicted driving trajectory is an overlapping relationship. At this time, it is necessary to further determine whether the high-risk participant is located in front of the target vehicle. The relative position relationship between the two is determined based on the current position of the target vehicle and the participant position of the high-risk participant, or whether the high-risk participant is in front of the target vehicle is determined based on the longitudinal distance of the target vehicle. When the relative position relationship between the two is a preset front relationship, it indicates that the high-risk participant is located in front of the target vehicle. The predicted driving trajectory of the high-risk participant is filtered, and only the current driving trajectory is used as the trajectory to be displayed.

[0081] Step S22: When the trajectory relationship is a preset intersection relationship, determine the trajectory intersection point.

[0082] It should be noted that when the current driving trajectory and the predicted driving trajectory intersect, it indicates that the trajectory relationship between the current driving trajectory and the predicted driving trajectory is an intersection relationship, and the trajectory intersection point between the two is determined. In other words, the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant intersect at an intersection point, and the intersection point reflects the predicted collision location between the target vehicle and the high-risk participant. This intersection point can be used as the trajectory intersection point.

[0083] The intersection may include an identification mark, the display form of the identification mark is different from the display form of the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant, and / or the identification mark is displayed within the driving trajectory of the target vehicle or the driving trajectory of the high-risk participant.

[0084] Step S23: performing trajectory clipping on the predicted driving trajectory according to the trajectory intersection point to determine the driving trajectory to be displayed.

[0085] It should be noted that the predicted driving trajectory is clipped based on the trajectory intersection point, and the trajectory before the intersection with the current driving trajectory in the predicted driving trajectory is retained. The trajectory before the intersection with the current driving trajectory in the predicted driving trajectory and the current driving trajectory are used as the driving trajectories to be displayed. When displaying the trajectories, the current driving trajectory of the target vehicle and the trajectory of the predicted driving trajectory of the high-risk participant before the intersection with the current driving trajectory are displayed.

[0086] That is, the portion of the high-risk participant's predicted driving trajectory can be determined in the following manner: determining a trajectory relationship based on the high-risk participant's predicted driving trajectory and the current driving trajectory of the target vehicle; when the trajectory relationship is a preset intersection relationship, determining the intersection point as the trajectory intersection point; performing trajectory clipping on the high-risk participant's predicted driving trajectory based on the trajectory intersection point to obtain a clipped trajectory, and using the clipped trajectory as the portion of the high-risk participant's predicted driving trajectory that does not overlap with the current driving trajectory of the target vehicle. This embodiment determines a trajectory relationship based on the high-risk participant's predicted driving trajectory and the current driving trajectory of the target vehicle; when the trajectory relationship is a preset intersection relationship, determining the trajectory intersection point; and performing trajectory clipping on the predicted driving trajectory based on the trajectory intersection point to determine the driving trajectory to be displayed. In this manner, the predicted driving trajectory is processed based on the trajectory relationship between the predicted driving trajectory and the current driving trajectory, and the predicted driving trajectory is clipped when there is an intersection, ensuring clarity and intuitiveness when the trajectory is subsequently displayed.

[0087] In addition, an embodiment of the present invention further provides a storage medium, on which a trajectory display program is stored. When the trajectory display program is executed by a processor, the steps of the trajectory display method described above are implemented.

[0088] Reference Figure 8 , Figure 8 FIG. 1 is a structural block diagram of the first embodiment of the trajectory display device of the present invention.

[0089] like Figure 8 As shown, the trajectory display device proposed in the embodiment of the present invention includes: a processing module 10 for determining high-risk participants; Determining a target driving trajectory based on the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant; A display module 20, configured to display the target driving trajectory on a display page of the target vehicle; The target driving trajectory includes the non-overlapping driving trajectory of the target vehicle and the driving trajectory of the high-risk participant, and the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant intersect at an intersection, and the intersection reflects the predicted collision position of the target vehicle and the high-risk participant.

[0090] The functions of each module of the trajectory display device are further described in detail below. The target driving trajectory can be referred to as the driving trajectory to be displayed.

[0091] The processing module 10 is configured to, upon acquiring driving perception information of multiple traffic participants, determine high-risk participants and their predicted driving trajectories based on the driving perception information of each traffic participant. In other words, the processing module 10 can be configured to determine high-risk participants.

[0092] The processing module 10 is configured to process the predicted driving trajectory based on the trajectory relationship between the current driving trajectory and the predicted driving trajectory of the high-risk participant, and determine the driving trajectory to be displayed. In other words, the processing module 10 can be configured to determine the driving trajectory to be displayed based on the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant.

[0093] The display module 20 is configured to push and display the driving trajectory to be displayed. In other words, the display module 20 can be configured to display the driving trajectory to be displayed on the display page of the target vehicle. The driving trajectory to be displayed includes the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant. Furthermore, the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant intersect at an intersection, and the intersection reflects the predicted collision position between the target vehicle and the high-risk participant.

[0094] The functions of each module may further refer to the description in the above method embodiment.

[0095] This embodiment can determine the driving trajectory of high-risk participants and display the target driving trajectory including the driving trajectory of the target vehicle and the driving trajectory of the high-risk participants on the display page of the target vehicle. This achieves accurate and clear display of the driving trajectory of high-risk participants, while helping users predict the behavior of their own vehicles in advance, and enhancing users' trust in and experience of the navigation-assisted driving system.

[0096] This embodiment determines high-risk participants and the predicted driving trajectories of the high-risk participants based on the driving perception information of each traffic participant when the driving perception information of multiple traffic participants is obtained; the predicted driving trajectory is processed based on the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory of the high-risk participant to determine the driving trajectory to be displayed; and the driving trajectory to be displayed is pushed for display. In the above manner, high-risk participants are screened out from multiple traffic participants based on the driving perception information of each traffic participant, and the predicted driving trajectories of the high-risk participants are predicted. The predicted driving trajectory is processed based on the trajectory relationship between the current driving trajectory of the target vehicle and the predicted driving trajectory to determine the driving trajectory to be displayed, and the driving trajectory to be displayed is pushed for display, thereby achieving accurate and clear display of the predicted driving trajectory of the high-risk participants. At the same time, it helps users to predict the behavior of their own vehicle in advance and take over in advance when it does not meet expectations, reducing the risk of late takeover or emergency takeover, and improving users' trust in and experience of the navigation-assisted driving system.

[0097] In one embodiment, the processing module 10 is further configured to perform trajectory prediction based on the driving perception information of each traffic participant to determine the predicted driving trajectory of each traffic participant; Risk prediction is performed based on the current driving information of the target vehicle and the predicted driving trajectory of each traffic participant, and the pre-screened risk participants are determined from multiple traffic participants based on the prediction results; When there are multiple initially screened risk participants, high-risk participants are identified based on the participant position of each initially screened risk participant; The predicted driving trajectory of the high-risk participant is determined according to the predicted driving trajectory of each traffic participant.

[0098] In one embodiment, the processing module 10 is further configured to obtain the current location of the target vehicle; Performing distance calculation based on the location of each initially screened risk participant and the current location to determine the distance between the target vehicle and each initially screened risk participant; High-risk participants are determined from among the multiple initially screened risk participants according to the distances between the target vehicle and each initially screened risk participant.

[0099] In one embodiment, the processing module 10 is further configured to determine a trajectory relationship based on the predicted driving trajectory of the high-risk participant and the current driving trajectory of the target vehicle; When the trajectory relationship is a preset intersection relationship, determining a trajectory intersection point; The predicted driving trajectory is clipped according to the trajectory intersection point to determine the driving trajectory to be displayed.

[0100] In one embodiment, the processing module 10 is further configured to determine a relative position relationship based on the current position of the target vehicle and the participant position of the high-risk participant when the trajectory relationship is a preset coincidence relationship; When the relative position relationship is a preset front relationship, the predicted driving trajectory is filtered, and a driving trajectory to be displayed is determined according to the current driving trajectory.

[0101] In one embodiment, the display module 20 is further configured to determine basic display parameters based on the driving perception information of the high-risk participant; generating driving display information according to the basic display parameters and the driving trajectory to be displayed; The driving display information is pushed and displayed.

[0102] In one embodiment, the display module 20 is further configured to obtain the real-time predicted trajectory and real-time driving location of the high-risk participant; Performing risk calculation based on the real-time predicted trajectory and the real-time driving position to determine a driving risk result; When the driving risk result is that there is no driving risk, obtaining a preset display time; After the current time interval reaches the preset display time, the display of the driving display information is stopped.

[0103] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0104] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0105] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0106] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0107] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0108] Through the above description of the embodiments, those skilled in the art will clearly understand that the methods of the above embodiments can be implemented using software plus the necessary general-purpose hardware platform. Of course, hardware can also be used, but in many cases the former is the more preferred implementation method. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, a magnetic disk, or an optical disk) and includes a number of instructions for enabling a terminal device (such as a mobile phone, computer, server, or network device) to execute the methods described in the various embodiments of the present invention.

[0109] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A trajectory display method, characterized in that: The trajectory display method includes: Identify high-risk participants; Determining a target driving trajectory based on the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant; Displaying the target driving trajectory on a display page of the target vehicle; Wherein, the target driving trajectory includes the non-overlapping driving trajectory of the target vehicle and the driving trajectory of the high-risk participant; wherein, the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant intersect at an intersection, and the intersection reflects the predicted collision position of the target vehicle and the high-risk participant.

2. The trajectory display method according to claim 1, wherein: The driving trajectory of the high-risk participant is a predicted driving trajectory of the high-risk participant; and / or, The display page of the target vehicle is the SR map page of the target vehicle; and / or, The target vehicle's driving trajectory is displayed differently from the high-risk participant's driving trajectory; and / or, The driving trajectory of the target vehicle and the driving trajectory of the high-risk participant do not overlap, or the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant intersect only at the intersection point; and / or, The intersection includes an identifier, the display form of the identifier is different from the display form of the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant, and / or the identifier is displayed within the driving trajectory of the target vehicle or the driving trajectory of the high-risk participant.

3. The trajectory display method according to claim 1, wherein: The high-risk participants include the risk participants closest to the target vehicle or the risk participants with the greatest impact on the target vehicle, and / or, The driving trajectory of the high-risk participant is a portion of the driving trajectory of the high-risk participant that does not overlap with the driving trajectory of the target vehicle.

4. The trajectory display method according to claim 3, wherein: The partial driving trajectory is the partial driving trajectory between the current position and the position of the intersection in the driving trajectory of the high-risk participant.

5. The trajectory display method according to claim 1, wherein: The high-risk participants are identified as follows: Perform trajectory prediction based on the driving perception information of each traffic participant to determine the predicted driving trajectory of each traffic participant; Risk prediction is performed based on the current driving information of the target vehicle and the predicted driving trajectory of each traffic participant, and the pre-screened risk participants are determined from multiple traffic participants based on the prediction results; When there are multiple initially screened risk participants, high-risk participants are determined based on the participant position of each initially screened risk participant.

6. The trajectory display method according to claim 5, wherein: The method of determining the high-risk participants includes: Obtaining the current location of the target vehicle; Performing distance calculation based on the location of each initially screened risk participant and the current location of the target vehicle to determine the distance between the target vehicle and each initially screened risk participant; High-risk participants are determined from among the multiple initially screened risk participants according to the distances between the target vehicle and each initially screened risk participant.

7. The trajectory display method according to claim 3, wherein: The portion of the high-risk participant's driving trajectory that does not overlap with the target vehicle's driving trajectory is determined in the following manner: determining a trajectory relationship based on the driving trajectory of the high-risk participant and the driving trajectory of the target vehicle; When the trajectory relationship is a preset intersection relationship, determining the intersection point as the trajectory intersection point; The driving trajectory of the high-risk participant is clipped according to the trajectory intersection point to obtain a clipped trajectory, and the clipped trajectory is used as the portion of the driving trajectory of the high-risk participant that does not overlap with the driving trajectory of the target vehicle.

8. The trajectory display method according to any one of claims 1 to 7, characterized in that The displaying of the target driving trajectory on the display page of the target vehicle includes: Based on basic display parameters, displaying the target driving trajectory on the display page of the target vehicle; The basic display parameters are determined according to the driving perception information of the high-risk participant.

9. The trajectory display method according to claim 8, wherein: The basic display parameters include at least one of the following parameters: the target ID of the high-risk participant, the type of traffic participant, the heading angle, and the location information; and / or, After the target driving trajectory is displayed for a duration reaching a preset duration, the display of the target driving trajectory is stopped.

10. A trajectory display device, characterized in that: The trajectory display device comprises: A processing module, configured to determine high-risk participants; and determine a target driving trajectory based on the driving trajectory of the target vehicle and the driving trajectory of the high-risk participants; A display module, configured to display the target driving trajectory on a display page of the target vehicle; The target driving trajectory includes the non-overlapping driving trajectory of the target vehicle and the driving trajectory of the high-risk participant, and the driving trajectory of the target vehicle and the driving trajectory of the high-risk participant intersect at an intersection, and the intersection reflects the predicted collision position of the target vehicle and the high-risk participant.

11. A trajectory display device, characterized in that: The device includes: a memory, a processor, and a trajectory display program stored in the memory and executable on the processor, wherein the trajectory display program is configured to implement the trajectory display method according to any one of claims 1 to 9.

12. A storage medium, characterized in that: The storage medium stores a trajectory display program, which, when executed by a processor, implements the trajectory display method according to any one of claims 1 to 9.

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