Object display position prediction method and device, vehicle and electronic equipment

Abstract

The invention discloses an object display position prediction method and device, a vehicle and electronic equipment, is applied to the technical field of vehicle safety, and can improve the motion synchronism of an object in a display picture of a vehicle-mounted display device and an object in the real world. The method for predicting the display position of the object can calculate the current speed of the target object based on the state information of the historical acquisition time points. When the coordinates of the target object are lost, the current speed of the target object is calculated in cooperation with the loss times, so that the speed of the target object is reduced on the display frame based on the loss times. And finally, based on the calculated current speed and the preset time duration, calculating and determining a target coordinate of the target object, and based on the target coordinate, obtaining a display position of the target object in the display picture, thereby completing synchronization of the movement of the target object in the display picture.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle safety, in particular to a method and device for predicting display position of an object, a vehicle and an electronic device. BACKGROUND

[0002] With the rapid progress of technology, intelligent driving technology has become an important development direction in the automotive industry and even the entire transportation field. Intelligent driving aims to integrate advanced sensors, algorithms and control systems to enable vehicles to perceive the surrounding environment, make decisions and drive autonomously, thereby improving traffic safety, increasing travel efficiency and improving the driving experience.

[0003] In an intelligent driving system, accurate perception and accurate restoration of the surrounding environment are key prerequisites for safe and reliable driving. However, from the collection of data by sensors to the final presentation of the restored world on the display interface of the vehicle-mounted display device, the intelligent driving system needs to go through multiple links, including object recognition, data transmission, processing, data reception, etc. These links will introduce a certain delay. In actual application, when the motion speed of the measured object is too fast, the position of the object in the data restoration world often deviates significantly from the actual position in the real world, thereby affecting the accurate judgment of the environment by the driver or the autonomous driving system. Therefore, how to restore the actual motion position of the object in the intelligent driving restoration world display has become a technical problem to be solved in the current intelligent driving technology field. SUMMARY

[0004] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a method and device for predicting display position of an object, a vehicle and an electronic device, which can improve the motion synchronization of the object in the display picture of the vehicle-mounted display device and the object in the real world.

[0005] According to a first aspect of the present application, a method for predicting display position of an object is provided, applied to a vehicle-mounted display device, the method comprising: obtaining state information of a target object at a historical acquisition time point; wherein the state information comprises coordinates of the target object and a speed of the target object; at a current acquisition time point, when the coordinates of the target object are lost, calculating a current speed of the target object based on a number of consecutive losses of the coordinates and the state information at the historical acquisition time point; the current speed is negatively correlated with the number of consecutive losses of the coordinates; determining target coordinates of the target object in a display picture based on the current speed and a preset time length.

[0006] Optionally, the object display position prediction method further comprises: when the coordinates of the target object are lost at the current acquisition time point, performing deceleration processing on the current speed of the target object in the display picture based on a basic speed loss value; wherein, when the coordinates of the target object are lost at the current acquisition time point, the current speed of the target object is calculated based on the number of consecutive coordinate losses and the state information at the historical acquisition time point, comprising: when the coordinates of the target object are lost at the current acquisition time point, the current speed loss value is calculated based on the basic speed loss value and the number of consecutive coordinate losses; the current speed of the target object is calculated based on the current speed loss value and the state information at the historical acquisition time point; the current speed is negatively correlated with the current speed loss value.

[0007] When the target object loses coordinates, based on sensor logic, safety priority principle and rationality of driving scene, it is inferred by default that the target object is in a state of deceleration, and the position after deceleration is filled with the continuously lost coordinates. Because when the vehicle coordinates disappear, deceleration or braking is the most likely behavior of the adjacent lane vehicle (for example, the front vehicle suddenly brakes, causing the rear vehicle to enter the blind area), both deceleration and braking will pose a great danger to the vehicle carrying the vehicle display screen. Therefore, assuming that the disappeared target object is decelerating, the driver can be reminded to remain vigilant, reducing the risk of false negatives, and giving priority to warning potential dangers. In addition, assuming that the disappeared target object is decelerating also conforms to the driving situation, and brake deceleration is the most common sudden behavior in traffic flow. If the disappeared target object is ignored, the driver may misjudge the surrounding environment, leading to collision risk. By introducing the basic speed loss value, the target object can be decelerated, and the basic speed loss value can be used with the number of consecutive coordinate losses to gradually reduce the target object, so that the deceleration logic of the target object conforms to the operating rules of the object in reality, keeping the synchronization between the real world and the real world.

[0008] Optionally, the object display position prediction method further comprises: at the current acquisition time point, when the state information of the target object is lost, taking the last historical acquisition time point of the current acquisition time point as a target time point, obtaining the brake state of the target object corresponding to the target time point; when the brake state of the target time point indicates braking, determining the value of the basic speed loss value; wherein, the value of the basic speed loss value when braking is greater than the value of the basic speed loss value when not braking.

[0009] In order to further improve the accuracy of object display position calculation and improve the synchronization of target object in the real world and the display picture, if the target object is a vehicle with deceleration identifier (such as a car, a truck, an electric vehicle, etc. with brake prompt), the brake light of the target object can be identified by a visual large model, and the target object can be decelerated based on the known brake state to improve the prediction accuracy of the current speed and improve the prediction accuracy.

[0010] Optionally, the object display position prediction method further comprises: resetting the current speed loss value to a basic speed loss value when the state information of the target object is received at a current acquisition time point; selecting a preset number of historical acquisition time points and the state information corresponding to the historical acquisition time points as a reference state set; and calculating the current speed of the target object based on the reference state set and the basic speed loss value.

[0011] The target object may lose the coordinates for a period of time. When the coordinates are received again, in order to reduce the calculation difficulty and improve the calculation efficiency, the current speed loss value can be directly reset to the basic speed loss value, and the subsequent speed prediction of the target object can be continued, thereby improving the calculation efficiency and reducing the processing process. Moreover, when the coordinates are normally received, the current speed can be directly calculated based on a preset number of historical acquisition time points. By analyzing the state information of the historical acquisition time points, the movement rule of the target object can be revealed, and by analyzing the historical driving trajectory and the historical speed of the target object, the possible position and driving speed of the target object can be predicted.

[0012] Optionally, the object display position prediction method further comprises: configuring a weight value for the state information corresponding to the historical acquisition time points based on the time interval between the preset number of historical acquisition time points and the current acquisition time point; wherein the longer the time interval, the lower the weight value, and the shorter the time interval, the higher the weight value; and wherein calculating the current speed of the target object based on the reference state set comprises: calculating the current speed of the target object based on the reference state set and the corresponding weight value.

[0013] The speed closer to the current time has higher reference for calculating the current speed, and the speed farther away has weakened reference. Therefore, by assigning weights, the accuracy and authenticity of the current speed calculation can be improved, thereby providing a more accurate data basis for calculating the target coordinates and improving the accuracy of calculating the current speed.

[0014] Optionally, the object display position prediction method further comprises: adjusting the preset time length when the number of consecutive coordinate losses is greater than or equal to a preset threshold; wherein the adjustment frequency of the preset time length is positively correlated with the frequency of lost coordinates, the adjustment amplitude of the preset time length is positively correlated with the frequency of lost coordinates, and the cumulative amount of the number of consecutive coordinate losses is negatively correlated with the preset time length.

[0015] In the speed reduction calculation of the target object, the translation time of the target object is reduced at the same time, which can improve the display fluency of the display picture and more clearly convey the change of the motion state of the target object. Each loss of coordinates means a reduction in speed, and the reduction in speed requires the display picture to adapt, so the adjustment frequency of the preset time length is positively correlated with the frequency of lost coordinates. The higher the frequency of lost coordinates, the more the preset time length needs to be continuously adjusted to adapt to the deceleration process of the target object. The more times the target object slows down, the slower the translation time of the target object on the picture needs to be to adapt to the picture display, so the cumulative amount of the number of times of continuous loss of coordinates is negatively correlated with the preset time length.

[0016] Optionally, the method for predicting the display position of the object further includes: obtaining an actual refresh frequency of a display picture of the vehicle-mounted display device; wherein the actual refresh frequency represents a refresh time interval between adjacent two frames of the display picture; and when the refresh time interval is less than the preset time length, based on the actual refresh frequency, the preset time length, the current speed and the target coordinate, an intermediate transition position in the process of the target object moving to the target coordinate is calculated.

[0017] Based on the actual refresh frequency of the display picture, the intermediate transition position is calculated to process the smooth movement of the target object. Independent calculation of each frame can avoid the cumulative error of traditional interpolation or prediction algorithms, ensure that the position of the target object in the display picture is synchronized with the real world in real time, provide higher precision single-frame data, not only can improve the fluency and clarity of the visual experience, but also can significantly improve the accuracy, authenticity and response speed of the motion.

[0018] According to a second aspect of the present application, a device for predicting the display position of an object is provided, which is applied to a vehicle-mounted display device. The device includes: an obtaining module, which obtains state information of a target object at a historical acquisition time point; the state information includes a coordinate of the target object and a speed of the target object; a calculation module, which, at a current acquisition time point, when the coordinate of the target object is lost, calculates a current speed of the target object based on the number of times of continuous loss of coordinates and the state information at the historical acquisition time point; the current speed is negatively correlated with the number of times of continuous loss of coordinates; and a determination module, which determines a target coordinate of the target object in a display picture based on the current speed and a preset time length.

[0019] According to a third aspect of the present application, an electronic device is provided, which includes one or more processors; a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the method for predicting the display position of an object of the first aspect or any one of the implementation manners of the first aspect.

[0020] According to a fourth aspect of the present application, a vehicle is provided, comprising: a vehicle-mounted display device; and the electronic device according to the third aspect or any one of the implementation forms of the third aspect, which is in communication connection with the vehicle-mounted display device.

[0021] According to a fifth aspect of the present application, a computer-readable storage medium is provided, which stores program code for executing the method according to the first aspect or any one of the implementation forms of the first aspect.

[0022] According to a sixth aspect of the present application, a computer program product is provided, which comprises program code for executing the method according to the first aspect or any one of the implementation forms of the first aspect.

[0023] The object display position prediction method and device, vehicle and electronic device provided by the present application, the state information of the historical acquisition time point is the objective record of the past behavior of the target object, which can be used as a known rule to measure the state of the target object at the current acquisition time point, so that when the coordinates of the target object at the current acquisition time point are lost, the current speed of the target object can be calculated based on the state information of the historical acquisition time point. When the coordinates of the target object are lost, the current speed of the target object is calculated based on the safety risk consideration and the loss frequency. The current speed is negatively related to the number of consecutive coordinate losses, so the more the number of coordinate losses, the slower the current speed. The reduction of the current speed can make the target object appear as a deceleration motion on the display screen, and the target object decelerates in the display screen. The driver can decelerate in time based on the decelerating target object and maintain a safe distance from the target object, thereby reducing the risk of collision. Finally, based on the calculated current speed and the preset time length, the target coordinates of the target object can be calculated and determined, and the display position of the target object in the display screen can be obtained based on the target coordinates. Since the current speed is calculated based on the state information of the historical acquisition point, the historical state information and the coordinate loss information are combined, and the current speed calculated is highly synchronized with the actual speed of the target object in the real world, therefore, the display position of the target object in the display screen calculated by the current speed is also synchronized with the position of the target object in reality. Through the calculated current speed and target coordinates, the complex data processing pipeline is bypassed, and the calculation result is directly output to the display screen, reducing the time interval between the change of the target object position and the display of the screen, improving the synchronization of the target object in the real world and the display screen, and the driver can obtain more accurate position of the target object from the display screen, which can help the driver better understand the relative position relationship between the vehicle driven and the target object, and thus master the surrounding driving environment. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description thereof taken in conjunction with the accompanying drawings, in which like reference characters designate like elements in the figures. The accompanying drawings are intended to provide a further understanding of the present application, and are incorporated and constitute a part of this specification, illustrate embodiments of the present application and explain their principles. The figures provided are intended to explain the present application, and do not limit the present application. In the drawings, like reference numerals refer to like elements or steps throughout.

[0025] Figure 1 is a schematic diagram of different positions of an object in a time period according to an example embodiment of the present application.

[0026] Figure 2 is a flowchart of a method for predicting a display position of an object according to an example embodiment of the present application.

[0027] Figure 3 is a method for predicting a display position of an object for a vehicle application according to an example embodiment of the present application.

[0028] Figure 4 is a schematic diagram of a structure of a device for predicting a display position of an object according to an example embodiment of the present application.

[0029] Figure 5 is a schematic diagram of a structure of an electronic device according to an example embodiment of the present application. DETAILED DESCRIPTION

[0030] Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are merely a part of the present application, and the present application is not limited by the described example embodiments.

[0031] With the rapid development of intelligent driving technology, constructing and restoring a digital twin world (i.e., data restoration world) of the surrounding environment in real time based on sensor data has become one of the core functions of intelligent driving systems. Intelligent driving restoration world display technology is an important part of intelligent driving systems. It collects data of the surrounding environment through sensors and uses algorithms to process these data into visual images or models, providing intuitive environmental information for drivers or autonomous driving systems. This display technology not only helps drivers better understand the situation around the vehicle and make correct driving decisions, but also provides basic data support for system decision-making and control in autonomous driving mode. For example, in complex traffic scenarios, drivers can clearly see pedestrians, other vehicles, traffic signs, and other information around the vehicle through intelligent driving restoration world display, and make early avoidance or deceleration operations; autonomous driving systems can plan the best driving path according to this display information to avoid collisions and other dangerous situations. However, in current intelligent driving restoration world display technology, there is a problem that needs to be solved urgently, that is, when the speed of an object is too fast, the position of the object in the data restoration world cannot accurately correspond to the position of the object in the real world. This is because the intelligent driving system needs to go through multiple links from collecting data from sensors to finally presenting the restored world on the display interface, including data transmission, processing, fusion, and display. These links will introduce a certain delay, especially when processing data of high-speed moving objects, the delay problem is more obvious. When the object moves at a high speed, even a small delay can cause a large difference between the position of the object in the data restoration world and the position of the object in the real world, thereby affecting the accurate judgment of the environment by the driver or the autonomous driving system.

[0032] For example, Figure 1 is a schematic diagram of the object at different positions in a time period provided by an exemplary embodiment of the present application, as shown in Figure 1As shown in the figure, the object's position undergoes a series of processing before being displayed on the screen, resulting in a time delay. In the real world, objects are located at P1, P2, and P3, respectively. When the intelligent driving system identifies and sends the information, the recognition algorithm consumes time, resulting in a delay. This creates a time difference between the displayed object's position and the vehicle's actual position, resulting in the displayed positions becoming Ps1, Ps2, and Ps3. The HUT (Head Unit Terminal) then receives the information. Due to network transmission time, the time difference between the object's position and the vehicle's actual position further increases, resulting in the displayed positions becoming Pr1, Pr2, and Pr3. Finally, the HUT (onboard terminal) smoothes the information and displays it on the screen. Due to the time-consuming smoothing process, the objects appear at Pd1, Pd2, and Pd3 on the final screen. This lag between the displayed position and the vehicle's actual position affects the real-time and accuracy of the position information. This phenomenon affects the driver or the autonomous driving system's ability to accurately judge the environment, reducing the safety and reliability of the intelligent driving system.

[0033] To this end, the present application provides a method for predicting the display position of an object. By estimating the current speed of the object, the data transmission and processing time between various links is greatly reduced, thereby significantly shortening the time interval from the change of the object position to the screen display. Figure 2 This is a flow chart of a method for predicting the display position of an object provided by an exemplary embodiment of the present application. Figure 2 For example, first, obtain the state information of the target object at the historical collection time point (see Figure 2 S210). The target object represents any object displayed on the display screen of the vehicle-mounted display device, and the status information includes the coordinates of the target object and the speed of the target object. Based on showing the surrounding driving environment to the driver, the target object can be any object that enters the display screen. The status information can be the coordinates and speed of the target object collected by various sensors. The status information records the coordinates and speed of the target object at different historical collection time points. By analyzing these data, the movement pattern of the target object can be revealed, and the possible position and driving speed of the target object can be predicted by analyzing the historical driving trajectory and historical speed of the target object. Then, at the current collection time point, when the coordinates of the target object are lost, the current speed of the target object is calculated based on the number of consecutive times the coordinates are lost and the status information of the historical collection time points (see Figure 2 The current speed is negatively correlated with the number of times the coordinates are lost continuously. Estimating the current speed based on the number of times the coordinates are lost continuously can be understood as when the target object loses its coordinates, based on the sensor logic, the safety priority principle and the rationality of the driving scene, it is assumed that the target object is in a decelerating state. Finally, based on the current speed and the preset time length, the target coordinates of the target object in the display screen are determined (seeFigure 2 S230) ; wherein, the target coordinate represents a target display position of the target object in the display picture. The preset time length can be determined according to an empirical value, for example, the preset time length is determined according to the interval between the collection time points. The moving distance of the target object can be obtained by multiplying the speed by the preset time length, so as to obtain the target display position in the display picture in combination with the last coordinate.

[0034] It can be seen that, the object display position prediction method provided by the present application is based on the fact that all objects in the real world have inertia, and predicts the current speed based on the historical speed, which conforms to the running law of objects in the real world, and can keep the digital restored world and the real world in synchronization. In addition, when the position of the target object is lost, the current speed is estimated based on the number of times of continuous loss of the coordinate, and the position after deceleration is used to fill the continuously lost coordinate, so that false positives are better than false negatives. When the target object makes deceleration motion in the display picture, the driver can be reminded to keep alert and maintain a safe distance from the target object. Even if the loss is caused by poor signal, if the target object with lost coordinate is ignored and displayed at the original speed, the driver may misjudge the surrounding environment, resulting in collision risk.

[0035] In some embodiments, the object display position prediction method is applied to a vehicle-mounted display device, which can be a traditional vehicle-mounted display screen, such as a center screen and a HUD (Head Up Display, head-up display system), or some emerging display technologies, such as vehicle window interactive display, holographic projection display, and other display methods that allow the driver to directly observe the surrounding environment. That is, the object display position prediction method can be applied to all vehicle-mounted devices with display screens or display pictures, and the vehicle-mounted devices can be used to assist the driver in observing or understanding the environment around the vehicle.

[0036] The object display position prediction method provided by the embodiments of the present application will be described in more detail below. Figure 2

[0037] In S210, the state information of the target object at the historical collection time point is obtained.

[0038] ​The target object in S210 is any object displayed on the display screen of the vehicle-mounted display device. That is, at a certain moment, the object displayed on the display screen of the vehicle-mounted display device can be the target object, and the prediction method of the object display position is applicable. For example, the target object can be a car, a truck, a bicycle, an electric vehicle, a pedestrian, etc. Through the analysis of the target object in the display screen, the driver can more accurately judge the dynamic intention of the surrounding vehicles and pedestrians, such as whether to prepare to change lanes, whether to cross the road, etc., so as to make more reasonable driving decisions. Under the restriction that the driver can only look at the front of the vehicle and cannot observe the environment around the vehicle comprehensively, the display screen synchronously displays the target object, which helps the driver to discover potential dangers in time, reduces the burden of the driver, and improves the reliability and stability of driving.

[0039] For the historical collection time point in S210, the vehicle terminal will continuously receive the state information of the target object, such as receiving state information data based on a certain frequency (for example, receiving once every 100 ms) or receiving state information data at a specific time point. When receiving the coordinates, the time of receiving is also recorded, so that the value pair of coordinates and time can be obtained for each collection time point. Integrating multiple value pairs in order into a set can provide a data basis for subsequent speed calculation. It can be understood that if there is no state information transmitted in the historical collection time point, the state information of the historical collection time point is empty, and in the subsequent calculation of the current speed, the empty state information is skipped, and the historical collection time point with available state information is taken as the reference basis. For example, according to the frequency of receiving state information once every 100 ms, but if there is a loss of state information in the middle, it may be 200 ms before the next state information is received.

[0040] For the state information in S210, the state information can include the coordinates of the target object and the speed of the target object. That is, the coordinates collected at the historical collection time point and the calculated speed can be integrated into a state information, and the state information of different historical collection time points can be integrated into a set to provide a reliable basis for subsequent calculation of the current speed. The historical speed reflects the trend and regularity of the speed change in the past period of time, and provides a reliable basis for predicting the current speed. Connecting the coordinates of the historical collection time points as a historical driving track can predict the current possible position and driving direction of the target object. In addition, the position of the target object can be determined by visual and laser radar positioning of the sensor, that is, the acquisition of coordinates can be based on visual and laser radar positioning, and if the target object has a brake mark, it can be identified by a visual large model.

[0041] In S220, at the current acquisition time point, when the coordinates of the target object are lost, the current speed of the target object is calculated based on the number of times of continuous loss of coordinates and the state information of the historical acquisition time points. The current speed is negatively correlated with the number of times of continuous loss of coordinates.

[0042] In some embodiments, the loss of coordinates of the target object, that is, the position of the target object is not transmitted into the current vehicle, can be caused by various reasons such as communication module failure, communication signal interruption, complex environment shielding, multipath effect and interference, vehicle terminal software failure, human operation or configuration error, etc.

[0043] In some embodiments, at the current acquisition time point, the loss of coordinates of the target object can be understood as that the current vehicle does not receive the position of the target object transmitted in, when the coordinates of the target object are lost, the target object is processed as being in deceleration motion, the current speed of the target object when the target object is in deceleration motion is predicted, and the current speed of the target object in the display picture is processed by deceleration based on the basic speed loss value. In the real world, the future position of the target object can be calculated according to the speed, since the display picture is synchronized from the real world, the display position of the target object in the display picture is also determined by its speed, and both of them follow the basic kinematics relationship: P=P0+V×T, P represents the target coordinates of the target object in the display picture, P0 represents the coordinates of the target object in the current display picture, V represents the calculated current speed, and T represents a preset time length (such as a frame interval time or an interval time between received coordinates). By estimating the current speed of the target object, the display position of the target object in the display picture can be calculated. The dynamic relationship between speed and target position is the core basis of the display picture of the vehicle-mounted display device, and by updating the position by speed, it can be ensured that the motion of the target object is continuous and smooth, and the visual unnaturalness caused by position mutation is avoided, and the speed can be used to predict the position of the target object at a future time point, and by updating the position by speed, complex trajectory calculation can be avoided, and the calculation efficiency is improved.

[0044] In some embodiments, the basic speed loss value is used to reduce the speed of the target object, and the basic speed loss value is a parameter used to re-estimate the current speed when the coordinates of the target object are lost for the first time. For example, on a vehicle display screen, when other vehicles disappear from the display, the system defaults that the vehicle is braking, which is usually based on sensor logic, safety priority principles and the rationality of the driving scene. When the vehicle coordinates disappear, deceleration or braking is the most likely behavior of the vehicle in the adjacent lane (for example, the front vehicle suddenly brakes, causing the rear vehicle to enter the blind area), and deceleration or braking will pose a greater danger to the vehicle carrying the vehicle display screen. Therefore, assuming that the disappearing target object is decelerating, the driver can be reminded to remain vigilant, reducing the risk of false negatives, and prioritizing potential hazards. In addition, assuming that the disappearing target object is decelerating also conforms to the driving situation, and deceleration is the most common sudden behavior in traffic flow. If the disappearing target object is ignored, the driver may misjudge the surrounding environment, leading to a collision risk.

[0045] For example, for S220, when the coordinates of the target object are lost at the current collection time point, the current speed loss value is calculated based on the basic speed loss value and the number of consecutive coordinate losses, and the current speed loss value is positively correlated with the number of consecutive coordinate losses. Based on the current speed loss value and the state information at the historical collection time point, the current speed of the target object is calculated, and the current speed is negatively correlated with the current speed loss value. For the current speed loss value, the basic speed loss value and the number of consecutive coordinate losses can be added to calculate it, that is, the greater the number of consecutive coordinate losses, the greater the current speed loss value. On this basis, the way to calculate the current speed can be: V1 = V / Lost, V1 represents the current speed, V represents the historical speed closest in time to the collection time point of V1 (from the state information at the historical collection time point), and Lost represents the speed loss value (basic speed loss value or current speed loss value). That is, the greater the current speed loss value, the smaller the current speed, and the current speed is negatively correlated with the current speed loss value. Using the basic speed loss value in combination with the number of consecutive coordinate losses gradually reduces the target object, so that the deceleration logic of the target object conforms to the operating rules of objects in reality, and keeps the synchronization between the restored world and the real world.

[0046] In some embodiments, in order to reduce the difficulty of calculation and improve the efficiency of calculation, V1=V / Lost can also be established in the case of no loss of coordinates, for example, when no state information of the target object is received for a period of time, the speed loss value has been accumulated to a large value, and when the state information of the target object is received at the current collection time point, the current speed loss value can be directly reset to the basic speed loss value, a preset number of historical collection time points and the state information corresponding to the historical collection time points are selected as a reference state set; based on the reference state set and the basic speed loss value, the current speed of the target object is calculated. That is, in the case of no loss of current coordinates, the current speed of the target object is estimated by the reference state set. That is, during a period of time when the target object is missing, the target object is decelerated, and if the target object receives state information again at a certain time, the speed loss value can be directly reset, and the subsequent speed prediction of the target object can be continued, so as to improve the calculation efficiency and reduce the processing process.

[0047] For example, when the coordinates p n of the target object are received, the time t n of receiving is recorded at the same time, and the (p n , t n ) value pair is obtained, and (p n , t n ) is divided by the distance and time difference of (p n-1 , t n-1 ) to obtain the speed and time of the nearest point (p n , v n , t n ), v n represents the speed, and is recorded in the reference state set as a reference value pair, n represents any collection time point, and the collection time points can be sequentially numbered. When the current speed needs to be calculated, the reference state set extracts the five (other values can also be taken) reference value pairs closest to the current time from the reference state set in the order of time from near to far, as the basic data for calculating the current speed.

[0048] Generally, the extracted reference value pairs can be directly divided by the extracted quantity to obtain the average value as the current speed, but to improve the accuracy of calculating the current speed, different weight values can be assigned to the value pairs of different collection time points, for example, based on the time interval between a preset number of historical collection time points and the current collection time point, the state information corresponding to the historical collection time points is configured with a weight value; wherein the longer the time interval, the lower the weight value, the shorter the time interval, the higher the weight value, based on the reference state set and the corresponding weight value, the current speed of the target object is calculated. Because the speed closer to the current time has higher reference for calculating the current speed, and the farther speed has weakened reference. Therefore, by assigning weights, the accuracy and authenticity of the current speed calculation can be improved, thereby providing a more accurate data basis for calculating the target coordinates.

[0049] As a possible implementation, the weight value can be adjusted according to actual needs. If the value is m, the formula for estimating the current speed can be: V1 = V n / 2 m +V n-1 / 2 2m +V n-2 / 2 3m +V n-3 / 2 4m +V n-4 / 2 5m , for example, when m is 1, V1 = V n / 2+V n-1 / 2 2 +V n-2 / 2 3 +V n-3 / 2 4 +V n-4 / 2 5 . Historical data is the basis of speed change, through historical data combined with weight value, the law of speed change is revealed, and the link between speed change law and current speed is established, so as to accurately estimate the current speed, and realize the synchronization of the target object in the real world and the digital restoration world.

[0050] As a possible implementation method, in order to make the basic speed loss value universal for both coordinate loss and coordinate loss, and to play a role in gradually reducing the speed when the coordinate is lost, the basic speed loss value can be set to 1, and each time the number of coordinate losses increases, 1 is added to the basic speed loss value to achieve a gradual reduction in speed. In order to ensure that the basic speed loss value is used for deceleration, the value of the basic speed loss value should be greater than 1. For example, the basic speed loss value is set to Lost, the speed at the last historical acquisition time point is V, and the estimated current speed V1 = V / Lost. Under the current speed calculation formula, it can be explained that the current speed is negatively correlated with the number of consecutive coordinate losses. The more times the coordinates are lost continuously, the more 1 is added to the basic speed loss value, and Loss increases, then the current speed decreases.

[0051] Treating the situation after coordinate loss as a target object that is decelerating is a multi-dimensional consideration and a safety-enhancing approach. However, in order to further improve the accuracy of the object display position calculation and improve the synchronization of the target object in the real world and the display screen, if the target object is a vehicle with a deceleration sign (such as a car, truck, electric car, etc. with a braking prompt), the brake lights of the target object can be identified through the visual large model, and whether the target object has a deceleration sign can be used as a braking state and added to the reference state set. In other words, the deceleration sign of the target object can be used as a basic parameter to measure whether the target object is decelerating, providing an important reference for the subsequent estimation of the current speed. For example, at the current acquisition time point, when the state information of the target object is lost, the previous historical acquisition time point of the current acquisition time point is used as the target time point to obtain the braking state of the target object corresponding to the target time point; when the braking state at the target time point indicates braking, the value of the basic speed loss value is determined; wherein, the value of the basic speed loss value during braking is greater than the value of the basic speed loss value during non-braking.

[0052] As a possible implementation method, when calculating the current speed, check whether the braking system or braking status at the last historical collection time point is in an activated (on / enabled) state. When in an activated state, the value of the basic speed loss value can be set to 2. Then, when calculating the current speed, in the case of the first coordinate loss, V1=V / Lost, Lost directly takes the value of 2. It can be understood that when the target object is in a braking state, relative to the case of coordinate loss, the target object can be decelerated in advance based on the known braking state, thereby improving the prediction accuracy of the current speed and improving the prediction accuracy. In the case of no braking or unknown braking, the value of the basic speed loss value is still 1.

[0053] As a possible implementation method when adding the braking state to the reference state set, in (p n , vn , t n ) in combination with the brake state, and integrate (p n , v n , t n , b n ) into a reference state set, wherein b n represents the brake state, and n represents any one of the collection time points.

[0054] In the real world, the movement speed of an object corresponds to the time and space it occupies visually. For example, a fast-moving car quickly passes through the field of view, while a slow-moving car stays in the field of view for a longer time. If the translation time of the object on the screen is not adjusted when the object slows down, it will not match the natural movement observed in daily life, causing visual discomfort. Or, if the translation time is too long, the object may stay on the screen for too long, causing a visual lag. This lag can interfere with the driver's accurate judgment of the object's movement state, and may even cause visual fatigue. Therefore, in order to more clearly convey the change in the movement state of the target object, the translation time of the target object can be reduced at the same time when the speed reduction calculation of the target object is performed. For example, when the number of consecutive coordinate losses is greater than or equal to a preset threshold, the preset time length is adjusted; wherein the adjustment frequency of the preset time length is positively correlated with the frequency of lost coordinates, the adjustment amplitude of the preset time length is positively correlated with the frequency of lost coordinates, and the cumulative amount of the number of consecutive coordinate losses is negatively correlated with the preset time length. Each loss of coordinates means a reduction in speed, and the reduction in speed requires the display screen to adapt, so the adjustment frequency of the preset time length is positively correlated with the frequency of lost coordinates. The higher the frequency of lost coordinates, the more the preset time length needs to be continuously adjusted to adapt to the deceleration process of the target object. The more the number of losses, the slower the speed of the target object, and the lower the translation time on the screen needs to be to adapt to the screen display, so the cumulative amount of the number of consecutive coordinate losses is negatively correlated with the preset time length.

[0055] As a possible implementation of adjusting the preset time length, the preset time length T can be divided by a preset value (such as 2) each time the current speed is calculated, to adjust the translation time of the target object in stages. For example, the preset time length is 100 ms (milliseconds), and the target object is moved 100 ms in the speed direction using the current speed to calculate the target coordinates of the target object. In the second calculation of the current speed (when the first coordinate loss occurs, the second consecutive coordinate loss; or when the first brake state is detected, the second consecutive brake state is detected), T / 2 is calculated to obtain 50 ms, and the third time is 25 ms, so that the display screen adapts to the deceleration of the target object and improves the smoothness of the display screen.

[0056] In S230, a target coordinate of the target object is determined based on the current speed and the preset time length.

[0057] In S230, the target coordinate represents a target display position of the target object in the display picture.

[0058] Based on the self attribute of the in-vehicle display device, the display picture has a refresh frequency, and the actual refresh frequency of the display picture of the in-vehicle display device is obtained; wherein the actual refresh frequency represents the refresh time interval between adjacent two frames of the display picture; when the refresh time interval is less than the preset time length, the intermediate transition position of the target object in the process of moving to the target coordinate is calculated based on the actual refresh frequency, the preset time length, the current speed and the target coordinate. For example, the display picture is 30 frames, and the display picture is refreshed once about 33ms; if the display picture is 60 frames, the display picture is refreshed once about 16ms. Therefore, after the current speed and the preset time length are calculated to determine the target coordinate of the target object, the display position of the target object is also adjusted according to the refresh frequency of the display picture, so that the target object can smoothly transition to the target coordinate on the display picture, instead of suddenly jumping to the target coordinate. For example, the interval time between the collection time points is 100ms, and the preset time length is also set to 100ms based on the interval time, that is, the time between the two collection time points, to facilitate the calculation of the moving position of the target object. However, if the display picture is 30 frames, the interval between adjacent two frames is 33ms, in order to make the target object smoothly transition between adjacent two frames, that is, to calculate the intermediate transition position twice in 100ms, and finally reach the target coordinate, to complete the smooth transition of the target object. Each frame is independently calculated to avoid the cumulative error of the traditional interpolation or prediction algorithm, to ensure that the position of the target object in the display picture is synchronized with the real world in real time, to provide higher precision single frame data, which not only can improve the smoothness and clarity of the visual experience, but also can significantly improve the accuracy, authenticity and response speed of the motion.

[0059] As a possible implementation manner, based on the formula: P1=P0+V1x deltaTime, P1 represents the intermediate transition position, P0 represents the coordinate received at the nearest collection time point to P1 (in the same preset time length, when the second intermediate transition position is calculated, P0 also represents the first calculated intermediate transition position), V1 represents the calculated current speed, and deltaTime represents the actual refresh frequency of the display picture.

[0060] In some embodiments, the vehicle can include: an in-vehicle display device; and an object display position prediction device in communication connection with the in-vehicle display device. Based on this, the object display position prediction device in the vehicle can perform the object display position prediction method to realize the prediction of the object display position.

[0061] For the prediction method of the object display position in vehicle applications, Figure 3 This is a method for predicting the display position of an object in a vehicle application provided by an exemplary embodiment of the present application. Figure 3 For example, it can be implemented based on the following process: Get the state information of the target object and the braking state of the target object (see Figure 3 S31), update the reference state set of the target object (see Figure 3 S32), the current speed of the target object is estimated based on the reference state set (see Figure 3 S33), the target object is moved smoothly at the current speed and for a preset time length (see Figure 3 S34), detect whether the target object has the latest state information input (see Figure 3 If there is the latest status information input, Lost is reset to 1 and T is set to 100ms (see Figure 3 S36), T represents the preset time length, Lost represents the speed loss value, and S31 and subsequent steps are executed cyclically. If there is no latest status information input, Lost is increased by 1 (see Figure 3 S37), and update the status information of the current target object: T = T / Lost, V = V / Lost (see Figure 4 ), and execute S34 and subsequent steps in a loop.

[0062] On a vehicle's onboard display, the state information of a target object can include the target object's coordinates and speed. That is, the coordinates collected at a historical collection point and the calculated speed can be integrated into a single state information. State information from different historical collection points can also be integrated into a set, providing a reliable benchmark for subsequent calculation of the current speed. Furthermore, whether the target object has a deceleration indicator can be added to a reference state set as a braking state. In other words, the deceleration indicator of the target object can be used as a basic parameter to measure whether the target object is decelerating. When the target object is determined to be decelerating in the real world, the target object can be pre-decelerated on the display screen. This synchronizes the target object's real-world motion with the digital reproduction world, facilitating the driver's direct observation and confirmation of the vehicle's surroundings on the onboard display. If the target object does not detect a braking state, the current speed of the target object is estimated based on the reference state set. The current speed and a preset time duration are used to smoothly move the target object on the display screen, synchronizing the target object's speed and position on the display screen with its real-world speed and position. This helps the driver better understand the positional relationship of the target object relative to the vehicle, thereby improving driving safety.

[0063] If the driver's driving vehicle does not receive the latest state information input of the target object at the current collection time point, the target object is considered to be in deceleration from the safety point of view, the speed loss value is increased by 1, and the formula for calculating the speed is: V = V / Lost. When LOST increases by 1, the current speed will decrease, the speed of the target object will decrease, and the target object will be displayed in the display screen. When the driver observes the target object in the display screen, the driver can also take corresponding deceleration measures to avoid collision with the target object. If the latest state information input of the target object is not received, and the speed of the target object is not reduced in the display screen, the risk of collision between the driving vehicle and the target object is higher.

[0064] If the driver's driving vehicle does not receive the latest state information input of the target object at the current collection time point, the target object is considered to be in deceleration from the safety point of view, the speed loss value is increased by 1, and the formula for calculating the speed is: V = V / Lost. When LOST increases by 1, the current speed will decrease, the speed of the target object will decrease, and the target object will be displayed in the display screen. When the driver observes the target object in the display screen, the driver can also take corresponding deceleration measures to avoid collision with the target object. If the latest state information input of the target object is not received, and the speed of the target object is not reduced in the display screen, the risk of collision between the driving vehicle and the target object is higher.

[0065] Figure 4 The object display position prediction device provided by an exemplary embodiment of the present application is shown in the structure diagram of the object display position prediction device. Figure 5 As shown in the structure diagram of the object display position prediction device, the object display position prediction device 4 is applied to a vehicle display device, and the object display position prediction device 4 comprises: an acquisition module 41, which acquires state information of a target object at a historical collection time point; wherein the state information comprises coordinates of the target object and speed of the target object; a calculation module 42, which, at a current collection time point, calculates a current speed of the target object based on a number of consecutive losses of coordinates and the state information at the historical collection time point when the coordinates of the target object are lost; the current speed is negatively related to the number of consecutive losses of coordinates; and a determination module 43, which determines a target coordinate of the target object in a display screen based on the current speed and a preset time length.

[0066] The object display position prediction device provided in the application, the state information of the historical acquisition time point is an objective record of the past behavior of the target object, and can be used as a known rule of the target object to measure the state of the target object at the current acquisition time point. Therefore, when the coordinates of the target object are lost at the current acquisition time point, the current speed of the target object can be calculated based on the state information of the historical acquisition time point. When the coordinates of the target object are lost, the current speed of the target object is calculated based on the number of losses, so that the target object is slowed down on the display screen based on the number of losses. Considering the safety risk, the target object with lost coordinates is allowed to move at a reduced speed on the display screen, which can remind the driver or the system referring to the display screen to keep alert to the surrounding environment and reduce the risk of collision. Finally, based on the calculated current speed and the preset time length, the target coordinates of the target object can be calculated and determined, and based on the target coordinates, the display position of the target object on the display screen can be obtained, so that the synchronization of the movement of the target object on the display screen is completed. Through the calculated current speed and target coordinates, the complex data processing pipeline is bypassed, and the calculation result is directly output to the display screen, reducing the time interval between the position change of the target object and the screen display, improving the synchronization of the target object in the real world and the display screen, and helping the driver better understand and cope with the surrounding driving environment.

[0067] In some embodiments, the object display position prediction device 4 can be configured to: at the current acquisition time point, when the coordinates of the target object are lost, slow down the target object based on the basic speed loss value; wherein the calculation module 42 can be correspondingly configured to: at the current acquisition time point, when the coordinates of the target object are lost, calculate the current speed loss value based on the basic speed loss value and the number of consecutive coordinate losses; the current speed loss value is positively correlated with the number of consecutive coordinate losses; calculate the current speed of the target object based on the current speed loss value and the state information of the historical acquisition time point; the current speed is negatively correlated with the current speed loss value.

[0068] In some embodiments, the object display position prediction device 4 can be configured to: at the current acquisition time point, when the state information of the target object is lost, take the last historical acquisition time point of the current acquisition time point as a target time point, and obtain the brake state of the target object corresponding to the target time point; when the brake state of the target time point indicates braking, the value of the basic speed loss value is determined; wherein the value of the basic speed loss value when braking is greater than the value of the basic speed loss value when not braking.

[0069] In some embodiments, the object display position prediction apparatus 4 can be configured to reset the current speed loss value to the base speed loss value when the state information of the target object is received at the current acquisition time point; select a preset number of historical acquisition time points and the state information corresponding to the historical acquisition time points as a reference state set; and calculate the current speed of the target object based on the reference state set and the base speed loss value.

[0070] In some embodiments, the object display position prediction apparatus 4 can be configured to configure a weight value for the state information corresponding to the historical acquisition time points based on the time interval between the preset number of historical acquisition time points and the current acquisition time point; wherein the longer the time interval, the lower the weight value, and the shorter the time interval, the higher the weight value; and calculate the current speed of the target object based on the reference state set, including: calculating the current speed of the target object based on the reference state set and the corresponding weight value.

[0071] In some embodiments, the object display position prediction apparatus 4 can be configured to adjust the preset time length when the number of consecutive coordinate losses is greater than or equal to a preset threshold; wherein the adjustment frequency of the preset time length is positively correlated with the frequency of lost coordinates, the adjustment amplitude of the preset time length is positively correlated with the frequency of lost coordinates, and the accumulation of the number of consecutive coordinate losses is negatively correlated with the preset time length.

[0072] In some embodiments, the object display position prediction apparatus 4 can be configured to obtain the actual refresh frequency of the display screen of the vehicle-mounted display apparatus; wherein the actual refresh frequency represents the refresh time interval between adjacent two frames of display screens; and calculate the intermediate transition position of the target object moving to the target coordinate based on the actual refresh frequency, the preset time length, the current speed, and the target coordinate when the refresh time interval is less than the preset time length.

[0073] An electronic device includes a processor, a memory for storing processor-executable instructions, and the processor configured to perform the object display position prediction method provided in the embodiments of the present application.

[0074] In the following, an electronic device according to embodiments of the present application is described with reference to Figure 5 The electronic device can be either or both of the first device and the second device, or a single device independent of them, which can communicate with the first device and the second device to receive the acquired input signals therefrom.

[0075] Figure 5 FIG. 1 illustrates a block diagram of an electronic device according to embodiments of the present application.

[0076] As Figure 5As shown, the electronic device 50 includes one or more processors 51 and a memory 52.

[0077] The processor 51 can be a central processing unit (CPU) or other form of processing unit that has data processing and / or instruction execution capabilities, and can control other components in the electronic device 50 to perform desired functions.

[0078] The memory 52 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory, and / or the like. The non-volatile memory, for example, can include read only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer-readable storage media, which the processor 51 can execute to implement the object display position prediction method of various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, and the like can also be stored in the computer-readable storage media.

[0079] In one example, the electronic device 50 can further include an input device 53 and an output device 54, which are interconnected through a bus system and / or other form of connection mechanism (not shown).

[0080] When the electronic device is a stand-alone device, the input device 53 can be a communication network connector for receiving acquired input signals from the first device and the second device.

[0081] In addition, the input device 53 can further include, for example, a keyboard, a mouse, and the like.

[0082] The output device 54 can output various information including determined distance information, direction information, and the like to the outside. The output device 54 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0083] Of course, in order to simplify, ​ Only some of the components in the electronic device 50 related to the present application are shown in the block diagram, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device 50 can include any other appropriate components according to specific application cases.

[0084] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server.

[0085] A computer readable storage medium, the storage medium storing a computer program, the computer program being configured to perform the object display position prediction method provided in the embodiments of the present application.

[0086] The computer readable storage medium can employ any combination of one or more computer readable media. The computer readable media can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0087] For each method embodiment described above, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, some steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0088] It should be noted that each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between each embodiment can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, it is described relatively simply, and the relevant parts can be referred to the part of the method embodiment.

[0089] The steps in the methods of the embodiments of the present application can be adjusted in sequence, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined. The devices in each embodiment of the present application can be combined, divided and deleted according to actual needs.

[0090] Finally, it should be noted that in this document, relational terms such as first and second and the like can only be used to distinguish one entity or action from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by an "including a" statement does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0091] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for predicting the display position of an object, characterized in that: Applied to vehicle-mounted display devices, the method for predicting the display position of an object includes: Acquire state information of the target object at a historical acquisition time point; wherein the state information includes the coordinates of the target object and the speed of the target object; At the current acquisition time point, when the coordinates of the target object are lost, the current speed of the target object is calculated based on the number of consecutive coordinate losses and the status information of the historical acquisition time points; the current speed is negatively correlated with the number of consecutive coordinate losses; Based on the current speed and the preset time length, the target coordinates of the target object in the display image are determined.

2. The method for predicting the display position of an object according to claim 1, wherein: Methods for predicting the display position of an object also include: At the current acquisition time point, when the coordinates of the target object are lost, reducing the current speed of the target object in the display image based on the basic speed loss value; Wherein, at the current acquisition time point, when the coordinates of the target object are lost, the current speed of the target object is calculated based on the number of consecutive coordinate losses and the status information of the historical acquisition time points, including: At the current acquisition time point, when the coordinates of the target object are lost, calculating a current speed loss value based on a basic speed loss value and the number of times the coordinates are continuously lost; The current speed of the target object is calculated based on the current speed loss value and the state information of the historical collection time point; the current speed is negatively correlated with the current speed loss value.

3. The method for predicting the display position of an object according to claim 2, wherein: Methods for predicting the display position of an object also include: At the current acquisition time point, when the state information of the target object is lost, the previous historical acquisition time point of the current acquisition time point is used as the target time point, and the braking state of the target object corresponding to the target time point is obtained; When the braking state at the target time point indicates braking, a value of the basic speed loss value is determined; wherein the value of the basic speed loss value during braking is greater than the value of the basic speed loss value during non-braking.

4. The method for predicting the display position of an object according to claim 1, wherein: Methods for predicting the display position of an object also include: At a current acquisition time point, when the state information of the target object is received, resetting the current speed loss value to a basic speed loss value; Select a preset number of historical collection time points and the status information corresponding to the historical collection time points as a reference state set; The current speed of the target object is calculated based on the reference state set and the basic speed loss value.

5. The method for predicting the display position of an object according to claim 4, wherein: Methods for predicting the display position of an object also include: Based on the time intervals between a preset number of historical collection time points and the current collection time point, a weight value is configured for the status information corresponding to the historical collection time point; wherein, the longer the time interval, the lower the weight value, and the shorter the time interval, the higher the weight value; Calculating the current speed of the target object based on the reference state set includes: Based on the reference state set and the corresponding weight values, the current speed of the target object is calculated.

6. The method for predicting the display position of an object according to claim 1, wherein: Methods for predicting the display position of an object also include: When the number of times the coordinates are lost continuously is greater than or equal to a preset threshold, the preset time length is adjusted; wherein, the adjustment frequency of the preset time length is positively correlated with the frequency of lost coordinates, the adjustment amplitude of the preset time length is positively correlated with the frequency of lost coordinates, and the cumulative number of times the coordinates are lost continuously is negatively correlated with the preset time length.

7. The method for predicting the display position of an object according to claim 1, wherein: Methods for predicting the display position of an object also include: Obtaining an actual refresh rate of a display screen of the vehicle-mounted display device; wherein the actual refresh rate represents a refresh time interval between two adjacent frames of the display screen; When the refresh time interval is less than the preset time length, an intermediate transition position of the target object in the process of moving to the target coordinate is calculated based on the actual refresh frequency, the preset time length, the current speed and the target coordinate.

8. A device for predicting the display position of an object, characterized in that: Applied to an in-vehicle display device, the device for predicting the displayed position of an object includes: An acquisition module, which acquires state information of the target object at a historical acquisition time point; wherein the state information includes the coordinates of the target object and the speed of the target object; a calculation module, which, at a current acquisition time point, when the coordinates of the target object are lost, calculates a current speed of the target object based on the number of consecutive coordinate losses and state information at historical acquisition time points; the current speed is negatively correlated with the number of consecutive coordinate losses; The determination module determines the target coordinates of the target object in the display image based on the current speed and a preset time length.

9. An electronic device, characterized in that: include: one or more processors; Memory; as well as One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the method for predicting the display position of an object according to any one of claims 1 to 7.

10. A vehicle, characterized in that: include: In-vehicle display device; The electronic device according to claim 9, wherein the electronic device is communicatively connected to the vehicle-mounted display device.

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