Rendering method of three-dimensional guide identifier and related product

Abstract

The invention discloses a rendering method of a three-dimensional guide identifier and a related product. Firstly, a horizontal deflection angle and a vertical pitch angle of each guide identifier in a to-be-rendered three-dimensional guide identifier set in an AR-HUD equipment coordinate system are acquired, and then a corresponding target baking map is determined based on the two angles. The target baking chartlet comprises a basic baking chartlet or a prefabricated baking chartlet, the basic baking chartlet is a static image of the three-dimensional guide identifier under a standard view angle, and the prefabricated baking chartlet is a static image of the three-dimensional guide identifier under different view angles except the standard view angle. And finally, based on the determined target baking chartlet, rendering of the three-dimensional guide mark is carried out on the corresponding three-dimensional guide mark. According to the method, the consumption of computing resources can be reduced while the authenticity and naturalness of visual presentation of the identifier are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image processing, in particular to a rendering method of a three-dimensional guide mark and related products. BACKGROUND

[0002] An augmented reality head-up display (AR-HUD) is a vehicle-mounted display device integrated with augmented reality technology. It superimposes virtual information on the windshield or a dedicated display panel in front of the driver's field of view, projects key driving assistance content such as three-dimensional dynamic guide marks into the real road scene, and realizes the visual effect of virtual and real fusion. The three-dimensional dynamic guide mark presents navigation information and path guidance to the driver in three-dimensional form in real time.

[0003] Currently, there are mainly two ways to generate three-dimensional dynamic guide marks for AR-HUD: static pre-baked light map method and dynamic real-time light rendering method. The static pre-baked light map method pre-computes and stores the lighting effect, so that the AR-HUD system can quickly call these pre-processed lighting data when running. However, since the map has a uniform optical texture, it is difficult to truly reflect the lighting changes in the environment and cannot achieve real-time adaptation to dynamic environments. In contrast, the dynamic real-time light rendering method can calculate the lighting effect in real time at runtime, thereby providing more accurate and natural visual effects. However, this real-time calculation requires a large amount of computing resources, resulting in high power consumption. SUMMARY

[0004] Based on the above problems, the present application provides a rendering method of a three-dimensional guide mark and related products, aiming to reduce the use and consumption of computing resources while ensuring the visual reality and naturalness of the three-dimensional dynamic guide mark.

[0005] The embodiments of the present application disclose the following technical solutions:

[0006] A rendering method of a three-dimensional guide mark, the method comprising:

[0007] obtaining a set of three-dimensional guide marks to be rendered, and for each three-dimensional guide mark in the set of three-dimensional guide marks, obtaining a horizontal deflection angle and a vertical pitch angle of the three-dimensional guide mark in an augmented reality head-up display (AR-HUD) coordinate system; the three-dimensional guide marks in the set of three-dimensional guide marks are guide marks of the same indication type;

[0008] determine a target baked map corresponding to the three-dimensional guide mark based on the horizontal deflection angle and / or the vertical pitch angle; the target baked map comprises a basic baked map or a pre-made baked map; the basic baked map is a static image of the three-dimensional guide mark under a standard view angle; the pre-made baked map is a static image of the three-dimensional guide mark under a different view angle other than the standard view angle;

[0009] render each of the three-dimensional guide marks based on each of the target baked maps respectively.

[0010] In a possible implementation, the pre-made baked maps comprise first to nth pre-made baked maps, and n is a positive integer.

[0011] The pre-making process of the basic baked map and the pre-made baked maps comprises:

[0012] generate the basic baked map based on a fixed light source and a standard view angle;

[0013] obtain first to nth vertical angle thresholds, and determine first to nth adjustment parameters one by one based on the fixed light source and the n vertical angle thresholds;

[0014] adjust the basic baked map based on the n adjustment parameters and the fixed light source respectively, to obtain the n pre-made baked maps, and the pre-made baked maps present reflection texture characteristics under corresponding view angles of the vertical angle range.

[0015] In a possible implementation, the determination of the target baked map corresponding to the three-dimensional guide mark based on the horizontal deflection angle and / or the vertical pitch angle comprises:

[0016] when the absolute value of the horizontal deflection angle is equal to a horizontal angle threshold, determine that the basic baked map corresponding to the three-dimensional guide mark is the target baked map;

[0017] when the absolute value of the horizontal deflection angle is not equal to the horizontal angle threshold, determine a pre-made baked map corresponding to the three-dimensional guide mark based on the vertical pitch angle and the vertical angle threshold, and take the pre-made baked map as the target baked map of the three-dimensional guide mark.

[0018] In a possible implementation, the determination of the pre-made baked map corresponding to the three-dimensional guide mark based on the vertical pitch angle and the vertical angle threshold comprises:

[0019] when the absolute value of the vertical pitch angle is equal to a first vertical angle threshold, determine that the target baked map corresponding to the three-dimensional guide mark is the first pre-made baked map;

[0020] determining a target baked map corresponding to the three-dimensional guide mark as the (i+1)th prepared baked map when the absolute value of the vertical pitch angle belongs to the ith vertical angle range; i is 1, 2, 3, …, n-1;

[0021] wherein the ith vertical angle range includes a numerical interval greater than the ith vertical angle threshold value and less than or equal to the (i+1)th vertical angle threshold value; the (i+1)th vertical angle threshold value is different from the ith vertical angle threshold value by 180 / (n-1) degrees, and the (i+1)th angle threshold value is greater than the ith angle threshold value.

[0022] In a possible implementation, the vertical angle range has the switching critical value, the ith switching critical value is greater than the midpoint value of the ith vertical angle range and less than the (i+1)th vertical angle threshold value;

[0023] The method further includes:

[0024] When the vertical pitch angle changes and reaches the switching critical value of the vertical angle range before the change, the prepared baked map is switched by using a frame interpolation algorithm for smooth transition.

[0025] In a possible implementation, the method further includes:

[0026] When the absolute value of the vertical pitch angle is greater than the nth angle threshold value, the absolute value of the vertical pitch angle is folded by using a mirror folding algorithm;

[0027] The determination of the prepared baked map corresponding to the three-dimensional guide mark based on the vertical pitch angle and the vertical angle threshold value includes:

[0028] The determination of the prepared baked map corresponding to the three-dimensional guide mark based on the vertical pitch angle and the vertical angle threshold value includes:

[0029] In a possible implementation, n is 9, the prepared baked map includes first to ninth prepared baked maps, and the (i+1)th vertical angle threshold value is different from the ith vertical angle threshold value by 22.5 degrees.

[0030] A rendering system of a three-dimensional guide mark, the system including a coordinate acquisition module, a judgment loading module, and a rendering module; the coordinate acquisition module is connected to the judgment loading module; the judgment loading module is connected to the rendering module;

[0031] The coordinate acquisition module is configured to acquire a set of three-dimensional guide signs to be rendered, and acquire, for each three-dimensional guide sign in the set of three-dimensional guide signs, a horizontal deflection angle and a vertical pitch angle of the three-dimensional guide sign in an AR-HUD device coordinate system; the three-dimensional guide signs in the set of three-dimensional guide signs are guide signs of the same indication type;

[0032] The determination and loading module is configured to determine a target baked map corresponding to the three-dimensional guide sign based on the horizontal deflection angle and / or the vertical pitch angle; the target baked map includes a basic baked map or a prefabricated baked map; the basic baked map is a static image of the three-dimensional guide sign at a standard view angle; and the prefabricated baked map is a static image of the three-dimensional guide sign at a different view angle other than the standard view angle.

[0033] The rendering module is configured to perform sign rendering on each three-dimensional guide sign based on the target baked map of the three-dimensional guide sign.

[0034] In a possible implementation, the determination and loading module includes a horizontal deflection angle determination module, a vertical pitch angle determination module, and a loading module; the horizontal deflection angle determination module is connected to the coordinate acquisition module, the vertical pitch angle determination module, and the loading module; the vertical pitch angle determination module is connected to the coordinate acquisition module and the loading module; and the loading module is connected to the rendering module.

[0035] The horizontal deflection angle determination module is configured to determine whether an absolute value of the horizontal deflection angle is equal to a horizontal angle threshold value.

[0036] The vertical pitch angle determination module is configured to determine a vertical angle range corresponding to the vertical pitch angle when the absolute value of the horizontal deflection angle is not equal to the horizontal angle threshold value.

[0037] The loading module is configured to determine the basic baked map corresponding to the three-dimensional guide sign as the target baked map and load the basic baked map when the absolute value of the horizontal deflection angle is equal to the horizontal angle threshold value, and determine a prefabricated baked map corresponding to the three-dimensional guide sign based on the vertical pitch angle and a vertical angle threshold value, use the prefabricated baked map as the target baked map of the three-dimensional guide sign, and load the prefabricated baked map when the absolute value of the horizontal deflection angle is not equal to the horizontal angle threshold value.

[0038] A vehicle-mounted augmented reality head-up display (AR-HUD) device, configured to implement the method for rendering three-dimensional guide signs.

[0039] Compared with the prior art, the application has the following beneficial effects:

[0040] The embodiment of the application first acquires the horizontal deflection angle and the vertical pitch angle of each guide mark in the three-dimensional guide mark set to be rendered in the AR-HUD device coordinate system, determines the corresponding target baking map based on the two angle parameters, and the target baking map includes the basic baking map under the standard view angle and the prefabricated baking map of the three-dimensional guide mark under different view angles outside the standard view angle. Finally, the corresponding three-dimensional guide mark is rendered based on the selected target baking map, which realizes the dynamic presentation of more realistic three-dimensional guide mark lighting effects according to the view angle change. The application dynamically switches the preprocessed basic baking map and the prefabricated baking map, realizes the highlight reflection gradient and the visual shading effect under different view angles of the fixed light source, avoids the material performance rigidity problem of the static pre-baking scheme, effectively improves the realism and dynamic adaptation of the optical performance of the rendered three-dimensional guide mark, avoids the power consumption problem caused by high computing load in the dynamic real-time lighting rendering, balances the visual effect and system performance, and has the advantages of high computing efficiency, natural rendering effect and energy saving. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor

[0042] Figure 1 A schematic diagram of a static pre-baking lighting map provided by the embodiment of the application;

[0043] Figure 2 A schematic diagram of an application scene of three-dimensional guide mark rendering provided by the embodiment of the application;

[0044] Figure 3 A schematic diagram of an AR-HUD device coordinate system provided by the embodiment of the application;

[0045] Figure 4 A flowchart of an implementation mode of a rendering method of a three-dimensional guide mark provided by the embodiment of the application;

[0046] Figure 5 A schematic diagram of a rendering effect of a three-dimensional guide mark provided by the embodiment of the application;

[0047] Figure 6 A schematic diagram of a correspondence relationship between a prefabricated baking map and a vertical pitch angle range provided by the embodiment of the application;

[0048] Figure 7 A schematic diagram of a rendering system of a three-dimensional guide mark provided by the embodiment of the application. DETAILED DESCRIPTION

[0049] To make the technical solutions provided by the embodiments of the present application easy to understand, the background art related to the embodiments of the present application will be described first.

[0050] Currently, there are mainly two methods for generating three-dimensional dynamic guide marks for AR-HUD: static pre-baked light map method and dynamic real-time light rendering method.

[0051] For the static pre-baked light map method, this method generates a light map based on offline baking, which can effectively reduce the real-time computing load of the system, but has the problem of missing view-dependent optical properties. Due to the lack of simulation of dynamic highlight reflection and parallax occlusion effect, the virtual mark material performance remains unchanged under different observation angles, which leads to the fact that it cannot present real light effects with the change of viewing angle, thereby seriously weakening the visual fusion degree of virtual objects and real environment, which may cause spatial cognitive disorder of the driver. As shown in FIG. 1, in the case of using the static pre-baked light map method, whether it is a right turn or a U-turn mark, the optical texture remains uniform, which is difficult to meet the light changes in the real scene, affecting the use experience and safety. Figure 1

[0052] For the dynamic real-time light rendering method, although this method can achieve high-precision light effects, it is restricted by the heat dissipation limit of the vehicle-mounted light machine system and the algorithm power bottleneck of the graphics processing unit. Due to the continuous high-frequency light tracing calculation, the device temperature will rise rapidly, triggering the frequency reduction mechanism, thereby causing the rendering frame rate to drop significantly, affecting the display smoothness. At the same time, long-term operation under high load accelerates the aging of hardware, reduces the device life, and is difficult to meet the strict requirements of the automotive industry on system stability and reliability.

[0053] ​Based on this, the embodiment of the present application provides a rendering method of three-dimensional guide mark and related products. The present application first acquires a three-dimensional guide mark set to be rendered, and for each three-dimensional guide mark in the three-dimensional guide mark set, acquires the horizontal deflection angle and the vertical pitch angle of the three-dimensional guide mark in the AR-HUD device coordinate system. The three-dimensional guide marks in the three-dimensional guide mark set are guide marks of the same indication type, and further based on the horizontal deflection angle and the vertical pitch angle, a target baked map corresponding to the three-dimensional guide mark is determined. The target baked map includes a basic baked map or a prefabricated baked map. The basic baked map is a static image of the three-dimensional guide mark at a standard view angle. The prefabricated baked map is a static image of the three-dimensional guide mark at different view angles other than the standard view angle. Subsequently, each three-dimensional guide mark is rendered based on the corresponding target baked map. The present application adjusts the basic baked map at the view angle by using the fixed light source and the corresponding adjustment parameter of the vertical pitch angle, so as to provide a more realistic lighting effect image at different view angles, thereby enhancing the realism and naturalness of the vision. Compared with the static pre-baking method, the present application can better adapt to different view angle change requirements. At the same time, compared with the dynamic real-time lighting rendering method, the present application precalculates and stores baked maps at multiple view angles, so that only the corresponding prefabricated baked map needs to be called for rendering during actual operation, greatly reducing the need for real-time calculation and reducing the consumption of computing resources and power consumption.

[0054] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0055] Reference is made to Figure 2 , Figure 2 An application scene schematic diagram of the three-dimensional guide mark rendering provided by the embodiment of the present application is provided.

[0056] When rendering each three-dimensional guide mark in a certain three-dimensional guide mark set in the AR-HUD, the horizontal deflection angle A and the vertical pitch angle B information of these marks are first collected. Subsequently, a three-dimensional guide mark is taken as an example for description. In the AR-HUD, the horizontal deflection angle and the vertical pitch angle of the three-dimensional guide mark are used to describe the spatial direction of the guide mark relative to the driver's line of sight: the horizontal deflection angle refers to the horizontal deflection angle of the three-dimensional guide mark in the AR-HUD device coordinate system relative to the horizontal direction axis (such as the β axis in the AR-HUD device coordinate system) around the vertical axis (such as the β axis in the AR-HUD device coordinate system); the vertical pitch angle refers to the vertical pitch angle of the three-dimensional guide mark in the AR-HUD device coordinate system relative to the vertical direction axis (such as the β axis in the AR-HUD device coordinate system) around the horizontal direction axis (such as the β axis in the AR-HUD device coordinate system). Figure 3 Figure 3 ​The horizontal rotation angle of the marker (the γ axis in the figure), that is, the left and right rotation angle of the marker in the horizontal direction, is used to indicate the offset of the user's line of sight or observation angle relative to the horizontal direction of the marker. The vertical pitch angle refers to the rotation angle of the 3D guide marker around the horizontal axis (such as Figure 3 γ axis in the figure) relative to the vertical axis (e.g. Figure 3 The rotation angle of the logo in the vertical direction is used to indicate the offset of the user's line of sight or observation angle relative to the vertical direction of the logo.

[0057] Then, when the absolute value of the horizontal deflection angle A is equal to 0.5 degrees (ie, the horizontal angle threshold), the base baked map (ie Figure 2 The arrow0.mtl file in the image is used as the target baked texture for the 3D guide marker. When the absolute value of the horizontal deflection angle A is not equal to 0.5 degrees (i.e., the horizontal angle threshold), the relationship between the vertical pitch angle and the various vertical angle thresholds is determined. When the vertical pitch angle meets different vertical angle thresholds and vertical angle ranges, the target baked texture for the 3D guide marker also varies.

[0058] When the absolute value of the vertical pitch angle B = 0 degrees (ie the first vertical angle threshold), the first prefabricated baked map (ie Figure 2 arrow1.mtl in the 3D guide mark) is determined as the target baking map corresponding to the 3D guide mark; when 0 degrees < the absolute value of the vertical pitch angle B ≤ 22.5 degrees (i.e. the first vertical angle range), the second prefabricated baking map (i.e. Figure 2 arrow2.mtl in the 3D guide mark) is determined as the target baking map corresponding to the 3D guide mark; when 22.5 degrees < the absolute value of the vertical pitch angle B ≤ 45 degrees (i.e. the second vertical angle range), the third prefabricated baking map (i.e. Figure 2 arrow3.mtl in the 3D guide marker) is determined as the target baking map corresponding to the 3D guide marker; when 45 degrees < the absolute value of the vertical pitch angle B ≤ 67.5 degrees (i.e. the third vertical angle range), the fourth prefabricated baking map (i.e. Figure 2 arrow4.mtl in the 3D guide mark) is determined as the target baking map corresponding to the 3D guide mark; when 67.5 degrees < the absolute value of the vertical pitch angle B ≤ 90 degrees (i.e. the fourth vertical angle range), the fifth prefabricated baking map (i.e. Figure 2 arrow5.mtl in the 3D guide mark) is determined as the target baking map corresponding to the 3D guide mark; when 90 degrees < the absolute value of the vertical pitch angle B ≤ 112.5 degrees (i.e. the fifth vertical angle range), the sixth prefabricated baking map (i.e. Figure 2 arrow6.mtl in the 3D guide mark) is determined as the target baking map corresponding to the 3D guide mark; when 112.5 degrees < the absolute value of the vertical pitch angle B ≤ 135 degrees (i.e. the sixth vertical angle range), the seventh prefabricated baking map (i.e.Figure 2 arrow7.mtl in the 3D guide marker) is determined as the target baking map corresponding to the 3D guide marker; when 135 degrees < the absolute value of the vertical pitch angle B ≤ 157.5 degrees (i.e. the seventh vertical angle range), the eighth prefabricated baking map (i.e. Figure 2 arrow8.mtl in the 3D guide mark) is determined as the target baking map corresponding to the 3D guide mark; when 157.5 degrees < the absolute value of the vertical pitch angle B ≤ 180 degrees (i.e. the eighth vertical angle range), the ninth prefabricated baking map (i.e. Figure 2 The arrow9.mtl file in the source file is used as the target baked texture for the 3D guide marker. The base baked texture is a static image of the 3D guide marker at a standard viewing angle. The prefabricated baked texture is generated by adaptively adjusting the viewing angle of the base baked texture based on a fixed light source and adjustment parameters.

[0059] Finally, the determined target baked map is applied to the rendering process of the three-dimensional guide sign to obtain a rendered image, which is then mapped to the three-dimensional model surface of the guide sign to generate a visual image with realistic lighting effects and perspective adaptability, thereby presenting a clear, natural navigation sign that dynamically responds to changes in user perspective in the augmented reality head-up display.

[0060] Those skilled in the art will understand that Figure 2 The framework diagram shown is only an example in which the embodiments of the present application can be implemented. The scope of application of the embodiments of the present application is not limited by any aspect of the framework.

[0061] To facilitate understanding of the present application, a method for rendering a three-dimensional guide sign provided in an embodiment of the present application is described below with reference to the accompanying drawings.

[0062] See also Figure 4 As shown in FIG, this figure is a flow chart of a method for rendering a three-dimensional guide mark provided in an embodiment of the present application, as shown in FIG. Figure 4 As shown, the method may include S401-S403:

[0063] S401: Obtain a set of three-dimensional guide markers to be rendered, and for each three-dimensional guide marker in the set, obtain a horizontal deflection angle and a vertical pitch angle of the three-dimensional guide marker in the AR-HUD device coordinate system.

[0064] In the process of rendering each 3D guide marker in the 3D guide marker set, it is first necessary to obtain the 3D guide marker set to be rendered, and obtain the horizontal deflection angle and vertical pitch angle of each 3D guide marker in the AR-HUD device coordinate system. The horizontal deflection angle describes the rotation of the 3D guide marker around the vertical axis (for example, Figure 3The rotation of the β axis in the figure is performed relative to the horizontal axis (such as Figure 3 The γ axis in the AR-HUD coordinate system is the left and right offset angle of the marker in the horizontal direction, which is used to express the deviation between the observation angle and the horizontal direction of the marker. The vertical pitch angle represents the 3D guide marker around the horizontal axis (such as Figure 3 γ axis in the figure) relative to the vertical axis (e.g. Figure 3 The rotation angle of the β-axis (in the image), or the vertical tilt angle of the marker, reflects the offset between the viewing angle and the vertical direction of the marker. This angle information can be used to accurately determine the specific posture and position of the 3D guide marker in space.

[0065] The three-dimensional guide signs in the three-dimensional guide sign set are guide signs of the same indication type. For example, all signs in the three-dimensional guide sign set are guide signs indicating "turn right." Regardless of whether these signs are located in different locations or have different specific forms, they all belong to the same indication type, namely, "turn right," and are used to prompt the user to turn right during navigation.

[0066] In one possible implementation, to obtain the horizontal deflection angle and vertical pitch angle of the three-dimensional guidance marker in the AR-HUD device coordinate system, the following steps may be performed:

[0067] A1: First, collect the posture data of the guidance marker in the AR-HUD device coordinate system.

[0068] A2: Using an attitude calculation algorithm combined with coordinate transformation, the collected spatial position information is converted into horizontal deflection angles around the vertical axis and vertical pitch angles around the horizontal axis, thereby accurately reflecting the direction and tilt status of the guidance sign displayed in the AR-HUD device, providing precise parameters for subsequent rendering and display.

[0069] Through these steps, the specific posture and position of the 3D guidance marker in the AR-HUD device coordinate system can be obtained, thereby providing the necessary parameters for subsequent rendering and positioning.

[0070] S402: Determine a target baked map corresponding to the three-dimensional guide marker based on the horizontal deflection angle and / or the vertical pitch angle.

[0071] After obtaining the horizontal deflection angle and vertical pitch angle of the 3D guide marker, the current spatial posture of the 3D guide marker can be analyzed based on the obtained horizontal deflection angle and vertical pitch angle, and the corresponding target baking map can be determined based on this.

[0072] The target baking map is divided into two categories: a basic baking map and a pre-baking map. The basic baking map refers to a static image of the three-dimensional guide mark collected at a standard view angle, reflecting the appearance characteristics of the mark at no rotation or default observation direction. The pre-baking map is a static image of the three-dimensional guide mark at different view angles other than the standard view angle. The pre-baking map can simulate and capture the appearance characteristics of the three-dimensional guide mark at various rotation and observation angles, thereby providing more realistic and natural rendering effects under different visual conditions.

[0073] S403: Perform mark rendering on each of the three-dimensional guide marks based on the target baking map.

[0074] After determining the ideal map (i.e., the target baking map) at the current view angle, mark rendering can be performed on each of the three-dimensional guide marks based on all the ideal maps. Specifically, the selected ideal map is first loaded as a texture resource into the rendering engine, and then the map is accurately mapped to the model surface of the three-dimensional guide mark. Through the graphics rendering pipeline, combined with the lighting model and the view angle parameter, dynamic adjustment and display of the map are realized, so that the guide mark can exhibit the lighting reflection texture characteristics at different view angles under different observation angles, thereby avoiding the problem of material solidification in visual effects. The effect diagram of the target baking map after mark rendering is shown in Figure 5 Figure 5 The effect diagram of the three-dimensional guide mark in the application embodiment after the rendering method is applied is compared with the original mark effect in Figure 1 By using the method of the application, the three-dimensional guide mark in Figure 5 exhibits more realistic lighting and shadow effects at different view angles. Compared with the static or standard view angle image in Figure 1 , the visual performance is more natural and has a three-dimensional effect, effectively improving the identification experience and navigation accuracy of the user.

[0075] In addition, the rendering process also includes anti-aliasing processing, transparency control, and shadow projection techniques to enhance the clarity and three-dimensionality of the mark, thereby presenting a natural and smooth three-dimensional navigation mark that conforms to the actual lighting environment changes in the augmented reality head-up display system, improving the identification efficiency and interactive experience of the user.

[0076] In one possible implementation, the mark rendering on each of the three-dimensional guide marks based on the target baking map includes:

[0077] B1: First, load the target baking map. If a pre-baking map is used, ensure that all necessary rendering parameters (such as lighting intensity, shadow effect, material properties, etc.) have been set.

[0078] ​B2: Then, considering the material properties of the three-dimensional guide mark, such as reflectivity, transparency, etc., material rendering is performed to ensure that the visual effect of the mark under lighting is realistic and credible.

[0079] B3: Next, the target baked map is fused with the geometric model of the three-dimensional guide mark to ensure that the map accurately covers the model surface without misalignment or distortion.

[0080] B4: At the same time, anti-aliasing techniques and dynamic resolution adjustment are used to improve the smoothness and detail performance of the image.

[0081] B5: After completing the above rendering steps, the processed image is output through the rendering pipeline, and the visual effect is naturally integrated into the augmented reality head-up display interface, so that the three-dimensional guide mark can maintain clear, realistic and dynamic response to user viewing angle changes under different observation angles, thereby improving the accuracy and comfort of the navigation experience.

[0082] Based on the description of S401-S403, the embodiment of the present application provides a rendering method for a three-dimensional guide mark. First, the horizontal deflection angle and the vertical pitch angle of each three-dimensional guide mark in a set of three-dimensional guide marks to be rendered are collected. Based on the two angles, the target baked map corresponding to each three-dimensional guide mark is determined. The target baked map includes two types of basic baked map and pre-baked map. The basic baked map is a static image of the three-dimensional guide mark under a standard viewing angle, while the pre-baked map is a static image of the three-dimensional guide mark under different viewing angles other than the standard viewing angle. Finally, according to the selected target baked map corresponding to each three-dimensional guide mark, the rendering process of the three-dimensional guide mark is completed. Each three-dimensional guide mark in the set of three-dimensional guide marks exhibits different light reflection characteristics, achieving dynamic optimization of the visual effect and providing a more realistic and natural perspective adaptive guidance effect. Through pre-processing and perspective adaptive adjustment, the present application combines the efficiency of the static pre-baked lighting map method and the flexibility of the dynamic real-time lighting rendering method, reducing the consumption of computing resources and providing more realistic and natural visual effects.

[0083] In a possible implementation, the pre-baked map includes a first pre-baked map to an n-th pre-baked map, where n is a positive integer.

[0084] In a possible implementation, the pre-baking process of the basic baked map and the pre-baked map includes:

[0085] The pre-baking process of the basic baked map: the basic baked map is generated based on a fixed light source and a standard viewing angle. Specifically, the three-dimensional guide mark model can be placed under the fixed light source and rendered and collected in the standard observation direction to obtain a static texture image reflecting the real material and morphological characteristics of the mark, thereby forming the basic baked map.

[0086] The pre-preparation process of the pre-prepared baked map: obtain the first-n vertical angle range, and determine the first-n adjustment parameters one by one based on the fixed light source and the n vertical angle thresholds. Then, the n adjustment parameters and the fixed light source are used to adjust the basic baked map respectively, to obtain n pre-prepared baked maps, which present the reflection texture characteristics at the corresponding viewing angle of the vertical angle range. In this way, the three-dimensional guide mark can be dynamically adjusted and rendered at different viewing angles, ensuring that it presents a real optical material texture at various observation angles.

[0087] For example, when the vertical angle threshold is 30°, the adjustment parameter is "rotation angle about 30°, the basic baked map is rotated clockwise by 30° around the horizontal axis, accompanied by about 5% uniform scaling and translation (such as upward offset of 2 pixels)", to adapt to the tilt change of the observation viewing angle and improve the stereoscopic sense of vision.

[0088] For another example, when the vertical angle threshold is 60°, the adjustment parameter is "rotation angle 60°, a larger rotation makes the map effectively match a high viewing angle, accompanied by 10% scaling and appropriate translation adjustment (for example, upward offset of 5 pixels and forward offset of 3 pixels)", to ensure that the basic baked map still naturally connects and accurately reflects the light and shadow effect at an extreme viewing angle, realizing real and smooth viewing angle adaptation.

[0089] In a possible implementation, the determining the target baked map corresponding to the three-dimensional guide mark based on the horizontal deflection angle and / or the vertical pitch angle comprises:

[0090] When the absolute value of the horizontal deflection angle is equal to the horizontal angle threshold, the basic baked map corresponding to the three-dimensional guide mark is determined as the target baked map; when the absolute value of the horizontal deflection angle is not equal to the horizontal angle threshold, the pre-prepared baked map is determined based on the vertical pitch angle after mirror folding and the vertical angle range, and the pre-prepared baked map is used as the target baked map of the three-dimensional guide mark.

[0091] Specifically, when the absolute value of the horizontal deflection angle is equal to the preset horizontal angle threshold, the basic baked map corresponding to the three-dimensional guide mark is determined as the target baked map, at this time the mark is at a standard viewing angle, and a static image is used to ensure the stability of rendering; when the absolute value of the horizontal deflection angle is not equal to the threshold, the corresponding pre-prepared baked map is dynamically selected as the target baked map of the three-dimensional guide mark according to the current vertical pitch angle, so as to realize viewing angle adaptive adjustment and ensure that the three-dimensional guide mark can present a real visual effect consistent with the change of light and viewing angle at different observation directions.

[0092] In a possible implementation, the determining the corresponding pre-baked map of the three-dimensional guide mark based on the vertical pitch angle and the vertical angle threshold value comprises:

[0093] When the absolute value of the vertical pitch angle is equal to a first vertical angle threshold value, the target baked map corresponding to the three-dimensional guide mark is determined as the first pre-baked map; when the absolute value of the vertical pitch angle belongs to an ith vertical angle range, the target baked map corresponding to the three-dimensional guide mark is determined as an (i+1)th pre-baked map; i is 1, 2, 3,..., n-1; wherein the ith vertical angle range comprises a value interval greater than an ith vertical angle threshold value and less than or equal to an (i+1)th vertical angle threshold value.

[0094] Specifically, when the absolute value of the vertical pitch angle of the three-dimensional guide mark is exactly equal to a first vertical angle threshold value (such as 0°), the target baked map is directly determined as the first pre-baked map, which corresponds to the lighting and visual effect at the specific pitch angle, and ensures that the mark displays the best visual performance at the angle. When the absolute value of the vertical pitch angle belongs to an ith vertical angle range, the target baked map is determined as the pre-baked map corresponding to the vertical angle range, thereby ensuring that the mark presents correct lighting and visual effect within the angle range.

[0095] For example, if the absolute value of the vertical pitch angle is in a first vertical angle range (the first vertical angle range ∈ (the first vertical angle threshold value, the second vertical angle threshold value]), the target baked map is determined as a second pre-baked map according to the interval;

[0096] If the absolute value of the vertical pitch angle is in a second vertical angle range (the second vertical angle range ∈ (the second vertical angle threshold value, the third vertical angle threshold value]), the target baked map is determined as a third pre-baked map according to the interval;

[0097] If the absolute value of the vertical pitch angle is in a third vertical angle range (the third vertical angle range ∈ (the third vertical angle threshold value, the fourth vertical angle threshold value]), the target baked map is determined as a fourth pre-baked map according to the interval.

[0098] If the absolute value of the vertical pitch angle is in a fourth vertical angle range (the fourth vertical angle range ∈ (the fourth vertical angle threshold value, the fifth vertical angle threshold value]), the target baked map is determined as a fifth pre-baked map according to the interval;

[0099] If the absolute value of the vertical pitch angle is in a fifth vertical angle range (the fifth vertical angle range ∈ (the fifth vertical angle threshold value, the sixth vertical angle threshold value]), the target baked map is determined as a sixth pre-baked map according to the interval;

[0100] If the absolute value of the vertical pitch angle is within a sixth vertical angle range (the sixth vertical angle range ∈ (the sixth vertical angle threshold, the seventh vertical angle threshold] ), the target baked map is determined as the seventh pre-baked map according to the interval;

[0101] If the absolute value of the vertical pitch angle is within a seventh vertical angle range (the seventh vertical angle range ∈ (the seventh vertical angle threshold, the eighth vertical angle threshold] ), the target baked map is determined as the eighth pre-baked map according to the interval;

[0102] If the absolute value of the vertical pitch angle is within an eighth vertical angle range (the eighth vertical angle range ∈ (the eighth vertical angle threshold, the ninth vertical angle threshold] ), the target baked map is determined as the ninth pre-baked map according to the interval.

[0103] In addition, the fixed interval between each consecutive vertical angle threshold is 180 / (n-1) degrees, which ensures that the angle range is evenly and finely divided, facilitating smooth view transition. The (i+1)th vertical angle threshold is always greater than the ith vertical angle threshold, thereby forming an increasing angle sequence. Through this pre-baked map selection mechanism based on segmented angle intervals, the system can accurately match the corresponding lighting and shadow effects for different vertical pitch angles, significantly improving the rendering quality and visual realism of the three-dimensional guide sign under multi-angle observation, thereby realizing view grading determination and dynamic map switching, achieving optical texture view continuity transition in turning, U-turn and other scenes, and significantly reducing the spatial recognition error rate of the driver.

[0104] In a possible implementation, the value of n can be 9, and in this case, the pre-baked maps include a first pre-baked map, a second pre-baked map, a third pre-baked map, a fourth pre-baked map, a fifth pre-baked map, a sixth pre-baked map, a seventh pre-baked map, an eighth pre-baked map, and a ninth pre-baked map. As shown in FIG. 1, Figure 6 When the vertical pitch angle belongs to different vertical angle ranges, different pre-baked maps are used, Figure 6 arrow1.mtl is the first pre-baked map, arrow2.mtl is the second pre-baked map, arrow3.mtl is the third pre-baked map, arrow4.mtl is the fourth pre-baked map, arrow5.mtl is the fifth pre-baked map, arrow6.mtl is the sixth pre-baked map, arrow7.mtl is the seventh pre-baked map, arrow8.mtl is the eighth pre-baked map, and arrow9.mtl is the ninth pre-baked map. In this case, the difference between the ith vertical angle threshold and the (i+1)th vertical angle threshold is 22.5 degrees.

[0105] In a possible implementation, n can be 9, the first-nth vertical angle range includes the first-eighth vertical angle range, the first vertical angle threshold can be but is not limited to 0°, the second vertical angle threshold is 22.5°, the third vertical angle threshold is 45°, the fourth vertical angle threshold is 67.5°, the fifth vertical angle threshold is 90°, the sixth vertical angle threshold is 112.5°, the seventh vertical angle threshold is 135°, the eighth vertical angle threshold is 157.5°, and the ninth vertical angle threshold is 180°.

[0106] In a possible implementation, each vertical angle range has a specific switching threshold value, that is, near the upper boundary of the range, and the ith switching threshold value is greater than the midpoint value of the ith vertical angle range and less than the (i+1)th vertical angle threshold. When the vertical pitch angle gradually changes and reaches or exceeds the threshold value, the corresponding pre-baked map can be switched according to the current angle, thereby ensuring the smoothness and naturalness of the view angle switching. This mechanism enables the three-dimensional guide sign to timely adjust the rendering effect at different pitch angles, thereby improving the visual continuity.

[0107] For example, it is assumed that the second vertical angle range is (10°, 20°], 10° is the second vertical angle threshold, and 20° is the third vertical angle threshold. If the switching threshold value is set to 18°, the threshold value is greater than the midpoint 15° of the second vertical angle range and less than the third vertical angle threshold 20°, which meets the condition that the ith switching threshold value is greater than the midpoint value of the ith vertical angle range and less than the (i+1)th vertical angle threshold.

[0108] In a possible implementation, when the vertical pitch angle changes and reaches the switching threshold value of the current vertical angle range, a frame interpolation algorithm can be used to smoothly transition and switch the pre-baked map. The algorithm realizes the gradual fusion of two different pre-baked maps by inserting a map mixing process between consecutive frames, avoids abrupt visual jumps, and thus ensures that the three-dimensional guide sign presents a natural, continuous, and smooth rendering effect when the view angle is converted, thereby improving the user's visual experience and operation comfort.

[0109] It should be noted that the frame interpolation algorithm is a technology that realizes smooth changes of animation or state by inserting transition data between consecutive frames. The core idea is to use the known data points of the previous and next two frames to calculate the interpolation of the intermediate frame according to the change ratio of time or state, thereby avoiding mutations or jumps in the rendering process and making the visual effect more natural and smooth. The frame interpolation algorithm is widely used in three-dimensional graphics rendering, video processing, game animation, and other fields. When a parameter (such as position, angle, color, etc.) of an object changes, the frame interpolation algorithm can generate a smooth transition effect between different states, thereby improving the user experience.

[0110] Specific to the rendering of the three-dimensional guide mark, the vertical pitch angle corresponds to a series of pre-baked maps, each of which reflects the lighting and detail effects at a specific viewing angle. When the vertical pitch angle changes and is close to or reaches the switching threshold of the two vertical angle ranges, if it is directly switched from one pre-baked map to another, it will cause a visual jolt, affecting the realism and visual coherence. At this time, using an inter-frame interpolation algorithm, the two maps before and after can be weighted and mixed according to the offset ratio of the pitch angle relative to the threshold, gradually transitioning to the new map content, and achieving smooth switching.

[0111] Exemplarily, it is assumed that the vertical pitch angle gradually increases from 30° to 48°, and the first vertical angle range is 22.5°~45°, the second vertical angle range is 45°~67.5°, and the switching threshold of the first vertical angle range is 42°. When the pitch angle is 30°, the first pre-baked map corresponding to the first vertical angle range is displayed; when the pitch angle slowly increases and reaches 42°, the inter-frame interpolation algorithm is used to mix the pre-baked map corresponding to the first vertical angle range and the pre-baked map corresponding to the second vertical angle range according to a certain weight, for example:

[0112] When the pitch angle is 44°, the first pre-baked map corresponding to the first vertical angle range is displayed;

[0113] When the pitch angle is 44.5°, the first pre-baked map*70% + the second pre-baked map*30% is used;

[0114] When the pitch angle is 44.8°, the first pre-baked map*20% + the second pre-baked map*80% is used;

[0115] Until the pitch angle is 48°, the map corresponding to the second vertical angle range (45°~67.5°) is completely switched to. This processing can effectively avoid the flickering or breaking phenomenon when the map is switched, and ensure that the rendering of the three-dimensional guide mark in the augmented reality head-up display system is more smooth and natural.

[0116] In a possible implementation, the method further includes:

[0117] When the absolute value of the vertical pitch angle is greater than the nth angle threshold (i.e., the maximum angle threshold), the absolute value can be processed by the mirror folding algorithm. Specifically, the mirror folding algorithm maps the absolute value of the vertical pitch angle that exceeds the nth angle threshold back to a corresponding angle within the threshold range, realizing the "turnaround" or "symmetric" conversion of the angle. This method can map the angle that exceeds the threshold range back to the preset effective threshold interval. After such processing, the vertical pitch angle always remains within the identifiable angle range, thereby ensuring accurate matching of the corresponding pre-baked map and realizing reasonable and continuous rendering effects, avoiding the problem of being unable to find a suitable map due to the angle exceeding the range.

[0118] It should be noted that the mirror folding algorithm is an algorithm that uses the principle of symmetry to map angles or values that exceed a certain threshold range back to a predefined interval in a "mirror" manner. The core idea is to fold the input values that exceed the specified range according to the symmetry axis for problems with symmetry, so that existing results can be reused in the calculation or rendering process without the need for additional data or resources, thereby improving efficiency and simplifying complexity. In the field of graphics rendering, three-dimensional space coordinate conversion, etc., this algorithm is particularly suitable for handling repetitive or symmetric phenomena caused by changes in viewing angle.

[0119] For example, assume that n is 9 and the ninth vertical angle threshold is 180 degrees. When the absolute value of the vertical pitch angle of a certain three-dimensional guide sign is 183 degrees, it exceeds the maximum threshold. At this time, the mirror folding algorithm will symmetrically fold 183 degrees about 180 degrees, and the calculation method is:

[0120] The folded angle = 2 x 180 degrees - 183 degrees = 177 degrees.

[0121] In this way, the baked map corresponding to the 183-degree viewing angle does not need to be separately produced, but can directly reuse the pre-baked map representing the 177-degree viewing angle, realizing resource reuse and rendering optimization. In this way, complex calculations and a large number of map requirements caused by extreme viewing angles are effectively avoided, while the natural and realistic rendering effect is maintained.

[0122] In one possible implementation, the method for determining the pre-baked map corresponding to the three-dimensional guide sign based on the vertical pitch angle and the vertical angle threshold comprises:

[0123] Determining the pre-baked map corresponding to the three-dimensional guide sign based on the vertical pitch angle after mirror folding and the vertical angle threshold.

[0124] Based on the three-dimensional guide sign rendering method provided in the above method embodiment, the present embodiment also provides a three-dimensional guide sign rendering system, which will be described below with reference to the accompanying drawings.

[0125] Referring to Figure 7 as shown, Figure 7 is a schematic view of a rendering system of a three-dimensional guide mark provided by an embodiment of the present application. As Figure 7 shown, the rendering system of the three-dimensional guide mark comprises a coordinate acquisition module 701, a determination and loading module 702 and a rendering module 703; the coordinate acquisition module 701 is connected with the determination and loading module 702; the determination and loading module 702 is connected with the rendering module 703;

[0126] The coordinate acquisition module 701 is configured to acquire a set of three-dimensional guide marks to be rendered, and acquire, for each three-dimensional guide mark in the set of three-dimensional guide marks, a horizontal deflection angle and a vertical pitch angle of the three-dimensional guide mark in an AR-HUD device coordinate system; the three-dimensional guide marks in the set of three-dimensional guide marks are guide marks of the same indication type;

[0127] The determination and loading module 702 is configured to determine a target baked map corresponding to the three-dimensional guide mark based on the horizontal deflection angle and / or the vertical pitch angle; the target baked map comprises a basic baked map or a prefabricated baked map; the basic baked map is a static image of the three-dimensional guide mark at a standard view angle; the prefabricated baked map is a static image of the three-dimensional guide mark at different view angles other than the standard view angle;

[0128] The rendering module 703 is configured to perform mark rendering on each of the three-dimensional guide marks based on the target baked map.

[0129] In a possible implementation, the prefabricated baked maps comprise first to nth prefabricated baked maps, and n is a positive integer.

[0130] In a possible implementation, the device further comprises:

[0131] a basic baked map generation module configured to generate the basic baked map based on a fixed light source and a standard view angle;

[0132] a vertical angle range module configured to acquire first to nth vertical angle thresholds;

[0133] an adjustment parameter determination module configured to determine first to nth adjustment parameters one by one based on the fixed light source and the n vertical angle thresholds;

[0134] an adjustment module configured to adjust the basic baked map based on the n adjustment parameters and the fixed light source respectively, to obtain the n prefabricated baked maps, the prefabricated baked maps presenting reflection texture characteristics at view angles corresponding to the vertical angle range.

[0135] In a possible implementation, the determining and loading module 702 includes a horizontal deflection angle determining module 7021, a vertical pitch angle determining module 7022, and a loading module 7023; the horizontal deflection angle determining module 7021 is connected to the coordinate collecting module 701, the vertical pitch angle determining module 7022, and the loading module 7023 respectively; the vertical pitch angle determining module 7022 is connected to the coordinate collecting module 701 and the loading module 7023 respectively; and the loading module 7023 is connected to the rendering module 703.

[0136] The horizontal deflection angle determining module 7021 is configured to determine whether the absolute value of the horizontal deflection angle is equal to a horizontal angle threshold value.

[0137] The vertical pitch angle determining module 7022 is configured to, when the absolute value of the horizontal deflection angle is not equal to the horizontal angle threshold value, determine a vertical angle range corresponding to the vertical pitch angle.

[0138] The loading module 7023 is configured to, when the absolute value of the horizontal deflection angle is equal to the horizontal angle threshold value, determine that a basic baked map corresponding to the three-dimensional guide mark is the target baked map, and load the basic baked map; and when the absolute value of the horizontal deflection angle is not equal to the horizontal angle threshold value, determine a prefabricated baked map corresponding to the three-dimensional guide mark based on the vertical pitch angle and a vertical angle threshold value, take the prefabricated baked map as the target baked map of the three-dimensional guide mark, and load the target baked map.

[0139] In a possible implementation, the loading module 7023 is specifically configured to:

[0140] When the absolute value of the vertical pitch angle is equal to a first vertical angle threshold value, determine that the target baked map corresponding to the three-dimensional guide mark is the first prefabricated baked map.

[0141] When the absolute value of the vertical pitch angle belongs to an i-th vertical angle range, determine that the target baked map corresponding to the three-dimensional guide mark is an (i+1)-th prefabricated baked map; i is 1, 2, 3,..., n-1.

[0142] The i-th vertical angle range includes a numerical interval greater than an i-th vertical angle threshold value and less than or equal to an (i+1)-th vertical angle threshold value; the i-th vertical angle threshold value and the (i+1)-th vertical angle threshold value differ by 180 / (n-1) degrees, and the (i+1)-th angle threshold value is greater than the i-th angle threshold value.

[0143] In a possible implementation, the vertical angle range has a switching critical value, and an i-th switching critical value is greater than a midpoint value of the i-th vertical angle range and less than the (i+1)-th vertical angle threshold value.

[0144] In a possible implementation, the rendering module 703 is further configured to:

[0145] When the vertical pitch angle changes and reaches a switching threshold of a range of vertical angles before the change, the pre-baked map is switched by using an inter-frame interpolation algorithm for smooth transition.

[0146] In a possible implementation, the vertical pitch angle determination module 7022 is further configured to:

[0147] When the absolute value of the vertical pitch angle is greater than an nth angle threshold, the absolute value of the vertical pitch angle is folded by using a mirror folding algorithm.

[0148] The determination of the pre-baked map corresponding to the three-dimensional guide mark based on the vertical pitch angle and the vertical angle threshold comprises:

[0149] The determination of the pre-baked map corresponding to the three-dimensional guide mark based on the vertical pitch angle and the vertical angle threshold comprises:

[0150] In a possible implementation, n is 9, the pre-baked map comprises a first pre-baked map to a ninth pre-baked map, and the difference between the ith vertical angle threshold and the (i+1)th vertical angle threshold is 22.5 degrees.

[0151] In addition, the embodiment of the present application further provides a vehicle-mounted augmented reality head-up display (AR-HUD) device for implementing the rendering method of the three-dimensional guide mark.

[0152] The embodiment of the present application provides a rendering system of a three-dimensional guide mark. First, the coordinate acquisition module 701 is responsible for a three-dimensional guide mark set to be rendered, and for each three-dimensional guide mark in the three-dimensional guide mark set, the horizontal deflection angle and the vertical pitch angle of the three-dimensional guide mark in the AR-HUD device coordinate system are obtained, and then the determination loading module 702 determines the corresponding target baked map based on the two angles. The selected target baked map includes two types of basic baked maps and pre-baked maps. The basic baked map is a static image of the three-dimensional guide mark under a standard view angle, and the pre-baked map is a static image of the three-dimensional guide mark under different view angles other than the standard view angle. Finally, the rendering module 703 completes the rendering process of the three-dimensional guide mark based on the determined target baked map, and realizes real-time optimization of the visual effect. Compared with the traditional static pre-baking and dynamic real-time lighting rendering method, the present application realizes more realistic three-dimensional guide mark lighting effect under low computing resource consumption by adaptively adjusting the pre-baked map based on the view angle parameter.

[0153] It should be noted that each of the embodiments described in the specification of the present application adopts a progressive manner, and the same or similar parts between the embodiments can be mutually referred to. Each embodiment focuses on the differences from other embodiments. In particular, the system embodiments are described more simply because they are basically similar to the method embodiments, and the relevant parts can be referred to the part of the method embodiments. The system embodiments described above are only illustrative, and the units described as separate components can or can not be physically separated, and the components indicated as units can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiments according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0154] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for rendering a three-dimensional guide sign, characterized in that: The method comprises: Obtaining a set of 3D guide markers to be rendered, and for each 3D guide marker in the set, obtaining a horizontal deflection angle and a vertical pitch angle of the 3D guide marker in an augmented reality head-up display (AR-HUD) device coordinate system; wherein the 3D guide markers in the set are guide markers of the same indication type; Determining a target baked map corresponding to the 3D guide marker based on the horizontal deflection angle and / or the vertical pitch angle; the target baked map includes a basic baked map or a prefabricated baked map; the basic baked map is a static image of the 3D guide marker at a standard viewing angle; the prefabricated baked map is a static image of the 3D guide marker at a different viewing angle than the standard viewing angle; Marker rendering is performed on each of the three-dimensional guide marks based on each of the target baked maps.

2. The method according to claim 1, characterized in that The prefabricated baking maps include first to nth prefabricated baking maps, where n is a positive integer; The prefabrication process of the basic baked map and the prefabricated baked map includes: Generate the basic baked map based on a fixed light source and a standard viewing angle; Obtaining first to n-th vertical angle thresholds, and determining first to n-th adjustment parameters based on a one-to-one correspondence between the fixed light source and the n vertical angle thresholds; The basic baked map is adjusted based on n adjustment parameters and the fixed light source respectively to obtain n prefabricated baked maps, wherein the prefabricated baked maps present reflection texture characteristics at viewing angles corresponding to the vertical angle range.

3. The method according to claim 2, characterized in that The determining of a target baked map corresponding to the three-dimensional guide marker based on the horizontal deflection angle and / or the vertical pitch angle includes: When the absolute value of the horizontal deflection angle is equal to the horizontal angle threshold, determining the base baked map corresponding to the three-dimensional guide marker as the target baked map; When the absolute value of the horizontal deflection angle is not equal to the horizontal angle threshold, a prefabricated baked map corresponding to the three-dimensional guide marker is determined based on the vertical pitch angle and the vertical angle threshold, and the prefabricated baked map is used as a target baked map for the three-dimensional guide marker.

4. The method according to claim 3, characterized in that The determining, based on the vertical pitch angle and the vertical angle threshold, a prefabricated baked map corresponding to the three-dimensional guide marker includes: When the absolute value of the vertical pitch angle is equal to a first vertical angle threshold, determining that the target baked map corresponding to the three-dimensional guide marker is the first prefabricated baked map; When the absolute value of the vertical pitch angle falls within the i-th vertical angle range, determining that the target baked map corresponding to the three-dimensional guide marker is the i+1-th prefabricated baked map; the value of i is 1, 2, 3, ..., n-1; Among them, the i-th vertical angle range includes a numerical interval greater than the i-th vertical angle threshold and less than or equal to the i+1-th vertical angle threshold; the difference between the i-th vertical angle threshold and the i+1-th vertical angle threshold is 180 / (n-1) degrees, and the i+1-th angle threshold is greater than the i-th angle threshold.

5. The method according to claim 4, characterized in that The vertical angle range has the switching threshold, and the i-th switching threshold is greater than the midpoint value of the i-th vertical angle range and less than the i+1-th vertical angle threshold; The method further comprises: When the vertical pitch angle changes and reaches a switching critical value of the vertical angle range before the change, an inter-frame interpolation algorithm is used to perform a smooth transition switch on the prefabricated baked map.

6. The method according to claim 3, characterized in that The method further comprises: When the absolute value of the vertical pitch angle is greater than an nth angle threshold, mirror folding is performed on the absolute value of the vertical pitch angle using a mirror folding algorithm; The determining, based on the vertical pitch angle and the vertical angle threshold, a prefabricated baked map corresponding to the three-dimensional guide marker includes: A prefabricated baked map corresponding to the three-dimensional guide mark is determined based on the vertical pitch angle after the mirror folding and the vertical angle threshold.

7. The method according to claim 4, characterized in that n is 9, the prefabricated baked maps include first to ninth prefabricated baked maps, and the difference between the i-th vertical angle threshold and the (i+1)-th vertical angle threshold is 22.5 degrees.

8. A rendering system for a three-dimensional guide sign, characterized in that: The system includes: a coordinate acquisition module, a determination loading module and a rendering module; the coordinate acquisition module is connected to the determination loading module; the determination loading module is connected to the rendering module; The coordinate acquisition module is configured to obtain a set of 3D guide markers to be rendered, and for each 3D guide marker in the set, obtain a horizontal deflection angle and a vertical pitch angle of the 3D guide marker in the AR-HUD device coordinate system; the 3D guide markers in the set are guide markers of the same indication type; The determination loading module is configured to determine a target baked map corresponding to the 3D guide marker based on the horizontal deflection angle and / or the vertical pitch angle; the target baked map includes a basic baked map or a prefabricated baked map; the basic baked map is a static image of the 3D guide marker at a standard viewing angle; the prefabricated baked map is a static image of the 3D guide marker at a different viewing angle than the standard viewing angle; The rendering module is used to perform logo rendering on each of the three-dimensional guide logos based on each of the target baked maps.

9. The system according to claim 8, characterized in that The determination and loading module includes a horizontal deflection angle determination module, a vertical pitch angle determination module, and a loading module; the horizontal deflection angle determination module is connected to the coordinate acquisition module, the vertical pitch angle determination module, and the loading module respectively; the vertical pitch angle determination module is connected to the coordinate acquisition module and the loading module respectively; the loading module is connected to the rendering module; The horizontal deflection angle determination module is used to determine whether the absolute value of the horizontal deflection angle is equal to a horizontal angle threshold; The vertical pitch angle determination module is configured to determine a vertical angle range corresponding to the vertical pitch angle when the absolute value of the horizontal deflection angle is not equal to a horizontal angle threshold; The loading module is configured to, when the absolute value of the horizontal deflection angle is equal to the horizontal angle threshold, determine the basic baked map corresponding to the 3D guide marker as the target baked map and load the basic baked map; and when the absolute value of the horizontal deflection angle is not equal to the horizontal angle threshold, determine the prefabricated baked map corresponding to the 3D guide marker based on the vertical pitch angle and the vertical angle threshold, use the prefabricated baked map as the target baked map for the 3D guide marker, and load the prefabricated baked map.

10. An in-vehicle augmented reality head-up display (AR-HUD) device, characterized in that: A method for rendering a three-dimensional guide sign as described in any one of claims 1 to 7.

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