Identification display method, storage medium and program product
By keeping the ground marking display area parallel to the lane lines on the map display interface of mobile devices and adopting an appropriate display method, the unstable display problem of ground markings in complex traffic scenarios is solved, thus improving the user experience.
Patent Information
- Application Number
- CN202512024519.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-29
- Publication Date
- 2026-02-17
AI Technical Summary
In complex traffic scenarios, existing technologies result in unstable display of ground markings on mobile device map interfaces, leading to a degraded user experience.
By acquiring ground marking information, it is determined that the marking display area is parallel to the lane lines, and the ground marking image is displayed on the map display interface of the mobile device according to the display method, including filtering out the display, centering the display, and maintaining the display, so as to solve problems such as overlapping of markings and lane lines and obstruction by obstacles.
It achieves stable display of ground markings, improves the user experience, and avoids unstable display problems such as left and right shaking, distortion, and flickering of markings.
Smart Images
Figure CN121540179A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of autonomous driving technology, and in particular to a sign display method, storage medium, and program product. Background Technology
[0002] When navigation-assisted driving functions are activated on mobile devices such as vehicles, if relevant ground markings (such as ground arrows, zebra crossings, stop lines, bus lane markings, and bicycle lane markings) are detected, these markings will be displayed on the Surrounding Reality (SR) interface of the mobile device's map display, such as the cockpit screen. The vehicle will also take actions such as slowing down or avoiding obstacles. Users can anticipate or understand the vehicle's behavior through the relevant ground markings displayed on the SR interface. If the vehicle's behavior does not meet expectations, users can take over in advance, reducing the risk of delayed or abrupt intervention.
[0003] In the real world, traffic scenarios are complex and varied, with many special scenarios such as curves, irregular roads, and obstacles. In current technical solutions, when encountering the above special scenarios, the ground markings displayed on the SR interface will have an unstable display problem, which reduces the user experience. Summary of the Invention
[0004] To address or partially address the problems existing in related technologies, this application provides a signage display method, storage medium, and program product, which can achieve stable display of ground signs and improve the user experience.
[0005] A first aspect of this application provides a method for displaying markings, the method comprising: acquiring ground marking information of an environmental area corresponding to a mobile device, the ground marking information including at least the marking type and marking location of the ground markings in the environmental area; determining a marking display area of the ground markings based on the marking location, wherein the marking display area is set to be parallel to lane lines; determining a display mode of the ground markings; and displaying a ground marking image corresponding to the marking type in the marking display area of the map display interface of the mobile device based on the display mode.
[0006] In one embodiment, the sign display area is set to be parallel to the lane line, including: the yaw angle of the sign display area is set to change with the curvature of the lane line so that the sign display area remains parallel to the lane line.
[0007] In one embodiment, when lane lines exist on the ground, the yaw angle of the sign display area is the angle between the tangent of the lane line and the direction of the mobile device itself; or, when lane lines do not exist on the ground, the yaw angle of the sign display area is 0.
[0008] In one embodiment, determining the display area of the ground sign based on the sign position includes: determining the display area of the ground sign based on the sign position of the ground sign and preset size data of the display area.
[0009] In one embodiment, determining the display mode of the ground marking includes: when it is identified that the marking display area intersects with the lane lines on both sides of the ground, determining that the lane lines overlap with the ground marking, and determining that the display mode of the ground marking is to filter and not display; or, when it is identified that the marking display area does not intersect with the lane lines on both sides of the ground, determining that the lane lines do not overlap with the ground marking, and determining that the display mode of the ground marking is to be displayed centered within the lane lines on both sides.
[0010] In one embodiment, determining the display mode of the ground marking as centered within the lane lines on both sides includes: determining a first center point based on the lane lines on both sides; determining a second center point based on the corner points of the marking display area of the ground marking; determining an offset value of the marking display area based on the first center point and the second center point; and offsetting the marking display area based on the offset value so that the marking display area is centered within the lane lines on both sides.
[0011] In one embodiment, determining the display mode of the ground marking includes: when the ground marking information includes marking occlusion attribute information of the ground marking, determining the display mode of the ground marking to be maintained display.
[0012] In one embodiment, the ground sign image corresponding to the sign type is displayed by superimposing the corner coordinates of the sign display area onto the sign display area.
[0013] In one embodiment, obtaining the ground marking information of the environmental area corresponding to the mobile device includes: obtaining the ground marking information of the corresponding environmental area identified by the sensors of the mobile device.
[0014] A second aspect of this application provides a mobile device, the mobile device comprising: a driving domain controller, configured to acquire ground marking information of an environmental area corresponding to the mobile device, the ground marking information including at least the marking type and marking location of the ground markings in the environmental area; determine a marking display area of the ground markings based on the marking location, wherein the marking display area is configured to be parallel to lane lines; determine a display mode of the ground markings; and a display screen controller, configured to display a ground marking image corresponding to the marking type in the marking display area of the map display interface of the mobile device based on the display mode.
[0015] A third aspect of this application provides a computing device, including: a processor; and a memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method described above.
[0016] A fourth aspect of this application provides a computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above.
[0017] The fifth aspect of this application provides a computer program product comprising computer instructions that, when executed by a processor, implement the method described above.
[0018] The technical solution provided in this application may include the following beneficial results: This application's technical solution, after obtaining the ground marking information of the environmental area corresponding to the mobile device, determines the marking display area of the ground markings based on their positions, wherein the marking display area is set to be parallel to the lane lines; determines the display method of the ground markings; and then, based on the display method, displays the ground marking image corresponding to the marking type in the marking display area of the map display interface of the mobile device. Through the above processing, the ground marking image can be fixedly displayed in the marking display area of the map display interface of the mobile device, and since the marking display area is set to be parallel to the lane lines, the display of the ground marking image will always be parallel to the lane lines on both sides, thereby achieving stable display of ground markings even in special ground scenarios, improving the user experience.
[0019] Furthermore, when the present application identifies that the sign display area intersects with the lane lines on both sides of the ground, it determines that the lane lines overlap with the ground sign and decides that the ground sign should be filtered out. This processing method can solve the problem of overlapping display of ground signs and lane lines. When the present application identifies that the sign display area does not intersect with the lane lines on both sides of the ground, it determines that the lane lines do not overlap with the ground sign and decides that the ground sign should be displayed centered within the lane lines on both sides, thereby achieving the display effect of the ground sign being centered within the lane.
[0020] Furthermore, in this application, when the ground marking information includes the marking occlusion attribute information of the ground marking, the display mode of the ground marking is determined to be maintained display. This can solve the problem of position jumps and flickering of the ground marking display caused by obstacles on the ground.
[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description
[0022] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.
[0023] Figure 1 This is a flowchart illustrating the identification display method shown in the embodiments of this application; Figure 2 This is a schematic diagram illustrating the application framework of the identifier display method shown in the embodiments of this application; Figure 3 This is a schematic diagram of the bus ground sign display method shown in the embodiments of this application; Figure 4 This is a schematic diagram illustrating the calculation of the coordinates of the four corner points of the rectangle in the identification display method shown in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of a mobile device shown in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a computing device shown in an embodiment of this application. Detailed Implementation
[0024] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.
[0025] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.
[0026] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0027] In current related technical solutions, when encountering special scenarios such as curves, irregular roads, or obstacles, the ground markings displayed on the map display interface of mobile devices may exhibit unstable display issues. These issues include left-right shaking, distortion, overlap with lane lines, and flickering, thus reducing the user experience. To address these problems, this application provides a marking display method that achieves stable display of ground markings and improves the user experience.
[0028] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.
[0029] Figure 1 This is a flowchart illustrating the identification display method in an embodiment of this application.
[0030] See Figure 1 The method includes: S101. Obtain the ground marking information of the environmental area corresponding to the mobile device. The ground marking information shall include at least the marking type and marking location of the ground markings in the environmental area.
[0031] In this application, the mobile device may include, for example, a vehicle, a robot, an automated guided vehicle, etc. The following embodiments use the mobile device as a vehicle as an example, but are not limited thereto.
[0032] The environmental area corresponding to a mobile device can include the road environment area around the mobile device, such as the road environment area in front of, to the side of, or behind the vehicle.
[0033] Ground signage information refers to the characteristic data information represented by signs set up within a ground area. It describes the attributes, status, and spatial relationships of ground signs related to the passage, navigation, or management of mobile devices within the ground area. For example, ground signage information may include information such as the sign ID, sign type, and sign location of ground signs in an environmental area.
[0034] The sign type can refer to information describing the functional category of the sign. For example, sign types can include ground arrows, zebra crossings, stop lines, bus lanes, bicycle lanes, etc.
[0035] The location of an identifier can refer to the positional information of the identifier object as represented by a coordinate system (local or global). For example, the location of an identifier can be its coordinate position. The location of an identifier can be obtained by combining coordinate information provided by devices such as positioning systems and sensing systems.
[0036] In step S101, ground marking information of the corresponding environmental area can be acquired by the mobile device's sensors. These sensors may include, for example, cameras, radar, and other sensors.
[0037] See also Figure 2 This is a schematic diagram illustrating the application framework of the identifier display method shown in the embodiments of this application. For example... Figure 2 As shown, the application framework of this application includes a driving domain controller and a display screen controller. The driving domain controller may include a perception fusion module and a data processing module; the display screen controller may include an SR display rendering module. The perception fusion module may include sensor devices such as cameras and radar, and the camera can identify ground marking information. The display screen may be a large screen inside the vehicle's cabin.
[0038] The perception fusion module outputs ground marking information perceived by the vehicle. The data processing module analyzes this information to determine the display area and display method, such as centered display or persistent display (also known as stationary display), thus resolving unstable display issues like left-right jitter, distortion, and flickering on the map interface in special scenarios such as curves, lane width changes, irregular roads, and obstacle obstruction. Furthermore, the ground marking display method provided in this embodiment is universal and applicable to the display of elements such as ground arrows, zebra crossings, stop lines, bus lane markings, and bicycle markings.
[0039] S102. Determine the display area of the ground markings based on their location, wherein the display area is set to be parallel to the lane lines.
[0040] In one embodiment, the display area of the ground sign can be determined based on the sign's location and the size data of a pre-defined sign display area. For example, the coordinates of the ground sign's location can be used as the coordinates of the display reference point of the sign display area; the display area of the ground sign can be determined based on the coordinates of the display reference point and the size data of the pre-defined sign display area.
[0041] The sign display area can refer to the area covered by the sign on the ground. For example, the area covered by the sign can be considered the sign display area. In this embodiment, the sign display area can be a rectangular frame, but is not limited to this.
[0042] In one embodiment, taking the display area of the marker as a rectangular frame as an example, the coordinates of the marker position of the ground marker can be used as the coordinates of the display reference point of the rectangular frame of the ground marker; the rectangular frame of the ground marker is determined according to the coordinates of the display reference point and the preset size data of the rectangular frame.
[0043] See also Figure 3 This is a schematic diagram of a bus ground sign display method shown in an embodiment of this application. For example... Figure 3 As shown, in this embodiment of the application, a rectangular frame for bus ground markings is generated within the lane lines, and the bus ground markings are displayed within the rectangular frame.
[0044] The processing of the display reference point may include using the ground marker coordinates input from the perception fusion module as the display reference point P0(x0, y0) of the rectangle. The input ground marker coordinates can be those of ground markers such as arrows, zebra crossings, stop lines, bus lane markings, and bicycle lane markings.
[0045] Regarding the size of the rectangular frame, the final size can be determined through calibration tests based on the visual display effect of the SR actual vehicle. This application obtains empirical values for the rectangular frame size data through actual vehicle road tests. In this embodiment, a rectangular frame of a predetermined size is anchored; the predetermined size of the rectangular frame is 7.0 × 1.0 m as an example, but is not limited to this.
[0046] In one embodiment, the yaw angle of the sign display area is set to change with the curvature of the lane line, so that the sign display area remains parallel to the lane line. By keeping the sign display area parallel to the lane line, the ground sign display can always present a display effect that is parallel to the lane line, avoiding the problem of left-right shaking or distortion and overlap of the ground sign display when the lane line curves.
[0047] Taking a rectangular frame as an example, the yaw angle of the frame is set to change according to the curvature of the lane lines to keep the frame parallel to the lane lines. Figure 4 As shown in the figure, angle A. When the lane lines on both sides are curved, the yaw of the rectangle generated in this embodiment will also change with the curvature of the lane lines.
[0048] The rectangle can include four corner points, which can be found in [reference needed]. Figure 4 , Figure 4 This is a schematic diagram illustrating the calculation of the coordinates of the four corner points of the rectangle in the identification display method shown in the embodiments of this application. For example... Figure 4 As shown, the display reference point of the rectangle is P0 (x0, y0), and the four corner points are P1, P2, P3, and P4. The dimensions of the rectangle are set to 7.0 × 1.0 m, L1 = 3.5 m, L2 = 3.5 m, W1 = 0.5 m, and W2 = 0.5 m. The yaw angle of the rectangle is angle A. The longitudinal direction of the rectangle is the X-axis, and the longitudinal forward direction of the vehicle is the positive X-axis. The lateral direction of the rectangle is the Y-axis, and the lateral offset direction of the vehicle to the left is the positive Y-axis. Figure 3 The X-axis and Y-axis directions are set to be the same.
[0049] The embodiments of this application can calculate the coordinates of four corner points using a reference point: P1 = (x0 + L1 CosA - W1SinA,y0 + L1 SinA + W1 CosA) P2 = (x0+ L1 CosA + W2 SinA,y0 + L1 SinA - W2 CosA) P3 = (x0 - L2 CosA + W2 SinA,y0 - L2 SinA - W2 CosA) P4 = (x0 - L2 CosA - W1 SinA,y0 - L2 SinA + W1 CosA) in: The quantity calculated by (L1 CosA - W1SinA) can be called the positive vector of point P1 relative to the reference point in the dx direction; the quantity calculated by (L1 SinA + W1 CosA) can be called the positive vector of point P1 relative to the reference point in the dy direction. The quantity calculated by (L1 CosA + W2 SinA) can be called the positive vector of point P2 relative to the reference point in the dx direction, and the quantity calculated by (L1 SinA - W2 CosA) can be called the positive vector of point P2 relative to the reference point in the dy direction. The quantity calculated by (L2 CosA + W2 SinA) can be called the negative vector of point P3 relative to the reference point in the dx direction, and the quantity calculated by (L2 SinA - W2 CosA) can be called the negative vector of point P3 relative to the reference point in the dy direction. The quantity calculated by (L2 CosA - W1 SinA) can be called the positive vector of point P4 relative to the reference point in the dx direction, and the quantity calculated by (L2 SinA + W1 CosA) can be called the positive vector of point P4 relative to the reference point in the dy direction.
[0050] In other words: P1 = (x0 + the positive vector of point P1 relative to the reference point in the dx direction, y0 + the positive vector of point P1 relative to the reference point in the dy direction) P2 = (x0 + positive vector of point P2 relative to the reference point in the dx direction, y0 + positive vector of point P2 relative to the reference point in the dy direction) P3 = (x0 - the negative vector of point P3 relative to the reference point in the dx direction, y0 - the negative vector of point P3 relative to the reference point in the dy direction) P4 = (x0 - the positive vector of point P4 relative to the reference point in the dx direction, y0 - the positive vector of point P4 relative to the reference point in the dy direction) In one embodiment, when lane lines exist on the ground, the yaw angle of the sign display area is the angle between the tangent of the lane line and the direction of the mobile device itself; or, when lane lines do not exist on the ground, the yaw angle of the sign display area is 0.
[0051] Taking a rectangular frame as an example, the yaw angle of the rectangular frame, i.e., angle A, can ensure that the ground markings are displayed parallel to the lane lines: if there are lane lines, angle A is the angle between the tangent of the lane line and the direction of the vehicle; if there are no lane lines, then angle A = 0°.
[0052] In other words, when lane lines exist on the ground, the yaw angle of the rectangle is the angle between the tangent of the lane line and the direction of the mobile device itself; or, when there are no lane lines on the ground, the yaw angle of the rectangle is 0.
[0053] S103. Determine the display method of ground markings.
[0054] This application embodiment utilizes the sign display area (e.g., a rectangle) centered within the lane lines on both sides to solve the problem of off-center display of ground signs. In this application embodiment, the yaw angle of the sign display area (e.g., a rectangle) changes curvature with the curvature of the lane lines, ensuring that the sign display area is always parallel to the lane lines on both sides. This allows the ground signs in the sign display area to always present a display effect that is parallel to the lane lines, thereby solving the problems of left and right shaking, distortion, and overlap of ground signs.
[0055] It should also be noted that, in the above display method, even if the sign display area is not centered, for example, slightly to the left or right within the two lane lines, but does not exceed the lane line boundary, the problems of left and right shaking, distortion and overlap of ground signs can be solved.
[0056] In one embodiment, the display method of the ground markings in this application includes a filtering and non-display method, which will be described below.
[0057] For example, when it is identified that the area where the sign is displayed intersects with the lane lines on both sides of the ground, it is determined that the lane lines and the ground sign overlap, and the display mode of the ground sign is set to be filtered out. This can solve the problem of overlapping display of ground signs and lane lines.
[0058] Taking a rectangular frame as an example, after determining the rectangular frame, this embodiment can calculate whether the rectangular frame intersects with the lane lines on both sides. If they intersect, it is determined that an overlap has occurred, and the display method for the ground markings is to filter them out. The method for determining whether the rectangular frame intersects with the lane lines on both sides can be to determine whether the coordinates of the lane line points cross the rectangular frame. If they do, it indicates an intersection.
[0059] In another embodiment, the ground markings of this application are displayed in a centered manner, which will be described below.
[0060] In one embodiment, when it is determined that the sign display area does not intersect with the lane lines on both sides of the ground, it is determined that the lane lines do not overlap with the ground sign, and the display mode of the ground sign is determined to be centered within the lane lines on both sides. This can ensure the display effect of the ground sign being centered within the lane.
[0061] The ground markings are determined to be centered within the lane lines on both sides, including: The first center point is determined based on the lane lines on both sides, and the second center point is determined based on the corner points of the marking display area on the ground. The offset value of the marking display area is determined based on the first center point and the second center point. The marking display area is then offset based on the offset value so that the marking display area is centered within the lane lines on both sides.
[0062] Taking a rectangular frame as an example, if it is determined that the rectangular frame does not intersect with the lane lines on both sides, the ground marking is centered. This ensures that the ground marking is centered within the lane.
[0063] It should be noted that if there are lane lines on only one side, the ground markings cannot be centered; the centered display method is determined only when there are lane lines on both sides of the rectangle.
[0064] One center point can be calculated from the four nearest points of the lane line; another center point can be calculated from the four corner points of the rectangle derived from the display reference point; the difference between the two center points is the required offset value; moving the rectangle according to the offset value will center the ground markings.
[0065] In other words, the first center point can be determined based on the lane lines on both sides, and the second center point can be determined based on the corner point of the marking display area on the ground. The offset value of the marking display area can be determined based on the first center point and the second center point. The marking display area can be offset based on the offset value so that the marking display area is centered within the lane lines on both sides.
[0066] In another embodiment, the ground markings of this application are displayed in a sustained display mode (residual display mode), which will be described below.
[0067] For example, when the ground marking information includes the marking occlusion attribute information of the ground marking, the display mode of the ground marking is determined to be constant display. This can solve the problems of ground marking flickering and position jump caused by occlusion.
[0068] In this embodiment, the occlusion attribute output by the perception fusion module is obtained. If the occlusion attribute indicates that occlusion exists, the display method of the ground mark is determined to maintain the display position of the ground mark. In this way, it will no longer be updated in real time according to the position output by the perception fusion module, thereby solving the problem of position jump and flickering of the ground mark display when there are obstacles occluding in the real world (e.g., when a car next to you occludes the ground mark while driving on the road).
[0069] S104. Based on the display method, display the ground marker image corresponding to the marker type in the marker display area of the map display interface of the mobile device.
[0070] The ground sign image corresponding to the sign type is displayed by superimposing the corner coordinates of the sign display area onto the sign display area.
[0071] In one embodiment, a ground sign image corresponding to the sign type can be overlaid onto the sign display area for display based on the corner coordinates of the display area. Taking a rectangular frame as an example, a ground sign image corresponding to the sign type can be overlaid onto the rectangular frame for display based on the corner coordinates of the frame. The formula for calculating the corner coordinates can be found in the formula above.
[0072] In this embodiment, the SR display rendering module can render and display the ground marking image by pasting it into the rectangle based on the corner coordinates of the rectangle input by the data processing module. The ground marking image can fill the rectangle completely when pasted into it.
[0073] Then, the ground marking image can be displayed according to the determined display method of the ground marking.
[0074] For example, when the ground markings are displayed in the aforementioned steps in the form of a filtered-out display mode, a centered display mode, or a sustained display mode (residual display mode), the ground marking images are displayed in the manner of the filtered-out display mode, the centered display mode, or the sustained display mode (residual display mode), respectively.
[0075] It can be observed that, after obtaining the ground marking information of the environmental area corresponding to the mobile device, the technical solution of this application can determine the marking display area of the ground markings based on the marking position of the ground markings in the environmental area, wherein the marking display area is set to be parallel to the lane lines; determine the display method of the ground markings; and then, based on the display method, display the ground marking image corresponding to the marking type in the marking display area of the map display interface of the mobile device. Through the above processing, the ground marking image can be fixed in the marking display area of the map display interface of the mobile device, and since the marking display area is set to be parallel to the lane lines, the display of the ground marking image will always be parallel to the lane lines on both sides, thereby achieving stable display of ground markings even in special ground scenarios, improving the user experience.
[0076] This application's solution, when identifying an intersection between the sign display area and the lane lines on both sides of the ground, determines that the lane lines overlap with the ground sign and sets the display mode of the ground sign to filter out display, thus solving the problem of overlapping display between the ground sign and lane lines. When identifying an intersection between the sign display area and the lane lines on both sides of the ground, this application's solution determines that the lane lines do not overlap with the ground sign and sets the display mode of the ground sign to be centered within the lane lines on both sides, thereby achieving the effect of the ground sign being centered within the lane. When the ground sign information includes the sign occlusion attribute information, this application's solution determines the display mode of the ground sign to be maintained, thus solving the problem of positional changes and flickering caused by obstacles on the ground. Therefore, the solution of this application's embodiments can solve the problem of unstable display of ground signs on the map display interface, such as left-right shaking, distortion, and flickering, in special scenarios such as curves, irregular roads, lane width changes, and obstacle occlusion.
[0077] The method of this application has been described in detail above, and this application provides corresponding related equipment and corresponding embodiments.
[0078] Figure 5 This is a schematic diagram of the structure of a mobile device shown in an embodiment of this application.
[0079] like Figure 5 As shown in the figure, a mobile device 60 provided in this application embodiment includes: a driving domain controller 61 and a display screen controller 62.
[0080] The driving domain controller 61 is used to obtain ground marking information of the environmental area corresponding to the mobile device. The ground marking information includes at least the marking type and marking location of the ground markings in the environmental area. Based on the marking location, the marking display area of the ground markings is determined, wherein the marking display area is set to be parallel to the lane lines. The display method of the ground markings is determined.
[0081] The yaw angle of the sign display area is set to change with the curvature of the lane lines to keep the sign display area parallel to the lane lines. Specifically, when lane lines exist on the ground, the yaw angle of the sign display area is the angle between the tangent of the lane lines and the direction of the mobile device itself; or, when lane lines do not exist on the ground, the yaw angle of the sign display area is 0.
[0082] The driving domain controller 61 can determine the display area of the ground sign based on the sign's position and the size data of a preset calibrated sign display area. For example, the driving domain controller 61 can use the coordinates of the ground sign's position as the coordinates of the display reference point of the sign display area; and generate the sign display area of the ground sign based on the coordinates of the display reference point and the size data of the preset calibrated sign display area.
[0083] In one embodiment, when the driving domain controller 61 detects that the sign display area intersects with the lane lines on both sides of the ground, it determines that the lane lines overlap with the ground sign and decides that the ground sign should be filtered out. Alternatively, when it detects that the sign display area does not intersect with the lane lines on both sides of the ground, it determines that the lane lines do not overlap with the ground sign and decides that the ground sign should be displayed centered within the lane lines on both sides. Taking a rectangular frame as an example, it can be calculated whether the rectangular frame intersects with the lane lines on both sides. If they intersect, it is determined that they overlap and the ground sign should be filtered out. The method for determining whether the rectangular frame intersects with the lane lines on both sides can be to determine whether the coordinates of the lane line points cross the rectangular frame. If they cross the rectangular frame, it indicates an intersection.
[0084] The driving domain controller 61 determines that the ground markings are displayed in a centered manner within the lane lines on both sides, including: determining a first center point based on the lane lines on both sides; determining a second center point based on the corner points of the marking display area of the ground markings; determining an offset value of the marking display area based on the first center point and the second center point; and offsetting the marking display area based on the offset value so that the marking display area is centered within the lane lines on both sides.
[0085] In another embodiment, when the ground signage information includes the signage occlusion attribute information of the ground signage, the driving domain controller 61 determines that the display mode of the ground signage is to maintain display.
[0086] The display controller 62 is used to display ground marker images corresponding to marker types in the marker display area of the map display interface of a mobile device, based on the display method. The ground marker images corresponding to the marker types are displayed by overlaying them onto the marker display area according to the corner coordinates of the marker display area. The display controller 62 can overlay the ground marker images corresponding to the marker types onto the marker display area for display based on the corner coordinates of the marker display area.
[0087] It can be observed that the mobile device provided in this application, after obtaining the ground marking information of the environmental area corresponding to the mobile device, can determine the marking display area of the ground markings based on the marking position of the ground markings in the environmental area, wherein the marking display area is set to be parallel to the lane lines; determine the display method of the ground markings; and then, based on the display method, display the ground marking image corresponding to the marking type in the marking display area of the map display interface of the mobile device. Through the above processing, the ground marking image can be fixed in the marking display area of the map display interface of the mobile device, and since the marking display area is set to be parallel to the lane lines, the display of the ground marking image will always be parallel to the lane lines on both sides, thereby achieving stable display of ground markings even when encountering special ground conditions, improving the user experience.
[0088] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated further here.
[0089] Figure 6 This is a schematic diagram of the structure of a computing device shown in an embodiment of this application.
[0090] See Figure 6 The computing device 1000 includes a memory 1010 and a processor 1020.
[0091] The processor 1020 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. Memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by processor 1020 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, memory 1010 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.
[0092] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to execute part or all of the methods described above.
[0093] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.
[0094] Alternatively, this application may be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) storing executable code (or computer program or computer instruction code) that, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the methods described above according to this application.
[0095] This application also provides a computer program product, which includes computer instructions that, when executed by a processor, implement the method described above.
[0096] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.
Claims
1. A method for displaying an identifier, characterized in that, The method includes: Obtain ground marking information of the environmental area corresponding to the mobile device, wherein the ground marking information includes at least the marking type and marking location of the ground markings in the environmental area; Based on the location of the marking, the marking display area of the ground marking is determined, wherein the marking display area is set to be parallel to the lane line; Determine the display method of the ground markings; Based on the display method, ground marker images corresponding to the marker type are displayed in the marker display area of the map display interface of the mobile device.
2. The method according to claim 1, characterized in that, The signage display area is set to be parallel to the lane lines, including: The yaw angle of the sign display area is set to change with the curvature of the lane line so that the sign display area remains parallel to the lane line.
3. The method according to claim 2, characterized in that: When lane lines exist on the ground, the yaw angle of the marking display area is the angle between the lane line tangent and the direction of the mobile device itself; or, When there are no lane lines on the ground, the yaw angle of the sign display area is 0.
4. The method according to claim 1, characterized in that, Determining the display area of the ground sign based on the sign's location includes: The display area of the ground marking is determined based on the marking location and the size data of the preset marking display area.
5. The method according to claim 1, characterized in that, Determining the display method of the ground markings includes: When it is detected that the area where the sign is displayed intersects with the lane lines on both sides of the ground, it is determined that the lane lines overlap with the ground sign, and the display mode of the ground sign is set to be filtered out; or, When it is determined that the area where the sign is displayed does not intersect with the lane lines on both sides of the ground, it is determined that the lane lines do not overlap with the ground sign, and the display mode of the ground sign is determined to be centered within the lane lines on both sides.
6. The method according to claim 5, characterized in that, The determination that the ground markings are displayed in a centered position within the lane lines on both sides includes: The first center point is determined based on the lane lines on both sides, and the second center point is determined based on the corner points of the marking display area of the ground markings; The offset value of the identification display area is determined based on the first center point and the second center point; The sign display area is offset according to the offset value so that the sign display area is centered within the lane lines on both sides.
7. The method according to claim 1, characterized in that, Determining the display method of the ground markings includes: When the ground marking information includes the marking occlusion attribute information of the ground marking, the display mode of the ground marking is determined to be maintained display.
8. The method according to any one of claims 1 to 7, characterized in that: The ground sign image corresponding to the sign type is displayed by superimposing the corner coordinates of the sign display area onto the sign display area.
9. A computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method as described in any one of claims 1-8.
10. A computer program product, characterized in that, The computer program product includes computer instructions that, when executed by a processor, implement the method as described in any one of claims 1-8.