Parking reminding method and vehicle

Abstract

The invention discloses a parking reminding method and a vehicle, and the parking reminding method comprises the steps: obtaining vehicle sensing information; determining the scene type of the vehicle according to the vehicle sensing information; determining a target visual element for parking reminding and a visual attribute of the target visual element according to the scene type; and displaying the target visual graph according to the visual attribute through the augmented reality head-up display system. According to the method, display can be carried out based on an augmented reality head-up display system, centralized and situational visual prompt of parking reminding information is achieved, a driver can obtain parking related information matched with the current scene type more visually and efficiently in the forward view, and the driver experience is improved. Therefore, the intuitiveness and perceptibility of parking reminding are improved, the sight line transfer of a driver when the driver obtains the parking reminding information is reduced, and potential safety risks caused by the sight line transfer are reduced.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a parking reminder method and a vehicle. Background Technology

[0002] With the development of automotive electronics and intelligence, traditional mechanical handbrakes and mechanical P-gear locking mechanisms are gradually being replaced by electronic parking brake systems (EPB), automatic transmission parking gear (P gear), and Auto Hold, among other electronic control systems. In this context, drivers increasingly rely on the vehicle's electronic human-machine interface system to determine whether the vehicle has come to a safe stop. For example, vehicles provide parking status information to the driver through instrument panel and central control screen displays, physical button indicator lights, or audible prompts.

[0003] However, these methods have several drawbacks: First, the feedback information for EPB, P gear, and Auto Hold is distributed across different display media. This fragmentation requires drivers to expend additional cognitive resources to integrate information and determine the vehicle's parking status, resulting in slow reaction times and a high risk of missing crucial information under stress or fatigue. Second, traditional instrument displays use abstract icons to indicate the vehicle's parking status, offering poor intuitiveness. Third, traditional feedback methods only indicate whether a command has been executed, without specifying "where it was executed." They cannot identify whether the vehicle is parked on flat ground or a steep slope, on a dry road or an icy surface, thus failing to clearly reflect the correlation between the current parking status and the vehicle's usage scenario. Fourth, when obtaining parking status information, drivers need to shift their gaze from the road ahead to the instrument panel or central control screen, creating a blind spot for several seconds. In Level 2 and higher autonomous driving or advanced driver assistance scenarios, this gaze shift poses a potential safety risk and does not meet the requirement that "the driver's gaze should not deviate from the road ahead." Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to propose a parking reminder method that can display parking reminder information based on an augmented reality head-up display system. This method achieves centralized and contextualized visual prompts for parking reminder information, enabling drivers to more intuitively and efficiently obtain parking-related information matching the current scene type within their forward field of vision. This improves the intuitiveness and perceptibility of parking reminders, reduces driver eye shift when obtaining parking reminder information, and lowers the potential safety risks caused by eye shift.

[0005] The second objective of this invention is to provide a vehicle.

[0006] To achieve the above objectives, a parking reminder method according to a first aspect of the present invention includes: acquiring vehicle sensing information; determining the scene type in which the vehicle is located based on the vehicle sensing information; determining a target visual element for parking reminder and the visual attributes of the target visual element based on the scene type; and displaying the target visual graphic according to the visual attributes through an augmented reality head-up display system.

[0007] According to the parking reminder method of this invention, by acquiring vehicle sensor information and comprehensively analyzing it, the current scene type of the vehicle is determined. Furthermore, based on the determined scene type, a matching target visual element and its corresponding visual attributes are selected. This logically unifies and centrally expresses parking-related information originally scattered across different display media, transforming parking reminder information from a fragmented and abstract presentation into a unified visual expression adapted to the current usage scenario. Furthermore, by using an augmented reality head-up display system to directly display the target visual graphics in the driver's forward field of vision according to visual attributes, the parking reminder information is centrally presented and contextualized at the display level. This allows the driver to intuitively and quickly perceive parking status information matching the current scene type within their forward field of vision without frequently switching their gaze between the instrument panel and the central control screen, improving the intuitiveness and perceptibility of parking reminders and effectively reducing potential safety risks caused by gaze shifts.

[0008] In some embodiments, the vehicle sensing information includes vehicle parking status information; the vehicle parking status information includes an electronic parking brake system activation signal and an automatic transmission parking gear signal; determining the scene type of the vehicle based on the vehicle sensing information includes: when the electronic parking brake system is determined to be in an active state based on the electronic parking brake system activation signal or the automatic transmission is determined to be in parking gear based on the automatic transmission parking gear signal, the scene type is a basic state; determining the target visual element for parking reminder and the visual attributes of the target visual element based on the scene type includes: when the scene type is the basic state, the target visual element is a representation of the vehicle. The first graphic element is locked, and the visual attribute of the first graphic element is a first attribute; the vehicle parking status information also includes an automatic parking signal; the scene type of the vehicle is determined according to the vehicle sensing information, including: when the vehicle is determined to be in an automatic parking activated state based on the automatic parking signal, the scene type is a temporary parking state; the target visual element for parking reminder and the visual attribute of the target visual element are determined according to the scene type, including: when the scene type is the temporary parking state, the target visual element is a second graphic element representing temporary parking, and the visual attribute of the second graphic element is a second attribute, which is different from the first attribute.

[0009] In some embodiments, determining the scene type of the vehicle based on the vehicle sensing information further includes: when it is determined that any system in the electronic parking brake system, automatic transmission, and automatic parking system has malfunctioned based on the electronic parking brake system activation signal, the automatic transmission parking gear signal, and the automatic parking signal, the scene type is a fault state; determining the target visual element for parking reminder and the visual attributes of the target visual element based on the scene type includes: when the scene type is the fault state, if the faulty system is the electronic parking brake system or the automatic transmission, the target visual element is the first graphic element, or if the faulty system is the automatic parking system, the target visual element is the second graphic element, and the target visual element further includes a warning symbol; in the fault state, the visual attribute of the first graphic element or the second graphic element is a third attribute, and the third attribute is different from the first attribute or the second attribute.

[0010] In some embodiments, the vehicle sensing information includes vehicle posture information and / or environmental information; determining the scene type of the vehicle based on the vehicle sensing information includes: when the vehicle posture value or environmental state value exceeds a corresponding threshold based on the vehicle posture information or the environmental information, the scene type is a warning scene; determining the target visual element for parking reminder and the visual attributes of the target visual element based on the scene type includes: when the scene type is the warning scene, the target visual element is a prompt element representing the corresponding risk, and the visual attributes of the prompt element are the target attributes of the corresponding risk.

[0011] In some embodiments, the warning scenarios include slope risk scenarios, ground adhesion risk scenarios, steering angle safety risk scenarios, and road boundary risk scenarios, with different prompting elements corresponding to the slope risk scenarios, ground adhesion risk scenarios, steering angle safety risk scenarios, and road boundary risk scenarios; the vehicle attitude information includes slope information and / or wheel angle information. When the slope value of the slope where the vehicle is located is determined to be greater than a slope threshold based on the slope information, the warning scenario is the slope risk scenario, and / or, when the vehicle is on a slope and the wheel angle is not facing the safe side based on the slope information and the wheel angle information, the warning scenario is the steering angle safety risk scenario; or, the environmental information includes ground image information, and ground adhesion and / or ground boundary information are identified based on the ground image information. When the ground adhesion is less than an adhesion threshold, the warning scenario is the ground adhesion risk scenario, and / or, when the wheel is close to a dangerous edge of the ground based on the ground boundary information, the warning scenario is the road boundary risk scenario.

[0012] In some embodiments, the parking reminder method further includes: acquiring visibility information; and when it is determined based on the visibility information that the road visibility is lower than a visibility threshold, increasing the visual attributes of the target visual element to the visual intensity corresponding to the road visibility.

[0013] In some embodiments, displaying the target visual graphic according to the visual attributes using an augmented reality head-up display includes: transforming the vehicle's coordinates in the three-dimensional physical world into two-dimensional coordinates within the display space of the image displayed by the augmented reality head-up display using a projection matrix; and displaying the target visual graphic at the corresponding image position using the rendering engine of the augmented reality head-up display according to the visual attributes.

[0014] In some embodiments, the visual attributes of the target visual element include at least one of the target visual element's color and dynamic effects. In some embodiments, the parking reminder method further includes at least one of the following: in fault states, basic states, temporary states, and warning scenarios, the display priority of the fault state is the highest; when the enhanced display head-up display system is abnormal, the parking reminder information is switched to the instrument panel display; when there is partial failure sensor information in the vehicle sensor information, the detection path of the failure sensor information is switched.

[0015] To achieve the above objectives, a vehicle according to a second aspect of the present invention includes: an enhanced display head-up display system; multiple sensors for obtaining vehicle sensing information; and an on-board computing unit equipped with a graphics processor, wherein the on-board computing unit is connected to the multiple sensors and the enhanced display head-up display system, for implementing the parking reminder method according to any one of claims 1-9.

[0016] According to an embodiment of the present invention, a vehicle-mounted computing unit equipped with a graphics processor is connected to multiple sensors and an augmented reality head-up display system to implement the parking reminder method described in the above embodiment. Specifically, vehicle sensing information is acquired through multiple sensors and transmitted to the vehicle-mounted computing unit. The vehicle-mounted computing unit, relying on the computing and rendering capabilities of its graphics processor, performs fusion analysis on the vehicle sensing information to determine the specific scene type in which the vehicle is located, and further generates target visual elements and their visual attributes that match the scene type. Then, the vehicle-mounted computing unit sends the generated target visual elements and their visual attributes to the augmented reality head-up display system, so that the parking reminder information is directly presented in the driver's forward field of vision in an augmented reality form (i.e., target visual graphics) that meets the visual attribute requirements, realizing the centralized and contextualized expression of the originally scattered or abstract parking reminder information at the display level. In this way, the driver does not need to frequently switch their gaze between the instrument panel and the central control screen to intuitively and efficiently perceive parking status information that matches the current scene type, thereby improving the intuitiveness and perceptibility of parking reminders and reducing potential safety risks caused by gaze shifting.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart of a parking reminder method according to an embodiment of the present invention; Figure 2This is a block diagram of a parking reminder system according to an embodiment of the present invention; Figure 3 This is a block diagram of a vehicle according to an embodiment of the present invention.

[0019] Figure label: 100 vehicles; Enhanced head-up display system 1; Sensors 2; Onboard computing unit 3; Parking reminder system 200; Vehicle parking status interface module 201; Environment and vehicle attitude fusion perception module 202; AR-HUD rendering engine 203; AR-HUD hardware 204; Driver fatigue monitoring system 205. Detailed Implementation

[0020] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0021] The following is for reference. Figure 1 A parking reminder method according to an embodiment of the present invention is described.

[0022] Figure 1 This is a flowchart of a parking reminder method according to an embodiment of the present invention, such as... Figure 1 As shown, the parking reminder method of this invention includes at least the following steps: S1, acquire vehicle sensor information.

[0023] In some embodiments, vehicle sensing information may refer to various types of information provided by the vehicle’s various related electronic subsystems and sensors, which can reflect the vehicle’s current state, the environment in which the vehicle is located, and the driver’s operation or behavior, including but not limited to: vehicle parking status information, vehicle attitude information, environmental information, driver status information, etc.

[0024] In some embodiments, vehicle sensing information can be acquired through multiple sensors equipped on the vehicle, including but not limited to: on-board IMU (Inertial Measurement Unit), wheel angle sensors, cameras, radar, driver monitoring cameras, etc.

[0025] S2 determines the scene type of the vehicle based on vehicle sensor information.

[0026] In embodiments of the present invention, the scenario type of the vehicle refers to the classification result obtained by analyzing the current environment of the vehicle, the vehicle posture and the driver's behavior state based on the acquired vehicle sensor information. This classification is used to determine the risk level or situation that the current parking operation may face, thereby achieving more accurate, personalized and forward-looking parking reminders.

[0027] In some embodiments, the integrated vehicle sensor information is comprehensively analyzed. For example, vehicle posture information is combined to determine whether the vehicle is on a slope, environmental information is combined to determine the road surface adhesion, and vehicle parking status information is combined to determine whether the parking action has been completed. Through a preset rule base, algorithm model, or artificial intelligence model, the system can automatically determine the specific scene type in which the vehicle is currently located and provide a basis for subsequent selection of target visual elements and visual attributes.

[0028] Furthermore, in some embodiments, the determination of the scene type can be updated in real time. As the vehicle status, environmental conditions, or driver operation behavior change, the system can dynamically adjust the scene type to achieve more accurate, forward-looking, and contextualized parking reminders.

[0029] S3, determine the target visual element and visual attributes of the target visual element for parking reminder based on the scene type.

[0030] In some embodiments, the target visual element can refer to a visual information unit used to present in an augmented reality head-up display system, such as an icon, halo, arrow, boundary warning line, ground projection, symbol, text prompt, or other graphical identifiers that can be used to remind the driver. Visual attributes may include, but are not limited to, display position, size, shape, color, transparency, brightness, blinking mode, dynamic effects, and projection depth. By configuring the visual attributes, the target visual element can be presented in the driver's forward field of vision in a way that conforms to the characteristics of human eye perception, enabling the driver to perceive and understand it quickly, intuitively, and accurately, thereby ensuring perceptibility while avoiding interference with normal driving vision.

[0031] In some embodiments, determining the target visual elements and their visual attributes for parking reminders based on scene type aims to match the parking reminder information with the actual scene in which the vehicle is currently located, thereby achieving targeted, contextualized, and personalized visual reminders. By matching different scene types, the system can select visual elements and their visual attributes that are appropriate to the current parking status and potential risk level, enabling the driver to intuitively and efficiently perceive the current parking status and related risk information within their forward field of vision, improving the safety and operational reliability of the parking process.

[0032] In some embodiments, determining the target visual elements and their visual attributes can be achieved through a pre-established mapping table or database between scene types and visual elements and attributes; that is, defining a corresponding set of visual elements and their visual attributes for each scene type. Once the vehicle sensor information determines the scene type, the system directly searches the mapping table or database to obtain the corresponding target visual elements and their visual attributes, thereby quickly and accurately generating augmented reality display content. Furthermore, a real-time rule engine or algorithm can be combined to dynamically adjust the attributes of the target visual elements to adapt to specific driving environments or driver preferences, achieving more flexible parking reminder displays.

[0033] S4 displays target visual graphics according to visual attributes through an augmented reality head-up display system.

[0034] In some embodiments, an augmented reality head-up display (AR-HUD) system can be a combination of augmented reality (AR) technology and head-up display (HUD) technology. It expands the driver's perceptual dimensions by overlaying virtual image information onto real-world environmental information during vehicle operation, enabling the driver to more intuitively obtain information related to the vehicle's operating status. For example, in navigation applications, AR-HUD can overlay virtual navigation instructions onto the actual road scene, thereby improving the intuitiveness of information understanding and driving safety.

[0035] In some embodiments, in the prior art, augmented reality head-up display systems (AR-HUD) are mainly used for navigation information display (e.g., turn arrows) or single advanced driver assistance system (ADAS) warnings (e.g., lane departure warnings). The displayed content focuses on route guidance or single driver assistance prompts during driving, and does not involve the fusion display of chassis parking status.

[0036] In embodiments of the present invention, the augmented reality head-up display system projects target visual elements and their corresponding visual attributes, determined according to the scene type, onto the vehicle's windshield. Through optical imaging structures and coordinate mapping algorithms, the target visual graphic perceived by the driver is presented as an augmented reality image suspended in the physical world. This image maintains spatial consistency with the vehicle's own position or surrounding environment, rather than being displayed merely as an abstract icon attached to the windshield surface. Through this display method, the driver can intuitively perceive the vehicle's current parking status and potential risk information related to the scene type without deviating from their line of sight to the road ahead. This reduces the need to shift their gaze from the instrument panel or central control screen, improves the perceptibility and understanding efficiency of parking reminder information, and reduces potential safety risks caused by gaze shifting.

[0037] According to the parking reminder method of this invention, by acquiring vehicle sensor information and comprehensively analyzing it, the current scene type of the vehicle is determined. Furthermore, based on the determined scene type, a matching target visual element and its corresponding visual attributes are selected. This logically unifies and centrally expresses parking-related information originally scattered across different display media, transforming parking reminder information from a fragmented and abstract presentation into a unified visual expression adapted to the current usage scenario. Furthermore, by using an augmented reality head-up display system to directly display the target visual graphics in the driver's forward field of vision according to visual attributes, the parking reminder information is centrally presented and contextualized at the display level. This allows the driver to intuitively and quickly perceive parking status information matching the current scene type within their forward field of vision without frequently switching their gaze between the instrument panel and the central control screen, improving the intuitiveness and perceptibility of parking reminders and effectively reducing potential safety risks caused by gaze shifts.

[0038] In some embodiments, the vehicle sensing information includes vehicle parking status information. This vehicle parking status information includes the electronic parking brake (EPB) activation signal and the automatic transmission parking gear (P) signal.

[0039] In some embodiments, the electronic parking brake system activation signal can refer to the signal output by the electronic parking brake system (EBS) when it is in an activated state. The purpose of acquiring the electronic parking brake system activation signal is to determine whether the vehicle has completed the parking brake operation through the electronic parking brake system, thereby providing direct evidence for determining whether the vehicle is in a stable parking state. Through this signal, the system can identify whether the vehicle meets the basic parking locking conditions and participate in determining the type of scenario the vehicle is in. Therefore, the electronic parking brake system activation signal can provide basic information for scenario type determination in parking reminder methods and assist in generating corresponding target visual elements and visual attributes to accurately inform the driver of the vehicle's current parking status.

[0040] In some embodiments, the electronic parking brake system activation signal can be obtained through the vehicle parking status interface module. Specifically, the vehicle parking status interface module can receive and parse status messages from the control unit of the electronic parking brake system in real time through the vehicle's internal communication bus (such as CAN (Controller Area Network) bus or Ethernet bus), and extract a signal from the status message that indicates whether the electronic parking brake system is in an active state, as the electronic parking brake system activation signal.

[0041] In some embodiments, the automatic transmission parking signal may refer to the signal output when the vehicle's automatic transmission is in the parking (P) position. The purpose of acquiring the automatic transmission parking signal is to determine whether the vehicle has come to a safe stop and to help determine the type of scene in which the vehicle is located, so as to select appropriate target visual elements and visual attributes for display in the AR-HUD, ensuring that the driver can intuitively identify the vehicle's parking status.

[0042] In some embodiments, the automatic transmission parking gear signal can also be obtained through the vehicle parking status interface module. Specifically, the vehicle parking status interface module can receive and parse status messages from the transmission control unit in real time through the vehicle's internal communication bus (such as CAN bus or Ethernet bus), and extract a signal from the status message that indicates whether the automatic transmission is in parking gear, as the automatic transmission parking gear signal.

[0043] In some embodiments, determining the scenario type of the vehicle based on vehicle sensing information includes: when it is determined that the electronic parking brake system is in an active state based on the electronic parking brake system activation signal or when it is determined that the automatic transmission is in a parking gear based on the automatic transmission parking gear signal, the scenario type is a basic state.

[0044] In some embodiments, the basic state can refer to the vehicle having achieved basic parking lock operation through the electronic parking brake system (EPB) or the automatic transmission's parking gear (P gear), meaning the vehicle has come to a complete stop and is in a safe parking state. The basic state is used to represent the most basic parking conditions of the vehicle and can be used to distinguish whether the vehicle is in a "temporary parking state" or other special states, thereby providing a basis for subsequently generating target visual elements that match the scene type.

[0045] In some embodiments, determining the target visual element and the visual attributes of the target visual element for parking reminder based on the scene type includes: when the scene type is the base state, the target visual element is a first graphic element representing vehicle locking, and the visual attributes of the first graphic element are first attributes.

[0046] In some embodiments, the first graphic element can be a visual identifier presented in an augmented reality head-up display (AR-HUD) system, used to intuitively prompt the driver that the vehicle has completed basic parking lock. The visual attributes of the first graphic element may include, but are not limited to, visual features such as projection position, color, shape, size, and transparency, to ensure that it is intuitively and clearly perceived in the driver's forward field of vision. For example, a blue "locking halo" can be displayed at the ground position corresponding to the wheels, and a "drive gear lock" icon can be superimposed below the vehicle model. Here, the first graphic elements are the "locking halo" and the "drive gear lock" icon; the first attributes are features such as "ground position corresponding to the wheels," "blue," and "below the vehicle model." In this way, parking reminder information in the basic state can be presented in an intuitive and contextualized form, allowing the driver to quickly identify whether the vehicle has safely stopped without deviating from their line of sight, thereby improving parking safety and operational reliability.

[0047] In some embodiments, to improve the flexibility and adaptability of the system, the first graphic element and its visual attributes can be determined by a pre-established scene type and target visual element and visual attribute mapping table or database. When the vehicle is determined to be in a basic state, the system can directly look up the mapping table or database to obtain the corresponding first graphic element and visual attributes in order to generate augmented reality display content.

[0048] In some embodiments, the vehicle parking status information also includes an automatic parking signal. The automatic parking signal refers to the status signal output when the vehicle's automatic parking function (Auto Hold) is activated. It characterizes the vehicle's operation during short-term parking by automatically maintaining braking force through the braking system without requiring the driver to continuously depress the brake pedal. For example, when the vehicle briefly stops while driving (e.g., waiting at a red light, following another vehicle in traffic, or before starting on an incline), the automatic parking system actively applies braking force to keep the vehicle stationary without requiring the driver to continuously depress the brake pedal. The state corresponding to the activation of this function is reflected through the automatic parking signal.

[0049] In some embodiments, the purpose of acquiring the automatic parking signal is to distinguish whether the vehicle is in a "temporary, readily releaseable parking state" or in a "long-term, stable parking state" established by the electronic parking brake system or the transmission's parking gear. By introducing the automatic parking signal, the system can more precisely identify the current parking nature of the vehicle, thereby providing a basis for subsequent scene type determination and target visual element selection.

[0050] In some embodiments, the automatic parking signal can be obtained through the vehicle parking status interface module. Specifically, the vehicle parking status interface module can receive and parse status messages from the anti-lock braking system (ABS) or electronic stability program (ESP) in real time through the vehicle's internal communication bus (such as CAN bus or Ethernet bus), and extract a signal from the status message that indicates whether the automatic parking function is active, as the automatic parking signal.

[0051] In some embodiments, determining the scene type of the vehicle based on vehicle sensing information includes: when it is determined that the vehicle is in an automatic parking activated state based on an automatic parking signal, the scene type is a temporary parking state.

[0052] In some embodiments, a temporary parking state can refer to a state in which the vehicle remains stationary for a short period of time by applying braking force solely through the automatic parking function, without engaging the electronic parking brake system or shifting into the automatic transmission's park gear. This state is characterized by its temporary nature and quick release; for example, when the driver depresses the accelerator pedal again, the automatic parking function can automatically release the braking force, allowing the vehicle to continue driving.

[0053] In some embodiments, the temporary parking state is used to characterize a transitional or transient parking scenario, whose risk characteristics, driver expectations, and operational intentions differ from the base state. Therefore, defining the automatic parking activation state separately as the temporary parking state helps the system adopt differentiated visual cueing strategies in augmented reality displays to avoid the driver mistakenly believing that the vehicle has entered a fully locked, long-term parking state.

[0054] In some embodiments, determining the target visual element and the visual attribute of the target visual element for parking reminder based on the scene type includes: when the scene type is temporary parking state, the target visual element is a second graphic element representing temporary parking, and the visual attribute of the second graphic element is a second attribute, which is different from the first attribute.

[0055] In some embodiments, the second graphic element may be a visual identifier displayed in an augmented reality head-up display (AR-HUD) to indicate that the vehicle is in a temporarily parked state. The second attribute may include at least one visual feature different from the first attribute. For example, a temporary, green "floating anchor point" icon may be rendered on the ground in front of the vehicle. Here, the second graphic element is the "anchor point" icon; the second attribute may include visual features such as being displayed on the ground in front of the vehicle, being green, and maintaining a certain floating distance from the ground. These visual features differ from the first attribute. By employing a second graphic element and second attribute that are significantly different from the basic state in the temporary parking state, the system can clearly convey to the driver in the AR-HUD that "the vehicle is not currently fully locked, but only in a short-term holding state," thereby improving the driver's accuracy in perceiving the vehicle's status and reducing the risk of misoperation.

[0056] In some embodiments, determining the scenario type of the vehicle based on vehicle sensing information further includes: when it is determined that any system in the electronic parking brake system, automatic transmission, and automatic parking system has failed based on the electronic parking brake system activation signal, the automatic transmission parking gear signal, and the automatic parking signal, the scenario type is a fault state.

[0057] In some embodiments, determining the target visual element and its visual attributes for parking alerts based on the scenario type includes: when the scenario type is a fault state, if the faulty system is an electronic parking brake system or an automatic transmission, the target visual element is a first graphic element; or, if the faulty system is an automatic parking system, the target visual element is a second graphic element. The target visual element also includes a warning symbol. In the fault state, the visual attribute of the first or second graphic element is a third attribute, which differs from the first or second attribute.

[0058] Specifically, when the vehicle is in a fault state, regardless of whether the faulty system is the electronic parking brake system, automatic transmission, or automatic parking system, the target visual elements used for parking reminders maintain consistency with the corresponding target visual elements in the normal state at the graphic semantic level. That is, they still use the first graphic element representing vehicle locking or the second graphic element representing temporary parking to ensure the continuity and consistency of visual semantics. For example, when the faulty system is the electronic parking brake system or the automatic transmission, the target visual element used is still the first graphic element used to represent "vehicle locked" in the normal parking lock state; when the faulty system is the automatic parking system, the target visual element used is still the second graphic element used to represent "short-term holding" in the temporary parking state. Based on this, warning symbols indicating abnormalities or risks are further superimposed on the target visual elements. For example, a high-priority text warning is forcibly displayed in the center of the HUD. In this way, the system can integrate and express the "familiar parking status semantics" with "abnormal or risk information" without disrupting the driver's existing cognitive mapping relationship. This allows the driver to quickly identify the current parking scenario and intuitively perceive any system malfunction in the parking status, thereby improving information understanding efficiency and safety prompts.

[0059] In some embodiments, the third attribute is used to characterize the visual presentation features of the target visual element in a fault state, with the aim of giving the fault state a significantly higher perceptual priority than the normal parking state in the augmented reality head-up display system. The third attribute differs from the first or second attribute in at least one or more of the following: color, brightness, dynamic effects, display position, etc.

[0060] In some embodiments, the third attribute may include, but is not limited to, one or more of the following visual features: switching the target visual element originally used in normal parking conditions from a non-warning color (such as blue or green) to a warning color (such as red or orange-red); applying dynamic effects such as highlighting, periodic flashing, and pulse amplification to the target visual element to enhance visual attention capture; and increasing the display hierarchy of the target visual element and warning symbols so that they cover or suppress the display of low-priority information in the augmented reality head-up display. For example, the blue "locking halo" graphic element displayed in the normal electronic parking brake system locking state, or the blue "drive gear lock" icon used to indicate that the automatic transmission is locked in parking gear, or the green "floating anchor point" icon used to indicate temporary parking conditions, can all be configured to be highlighted in red and flashing in the fault state, while forcibly displaying high-priority text warning information in the central area of ​​the HUD.

[0061] Therefore, by introducing a third attribute, the system can clearly distinguish between "basic state", "temporary parking state" and "fault state" in augmented reality head-up display, avoiding the driver from mistakenly believing that the vehicle is in a safe locking state because they only see the target visual elements, thereby effectively reducing the risk of misjudgment and misoperation.

[0062] In some embodiments, vehicle sensing information includes vehicle attitude information and / or environmental information. Vehicle attitude information may refer to data characterizing the vehicle's current attitude state, reflecting the vehicle's tilt, pitch, roll, and other attitude characteristics relative to the ground during parking. Environmental information may refer to data characterizing the features of the environment surrounding the vehicle, used to assess the potential impact of the external environment on vehicle parking safety.

[0063] In some embodiments, determining the scene type of the vehicle based on vehicle sensing information includes: when the vehicle attitude value or environmental state value exceeds the corresponding threshold based on vehicle attitude information or environmental information, the scene type is a warning scene.

[0064] In some embodiments, a warning scenario can refer to a situation where, although the vehicle has not yet experienced a system malfunction and the electronic parking system, automatic transmission parking gear, or automatic parking system is functioning normally, there is a potential parking safety risk due to vehicle attitude information or environmental information exceeding a corresponding threshold (e.g., excessive slope, low road adhesion, or unfavorable boundary conditions). Therefore, a proactive reminder needs to be issued to the driver. A warning scenario characterizes a risk warning state, with a risk level lower than a malfunction state but higher than a basic state or temporary parking state. By distinguishing warning scenarios, the system can use differentiated visual elements in the augmented reality head-up display (AR-HUD) system to attract the driver's attention, achieving proactive and contextualized visual prompts for potential parking risks, thereby transforming passive state feedback into proactive risk warnings.

[0065] In some embodiments, vehicle attitude value thresholds and environmental state value thresholds can be set based on vehicle design standards, vehicle dynamics models, tire grip capabilities, driving / parking safety standards, and real-vehicle test results. These threshold settings are used to determine when the current attitude or environmental condition is deemed to pose a potential risk, thereby triggering a warning scenario. For example, a warning scenario is triggered when the vehicle's longitudinal slope exceeds a set slope threshold or the road surface adhesion coefficient falls below a set adhesion threshold.

[0066] In some embodiments, the target visual element and the visual attributes of the target visual element for parking reminder are determined according to the scenario type, including: when the scenario type is a warning scenario, the target visual element is a prompt element representing the corresponding risk, and the visual attributes of the prompt element are the target attributes of the corresponding risk.

[0067] In some embodiments, target visual elements are used to present specific risks to the driver in a visual form, enabling the driver to intuitively understand the type and location of potential hazards. The visual attributes of the prompt elements may include color, brightness, flashing frequency, size, display position, dynamic effects, etc., to distinguish different types of risks and risk levels, making the visual presentation clear and easy to identify, while also differentiating it from visual elements in the basic state or temporary parking state.

[0068] In some embodiments, the warning scenarios include slope risk scenarios, ground adhesion risk scenarios, steering angle safety risk scenarios, and road boundary risk scenarios, with different prompting elements corresponding to each scenario. By associating different risk scenarios with specific prompting elements, the system enables the driver to quickly and accurately identify potential risk types in their forward field of vision and take appropriate precautions, thereby achieving active safety warnings for the vehicle.

[0069] In some embodiments, vehicle attitude information includes slope information and / or wheel angle information. The slope information can be obtained by acquiring the vehicle's pitch and roll angles through an onboard inertial measurement unit (IMU) and calculating the slope value of the current incline. The wheel angle information can be obtained through wheel angle sensors to determine the orientation of the wheels relative to the road surface.

[0070] In some embodiments, when the slope value of the slope where the vehicle is located is determined to be greater than the slope threshold based on the slope information, the warning scenario is a slope risk scenario, and / or, when the vehicle is determined to be on a slope based on the slope information and the wheel angle information and the wheel angle is not facing the safe side, the warning scenario is a steering angle safety risk scenario. Specifically, when the slope information indicates that the slope value of the vehicle's location exceeds a preset slope threshold, the system determines that the vehicle is in a slope risk scenario. In this scenario, an augmented reality head-up display (AR-HUD) system can render a red "slope warning projection" and the corresponding slope value on the ground in the downhill direction of the vehicle to alert the driver that the vehicle may be at risk of rolling backward or becoming unstable. The warning elements corresponding to the slope risk scenario are the "slope warning projection" and the slope value, and their visual attributes are "on the downhill ground" and "red".

[0071] And / or, when the vehicle is on a slope and the wheel angle is not pointing towards the safe side (e.g., the wheels are not turned towards the edge of the road to prevent the vehicle from sliding), the system determines that the vehicle is in a steering angle safety risk scenario. In this scenario, a dynamic arrow can be displayed on the ground corresponding to the wheel position through an augmented reality head-up display system to guide the driver to turn the steering wheel to adjust the wheels to the safe side. The prompt element corresponding to the steering angle safety risk scenario is a "dynamic arrow," and its visual attribute is "at the ground position corresponding to the wheel."

[0072] In some embodiments, environmental information includes ground image information, ground adhesion and / or ground boundary information are identified based on the ground image information, and when the ground adhesion is less than the adhesion threshold, the warning scenario is a ground adhesion risk scenario, and / or, when the ground boundary information determines that the wheel is close to the dangerous edge of the ground, the warning scenario is a road boundary risk scenario.

[0073] In some embodiments, a ground adhesion risk scenario refers to a situation where a vehicle is in a low-adhesion environment such as water accumulation, ice, snow, or slippery road surfaces, posing a potential risk of skidding or instability. In this scenario, an augmented reality head-up display (AR-HUD) system can display a "lock-in halo" at the ground position corresponding to the wheels, and add "ice crystal or water ripple effects" around the "lock-in halo," along with text prompts to enhance risk perception. The prompting elements corresponding to the ground adhesion risk scenario are the "lock-in halo" and "text prompts," with the visual attribute being an "ice crystal / water ripple" animation.

[0074] In some embodiments, a road boundary risk scenario can refer to a situation where a vehicle's wheels approach a dangerous edge on the ground, posing a risk of detaching from the road surface or the vehicle overturning. In this scenario, an augmented reality head-up display (AR-HUD) system can render a bright red warning line at the dangerous edge. The warning element corresponding to the road boundary risk scenario is the "warning line," which has the visual attribute of "red," and is used to visually and contextually alert potential hazards.

[0075] In some embodiments, the parking alert method further includes: acquiring visibility information. When it is determined based on the visibility information that the road visibility is below a visibility threshold, the visual attributes of the target visual element are increased to the visual intensity corresponding to the road visibility, thereby enhancing the driver's perception of the parking status and potential risks.

[0076] In some embodiments, visibility information may refer to numerical or level data reflecting the driver's visible distance in the environment ahead of the vehicle, used to measure ambient lighting conditions, fog, rain, snow, night driving, or other factors affecting visual range. Visibility information can be obtained by fusing multi-source information such as real-time weather data provided by the vehicle's forward-facing camera, LiDAR, millimeter-wave radar, or in-vehicle navigation system, to reflect road visibility conditions in real time and provide a reference for displaying parking reminder information.

[0077] In some embodiments, when the road visibility is determined to be below a preset visibility threshold based on visibility information, i.e., the current environment is classified as a low-visibility environment, the system can adjust the visual attributes of target visual elements to match the visual intensity of the low-visibility environment. For example, the brightness, contrast, and saturation of all AR icons can be enhanced, or dynamic display effects such as flashing or breathing lights can be added, so that drivers can quickly and intuitively obtain parking reminder information that matches the current scene type even when visibility is limited, thereby further improving parking safety.

[0078] In some embodiments, the visibility threshold may be set based on factors such as weather conditions, road type, and national / regional traffic safety standards, without specific limitations.

[0079] In some embodiments, the system also supports OTA (Over-The-Air) updates to regionalize or personalize the color, style, or other visual attributes of target visual elements to suit the cultural preferences of different markets or the personalized needs of users.

[0080] In some embodiments, displaying a target visual graphic according to visual attributes using an augmented reality head-up display includes: transforming the vehicle's coordinates in the three-dimensional physical world into two-dimensional coordinates within the display space of the image displayed by the augmented reality head-up display using a projection matrix; and displaying the target visual graphic at the corresponding image position according to visual attributes using the rendering engine of the augmented reality head-up display.

[0081] Specifically, the system acquires real-time 3D physical world coordinate information of the vehicle and its surrounding environment, such as the positions of target objects like wheels, vehicle models, and ground markings in 3D space. These 3D physical world coordinates are then transformed and mapped to 2D coordinates for the augmented reality head-up display (AR-HUD) image using a projection matrix. The projection matrix is ​​a mathematical tool specifically for AR-HUDs, used to achieve precise mapping from the 3D real world to the 2D display space. In other words, the system calculates the 3D coordinates of the target objects in real time and, combined with AR-HUD calibration parameters, vehicle attitude information, and environmental perception data, solves for the projection matrix, ensuring spatial consistency of the 3D coordinates in the 2D display space and achieving precise fusion of the virtual image and the real world.

[0082] Furthermore, by enhancing the rendering engine of the head-up display, the target visual elements are displayed at corresponding two-dimensional coordinate positions according to their visual attributes. The visual attributes of the target visual elements include at least one of color and dynamic effects, used to highlight the parking status or risk warnings in different scene types. In addition, to ensure the real-time performance and accuracy of the display, the system adopts a high-frequency refresh strategy, with a vehicle status acquisition frequency ≥20Hz and an environmental perception update frequency ≥30Hz, thereby achieving low-latency, high-precision AR rendering effects. This allows the driver to intuitively and quickly perceive the parking information conveyed by the target visual elements within their forward field of vision, while simultaneously achieving spatial consistency and visual fusion between virtual graphics and the physical world environment.

[0083] Furthermore, AR-HUD drives the projection device according to the instructions of the rendering engine, projecting light onto the windshield to form an augmented reality image that blends with the real world in the driver's eyes, thereby achieving intuitive presentation of target visual elements and contextual prompts.

[0084] In some embodiments, the visual attributes of the target visual element include at least one of color and dynamic effects, used to intuitively and clearly convey vehicle parking status, potential risks, or fault information in an augmented reality head-up display (AR-HUD). By setting the visual attributes, differentiated prompts can be achieved for different scene types, risk levels, or vehicle states, thereby improving the driver's cognitive efficiency and safety.

[0085] In some embodiments, color can be used to distinguish different types of target visual elements. For example, blue or green indicates a basic or temporary parking state; red indicates a fault state or warning scenario, such as an electronic parking brake system malfunction or a road boundary risk scenario. The intuitive differences in color can help drivers quickly identify the current parking status of the vehicle and potential risks.

[0086] In some embodiments, dynamic effects can be used to enhance the attentionability of target visual elements. For example, flashing or breathing light effects are used to emphasize fault indications or low visibility warnings; easing or floating effects are used to indicate temporary parking anchor points or floating warning elements; animated path effects can guide wheel or steering wheel operations, such as steering angle safety risk warnings; water ripple or ice crystal effects are used to represent risk scenarios with insufficient ground adhesion. By combining dynamic effects with color, more intuitive and multi-layered visual cues can be achieved.

[0087] In some embodiments, the parking reminder method further includes at least one of the following: in fault state, basic state, temporary state and warning scenario, the display priority of fault state is the highest; when there is an abnormality in the enhanced display head-up display system, switch to display parking reminder information on the instrument panel; when there is some faulty sensor information in the vehicle sensor information, switch the detection path of the faulty sensor information.

[0088] In some embodiments, the highest priority for displaying fault status can mean that when a fault status exists simultaneously with or conflicts with other statuses or warning scenarios, the system prioritizes displaying the target visual elements and their visual attributes corresponding to the fault status, thereby ensuring that the driver can perceive key information that may directly affect vehicle safety as soon as possible.

[0089] In some embodiments, the system can monitor the hardware and communication health status of the augmented reality head-up display system in real time through a heartbeat mechanism or a status monitoring mechanism. Once an abnormality or failure of the augmented reality head-up display system is detected, the system will execute a display degradation strategy, switch the parking reminder information to the instrument display, and may further trigger multimodal prompts such as voice broadcasts to improve information accessibility and security in case of failure.

[0090] In some embodiments, if some sensors, such as cameras, fail, the system can continue to provide basic functions (such as slope risk scenario warning) based on other sensors, such as IMU.

[0091] In some embodiments, when there is some faulty sensor information in the vehicle sensor information, such as when the forward-facing camera malfunctions, the system can automatically switch the detection path of the corresponding faulty sensor information and use the inertial measurement unit, vehicle attitude sensor or historical state inference results to maintain the basic parking risk judgment and warning function, thereby improving the robustness and reliability of the parking reminder method under complex working conditions.

[0092] In summary, addressing the issues of fragmented parking-related information, information silos, and indirect feedback in existing technologies, this invention utilizes an augmented reality head-up display system to intuitively render and overlay parking-related information from multiple vehicle subsystems onto the physical world. This allows the driver to comprehensively perceive the parking safety status of the entire vehicle within their forward field of vision, significantly improving the intuitiveness and efficiency of parking status confirmation. Furthermore, addressing the shortcomings of existing technologies that generally lack scene perception capabilities and can only provide passive prompts, this invention comprehensively judges the type of scene the vehicle is in based on vehicle sensor information and combines it with a contextualized risk assessment mechanism to achieve proactive warnings of potential parking risks. This transforms parking reminders from reactive feedback into active safety assistance, effectively reducing safety hazards caused by insufficient parking status assessment in high-risk scenarios.

[0093] Furthermore, by presenting parking status and risk information in a centralized, contextualized, and intuitive manner through an augmented reality head-up display system, this invention effectively reduces the uncertainty and psychological burden on drivers during parking operations, enhances drivers' confidence and sense of control over the parking safety status, and thus brings users a safer, easier, and smarter parking experience.

[0094] The following is for reference. Figure 2 A parking reminder system according to an embodiment of the present invention is described.

[0095] Figure 2 This is a block diagram of a parking reminder system according to an embodiment of the present invention, such as... Figure 2 As shown, the parking reminder system 200 includes: a vehicle parking status interface module 201, an environment and vehicle attitude fusion perception module 202, an AR-HUD rendering engine 203, AR-HUD hardware 204, and a driver fatigue monitoring system 205.

[0096] In some embodiments, the vehicle parking status interface module 201 is connected to the vehicle's internal communication bus to obtain real-time vehicle parking-related status information from the vehicle's CAN bus and / or Ethernet bus. Specifically, this module is responsible for receiving and parsing status messages from the Electronic Parking Brake ECU (EPB ECU), Transmission Control Unit (TCU), and Brake System Controller (ABS / ESP), extracting the Electronic Parking Brake ECU activation signal, Automatic Transmission Parking Gear signal, and Automatic Parking signal to characterize the vehicle's parking status. Then, the vehicle parking status interface module 201 sends the parsed vehicle parking status information to the AR-HUD rendering engine 203 as basic input information for determining the vehicle's current scenario type (such as basic state, temporary parking state, or fault state).

[0097] In some embodiments, the environment and vehicle attitude fusion perception module 202 is connected to multiple onboard sensors to acquire and fuse vehicle attitude information and environmental information to assess potential risks during parking. Specifically, the module can acquire the vehicle's pitch and roll angles through the onboard inertial measurement unit (IMU) to calculate the slope information of the ramp where the vehicle is located; acquire ground image information through a forward-facing camera to identify low-adhesion areas such as road surface water, ice, and snow, as well as dangerous edges such as road boundaries, ditches, or shoulders; and acquire front wheel steering angle information through wheel angle sensors in the steering system. The environment and vehicle attitude fusion perception module 202 fuses the above multi-source information to form environmental state values ​​and vehicle attitude values ​​for judging warning scenarios (such as ramp risk scenarios, ground adhesion risk scenarios, steering angle safety risk scenarios, and road boundary risk scenarios), and sends the fusion results to the AR-HUD rendering engine 203.

[0098] In some embodiments, the AR-HUD rendering engine 203 is connected to the vehicle parking status interface module 201, the environment and vehicle posture fusion perception module 202, and the AR-HUD hardware 204, serving as the core computing and control module of the parking reminder system. The AR-HUD rendering engine 203 receives vehicle parking status information and the perception results output by the environment and vehicle posture fusion perception module 202. Based on preset scene determination rules and graphical display strategies, it comprehensively judges the current scene type of the vehicle and determines the target visual elements and their corresponding visual attributes for parking reminders. Simultaneously, the AR-HUD rendering engine 203 is also responsible for performing mapping calculations from three-dimensional physical world coordinates to two-dimensional coordinates in the AR-HUD display space for the target visual elements, generating corresponding rendering instructions, and sending the rendering instructions to the AR-HUD hardware 204.

[0099] In some embodiments, the AR-HUD hardware 204 is communicatively connected to the AR-HUD rendering engine 203, and is used to display target visual elements to the driver in an augmented reality manner according to the rendering instructions generated by the rendering engine. Specifically, the AR-HUD hardware 204 includes a projection device and an optical display component. After receiving the rendering instructions from the AR-HUD rendering engine 203, it drives the projection device to project corresponding light onto the windshield of the vehicle, so that the driver can perceive an augmented reality image consistent with the real road environment in the forward field of vision, thereby realizing an intuitive presentation of parking status and risk information.

[0100] In some embodiments, the driver fatigue monitoring system 205 functions in conjunction with the AR-HUD rendering engine 203 to enhance parking reminder information when the system detects driver inattention or fatigue. For example, when the driver fatigue monitoring system 205 detects driver distraction, gaze deviation, or decreased attention, it can send a reminder signal to the AR-HUD rendering engine 203, causing the engine to correspondingly increase the display intensity, brightness, or dynamic effects of the target visual elements to enhance the prominence of the parking reminder information, thereby improving the effectiveness and safety of information delivery.

[0101] In summary, through the collaborative work of the above modules, the parking reminder system 200 can comprehensively perceive and judge the vehicle's parking status, environmental risks, and the driver's attention status. It provides the driver with intuitive and reliable parking reminder information in a contextualized and spatially consistent manner through AR-HUD, thereby improving vehicle parking safety and human-computer interaction experience.

[0102] The following is for reference. Figure 3 A vehicle according to an embodiment of the present invention is described.

[0103] Figure 3 This is a block diagram of a vehicle according to an embodiment of the present invention, such as... Figure 3 As shown, vehicle 100 includes: an enhanced display head-up display system 1, multiple sensors 2, and an onboard computing unit 3 equipped with a graphics processor.

[0104] In some embodiments, the augmented display head-up display system 1 is connected to the vehicle computing unit 3 to receive the target visual elements and their visual attributes output by the vehicle computing unit 3, and to display the target visual elements in the driver's forward field of vision in an augmented reality form.

[0105] In some embodiments, the enhanced display head-up display system 1 can adopt an optical display scheme based on TFT (Thin Film Transistor), which projects virtual images onto the vehicle's windshield through a projection component, and combines vehicle calibration parameters to achieve spatial alignment between the virtual image and the real road environment, thereby supporting the intuitive overlay of information such as parking status and risk warnings onto the physical world, reducing the driver's eye shift.

[0106] In some embodiments, multiple sensors 2 are respectively connected to the on-board computing unit 3 to provide vehicle sensing information for parking reminders to the on-board computing unit 3. The multiple sensors 2 may include, but are not limited to, a forward-looking camera, an inertial measurement unit (IMU), wheel steering angle sensors, and a status signal acquisition module connected to the vehicle bus.

[0107] In some embodiments, a forward-facing camera is used to acquire image information of the road environment in front of the vehicle to support the identification of ground adhesion, road boundaries or slope features; an inertial measurement unit (e.g., a 6-axis IMU) is used to acquire vehicle attitude information, including the pitch angle and roll angle of the vehicle 100; a wheel angle sensor is used to acquire steering wheel or wheel angle information; the above sensing information together constitutes the basic data source for scene type determination.

[0108] In some embodiments, the vehicle computing unit 3 is connected to multiple sensors 2 and the enhanced display head-up display system 1, respectively, for fusing and analyzing vehicle sensing information and executing the parking reminder method described in the above embodiments.

[0109] Specifically, the graphics processor in the vehicle computing unit 3 is used to undertake graphics calculation and rendering tasks related to augmented reality, including mapping calculation from three-dimensional physical world coordinates to two-dimensional display space coordinates, generation of target visual elements, and real-time rendering of visual attributes. Thus, under the premise of meeting real-time requirements, parking reminder information matching different scene types is output to the augmented display head-up display system 1.

[0110] According to an embodiment of the present invention, a vehicle 100 equipped with a graphics processor, an on-board computing unit 3, is connected to multiple sensors 2 and an augmented reality head-up display system 1 to implement the parking reminder method described in the above embodiment. Specifically, vehicle sensing information is acquired through multiple sensors 2 and transmitted to the on-board computing unit 3. The on-board computing unit 3, relying on the computing and rendering capabilities of its graphics processor, performs fusion analysis on the vehicle sensing information to determine the specific scene type in which the vehicle 100 is located, and further generates target visual elements and their visual attributes that match the scene type. Then, the on-board computing unit 3 sends the generated target visual elements and their visual attributes to the augmented reality head-up display system 1, so that the parking reminder information is directly presented in the driver's forward field of vision in an augmented reality form (i.e., target visual graphics) that meets the visual attribute requirements, realizing the centralized and contextualized expression of the originally scattered or abstract parking reminder information at the display level. In this way, the driver does not need to frequently switch their gaze between the instrument panel and the central control screen to intuitively and efficiently perceive parking status information that matches the current scene type, thereby improving the intuitiveness and perceptibility of parking reminders and reducing potential safety risks caused by gaze shifting.

[0111] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0112] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A parking reminder method, characterized in that, include: Acquire vehicle sensor information; The scene type of the vehicle is located is determined based on the vehicle sensor information; The target visual element for parking reminder and the visual attributes of the target visual element are determined based on the scene type. The target visual graphic is displayed according to the stated visual attributes by an augmented reality head-up display system.

2. The parking reminder method according to claim 1, characterized in that, The vehicle sensing information includes the vehicle's parking status information; The vehicle parking status information includes the electronic parking brake system activation signal and the automatic transmission parking gear signal; Determining the scenario type of the vehicle based on the vehicle sensing information includes: when the electronic parking brake system is determined to be in an active state based on the electronic parking brake system activation signal or the automatic transmission is determined to be in a parking gear based on the automatic transmission parking gear signal, the scenario type is a basic state. Determining the target visual element and the visual attributes of the target visual element for parking reminder based on the scene type includes: when the scene type is the basic state, the target visual element is a first graphic element representing vehicle locking, and the visual attribute of the first graphic element is a first attribute. The vehicle parking status information also includes automatic parking signals; Determining the scenario type of the vehicle based on the vehicle sensing information includes: when the vehicle is determined to be in an automatic parking activated state based on the automatic parking signal, the scenario type is a temporary parking state. Determining the target visual element and the visual attributes of the target visual element for parking reminder based on the scene type includes: when the scene type is the temporary parking state, the target visual element is a second graphic element representing temporary parking, and the visual attribute of the second graphic element is a second attribute, which is different from the first attribute.

3. The parking reminder method according to claim 2, characterized in that, Determining the scenario type of the vehicle based on the vehicle sensing information further includes: when it is determined that any system in the electronic parking brake system, automatic transmission, and automatic parking system has malfunctioned based on the electronic parking brake system activation signal, the automatic transmission parking gear signal, and the automatic parking signal, the scenario type is a fault state. Determining the target visual element and the visual attributes of the target visual element for parking reminder based on the scenario type includes: when the scenario type is the fault state, when the fault system is the electronic parking brake system or the automatic transmission, the target visual element is the first graphic element; or, when the fault system is the automatic parking system, the target visual element is the second graphic element. The target visual element also includes a warning symbol. In the fault state, the visual attribute of the first graphic element or the second graphic element is a third attribute, which is different from the first attribute or the second attribute.

4. The parking reminder method according to claim 1, characterized in that, The vehicle sensing information includes vehicle attitude information and / or environmental information; Determining the scene type of the vehicle based on the vehicle sensing information includes: when the vehicle attitude value or environmental state value exceeds a corresponding threshold based on the vehicle attitude information or the environmental information, the scene type is a warning scene; Determining the target visual element and the visual attributes of the target visual element for parking reminder based on the scenario type includes: when the scenario type is the warning scenario, the target visual element is a prompt element representing the corresponding risk, and the visual attributes of the prompt element are the target attributes of the corresponding risk.

5. The parking reminder method according to claim 4, characterized in that, The warning scenarios include slope risk scenarios, ground adhesion risk scenarios, steering angle safety risk scenarios, and road boundary risk scenarios. The prompt elements corresponding to the slope risk scenarios, ground adhesion risk scenarios, steering angle safety risk scenarios, and road boundary risk scenarios are different. The vehicle attitude information includes slope information and / or wheel angle information. When the slope value of the slope where the vehicle is located is determined to be greater than the slope threshold based on the slope information, the warning scenario is the slope risk scenario. And / or, when the vehicle is on a slope and the wheel angle is not facing the safe side based on the slope information and the wheel angle information, the warning scenario is the steering angle safety risk scenario. Alternatively, the environmental information includes ground image information, and ground adhesion and / or ground boundary information are identified based on the ground image information. When the ground adhesion is less than the adhesion threshold, the warning scenario is the ground adhesion risk scenario, and / or, when it is determined based on the ground boundary information that the wheel is close to the dangerous edge of the ground, the warning scenario is the road boundary risk scenario.

6. The parking reminder method according to claim 1, characterized in that, The parking reminder method also includes: Obtain visibility information; When the visibility information determines that the road visibility is below the visibility threshold, the visual attributes of the target visual element are increased to the visual intensity corresponding to the road visibility.

7. The parking reminder method according to claim 1, characterized in that, Displaying the target visual graphics according to the visual attributes via an augmented reality head-up display includes: The vehicle's coordinates in the three-dimensional physical world are transformed into two-dimensional coordinates within the display space of the image displayed on the augmented display head-up display using a projection matrix; The target visual graphic is displayed at the corresponding image position according to the visual attributes by enhancing the rendering engine of the head-up display.

8. The parking reminder method according to any one of claims 1-7, characterized in that, The visual attributes of the target visual element include at least one of the target visual element's color and dynamic effects.

9. The parking reminder method according to any one of claims 1-7, characterized in that, The parking reminder method also includes at least one of the following: Among the fault state, basic state, temporary state, and early warning scenarios, the fault state has the highest display priority; When the enhanced head-up display system malfunctions, the system switches to displaying parking reminder information on the instrument panel. When some of the vehicle sensor information is faulty, the detection path for the faulty sensor information is switched.

10. A vehicle, characterized in that, include: Enhanced head-up display system; Multiple sensors are used to obtain vehicle sensing information; An in-vehicle computing unit equipped with a graphics processor, the in-vehicle computing unit being connected to multiple sensors and the enhanced display head-up display system, for implementing the parking reminder method according to any one of claims 1-9.

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