Picture display method and device, vehicle and storage medium

Abstract

The invention provides a picture display method and device, a vehicle and a storage medium, and is applied to terminal equipment in the vehicle, and the terminal equipment provides a graphical user interface; the method comprises the following steps: when a vehicle is in a driving state in a real physical world, displaying a virtual driving scene picture in a graphical user interface; wherein the virtual driving scene picture comprises a vehicle three-dimensional virtual model corresponding to the vehicle and a reference object virtual object corresponding to at least one virtual reference object; acquiring real-time driving parameters of the vehicle; and according to the real-time driving parameters, updating the vehicle three-dimensional virtual model and / or the display parameters of the reference object virtual object so as to simulate the motion condition of the vehicle in the real physical world. Therefore, vehicle motion simulation with physical compliance can be realized on low-cost hardware, and the motion condition of the vehicle in a real physical world is simulated, so that a driver can intuitively and accurately perceive the vehicle motion.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a display method, device, vehicle, and storage medium. Background Technology

[0002] Currently, most in-vehicle intelligent cockpit systems are equipped with 3D desktops. However, traditional 3D desktops can only display static three-dimensional models. When the vehicle is in motion, they essentially degenerate into static graphical interfaces that are unrelated to the driving environment and cannot intuitively reflect the vehicle's motion status.

[0003] Currently, some in-vehicle intelligent cockpit systems are equipped with SR (Situational Awareness) interfaces, which can perform real-time 3D modeling of the vehicle's surroundings. By linking the 3D desktop with the real-time rendering of the SR interface, dynamic matching between the vehicle body and the real environment can be achieved. However, this solution relies on rendering equipment with high computing power requirements, making it very costly and difficult to apply to vehicles with limited hardware.

[0004] Furthermore, 3D desktops and SR interfaces are primarily designed for urban roads, often offering only a fixed top-down view. In off-road scenarios, professional off-road parameters (such as pitch and roll angles) are typically displayed as purely numerical values ​​nested within multi-level menus, or simply as small text boxes fixed at the screen edge. This fragmented information display forces drivers to shift their gaze and manually operate the system to obtain parameter values ​​while driving. Even when the values ​​are obtained, their presentation is not intuitive. All of these factors increase the driver's cognitive load and create potential driving safety hazards. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a display method, device, vehicle and storage medium that can realize physically compliant vehicle motion simulation on low-cost hardware, simulate the movement of vehicles in the real physical world, and enable drivers to intuitively and accurately perceive vehicle motion.

[0006] This application provides a screen display method applied to a terminal device in a vehicle, wherein the terminal device provides a graphical user interface; the method includes: When the vehicle is in motion in the real physical world, a virtual driving scene is displayed in the graphical user interface; wherein, the virtual driving scene includes a three-dimensional virtual model of the vehicle and a virtual reference object corresponding to at least one virtual reference object; Obtain the real-time driving parameters of the vehicle; The display parameters of the vehicle's 3D virtual model and / or the reference virtual object are updated based on the real-time driving parameters to simulate the vehicle's motion in the real physical world.

[0007] Furthermore, the method also includes: When the vehicle is in a parked state, a virtual parking scene is displayed in the graphical user interface; wherein, the virtual parking scene includes a three-dimensional virtual model of the vehicle from a first-person perspective and a three-dimensional virtual scene in which the three-dimensional virtual model of the vehicle is located; In response to the vehicle switching from the parked state to the driving state, the perspective is switched from the first viewpoint to the second viewpoint, and the three-dimensional virtual scene is simplified and reconstructed to obtain the reference object virtual object corresponding to the at least one virtual reference object.

[0008] Furthermore, the method also includes: In response to a trigger operation applied to the virtual driving scene, or in response to the change in the real-time driving parameters exceeding a preset threshold, the real-time driving parameters are displayed on the vehicle's three-dimensional virtual model at at least one skeletal point pre-bound to the real-time driving parameters.

[0009] Furthermore, the real-time driving parameters include vehicle speed and / or steering wheel angle; the virtual reference object includes a virtual grid ground; then, the display parameters of the virtual reference object are updated according to the real-time driving parameters, including: The texture flow speed of the grid in the virtual grid ground is determined based on the vehicle speed, and the virtual grid ground is displayed according to the texture flow speed of the grid; and / or, The curvature of the grid in the virtual grid ground is determined based on the steering wheel angle, and the virtual grid ground is displayed according to the curvature shape.

[0010] Furthermore, the real-time driving parameters include vehicle body attitude angles; therefore, updating the display parameters of the vehicle's three-dimensional virtual model based on the real-time driving parameters includes: The first target angle of the vehicle's three-dimensional virtual model relative to the screen coordinate system is determined based on the vehicle body attitude angle. The vehicle's three-dimensional virtual model is updated from the current angle to the first target angle according to the interpolation algorithm.

[0011] Furthermore, the real-time driving parameters include at least one of the following: suspension height of each wheel, motor torque of each wheel, road vibration frequency, wheel speed, and vehicle acceleration; then, the display parameters of the vehicle's three-dimensional virtual model are updated according to the real-time driving parameters, including: The lifting and sinking displacements of the corresponding parts in the vehicle's three-dimensional virtual model are determined based on the changes in the suspension height of each wheel, and the vehicle's three-dimensional virtual model is updated according to the lifting and sinking displacements of the corresponding parts. When the motor torque of any wheel exceeds a preset torque threshold, the wheel component corresponding to that wheel in the vehicle's three-dimensional virtual model is updated and highlighted with the corresponding display parameters in the first presentation format. When the road vibration frequency is greater than a preset frequency threshold, a first effect marker is added at a predetermined position around the vehicle's three-dimensional virtual model. When the rotational speed of any wheel is greater than a preset speed threshold and the vehicle acceleration is less than a preset acceleration threshold, the wheel component corresponding to that wheel in the vehicle's three-dimensional virtual model is updated to highlight the display parameters corresponding to the second presentation format.

[0012] Furthermore, the real-time driving parameters also include the vehicle front lift angle; the method further includes: In response to the vehicle's front end lifting angle being greater than a preset angle threshold, or in response to a transparent chassis wake-up operation applied to the virtual driving scene, the transparent chassis image of the vehicle is displayed in the graphical user interface.

[0013] This application embodiment also provides a screen display device, applied to a terminal device in a vehicle, the terminal device providing a graphical user interface; the device includes: The display module is used to display a virtual driving scene in the graphical user interface when the vehicle is in a driving state in the real physical world; wherein, the virtual driving scene includes a three-dimensional virtual model of the vehicle and a reference object virtual object corresponding to at least one virtual reference object; The acquisition module is used to acquire the real-time driving parameters of the vehicle; An update module is used to update the display parameters of the vehicle's three-dimensional virtual model and / or the reference virtual object according to the real-time driving parameters, so as to simulate the vehicle's motion in the real physical world.

[0014] This application embodiment also provides a vehicle, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the vehicle is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the screen display method described above are performed.

[0015] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the screen display method described above.

[0016] This application provides a screen display method, device, vehicle, and storage medium that displays a virtual driving scene screen in a graphical user interface, including a three-dimensional virtual model of the vehicle and a virtual reference object corresponding to at least one virtual reference object; and updates the display parameters of the three-dimensional virtual model of the vehicle and / or the virtual reference object according to the real-time driving parameters of the vehicle, so as to visually and intuitively present the motion of the three-dimensional virtual model of the vehicle relative to the virtual reference object, thereby simulating the motion of the vehicle in the real physical world.

[0017] In this way, the limitation of existing technologies that rely on high-performance SR rendering to display the environment can be overcome. By using parameter-driven 3D primitives (3D virtual models of vehicles and virtual objects of reference), physical motion simulation of vehicles can be achieved on low-cost hardware, simulating the movement of vehicles in the real physical world, so that drivers can intuitively and accurately perceive the movement of vehicles.

[0018] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of a screen display method provided in an embodiment of this application is shown; Figure 2 This illustration shows one of the schematic diagrams of a virtual driving scene provided in an embodiment of this application; Figure 3 This illustration shows a schematic diagram of a virtual parking scene provided in an embodiment of this application; Figure 4 This is a second schematic diagram of a virtual driving scene provided in an embodiment of this application; Figure 5 The third illustration shows a virtual driving scene provided in an embodiment of this application; Figure 6 The fourth illustration shows a virtual driving scene provided in an embodiment of this application; Figure 7 A schematic diagram of a transparent chassis view provided in an embodiment of this application is shown; Figure 8 This illustration shows a schematic diagram of the structure of a screen display device provided in an embodiment of this application; Figure 9 A schematic diagram of the structure of a vehicle provided in an embodiment of this application is shown. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0022] Research has found that current in-vehicle intelligent cockpit systems are generally equipped with 3D desktops. However, traditional 3D desktops can only display static three-dimensional models. When the vehicle is in motion, they essentially degenerate into static graphical interfaces that are unrelated to the driving environment and cannot intuitively reflect the vehicle's motion status.

[0023] Currently, some in-vehicle intelligent cockpit systems are equipped with SR (Situational Awareness) interfaces, which can perform real-time 3D modeling of the vehicle's surroundings. By linking the 3D desktop with the real-time rendering of the SR interface, dynamic matching between the vehicle body and the real environment can be achieved. However, this solution relies on rendering equipment with high computing power requirements, making it very costly and difficult to apply to vehicles with limited hardware.

[0024] Furthermore, 3D desktops and SR interfaces are primarily designed for urban roads, often offering only a fixed top-down view. In off-road scenarios, professional off-road parameters (such as pitch and roll angles) are typically displayed as purely numerical values ​​nested within multi-level menus, or simply as small text boxes fixed at the screen edge. This fragmented information display forces drivers to shift their gaze and manually operate the system to obtain parameter values ​​while driving. Even when the values ​​are obtained, their presentation is not intuitive. All of these factors increase the driver's cognitive load and create potential driving safety hazards.

[0025] Based on this, the embodiments of this application provide a screen display method that realizes physically consistent vehicle motion simulation on low-cost hardware, simulates the movement of vehicles in the real physical world, and enables drivers to intuitively and accurately perceive vehicle motion.

[0026] The screen display method provided in this application is applied to a terminal device in a vehicle. The terminal device in this application mainly refers to an intelligent device in a vehicle that provides a graphical user interface (GUI), enabling visualization of vehicle status and control of the vehicle. A GUI is a human-computer communication interface format that allows users to manipulate icons, icons, or menu options on a screen using input devices such as a mouse, keyboard, and / or game controller. It also allows users to manipulate icons or menu options on a touchscreen terminal by performing touch operations to select commands, launch programs, or perform other tasks.

[0027] Please see Figure 1 , Figure 1 This is a flowchart illustrating a screen display method provided in an embodiment of this application. Figure 1 As shown in the figure, the screen display method provided in this application embodiment includes: S101. When the vehicle is in motion in the real physical world, a virtual driving scene is displayed in the graphical user interface.

[0028] Here, the vehicle speed can be obtained through sensors to determine whether the vehicle is in motion in the real physical world. For example, when the vehicle speed is greater than 0, it is determined that the vehicle is in motion. Alternatively, the vehicle's gear position can also be used to determine whether the vehicle is in motion in the real physical world. For example, when the vehicle is in D gear, it is determined that the vehicle is in motion.

[0029] The virtual driving scene refers to the virtual driving environment displayed when the application runs on the terminal device. The virtual driving scene includes a 3D virtual model of the vehicle and at least one virtual reference object. It should be noted that the 3D virtual model of the vehicle in this embodiment can be a simulated 3D model of a real vehicle; however, unlike SR technology which collects environmental data around the vehicle through sensing devices and performs real-time 3D modeling of the surrounding environment, generating various environmental entities (such as other vehicles in the lane, the lane itself), the virtual reference objects in this embodiment are not generated based on the collected real-world environmental data around the vehicle, but rather are reference objects directly generated by a computer program according to a preset algorithm. This virtual characteristic reduces the hardware computing power requirements for modeling and rendering, and also means that its visual effects in the scene can be flexibly controlled.

[0030] Please see Figure 2 , Figure 2 This illustration shows one of the schematic diagrams of a virtual driving scene provided in an embodiment of this application; as shown. Figure 2 As shown in the image, the virtual driving scene displays a 3D virtual model of the vehicle; the virtual reference objects include the virtual ground, with the corresponding virtual reference object being the virtual grid ground; the virtual reference objects also include virtual distant mountains, with the corresponding virtual reference object being the virtual linear mountain range.

[0031] S102. Obtain the real-time driving parameters of the vehicle.

[0032] In this step, various sensors installed in the vehicle can collect real-time driving parameters, including various parameters related to the vehicle's driving status. The terminal device can obtain these real-time driving parameters through the in-vehicle communication network, such as torque data obtained via the CAN bus. Furthermore, the terminal device can preprocess the real-time driving parameters, such as using Kalman filtering for smoothing and noise reduction, and normalization, to improve data quality and enhance the subsequent display effects that rely on these real-time driving parameters.

[0033] S103. Update the display parameters of the vehicle 3D virtual model and / or the reference virtual object according to the real-time driving parameters to simulate the movement of the vehicle in the real physical world.

[0034] Among them, the display parameters can determine the visual effect of the vehicle 3D virtual model and the reference virtual object in the virtual driving scene. The display parameters can include various parameters such as color, brightness, position, tilt angle, markers, whether to add values, and the content of the values.

[0035] In this step, the display parameters of the vehicle's 3D virtual model and / or the reference virtual object are updated based on real-time driving parameters. If only the display parameters of the 3D virtual model are updated, the visual effect of the 3D virtual model will naturally change, thus simulating vehicle motion. However, updating only the reference virtual object, or updating both the 3D virtual model and the reference virtual object together, will cause a change in the relative relationship between the vehicle's 3D virtual model and the reference virtual object. Since the reference object is the object chosen as the criterion when studying the motion of other objects, it can also be used to simulate vehicle motion.

[0036] Although the virtual reference object is not generated based on the collected real environment data around the vehicle, it can be understood that the virtual reference object is used to represent the environment of the real physical world; therefore, through the movement between the vehicle's three-dimensional virtual model and the virtual reference object, the driver (and passengers) can perceive the vehicle's movement in the real physical world.

[0037] Furthermore, the method provided in this application embodiment also includes: Step a1: When the vehicle is in a parked state, a virtual parking scene is displayed in the graphical user interface.

[0038] The virtual driving scene includes a three-dimensional virtual model of the vehicle from a first-person perspective and the three-dimensional virtual scene in which the vehicle three-dimensional virtual model is located.

[0039] Please see Figure 3 , Figure 3 This illustration shows a schematic diagram of a virtual parking scene provided in an embodiment of this application; as shown... Figure 3 As shown, the 3D desktop, in P gear, consists of a 3D virtual vehicle model (3D car model) and a 3D virtual scene (3D scene). Users can rotate and drag the 3D virtual vehicle model and perform some vehicle control functions, and the 3D scene will change accordingly. In addition, the system can also monitor vehicle driving data in real time, including: D gear signal, vehicle speed, pitch and roll angles sensed by the IMU (Inertial Measurement Unit), height changes of the four-wheel suspension, and torque output values ​​of the four-wheel motors.

[0040] Step a2: In response to the vehicle switching from the parked state to the driving state, switch from the first perspective to the second perspective, and simplify and reconstruct the three-dimensional virtual scene to obtain the reference object virtual object corresponding to the at least one virtual reference object.

[0041] Corresponding to the previous example, when the vehicle is detected to shift into Drive (D) gear, or when the vehicle speed is no longer 0, or when the background switching control on the screen is clicked, the first-view perspective is switched to the second-view perspective; for example, a smooth transition is made from a top-down view (first-view) to an intelligent side-view (second-view), and the view is locked. Simultaneously, the 3D virtual scene is simplified and reconstructed; for example, in complex 3D scenes, only distant mountains are retained, close-up details are omitted, and the ground is replaced with a virtual mesh ground background. That is, from... Figure 3 Switch to Figure 2 .

[0042] Furthermore, the method provided in this application embodiment also includes: In response to a trigger operation applied to the virtual driving scene, or in response to the change in the real-time driving parameters exceeding a preset threshold, the real-time driving parameters are displayed on the vehicle's three-dimensional virtual model at at least one skeletal point pre-bound to the real-time driving parameters.

[0043] Please see Figure 4 , Figure 4This is a second schematic diagram illustrating a virtual driving scene provided in an embodiment of this application. For example... Figure 4 As shown, when the user manually clicks on the 3D car model or when the vehicle's real-time driving parameters fluctuate significantly, previously hidden data parameters are displayed, which may include roll angle, pitch angle, suspension height, and torque output values ​​of the four-wheel motors.

[0044] Furthermore, real-time driving parameters are anchored to the vehicle's 3D virtual model, near at least one pre-bound skeletal point. This means key parameters (such as angle values) are no longer fixed in a corner of the screen, but rather "attached" like labels next to their corresponding positions on the vehicle model. When the parameters displayed on the 3D virtual model change, the real-time driving parameters can move along with the model, allowing users to focus their attention while driving and quickly find the required parameters.

[0045] In one possible implementation, the real-time driving parameters include vehicle speed and / or steering wheel angle; the virtual reference object includes a virtual grid ground; then step S103, updating the display parameters of the virtual reference object according to the real-time driving parameters, includes: Method A1: Determine the texture flow speed of the grid in the virtual grid ground according to the vehicle speed, and display the virtual grid ground according to the texture flow speed of the grid.

[0046] Since there is no real-world rendering (SR) of the environment, this embodiment generates a parametric mesh ground beneath the 3D virtual vehicle model and linearly binds the texture flow speed of the mesh to the actual vehicle speed. The virtual ground flows backward according to the actual vehicle speed, simulating the visual effect of the vehicle moving forward. In this way, even if the vehicle is against a pure black background, the driver can intuitively perceive the vehicle speed through the rapid backward movement of the mesh.

[0047] And / or, in method A2, determine the curvature shape of the grid in the virtual grid ground according to the steering wheel angle, and display the virtual grid ground according to the curvature shape.

[0048] In this way, steering intention can also be sensed through the curvature of the grid. For example, the steering direction can be sensed based on the curvature of the grid, and the steering magnitude can be sensed based on the degree of curvature of the grid.

[0049] In one possible implementation, the real-time driving parameters include vehicle attitude angles, including pitch angle and / or roll angle; then step S103, updating the display parameters of the vehicle's three-dimensional virtual model according to the real-time driving parameters, includes: Method B1: Determine the first target angle of the vehicle's 3D virtual model relative to the screen coordinate system based on the vehicle body posture angle; control the vehicle's 3D virtual model to update from the current angle to the first target angle according to the interpolation algorithm.

[0050] To achieve a more realistic simulation, this application embodiment sets up a virtual camera following damping algorithm. When the vehicle tilts or pitches, the three-dimensional virtual model of the vehicle does not rotate instantaneously, but smoothly transitions to the target angle through an interpolation algorithm (Lerp), thereby simulating the weight and inertia of a real vehicle body.

[0051] By displaying parameters, the vehicle's 3D virtual model can be controlled to change from the current angle to the first target angle relative to the screen coordinate system. In addition, the virtual grid ground can be controlled to rotate in the opposite direction, thereby visually simulating an immersive feeling of "the car is stationary but the road is moving" or "the car and the road are moving relative to each other".

[0052] Please see Figure 5 , Figure 5 This is shown as a third schematic diagram of a virtual driving scene provided in an embodiment of this application. For example... Figure 5 As shown, the vehicle's 3D virtual model is driven to rotate in real time based on the actual pitch and roll angles, allowing users to intuitively see the vehicle's 3D virtual model "climbing" or "turning sideways" on the screen.

[0053] In one possible implementation, the real-time driving parameters include at least one of the following: suspension height of each wheel, motor torque of each wheel, road vibration frequency, wheel speed, and vehicle acceleration; then step S103, updating the display parameters of the vehicle's three-dimensional virtual model according to the real-time driving parameters, includes: Method C1: Determine the lifting and sinking displacements of the corresponding parts in the vehicle's three-dimensional virtual model based on the changes in the suspension height of each wheel, and update the vehicle's three-dimensional virtual model according to the lifting and sinking displacements of the corresponding parts.

[0054] For example, when the suspension height of the left front wheel, which represents the suspension compression data, increases, the left front wheel of the three-dimensional virtual model of the driving vehicle moves upward, and the corresponding part of the vehicle body sinks.

[0055] Continue reading Figure 5 It reads suspension data and independently controls the vertical position of the four wheels of the vehicle's 3D virtual model. When the sensor detects compression of the left front wheel suspension, indicating that the left front wheel has run over a rock, the left front wheel in the 3D virtual model will simultaneously lift upwards by updating the display parameters. Furthermore, a virtual obstacle can be displayed below the left front wheel where the suspension height has been shortened.

[0056] Method C2: When the motor torque of any wheel is greater than a preset torque threshold, the wheel component corresponding to that wheel in the vehicle's three-dimensional virtual model is updated to highlight the display parameters corresponding to the first presentation format.

[0057] In this way, the wheel assembly is displayed in the virtual driving scene in the first presentation form. Compared with the original presentation form, the wheel assembly is displayed in more vibrant colors in the first presentation form, presenting a prominent display effect to intuitively indicate that the motor torque is too high.

[0058] Please see Figure 6 , Figure 6 This is illustrated as a fourth schematic diagram of a virtual driving scene provided in an embodiment of this application. For example... Figure 6 As shown, the system analyzes the motor torque of the wheels in real time and maps the torque values ​​to a color-coded heatmap. During normal driving, the tires display the standard color; when a tire outputs high torque (such as when climbing a hill), a bright orange or red halo is superimposed on the surface of that wheel assembly, with darker colors representing greater torque.

[0059] Method C3: When the road vibration frequency is greater than a preset frequency threshold, a first effect marker is added at a predetermined position around the vehicle's three-dimensional virtual model.

[0060] For example, the road vibration frequency can be calculated by the height change of the four-wheel suspension. Generally, when the vehicle suspension experiences rapid, large-travel compression and rebound, it indicates that high-frequency vibration has been detected, meaning a bumpy road surface has occurred. Alternatively, it can also be detected using a vertical acceleration sensor. In this case, "vibration ripple" particle effects are generated around the vehicle's 3D virtual model as the primary effect marker to visually demonstrate the road surface smoothness.

[0061] Method C4: When the rotational speed of any wheel is greater than a preset rotational speed threshold and the vehicle acceleration is less than a preset acceleration threshold, the wheel component corresponding to that wheel in the vehicle's three-dimensional virtual model is updated to highlight the display parameters corresponding to the second presentation format.

[0062] In this way, the wheel assembly is displayed in the virtual driving scene in a second format. Compared with the original format, the wheel assembly is displayed in more vibrant colors in the second format, highlighting it to visually indicate excessive motor torque. Furthermore, the first and second formats should differ to help users distinguish between different situations. For example, the second format might feature a white dynamic halo around the wheel assembly or a diffused light emission from the wheel assembly.

[0063] In addition, the rendering frame rate and / or effect intensity of the above methods can be automatically adjusted according to the rate of change of real-time driving parameters, making the display effect more intuitive and more in line with the actual situation of the vehicle, so that the driver can intuitively and accurately perceive the vehicle's movement.

[0064] Furthermore, the real-time driving parameters also include the vehicle front lift angle; the method further includes: In response to the vehicle's front end lifting angle being greater than a preset angle threshold, or in response to a transparent chassis wake-up operation applied to the virtual driving scene, the transparent chassis image of the vehicle is displayed in the graphical user interface.

[0065] Please see Figure 7 , Figure 7 This illustration shows a schematic diagram of a transparent chassis view provided in an embodiment of this application. For example... Figure 7 As shown, when the angle at which the front of the vehicle is raised exceeds a set threshold (e.g., 15 degrees), the front of the vehicle obstructs the driver's view. Without user intervention, the transparent chassis view can be automatically activated. Alternatively, the transparent chassis view can be automatically activated when the user manually clicks the transparent chassis control.

[0066] This application provides a screen display method that displays a virtual driving scene screen in a graphical user interface, including a three-dimensional virtual model of the vehicle and a virtual reference object corresponding to at least one virtual reference object; and updates the display parameters of the three-dimensional virtual model of the vehicle and / or the virtual reference object according to the real-time driving parameters of the vehicle, so as to visually and intuitively present the motion of the three-dimensional virtual model of the vehicle relative to the virtual reference object, thereby simulating the motion of the vehicle in the real physical world.

[0067] This approach overcomes the limitation of existing technologies that rely on high-performance SR rendering to display the environment. By using parameter-driven 3D primitives (3D virtual vehicle models and virtual reference objects), it enables physically accurate vehicle motion simulation on low-cost hardware, mimicking the vehicle's movement in the real physical world and allowing drivers to intuitively and accurately perceive vehicle motion. Furthermore, by transforming abstract torque and suspension data into intuitive visual forms (such as illuminated wheels and body undulations), replacing traditional digital reading, it reduces the user's cognitive load, allowing users to directly experience vehicle motion.

[0068] Please see Figure 8 , Figure 8 This is a schematic diagram of a screen display device provided in an embodiment of this application. The screen display device is applied to a terminal device in a vehicle, and the terminal device provides a graphical user interface; as shown below. Figure 8 As shown, the screen display device 800 includes: The display module 810 is used to display a virtual driving scene in the graphical user interface when the vehicle is in a driving state in the real physical world; wherein, the virtual driving scene includes a three-dimensional virtual model of the vehicle corresponding to the vehicle and a reference virtual object corresponding to at least one virtual reference object; The acquisition module 820 is used to acquire the real-time driving parameters of the vehicle; The update module 830 is used to update the display parameters of the vehicle 3D virtual model and / or the reference virtual object according to the real-time driving parameters, so as to simulate the movement of the vehicle in the real physical world.

[0069] Furthermore, the display module 810 is also used to display a virtual parking scene in the graphical user interface when the vehicle is in a parking state; wherein, the virtual parking scene includes a three-dimensional virtual model of the vehicle from a first perspective and a three-dimensional virtual scene in which the three-dimensional virtual model of the vehicle is located; The display device 800 further includes a switching module; the switching module is used for: In response to the vehicle switching from the parked state to the driving state, the perspective is switched from the first viewpoint to the second viewpoint, and the three-dimensional virtual scene is simplified and reconstructed to obtain the reference object virtual object corresponding to the at least one virtual reference object.

[0070] Furthermore, the display module 810 is also used for: In response to a trigger operation applied to the virtual driving scene, or in response to the change in the real-time driving parameters exceeding a preset threshold, the real-time driving parameters are displayed on the vehicle's three-dimensional virtual model at at least one skeletal point pre-bound to the real-time driving parameters.

[0071] Furthermore, the real-time driving parameters include vehicle speed and / or steering wheel angle; the virtual reference object includes a virtual grid ground; then, when the update module 830 updates the display parameters of the virtual reference object according to the real-time driving parameters, the update module 830 is used to: The texture flow speed of the grid in the virtual grid ground is determined based on the vehicle speed, and the virtual grid ground is displayed according to the texture flow speed of the grid; and / or, The curvature of the grid in the virtual grid ground is determined based on the steering wheel angle, and the virtual grid ground is displayed according to the curvature shape.

[0072] Furthermore, the real-time driving parameters include vehicle attitude angles; therefore, when the update module 830 updates the display parameters of the vehicle's three-dimensional virtual model based on the real-time driving parameters, the update module 830 is used to: The first target angle of the vehicle's three-dimensional virtual model relative to the screen coordinate system is determined based on the vehicle body attitude angle. The vehicle's three-dimensional virtual model is updated from the current angle to the first target angle according to the interpolation algorithm.

[0073] Furthermore, the real-time driving parameters include at least one of the following: suspension height of each wheel, motor torque of each wheel, road vibration frequency, wheel speed, and vehicle acceleration; therefore, when the update module 830 updates the display parameters of the vehicle's three-dimensional virtual model according to the real-time driving parameters, the update module 830 is used to: The lifting and sinking displacements of the corresponding parts in the vehicle's three-dimensional virtual model are determined based on the changes in the suspension height of each wheel, and the vehicle's three-dimensional virtual model is updated according to the lifting and sinking displacements of the corresponding parts. When the motor torque of any wheel exceeds a preset torque threshold, the wheel component corresponding to that wheel in the vehicle's three-dimensional virtual model is updated and highlighted with the corresponding display parameters in the first presentation format. When the road vibration frequency is greater than a preset frequency threshold, a first effect marker is added at a predetermined position around the vehicle's three-dimensional virtual model. When the rotational speed of any wheel is greater than a preset speed threshold and the vehicle acceleration is less than a preset acceleration threshold, the wheel component corresponding to that wheel in the vehicle's three-dimensional virtual model is updated to highlight the display parameters corresponding to the second presentation format.

[0074] Furthermore, the real-time driving parameters also include the vehicle front lift angle; the display module 810 is also used for: In response to the vehicle's front end lifting angle being greater than a preset angle threshold, or in response to a transparent chassis wake-up operation applied to the virtual driving scene, the transparent chassis image of the vehicle is displayed in the graphical user interface.

[0075] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Figure 9 As shown, the vehicle 900 includes a processor 910, a memory 920, and a bus 930.

[0076] The memory 920 stores machine-readable instructions that can be executed by the processor 910. When the vehicle 900 is running, the processor 910 and the memory 920 communicate via the bus 930. When the machine-readable instructions are executed by the processor 910, the steps of the screen display method as described in the above method embodiment can be executed. For specific implementation details, please refer to the method embodiment, which will not be repeated here.

[0077] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it can execute the steps of the screen display method as described in the above method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0078] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0079] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0080] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0081] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0082] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for displaying a screen, characterized in that, A terminal device used in a vehicle, the terminal device providing a graphical user interface; the method includes: When the vehicle is in motion in the real physical world, a virtual driving scene is displayed in the graphical user interface; wherein, the virtual driving scene includes a three-dimensional virtual model of the vehicle and a virtual reference object corresponding to at least one virtual reference object; Obtain the real-time driving parameters of the vehicle; The display parameters of the vehicle's 3D virtual model and / or the reference virtual object are updated based on the real-time driving parameters to simulate the vehicle's motion in the real physical world.

2. The method according to claim 1, characterized in that, The method further includes: When the vehicle is in a parked state, a virtual parking scene is displayed in the graphical user interface; wherein, the virtual parking scene includes a three-dimensional virtual model of the vehicle from a first-person perspective and a three-dimensional virtual scene in which the three-dimensional virtual model of the vehicle is located; In response to the vehicle switching from the parked state to the driving state, the perspective is switched from the first viewpoint to the second viewpoint, and the three-dimensional virtual scene is simplified and reconstructed to obtain the reference object virtual object corresponding to the at least one virtual reference object.

3. The method according to claim 1, characterized in that, The method further includes: In response to a trigger operation applied to the virtual driving scene, or in response to the change in the real-time driving parameters exceeding a preset threshold, the real-time driving parameters are displayed on the vehicle's three-dimensional virtual model at at least one skeletal point pre-bound to the real-time driving parameters.

4. The method according to claim 1, characterized in that, The real-time driving parameters include vehicle speed and / or steering wheel angle; the virtual reference object includes a virtual grid ground; then, the display parameters of the virtual reference object are updated according to the real-time driving parameters, including: The texture flow speed of the grid in the virtual grid ground is determined based on the vehicle speed, and the virtual grid ground is displayed according to the texture flow speed of the grid; and / or, The curvature of the grid in the virtual grid ground is determined based on the steering wheel angle, and the virtual grid ground is displayed according to the curvature shape.

5. The method according to claim 1, characterized in that, The real-time driving parameters include vehicle attitude angles; therefore, the display parameters of the vehicle's 3D virtual model are updated based on the real-time driving parameters, including: The first target angle of the vehicle's three-dimensional virtual model relative to the screen coordinate system is determined based on the vehicle body attitude angle. The vehicle's three-dimensional virtual model is updated from the current angle to the first target angle according to the interpolation algorithm.

6. The method according to claim 1, characterized in that, The real-time driving parameters include at least one of the following: suspension height of each wheel, motor torque of each wheel, road vibration frequency, wheel speed, and vehicle acceleration; the display parameters of the vehicle's 3D virtual model are then updated based on the real-time driving parameters, including: The lifting and sinking displacements of the corresponding parts in the vehicle's three-dimensional virtual model are determined based on the changes in the suspension height of each wheel, and the vehicle's three-dimensional virtual model is updated according to the lifting and sinking displacements of the corresponding parts. When the motor torque of any wheel exceeds a preset torque threshold, the wheel component corresponding to that wheel in the vehicle's three-dimensional virtual model is updated and highlighted with the corresponding display parameters in the first presentation format. When the road vibration frequency is greater than a preset frequency threshold, a first effect marker is added at a predetermined position around the vehicle's three-dimensional virtual model. When the rotational speed of any wheel is greater than a preset speed threshold and the vehicle acceleration is less than a preset acceleration threshold, the wheel component corresponding to that wheel in the vehicle's three-dimensional virtual model is updated to highlight the display parameters corresponding to the second presentation format.

7. The method according to claim 1, characterized in that, The real-time driving parameters also include the vehicle front lift angle; the method further includes: In response to the vehicle's front end lifting angle being greater than a preset angle threshold, or in response to a transparent chassis wake-up operation applied to the virtual driving scene, the transparent chassis image of the vehicle is displayed in the graphical user interface.

8. A screen display device, characterized in that, A terminal device for use in a vehicle, the terminal device providing a graphical user interface; the device includes: The display module is used to display a virtual driving scene in the graphical user interface when the vehicle is in a driving state in the real physical world; wherein, the virtual driving scene includes a three-dimensional virtual model of the vehicle and a reference object virtual object corresponding to at least one virtual reference object; The acquisition module is used to acquire the real-time driving parameters of the vehicle; An update module is used to update the display parameters of the vehicle's three-dimensional virtual model and / or the reference virtual object according to the real-time driving parameters, so as to simulate the vehicle's motion in the real physical world.

9. A vehicle, characterized in that, include: The system includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the vehicle is in operation, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the screen display method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the steps of the screen display method as described in any one of claims 1 to 7.

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