Crab mode rendering method and device, instrument, vehicle and storage medium

Abstract

The application discloses a crab mode rendering method and device, an instrument, a vehicle and a storage medium. The scheme comprises the following steps: in the scheme, the rendering picture of the crab mode is divided into three independent layers of a wheel top view, a vehicle body top view and a direction indication pattern, and is superimposed and synthesized, so that the layered rendering is used to replace the traditional three-dimensional model rendering. Since each layer only needs to process two-dimensional graphic materials, the occupation of GPU computing power and memory resources of the vehicle-mounted system is significantly reduced, the instrument display screen flashing or black screen phenomenon caused by high rendering load is avoided, and the stability and real-time performance of the display system are ensured.

Description

Technical Field

[0001] This application relates to the field of automotive technology, specifically to a rendering method, device, instrument, vehicle, and storage medium for a crab-like driving mode. Background Technology

[0002] With the continuous development of automotive electronics technology, vehicles equipped with Crab Walk mode offer greater maneuverability and flexibility for driving in complex conditions. In this mode, the vehicle can control all four wheels to yaw in the same direction, thereby performing special maneuvers such as lateral movement or diagonal driving. To intuitively display the vehicle's current driving posture to the driver, the vehicle status in Crab Walk mode is usually graphically rendered on the in-vehicle central control screen or instrument panel.

[0003] Currently, the mainstream approach to rendering crab-like driving mode is to construct a complete 3D vehicle model and reflect the actual steering angle by driving the wheel nodes in the model in real time. However, detailed 3D models themselves consume a lot of computational resources and have a heavy rendering load. Forcing high-load rendering on in-vehicle instrument panels with limited computing power can easily lead to interface abnormalities due to unstable frame rates or rendering timeouts, such as flashing black lines on the instrument panel or a complete black screen, seriously affecting driving safety and user experience.

[0004] Therefore, there is an urgent need for a crab-mode rendering solution that consumes fewer resources and has higher rendering efficiency. Summary of the Invention

[0005] In view of this, this application aims to provide a rendering method, device, instrument, vehicle and storage medium for crab mode, which can significantly reduce the occupation of GPU computing power and memory resources of the vehicle system, and avoid the phenomenon of instrument display flickering or black screen caused by excessive rendering load.

[0006] According to a first aspect of this application, a rendering method for a crab-like mode is provided, comprising: When the target vehicle is in crab mode, acquire the wheel posture data of the target vehicle; the wheel posture data is used to represent the wheel angle and direction of travel of the target vehicle. Based on the wheel posture data, a top view of the wheel that matches the wheel rotation angle is rendered in the first layer; Render a top view of the target vehicle body in the second layer; Based on the wheel posture data, a direction indicator graphic is rendered in the third layer; the direction indicator graphic is used to indicate the direction of travel of the target vehicle; Layer overlay processing is performed on the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode.

[0007] Optionally, rendering the direction indicator graphic in the third layer based on the wheel posture data includes: Based on the wheel posture data, the preset direction indicator graphic is rotated to obtain a direction indicator graphic that matches the direction of travel. Optionally, rendering the direction indicator graphic in the third layer based on the wheel posture data includes: Read the pre-stored direction indicator image material corresponding to the direction of travel and render it to obtain a direction indicator graphic that matches the direction of travel; the wheel posture data is a discrete value corresponding to the preset direction of travel.

[0008] Optionally, after obtaining the direction indication graphic matching the direction of travel, the method further includes: The direction indicator graphic is driven to move periodically along the direction of travel based on time parameters.

[0009] Optionally, the method further includes: Obtain a bird's-eye view image of the environment surrounding the target vehicle; The bird's-eye view image is rendered in the fourth layer; The process of overlaying the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode includes: The first layer, the second layer, the third layer, and the fourth layer are overlaid to obtain the rendered image.

[0010] Optionally, acquiring a bird's-eye view image of the environment surrounding the target vehicle includes at least: Based on the target vehicle's direction of travel and historical bird's-eye view images, a predicted ground image of the vehicle's underside is generated, corresponding to the vehicle's top view; the predicted ground image of the vehicle's underside is used to represent the inferred environment of the area below the target vehicle. The process of overlaying the first layer, the second layer, the third layer, and the fourth layer to obtain the rendered image includes at least the following: The predicted image of the vehicle's underside and the second layer are blended according to a preset transparency to obtain the rendered image.

[0011] Optionally, rendering the direction indicator graphic in the third layer based on the wheel posture data includes: Based on the wheel posture data, a predicted trajectory line of the target vehicle is rendered in the third layer; the predicted trajectory line is used to represent the future travel trajectory predicted based on the wheel posture data.

[0012] According to a second aspect of this application, a rendering apparatus for a crab-like mode is provided, comprising: The acquisition module is used to acquire wheel posture data of the target vehicle when the target vehicle is in crab mode; the wheel posture data is used to represent the wheel angle and direction of travel of the target vehicle. The rendering module is used to render a top-view of the wheel matching the wheel angle in a first layer based on the wheel posture data; render a top-view of the target vehicle body in a second layer; and render a direction indicator graphic in a third layer based on the wheel posture data; the direction indicator graphic is used to indicate the direction of travel of the target vehicle. The overlay module is used to perform layer overlay processing on the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode.

[0013] According to a third aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing the methods described in any of the above embodiments.

[0014] According to a fourth aspect of this application, an in-vehicle instrument panel is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform the method described in any of the above embodiments.

[0015] According to a fifth aspect of this application, a vehicle is provided, including the aforementioned vehicle instrument panel.

[0016] This application provides a rendering method, device, instrument, vehicle, and storage medium for a crab-like rendering mode. In this solution, the rendering screen of the crab-like mode is decomposed into three independent layers: a top view of the wheels, a top view of the vehicle body, and a direction indicator graphic, and then superimposed and synthesized. This achieves layered rendering instead of traditional 3D model rendering. Since each layer only needs to process 2D graphic materials, it significantly reduces the occupation of GPU computing power and memory resources of the vehicle system, avoids the phenomenon of screen flickering or black screen in the instrument display that may be caused by excessive rendering load, and ensures the stability and real-time performance of the display system. Attached Figure Description

[0017] Figure 1 The diagram shown is a flowchart of a rendering method for the crab mode provided in one embodiment of this application.

[0018] Figure 2 The image shown is a schematic diagram of a crab-style rendering image provided in an embodiment of this application.

[0019] Figure 3 The diagram shown is a block diagram of a rendering apparatus for a crab-like mode provided in one embodiment of this application.

[0020] Figure 4 The diagram shown is a structural block diagram of an in-vehicle instrument provided in one embodiment of this application. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Application Overview Crab mode is an advanced vehicle steering technology that controls the wheels to rotate at a specific angle relative to the vehicle body, allowing the vehicle to move laterally or diagonally, similar to a crab. This mode is primarily used to improve the vehicle's maneuverability and stability in narrow roads, parking scenarios, or on surfaces with low coefficient of friction, and has become a standard feature in many high-end intelligent vehicles. Displaying the crab mode status in real time on the vehicle's dashboard or center console screen is crucial for the driver's intuitive perception of vehicle behavior.

[0023] In existing vehicle graphics rendering technologies, 3D models are used for simulation to visually represent the "crab-like" motion. The 3D model is dynamically updated by calculating the relative positions of the wheels and the vehicle body in real time to simulate the spatial motion of the wheels and body during crab-like movement. However, most in-vehicle instrument clusters have limited built-in memory and GPU computing power, resulting in low rendering efficiency. Furthermore, the dynamic rendering of 3D models continuously consumes significant computing resources, requiring not only loading model textures and calculating spatial coordinates but also updating lighting effects in real time, leading to memory and computing power consumption far exceeding the capacity of ordinary instrument clusters. In practical applications, forcibly adopting a 3D rendering solution can easily cause problems such as instrument display delays and screen flickering. In severe cases, it can even trigger system overload, causing the instrument cluster to go black, failing to provide effective feedback to the driver on the crab-like motion status and increasing driving safety risks. In addition, 3D rendering solutions also suffer from high development costs and difficulty in adapting to different hardware platforms, hindering large-scale application in low- and mid-range vehicles.

[0024] To address the aforementioned issues, this application's embodiments deconstruct the complex crab-walking mode display into multiple logically independent visual elements, such as a top-down view of the wheels, a top-down view of the vehicle body, and direction indicator graphics, and render each element on a separate layer. This solution utilizes lightweight 2D image materials, accurately reflecting wheel angles through rotation transformations, eliminating the need to load complex 3D models. This significantly reduces the demand on instrument panel memory and GPU computing power, thereby avoiding hardware overload issues such as display latency, screen flickering, or black screens.

[0025] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0026] Exemplary methods Figure 1 This is a flowchart illustrating a rendering method for the crab mode provided in one embodiment of this application. Figure 1 The method described is executed by an in-vehicle computing device (e.g., a dedicated processor for the instrument panel, a main control chip for the smart cockpit system, a domain controller, a host computer for the in-vehicle infotainment system, etc.), but the embodiments of this application are not limited thereto. Figure 1 As shown, the method includes the following: Step S110: When the target vehicle is in crab mode, acquire the wheel posture data of the target vehicle; the wheel posture data is used to represent the wheel angle and direction of travel of the target vehicle.

[0027] In this embodiment, the crab-like driving mode refers to a special driving mode that enables the vehicle to move laterally or diagonally by controlling all the wheels of the vehicle to veer in the same direction. This mode is mainly used to improve the vehicle's maneuverability in confined spaces, such as in scenarios like parallel parking or low-speed obstacle avoidance.

[0028] In this embodiment of the application, the wheel turning angle specifically refers to the real-time deflection angle of the four wheels of the vehicle relative to the center line of the vehicle body in crab mode.

[0029] In this embodiment of the application, the direction of travel refers to the actual movement trend of the vehicle determined by the current gear position and wheel angle of the target vehicle; this direction is generally determined by the wheel angle.

[0030] In this embodiment of the application, the wheel posture data is used to describe the spatial orientation and motion state of the wheel relative to the vehicle body. This data is determined based on the gear position and wheel angle (or steering wheel angle) of the target vehicle.

[0031] Specifically, the wheel posture data can be represented as the direction of travel (forward or backward) and the wheel angle, or it can be represented by a single parameter called CrabMoveState, which simultaneously represents the wheel angle and the direction of travel. The CrabMoveState parameter can be expressed in either a continuous or discrete value form. When using continuous values, it can precisely depict the continuous changes in the wheel angle; when using discrete values, it can also map complex continuous angle ranges into a finite number of state enumeration values ​​with clear meanings, such as corresponding to various preset travel modes like upper left, lower left, upper right, and lower right.

[0032] Step S120: Based on the wheel posture data, render a top view of the wheel that matches the wheel rotation angle in the first layer.

[0033] In this embodiment of the application, the first layer is only used to render the top view of the wheel, and it is generally the top layer in the layer stacking order.

[0034] In this embodiment, the basic outline of the wheel top view is roughly rectangular, and can be represented by approximate shapes such as rounded rectangles. During rendering, the preset wheel top view material is rotated according to the real-time acquired wheel turning angle data to match the actual steering angle of the vehicle.

[0035] Step S130: Render the top view of the target vehicle body in the second layer.

[0036] In this embodiment of the application, the second layer is specifically used to render the top view of the vehicle body, and is usually located below the first layer in the layer stacking order.

[0037] In this embodiment, the vehicle body top view includes a top-view outline of the vehicle body, and its outline generally maintains the same proportion as the actual top-view projection of the vehicle. This vehicle body top view uses preset static graphic materials, which are generally kept fixed during the crab mode rendering process, and form a complete vehicle top view shape by cooperating with the upper wheel top view.

[0038] Step S140: Based on the wheel posture data, render a direction indicator graphic in the third layer; the direction indicator graphic is used to represent the direction of travel of the target vehicle.

[0039] In this embodiment of the application, the third layer is specifically used to render direction indicator graphics and is usually located below the second layer in the layer stacking order.

[0040] In this embodiment, the direction indicator graphic is used to indicate the direction of movement of the target vehicle. Specifically, the direction of travel can be indicated using graphic forms such as arrows or predicted trajectory lines. This embodiment does not impose specific limitations on the specific form of the direction indicator graphic, as long as it can clearly and accurately represent the direction of travel of the target vehicle in crab mode.

[0041] Step S150: Perform layer overlay processing on the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode.

[0042] In this embodiment, the overlay process refers to compositing the first, second, and third layers in a preset hierarchical order. Specifically, the wheel top view in the first layer overlaps the vehicle body top view in the second layer, while the direction indicator graphic in the third layer is located below the second layer. Of course, this hierarchical relationship is not absolute; in practical applications, the overlay order of each layer can be adjusted according to display requirements. The key is to ensure that the visual content corresponding to each layer is clearly presented without obscuring key information.

[0043] In the embodiments of this application, the layers can be blended using ordinary blending techniques, that is, the pixels of the upper layer completely cover the pixels at the corresponding positions below it; the layers can also be blended using transparency blending techniques, such as using alpha blending techniques, by setting different transparency values ​​so that the contents of the upper and lower layers can be superimposed in a semi-transparent manner.

[0044] In some cases, the overlay process may also include a background layer, in which case the background layer is the bottom layer, and a third layer, a second layer, and a first layer are overlaid on top of it in sequence.

[0045] In this embodiment, the rendered image is the final composite image generated after overlay processing. The rendered image fully presents the top-down view of the target vehicle in crab mode, the wheel steering status, and the direction of travel indication information, and can be output to the in-vehicle display screen for visualization.

[0046] In this embodiment, the rendering screen of the crab-walking mode is decomposed into three independent layers: a top-down view of the wheels, a top-down view of the vehicle body, and a direction indicator graphic, and then superimposed and synthesized. This achieves layered rendering instead of traditional 3D model rendering. On the one hand, this solution uses simplified 2D graphic elements to replace complex 3D models for rendering. Since each layer only needs to process 2D graphic materials, it significantly reduces the consumption of GPU computing power and memory resources of the vehicle system, avoids the phenomenon of instrument display flickering or black screen caused by excessive rendering load, and ensures the stability and real-time performance of the display system.

[0047] On the other hand, when adapting to different vehicle models, only the corresponding top view of the body and wheels needs to be changed to achieve rapid portability. There is no need to rebuild complex 3D models or rebuild complex 3D models for each vehicle model and perform rendering and binding. This greatly simplifies the adaptation process, shortens the development cycle, and greatly improves the universality and portability of this solution on different vehicle platforms.

[0048] based on Figure 1 In addition to the method described in the embodiments of this specification, some specific implementation schemes of the method are also provided, which will be described below.

[0049] Optionally, rendering the direction indicator graphic in the third layer based on the wheel posture data includes: Based on the wheel posture data, the preset direction indicator graphic is rotated to obtain a direction indicator graphic that matches the direction of travel.

[0050] In this embodiment of the application, the direction indicator graphic may include visual elements such as scan lines, arrows, and predicted trajectory lines.

[0051] In this embodiment of the application, the top view material of the wheel is a pre-made standard image with an angle of zero with the longitudinal axis of the vehicle body. When the wheel angle changes, its relative angle with the vehicle body is adjusted by rotation transformation to match the actual steering state.

[0052] Figure 2 The image shown is a schematic diagram of a crab-style rendering mode provided in an embodiment of this application. Figure 2 As shown, the rendered image includes a top-down view of the wheels. Figure 1 Top view of the vehicle body Figure 2 3. Directional indicator graphic and 4. Background. Figure 2 The wheel shown is viewed from above. Figure 1 The corresponding wheel angle is zero, at which point the wheel remains parallel to the vehicle body; correspondingly, the direction indicator graphic 3 points forward of the vehicle body, and the background 4 is a solid color image.

[0053] In this embodiment, the preset direction indicator graphic is rotated based on real-time acquired wheel posture data, enabling the direction indicator graphic to accurately match the actual direction of vehicle travel. Since only a single preset graphic needs geometric transformation, this solution significantly reduces the memory and computational resource requirements of the rendering process while maintaining dynamic continuity of the display effect, effectively improving the rendering efficiency and operational stability of the system under limited hardware resources.

[0054] Optionally, rendering the direction indicator graphic in the third layer based on the wheel posture data includes: Read the pre-stored direction indicator image material corresponding to the direction of travel and render it to obtain a direction indicator graphic that matches the direction of travel; the wheel posture data is a discrete value corresponding to the preset direction of travel.

[0055] In this embodiment, the wheel posture data can be expressed in the form of discrete state enumeration values, dividing the continuous travel direction of the vehicle into a finite number of preset direction states. For example, the travel direction in crab mode can be divided into forward, backward, upper left, lower left, upper right, and lower right states.

[0056] In this embodiment, the direction indicator graphic may include arrows, fan-shaped areas, and other direction indicator graphics. The direction indicator image materials correspond one-to-one with the preset direction of travel; during rendering, the corresponding material can be directly retrieved and rendered based solely on the discrete values ​​corresponding to the wheel posture data.

[0057] In this embodiment of the application, by discretizing the continuous wheel posture data into a finite number of preset travel direction states, and directly reading the pre-stored corresponding direction indicator image material for rendering, efficient rendering of the direction indicator graphics is achieved, thereby avoiding complex real-time graphic rotation calculations and further reducing the processor computing resources occupied by the rendering process.

[0058] Optionally, after obtaining the direction indication graphic matching the direction of travel, the method further includes: The direction indicator graphic is driven to move periodically along the direction of travel based on time parameters.

[0059] In this embodiment, the time parameter can be a variable that changes periodically with time, based on which the center position of the third layer can be calculated, thereby enabling the direction indicator graphic to move periodically along the direction of travel.

[0060] In this embodiment, the directional indicator graphic is driven to move periodically by a time parameter, providing the driver with more intuitive dynamic directional guidance. This dynamic display method not only effectively enhances the visual expressiveness of the directional indicator, but more importantly, the regular movement animation helps the driver understand the vehicle's real-time movement trend more quickly and accurately, thereby significantly improving the accuracy of driving decisions and driving safety. In this embodiment, the... Optionally, the method further includes: Obtain a bird's-eye view image of the environment surrounding the target vehicle; The bird's-eye view image is rendered in the fourth layer; The process of overlaying the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode includes: The first layer, the second layer, the third layer, and the fourth layer are overlaid to obtain the rendered image.

[0061] In this embodiment of the application, the bird's-eye view image refers to a panoramic image presenting the environment surrounding the vehicle from a top-down perspective. The bird's-eye view image can be obtained by performing perspective transformation and image stitching processing on surround-view images simultaneously captured by multiple surround-view cameras configured on the vehicle.

[0062] In this embodiment, the fourth layer is dedicated to rendering bird's-eye view images and is usually at the bottom layer in the layer stacking order, providing a realistic scene background for the vehicle top view, directional indicator graphics, etc. of the upper layers.

[0063] In this embodiment, the overlay process refers to compositing the first layer, second layer, third layer, and fourth layer (as the background) according to a preset layer order. Specifically, the overlay order is as follows: the fourth layer is at the bottom, followed by the third layer and then the second layer, with the first layer at the top. Layers can be blended using transparency blending techniques; for example, setting appropriate transparency for the directional indicator graphic in the third layer allows the transparent areas of the upper layers to reveal the content of the lower layers.

[0064] In this embodiment, a bird's-eye view image of the vehicle's surrounding environment is acquired and rendered onto a fourth layer as a background. This image is then overlaid and synthesized with the aforementioned three layers to display a realistic image of the vehicle's surrounding environment while the vehicle is moving in crab mode. This not only provides the driver with a realistic environmental reference, fully presenting information about the surrounding scene such as roads and obstacles, helping to eliminate blind spots during lateral or diagonal driving in crab mode and improving driving safety, but also helps the driver intuitively judge the relative position of the vehicle to its surrounding environment. This effectively enhances the driver's perception of the vehicle's spatial position in crab mode, contributing to improved accuracy in driving operations during crab mode.

[0065] Optionally, acquiring a bird's-eye view image of the environment surrounding the target vehicle includes at least: Based on the target vehicle's direction of travel and historical bird's-eye view images, a predicted ground image of the vehicle's underside is generated, corresponding to the vehicle's top view; the predicted ground image of the vehicle's underside is used to represent the inferred environment of the area below the target vehicle. The process of overlaying the first layer, the second layer, the third layer, and the fourth layer to obtain the rendered image includes at least the following: The predicted image of the vehicle's underside and the second layer are blended according to a preset transparency to obtain the rendered image.

[0066] In this application embodiment, the historical bird's-eye view image may refer to a bird's-eye view image from a previous moment.

[0067] In this embodiment of the application, the predicted ground image under the vehicle is a virtual image generated by performing motion compensation and image stitching processing on historical bird's-eye view images using an image processing algorithm.

[0068] The preset transparency refers to the fixed transparency value set for the vehicle body top view in the second layer. By setting the transparency within an appropriate range, the predicted image of the ground under the vehicle can be presented in a semi-transparent manner through the vehicle body top view, thereby forming a visual chassis perspective effect.

[0069] In this embodiment of the application, the vehicle area of ​​the rendered image forms a transparent visual effect by transparently mixing the top view of the vehicle body with the predicted image of the ground under the vehicle. The driver can intuitively perceive the inferred environment below through the outline of the vehicle body, eliminating the blind spot under the vehicle in the crab mode. At the same time, it clearly defines the relative position of the vehicle body and the road surface below, providing accurate spatial reference for lateral or diagonal driving operations, further enhancing the environmental perception capability and operational safety in the crab mode.

[0070] Optionally, rendering the direction indicator graphic in the third layer based on the wheel posture data includes: Based on the wheel posture data, a predicted trajectory line of the target vehicle is rendered in the third layer; the predicted trajectory line is used to represent the future travel trajectory predicted based on the wheel posture data.

[0071] In this embodiment of the application, the wheel posture data may include real-time acquired wheel angle and vehicle direction information.

[0072] In this embodiment, the predicted trajectory line is a line graphic calculated using a trajectory prediction algorithm based on current wheel posture data, used to visually display the vehicle's expected driving path over a future period. In crab mode, since the front and rear wheels maintain the same steering angle, the vehicle as a whole exhibits lateral or diagonal straight-line movement. Therefore, the predicted trajectory line is presented as two parallel lines, extending in the same direction as the driving direction. The spacing between the two trajectory lines is set according to the widest dimension of the vehicle body perpendicular to the driving direction, thereby ensuring that the predicted trajectory line can completely cover the actual space required for vehicle driving, providing the driver with an accurate spatial passability reference.

[0073] Exemplary device The apparatus embodiments of this application can be used to execute the method embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the method embodiments of this application.

[0074] Figure 3 The diagram shown is a block diagram of a rendering apparatus for a crab-like rendering mode according to an embodiment of this application. Figure 3 As shown, the device 300 includes: The acquisition module 310 is used to acquire wheel posture data of the target vehicle when the target vehicle is in crab mode; the wheel posture data is used to represent the wheel angle and direction of travel of the target vehicle. The rendering module 320 is used to render a top view of a wheel that matches the wheel angle in a first layer based on the wheel posture data; render a top view of the target vehicle body in a second layer based on the second layer; and render a direction indicator graphic in a third layer based on the wheel posture data; the direction indicator graphic is used to indicate the direction of travel of the target vehicle. The overlay module 330 is used to perform layer overlay processing on the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode.

[0075] Optionally, the rendering module 320 is used to rotate the preset direction indicator graphic according to the wheel posture data to obtain a direction indicator graphic that matches the direction of travel.

[0076] Optionally, the rendering module 320 is further configured to read and render pre-stored direction indicator image materials corresponding to the direction of travel to obtain a direction indicator graphic that matches the direction of travel; the wheel posture data is a discrete value corresponding to the preset direction of travel.

[0077] Optionally, the rendering module 320 is further configured to drive the direction indicator graphic to move periodically along the direction of travel according to a time parameter.

[0078] Optionally, the acquisition module 310 is further configured to acquire a bird's-eye view image of the environment surrounding the target vehicle; The rendering module 320 is also used to render the bird's-eye view image on the fourth layer; The overlay module 330 is used to overlay the first layer, the second layer, the third layer and the fourth layer to obtain the rendered image.

[0079] Optionally, the acquisition module 310 is further configured to generate a predicted ground image under the vehicle corresponding to the top view of the vehicle body based on the direction of travel of the target vehicle and historical bird's-eye view images; the predicted ground image under the vehicle is used to represent the inferred environment of the area under the target vehicle. The overlay module 330 is used to blend the predicted image of the vehicle under the ground in the fourth layer and the second layer according to a preset transparency to obtain the rendered image.

[0080] Optionally, the rendering module 320 is further configured to render a predicted trajectory line of the target vehicle on the third layer based on the wheel posture data; the predicted trajectory line is used to represent the future travel trajectory predicted based on the wheel posture data.

[0081] Exemplary vehicle instrument panel Below, for reference Figure 4 This application describes an in-vehicle instrument cluster according to an embodiment of the present application. Figure 4 A block diagram of an in-vehicle instrument cluster according to an embodiment of this application is shown.

[0082] like Figure 4 As shown, the vehicle instrument cluster 400 includes one or more processors 410 and memory 420.

[0083] The processor 410 may be another form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the vehicle instrument 400 to perform desired functions.

[0084] Specifically, processor 410 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. Processor 410 may also include a main processor, and may also include a baseband chip, a modem, etc.

[0085] The memory 420 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 410 may execute the program instructions to implement the rendering methods of the crab mode in the various embodiments of this application described above, and / or other desired functions. Various contents, such as category correspondences, may also be stored in the computer-readable storage medium.

[0086] In one example, the vehicle instrument cluster 400 may also include an input device 430 and an output device 440, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0087] In addition, the input device 430 can also be a device that receives user input data and information, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor. The output device 440 can output various information to the outside. The output device 440 may include, for example, a display, speaker, printer, and communication networks and their connected remote output devices.

[0088] Of course, for the sake of simplicity, Figure 4 Only some of the components of the in-vehicle instrument cluster 400 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the in-vehicle instrument cluster 400 may include any other suitable components depending on the specific application.

[0089] Exemplary vehicle In addition to the methods and devices described above, embodiments of this application may also include a vehicle, comprising a vehicle body and the on-board instrument.

[0090] Exemplary computer program products and computer-readable storage media In addition to the methods and apparatus described above, embodiments of this application may also be computer program products comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps of the rendering methods for crab mode according to various embodiments of this application as described in the "Exemplary Methods" section of this specification.

[0091] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0092] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the rendering methods of the crab mode according to various embodiments of this application described in the "Exemplary Methods" section above.

[0093] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0094] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0095] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0096] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0097] The steps in the methods of the various embodiments of this application can be adjusted, merged, or deleted in order according to actual needs, and the technical features described in each embodiment can be replaced or combined.

[0098] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0099] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0100] The modules or submodules described as separate components may or may not be physically separate. The components that constitute a module or submodule may or may not be physical modules or submodules; that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules can be selected to achieve the purpose of this embodiment's solution, depending on actual needs.

[0101] Furthermore, the functional modules or sub-modules in the various embodiments of this application can be integrated into one processing module, or each module or sub-module can exist physically separately, or two or more modules or sub-modules can be integrated into one module. The integrated modules or sub-modules described above can be implemented in hardware or in the form of software functional modules or sub-modules.

[0102] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0103] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software unit executed by a processor, or a combination of both. The software unit can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0104] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0105] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rendering method for a crab-like rendering mode, characterized in that, include: When the target vehicle is in crab mode, acquire the wheel posture data of the target vehicle; The wheel attitude data is used to represent the wheel angle and direction of travel of the target vehicle; Based on the wheel posture data, a top view of the wheel that matches the wheel rotation angle is rendered in the first layer; Render a top view of the target vehicle body in the second layer; Based on the wheel posture data, a direction indicator graphic is rendered in the third layer; the direction indicator graphic is used to indicate the direction of travel of the target vehicle; Layer overlay processing is performed on the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode.

2. The method according to claim 1, characterized in that, The step of rendering a direction indicator graphic in the third layer based on the wheel posture data includes: Based on the wheel posture data, the preset direction indicator graphic is rotated to obtain a direction indicator graphic that matches the direction of travel. Alternatively, pre-stored directional indicator image materials corresponding to the direction of travel can be read and rendered to obtain a directional indicator graphic that matches the direction of travel; the wheel posture data are discrete values ​​corresponding to the preset direction of travel.

3. The method according to claim 2, characterized in that, After obtaining the direction indication graphic that matches the direction of travel, the method further includes: The direction indicator graphic is driven to move periodically along the direction of travel based on time parameters.

4. The method according to claim 1, characterized in that, The method further includes: Obtain a bird's-eye view image of the environment surrounding the target vehicle; The bird's-eye view image is rendered in the fourth layer; The process of overlaying the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode includes: The first layer, the second layer, the third layer, and the fourth layer are overlaid to obtain the rendered image.

5. The method according to claim 4, characterized in that, The acquisition of a bird's-eye view image of the environment surrounding the target vehicle includes at least: Based on the target vehicle's direction of travel and historical bird's-eye view images, a predicted ground image of the vehicle's underside is generated, corresponding to the vehicle's top view; the predicted ground image of the vehicle's underside is used to represent the inferred environment of the area below the target vehicle. The process of overlaying the first layer, the second layer, the third layer, and the fourth layer to obtain the rendered image includes at least the following: The predicted image of the vehicle's underside and the second layer are blended according to a preset transparency to obtain the rendered image.

6. The method according to claim 4, characterized in that, The step of rendering a direction indicator graphic in the third layer based on the wheel posture data includes: Based on the wheel posture data, a predicted trajectory line of the target vehicle is rendered in the third layer; the predicted trajectory line is used to represent the future travel trajectory predicted based on the wheel posture data.

7. A rendering apparatus for a crab-like rendering mode, characterized in that, include: The acquisition module is used to acquire the wheel posture data of the target vehicle when the target vehicle is in crab mode. The wheel attitude data is used to represent the wheel angle and direction of travel of the target vehicle; The rendering module is used to render a top-view of the wheel matching the wheel angle in a first layer based on the wheel posture data; render a top-view of the target vehicle body in a second layer; and render a direction indicator graphic in a third layer based on the wheel posture data; the direction indicator graphic is used to indicate the direction of travel of the target vehicle. The overlay module is used to perform layer overlay processing on the first layer, the second layer, and the third layer to obtain a rendered image of the target vehicle in crab mode.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 6.

9. A vehicle-mounted instrument panel, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to perform the method according to any one of claims 1 to 6.

10. A vehicle, characterized in that, Including the vehicle instrument as described in claim 9.

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