Mobile device, image generation method, and computer program product

Abstract

The application provides a mobile device, comprising: an external information acquisition device, which acquires external information around the mobile device; an acquisition device, which is used for acquiring traffic participant information from the external information; a display device, which is used for generating and displaying an image representing traffic conditions around the mobile device based on the external information and the traffic participant information; wherein the traffic participant information contains attribute information of each traffic participant; and the display device integrates multiple traffic participants belonging to the same attribute and having a specific positional relationship into an integrated traffic participant when generating the image, and draws the integrated traffic participant as a single object. The mobile device of the application presents multiple traffic participants in front in a simplified and integrated group form when detecting the multiple traffic participants, and reduces unnecessary complex information drawing.

Description

Technical Field

[0001] This invention relates to a mobile device, an image generation method, and a computer program product. Background Technology

[0002] In recent years, with increasing societal attention to vulnerable road users, providing them with accessibility to sustainable transportation systems has become a key focus of research and development. Particularly in improving traffic safety and convenience, research and development of driver assistance technologies has made rapid progress.

[0003] With the development of driver assistance technology, existing driving systems are now able to detect traffic conditions and obstacles around the vehicle in real time (such as other vehicles, pedestrians, traffic lights, traffic cones, etc.), and display the relevant information of the surrounding environment and obstacles on the screen to present it to the user in a visual way, helping the user understand the dynamic environment around the vehicle. Summary of the Invention

[0004] However, rendering all detected information one by one results in an excessive amount of data displayed on the screen, making it difficult for users to quickly identify which information is closely related to driving safety. This leads to information overload and significantly increases the system's rendering load, causing increased computational pressure on the processor. This is particularly problematic for electric vehicles, where excessive processing load and power consumption directly impact driving range, increase power consumption of in-vehicle systems, and reduce overall energy efficiency and comfort.

[0005] The technical problem to be solved by the present invention is to provide a mobile device, image generation method and computer program product that can optimize the visual information on the display screen, help the driver quickly understand important information related to the vehicle, improve driving safety, and effectively reduce the processing load and power consumption of the display system, thereby improving the energy efficiency of the in-vehicle system and improving the overall comfort and user experience of the vehicle.

[0006] This invention provides a mobile device, comprising: an external information acquisition device for acquiring external information surrounding the mobile device; an acquisition device for acquiring traffic participant information from the external information; and a display device for generating and displaying an image representing traffic conditions surrounding the mobile device based on the external information and the traffic participant information; wherein the traffic participant information includes attribute information of each traffic participant; and when generating the image, the display device integrates multiple traffic participants with the same attributes and a specific positional relationship into a single integrated traffic participant, and draws the integrated traffic participant as a single object.

[0007] The present invention also provides a method for generating and displaying an image representing traffic conditions around a mobile device, wherein a computer installed in the mobile device performs the following steps: obtaining traffic participant information from external information about the surrounding environment of the mobile device obtained by an external information acquisition device of the mobile device; generating and displaying an image representing traffic conditions around the mobile device based on the external information and the traffic participant information; wherein, when generating the image, multiple traffic participants belonging to the same attribute and having a specific positional relationship are integrated into a single integrated traffic participant, and the integrated traffic participant is drawn as a single object.

[0008] The present invention also provides a computer program product comprising a computer program that causes a computer to perform the above-described methods.

[0009] Invention Effects

[0010] According to the mobile device, image generation method, and computer program product of the present invention, when multiple traffic participants are detected ahead, those with specific positional relationships are identified as a group and visualized on the display screen in a simplified and integrated group form. This reduces unnecessary and complex information rendering, thereby simplifying the visual information on the display screen, helping the driver quickly understand important vehicle-related information, and effectively reducing the processing load and power consumption of the display system, thus extending the driving range of electric vehicles. In this way, the energy efficiency of the in-vehicle system is improved, and the overall comfort and user experience of the vehicle are enhanced. Attached Figure Description

[0011] Figure 1 A side view showing an example of a vehicle equipped with a control device according to an embodiment of the present invention.

[0012] Figure 2 for Figure 1 A top view of the vehicle shown.

[0013] Figure 3 To show Figure 1 The diagram shows a block diagram of the vehicle's internal structure.

[0014] Figure 4 An example of a traffic participant integration method in Implementation 1 of the display control unit is shown.

[0015] Figure 5 An example of a screen displayed in the vehicle display device of Embodiment 1 is shown.

[0016] Figure 6 An example of a traffic participant integration method in Embodiment 2 of the display control unit is shown.

[0017] Figure 7An example of a screen displayed in the vehicle display device of this embodiment 2 is shown.

[0018] Figure 8 An example of a traffic participant integration method in Embodiment 3 of the display control unit is shown.

[0019] Figure 9 An example of a screen displayed in the vehicle display device of this embodiment 3 is shown.

[0020] Figure 10 An example of a traffic participant integration method in Implementation 4 of the display control unit is shown.

[0021] Figure 11 An example of a screen displayed in the vehicle display device of this embodiment 4 is shown.

[0022] Figure 12 An example of a traffic participant integration method in Implementation 5 of the display control unit is shown.

[0023] Explanation of reference numerals in the attached figures

[0024] 10 vehicles

[0025] 11L left side mirror

[0026] 11R right-side rearview mirror

[0027] 14 Operation Input Section

[0028] 16 sensor groups

[0029] 12 cameras

[0030] 12Fr front-side camera

[0031] 12Rr rear camera

[0032] 12L left-side camera

[0033] 12R right-side camera

[0034] 32 sonar groups

[0035] 32a forward sonar group

[0036] 32b rear sonar group

[0037] 32c left sonar group

[0038] 32d right sonar group

[0039] 34a, 34b wheel sensors

[0040] 36 vehicle speed sensors

[0041] 38 Operation and Inspection Department

[0042] 18 navigation devices

[0043] 42 touchscreens

[0044] 44 speakers

[0045] 20 Control ECU

[0046] 50 Input / Output Section

[0047] 52 Computing Unit

[0048] 55 External Identification Department

[0049] 56 Display Control Unit

[0050] 57 Traffic Participant Detection Department

[0051] 54 Storage Unit

[0052] 22EPS System

[0053] 100 rudder angle sensor

[0054] 102 Torque Sensor

[0055] 104EPS motor

[0056] 106 Rotary Encoder

[0057] 108 EPS ECU

[0058] 110 Steering System

[0059] 112 steering column

[0060] 24 Ministry of Communications

[0061] 26 Drive Force Control System

[0062] 130 drive ECU

[0063] 28 Braking Force Control System

[0064] 132 Braking ECU

[0065] 120 communication equipment

[0066] M traffic participants Detailed Implementation

[0067] Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings. Identical structures are labeled with the same symbols in all the drawings. In the following description, front, back, left, right, up, and down are defined from the driver's perspective. In the drawings, the front of the vehicle is labeled Fr, the rear is labeled Rr, the left side is labeled L, the right side is labeled R, the top is labeled U, and the bottom is labeled D.

[0068] Figure 1 A side view of the vehicle 10 of the present invention is shown. Figure 2 for Figure 1 The vehicle 10 shown is a top view. Vehicle 10 is an example of the mobile device of the present invention.

[0069] Vehicle 10 is an automobile, having a drive source (not shown) and drive wheels and steerable steering wheels driven by the power of the drive source. In this embodiment, vehicle 10 is a four-wheeled automobile with a pair of front wheels and a pair of rear wheels. The drive source of vehicle 10 can be an electric motor. Alternatively, the drive source of vehicle 10 can be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of vehicle 10 can drive the pair of front wheels, the pair of rear wheels, or all four wheels simultaneously. The front and rear wheels can be steerable steering wheels that can be steered simultaneously, or only one of them can be steered.

[0070] The vehicle 10 is also equipped with a left-side rearview mirror 11L and a right-side rearview mirror 11R. The left-side rearview mirror 11L and the right-side rearview mirror 11R are rearview mirrors mounted on the outer sides of the front doors of the vehicle 10, for the driver to check the situation behind and to the sides. The left-side rearview mirror 11L and the right-side rearview mirror 11R are fixed to the body of the vehicle 10 by a vertical rotation axis, and can be rotated around the rotation axis to open and close.

[0071] Vehicle 10 is also equipped with a front-side camera 12Fr, a rear-side camera 12Rr, a left-side camera 12L, and a right-side camera 12R (hereinafter sometimes collectively referred to as "cameras 12"). The front-side camera 12Fr is mounted in front of vehicle 10, for example, at the top of the windshield or behind the rearview mirror, to capture images of the front of vehicle 10. The rear-side camera 12Rr is mounted behind vehicle 10, for example, at the top of the rear windshield or on the rear door, to capture images of the rear of vehicle 10. The left-side camera 12L is mounted on the left-side rearview mirror 11L of vehicle 10 to capture images of the left side of vehicle 10. The right-side camera 12R is mounted on the right-side rearview mirror 11R of vehicle 10 to capture images of the right side of vehicle 10. These cameras 12 are used to capture images of the surrounding environment of vehicle 10 in the corresponding directions and generate images, for example, digital cameras using solid-state image sensors such as CCD (charge-coupled device) or CMOS (complementary metal-oxide-semiconductor). The camera 12 can periodically and repeatedly capture images of the surrounding environment of the vehicle 10, or it can be a stereo camera.

[0072] Figure 3 yes Figure 1 A block diagram illustrating an example of the internal structure of the vehicle 10. (As shown) Figure 3 As shown, vehicle 10 includes a sensor array 16, a navigation device 18, a control ECU (electronic control unit) 20, an electric power steering (EPS) system 22, and a communication unit 24. Vehicle 10 also includes a drive force control system 26 and a braking force control system 28. The control ECU 20 is an example of the control device of the present invention.

[0073] Sensor group 16 is used to acquire various detection values ​​required for control by control ECU 20. Sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left camera 12L, and a right camera 12R. In addition, sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left sonar group 32c, and a right sonar group 32d. Sensor group 16 also includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0074] The front side camera 12Fr, rear side camera 12Rr, left side camera 12L, and right side camera 12R acquire recognition data (e.g., surrounding images) for identifying the external environment of the vehicle 10 by capturing images of the environment around the vehicle 10. The surrounding images captured by the front side camera 12Fr, rear side camera 12Rr, left side camera 12L, and right side camera 12R are respectively referred to as the front image, rear image, left side image, and right side image. The image composed of the left side image and the right side image can also be called a side image. The data captured by the front side camera 12Fr, rear side camera 12Rr, left side camera 12L, and right side camera 12R can generate an external recognition image.

[0075] The front sonar group 32a, rear sonar group 32b, left sonar group 32c, and right sonar group 32d (hereinafter collectively referred to as "sonic group 32") emit sound waves around the vehicle 10 and receive echoes reflected from other objects. The front sonar group 32a, for example, includes four sonars, with components respectively positioned on the left front, front left, front right, and right front sides of the vehicle 10. The rear sonar group 32b, for example, includes four sonars, with components respectively positioned on the left rear, rear left, rear right, and right rear sides of the vehicle 10. The left sonar group 32c, for example, includes two sonars, with components respectively positioned on the left front and left rear sides of the vehicle 10. The right sonar group 32d, for example, includes two sonars, with components respectively positioned on the right front and right rear sides of the vehicle 10.

[0076] Wheel sensors 34a and 34b are used to detect the rotation angle of the wheels of vehicle 10. Wheel sensors 34a and 34b can be composed of angle sensors or displacement sensors. Wheel sensors 34a and 34b output detection pulses when the wheels rotate a certain angle. These detection pulses are used to calculate the rotation angle and rotation speed of the wheels. The travel distance of vehicle 10 can be calculated based on the rotation angle of the wheels. For example, wheel sensor 34a detects the rotation angle θa of the left rear wheel, while wheel sensor 34b detects the rotation angle θb of the right rear wheel.

[0077] Vehicle speed sensor 36 is used to detect the speed of the vehicle body 10 (i.e., vehicle speed V) and outputs the detected vehicle speed V to control ECU 20. Vehicle speed sensor 36 detects vehicle speed V, for example, based on the rotation of the transmission reverse shaft.

[0078] The operation detection unit 38 detects the operation performed by the user through the operation input unit 14 and outputs the detected operation to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a rearview mirror switch for switching the opening and closing states of the left rearview mirror 11L and the right rearview mirror 11R, a gear shift lever (selector lever or selector), etc.

[0079] The navigation device 18 detects the current location of the vehicle 10, for example, using GPS (Global Positioning System), and generates a route to guide the user to their destination. The navigation device 18 has a storage device (not shown) for storing a database of map information.

[0080] The navigation device 18 is equipped with a touchscreen 42 and a speaker 44. The touchscreen 42 functions as both an input device and a display device for controlling the ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 in voice form.

[0081] The touchscreen 42 is configured to input various commands to the control ECU 20. For example, a user can input commands related to the mobility support of the vehicle 10 via the touchscreen 42. Mobility support includes parking support and exit support for the vehicle 10. Furthermore, the touchscreen 42 can also display various interfaces related to the control content of the control ECU 20. For example, the touchscreen 42 displays interfaces related to the mobility support of the vehicle 10, specifically including a parking support button for requesting automatic parking of the vehicle 10 and an exit support button for requesting exit from a parking space. The parking support button can be used to request the control ECU 20 to perform automatic parking, while the assisted parking button can be used to request assistance when the driver operates the parking maneuver. The exit support buttons include an automatic exit button for requesting the control ECU 20 to perform automatic exit from a parking space, and an exit assistance button for requesting assistance when the driver operates the exit from a parking space. Additionally, devices other than the touchscreen, such as smartphones or tablets, can also be used as input or display devices. The touchscreen 42 is configured to input various commands to the control ECU 20. For example, a user can input commands to display an external recognition image of the vehicle 10 via the touchscreen 42. Furthermore, the touchscreen 42 is also configured to display various screens related to the control content of the ECU 20. For example, an external recognition image of the vehicle 10 can be displayed on the touchscreen 42. It should be noted that, in addition to the touchscreen 42, other components (such as HUDs, smartphones, tablets, etc.) can also be used as input devices or display devices.

[0082] The control ECU 20 includes an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The arithmetic unit 52 is composed of a CPU (Central Processing Unit). The arithmetic unit 52 controls each component to perform various control operations according to the program stored in the storage unit 54. In addition, the arithmetic unit 52 performs signal input and output with each component connected to the control ECU 20 through the input / output unit 50.

[0083] The computing unit 52 includes an external recognition unit 55, a display control unit 56, and a traffic participant detection unit 57. The external recognition unit 55 is used to recognize external recognition images, the display control unit 56 controls the display of external recognition images, and the traffic participant detection unit 57 identifies traffic participants around the vehicle 10. The detailed structure of the external recognition unit 55, the display control unit 56, and the traffic participant detection unit 57 will be described later.

[0084] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a rotary encoder 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of the steering unit 110. The torque sensor 102 detects the torque TQ applied to the steering unit 110.

[0085] The EPS motor 104 applies driving or reaction force to the steering device 110 connected to the steering column 112, thereby providing steering operation support for occupants and automatic steering during parking. A rotary encoder 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for the overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0086] The communication unit 24 is capable of wireless communication with other communication devices 120. Other communication devices 120 include base stations, communication devices in other vehicles, and smartphones or tablets carried by the user of vehicle 10. The communication unit 24 is one example of the communication unit of this invention. Smartphones and tablets are examples of the information terminals of this invention.

[0087] The drive force control system 26 is equipped with a drive ECU 130. The drive force control system 26 performs drive force control of the vehicle 10. The drive ECU 130 controls the drive force of the vehicle 10 by controlling the engine (not shown) and other components based on the user's operation of the accelerator pedal (not shown).

[0088] The braking force control system 28 is equipped with a braking ECU 132. The braking force control system 28 performs braking force control of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling the braking mechanism (not shown) based on the user's operation of the brake pedal.

[0089] External Identification Department

[0090] The external environment recognition unit 55 is responsible for acquiring image data from multiple cameras and recognizing environmental information around the vehicle 10. Through processing and analysis of the image data, it extracts useful object information and generates an external environment recognition image A. Specifically, the external environment recognition unit 55 acquires environmental images around the vehicle 10 using the front camera 12Fr, the rear camera 12Rr, the left camera 12L, and the right camera 12R. Then, the external environment recognition unit 55 uses computer vision algorithms (such as deep learning models or traditional image processing methods) to process the acquired images, analyze objects in the images, and identify roads, traffic signs, obstacles (such as parked vehicles, roadblocks, etc.), pedestrians, animals, etc., generating the external environment recognition image A.

[0091] The external environment recognition unit 55 also combines map and positioning information to perform scene understanding on the acquired environmental images, integrating information from multiple objects to conduct a higher level of analysis. For example, the external environment recognition unit 55 can determine lane position and driving direction based on the current location and real-time traffic conditions, identify infrastructure such as the road ahead, traffic signs, curbs, and lane lines, as well as other vehicles in motion from the environmental images, accurately calculate the position, size, and shape of surrounding objects, thereby establishing a 3D model of the vehicle's surrounding environment and modeling the road geometry. In autonomous driving mode, the external environment recognition unit 55 can update the external environment recognition images around the vehicle in real time, providing accurate basic data for path planning.

[0092] In addition to relying solely on the camera, the external recognition unit 55 can also fuse data with other sensors. For example, combining data from LiDAR, radar, sonar, and other sensors can enhance the perception of the surrounding environment. Through sensor fusion, the external recognition unit 55 can achieve more accurate obstacle detection and position estimation. Especially under conditions such as low light and inclement weather, sensor fusion can effectively compensate for the shortcomings of a single sensor, improving the robustness and accuracy of the system.

[0093] Traffic Participant Detection Department

[0094] The traffic participant detection unit 57 further extracts information about traffic-related participants M from the external recognition image A. Traffic participants M include all objects participating in traffic with vehicle 10, such as pedestrians, other vehicles, bicycles, non-motorized vehicles, and animals. The traffic participant detection unit 57 not only performs basic identification of traffic participants M, but also assigns multi-dimensional attribute information to each identified traffic participant M, constructing a traffic participant information table. Table 1 shows an example of a traffic participant information table.

[0095] Table 1 Information on Traffic Participants

[0096] field name describe ID Unique identifier used to identify each traffic participant type Types of traffic participants (pedestrians, vehicles, bicycles, animals, etc.) distance Distance between vehicle 10 and vehicle 10 (unit: meters) direction Orientation of traffic participants relative to vehicles (unit: degrees, 0-360°) Sports Trends Approaching, moving away, moving parallel, etc. speed Speed ​​of traffic participants (unit: m / s) Priority Priority values ​​(high, medium, low) Location The area around the vehicle of a traffic participant (front, rear, left, right)

[0097] Table 1 Field Descriptions

[0098] ID: A unique identifier for each traffic participant M, facilitating tracking and updating.

[0099] Type: Based on the results of the object detection model, identify the category of traffic participant M, such as pedestrian, vehicle, bicycle, animal, etc.

[0100] Distance: The straight-line distance between a road user and a vehicle, measured in meters.

[0101] Orientation: Based on the vehicle coordinate system, it describes the azimuth angle of a traffic participant relative to the vehicle (e.g., 0° is directly in front, 90° is to the right, and 180° is directly behind).

[0102] Motion trend: Based on the vehicle coordinate system, it describes the motion trend of traffic participants relative to the vehicle, such as approaching, moving away, or moving parallel.

[0103] Speed: The real-time speed of traffic participants.

[0104] Priority: Assigning different priorities to traffic participants M according to predetermined rules. For example, giving high priority to pedestrians pushing strollers.

[0105] Location area: Divided into front, back, left, and right areas for quick positioning.

[0106] These attribute information are generated by analyzing image features, motion states, and sensor data.

[0107] Image recognition technology based on machine learning is used to classify traffic participants M into specific categories, such as pedestrians, cyclists, motorcycles, cars, large vehicles (such as trucks and buses), and animals.

[0108] After identifying a specific category, secondary attributes can be further extracted. For example, whether the pedestrian is an adult or a child, or whether the vehicle is an emergency vehicle (such as an ambulance).

[0109] The direction and distance of traffic participant M can be determined based on spatial positioning using sonar or LiDAR. For example, using ultrasonic signals emitted and received by sonar array 32, the distance and position of traffic participant M can be calculated through echo data.

[0110] The determination of the movement trend and speed of traffic participant M can be based on sonar spatial positioning and movement trend. For example, using ultrasonic signals emitted and received by sonar array 32, the distance and position of traffic participant M can be calculated through echo data. Combined with sonar detection results over a continuous time period, the movement trajectory and speed of traffic participant M can be determined. Furthermore, visual information from camera 12 and distance and orientation information provided by sonar can be combined through data fusion using weighted algorithms or deep learning models to improve recognition accuracy. Alternatively, a combination of target tracking and historical data can be used. Inter-frame difference or target tracking algorithms (such as optical flow or Kalman filters) can be employed to track the movement trend of traffic participant M over a period of time. By comparing the current recognition result with historical data, it can be analyzed whether traffic participant M possesses continuous mobility and direction of movement, thereby reducing false recognition.

[0111] <Display Control Unit: Implementation Method 1>

[0112] The display control unit 56 displays the external recognition image A acquired by the external recognition unit 55 on the display device (e.g., touch screen 42) of the vehicle 10. Simultaneously, the display control unit 56 overlays images of traffic participants M onto the external recognition image A. If multiple traffic participants M share the same attributes and have a specific positional relationship, these traffic participants are integrated into a single traffic participant image for display. Specifically, in this embodiment 1, a specific positional relationship refers to the close proximity of traffic participants; that is, if multiple traffic participants M share the same attributes and are close to each other, the display control unit 56 integrates these traffic participants into a single integrated traffic participant image for display.

[0113] Figure 4 An example of the traffic participant integration method of Implementation 1 is shown, such as Figure 4 As shown, the display control unit 56 first establishes a coordinate system on the top view plane of the vehicle 10, with the vehicle 10 as the origin, projects each traffic participant M into the coordinate system, and calculates its position in the vehicle coordinate system. Then, the display control unit 56 sets a circle m for each traffic participant M, with the traffic participant's coordinates as the center and a specified length as the radius, and determines whether there is an overlap between the circles. Figure 4 The example shown is when the traffic participant M is a pedestrian, in which case the radius length can be set to a value slightly larger than the shoulder width of an adult.

[0114] If the circle m of a traffic participant M partially overlaps with the circle m of other traffic participants M, then these overlapping traffic participants are integrated into a single object, called an "integrated traffic participant". Whether circles m overlap can be determined by calculating the relationship between the distance between the centers of the two circles and the sum of their radii. Figure 4In the example shown, the center distances between circles m1 (of traffic participant M1) and m2 (of traffic participant M2) and the center of any other circle m (of traffic participant M) are all greater than the sum of their radii. Therefore, circles m1 and m2 are determined not to overlap with the circles m of other traffic participants M, and traffic participants M1 and M2 are kept as separate traffic participants and not integrated. However, the center of circle m4 (of traffic participant M4) is less than or equal to the sum of the radii between the center of circle m3 (of traffic participant M3) and the center of circle m5 (of traffic participant M5). Therefore, circle m4 is determined to overlap with circles m3 and m5, and traffic participants M3 through M5 are integrated into a single integrated traffic participant M. 3-5 .

[0115] Figure 5 An example of a screen displayed in the vehicle display device according to Embodiment 1 is shown. Figure 5 As shown, the display control unit 56 uses the external recognition image A generated by the external recognition unit 55 as the background and displays it on the screen P. Simultaneously, the display control unit 56 renders and overlays individual traffic participants and integrated traffic participants onto the external recognition image A based on the traffic participant information. Specifically, individual traffic participants M1 and M2 are drawn as traffic participant images B1 and B2, respectively, while integrated traffic participant M... 3-5 Then it is drawn as traffic participant image B3.

[0116] This implementation significantly reduces unnecessary and complex information rendering by identifying and integrating multiple traffic participants into a group and visualizing them as a simplified and integrated group on a display screen. This simplifies information display on the screen, helping drivers to quickly understand important vehicle-related information. Furthermore, integrated display effectively reduces the processing load and power consumption of the display system, thereby extending the driving range of electric vehicles.

[0117] <Display Control Unit: Implementation Method 2>

[0118] In this embodiment, the display control unit 56 further dynamically adjusts the level of detail in the drawing of the integrated traffic participants based on the distance between the integrated traffic participants and the vehicle 10, dividing the drawing into multiple levels.

[0119] Figure 6 An example of the traffic participant integration method of Implementation 2 is shown, such as Figure 6As shown, the display control unit 56 determines that traffic participants M1 and M2 are individual traffic participants and does not integrate them. Simultaneously, it determines that the circle m4 of traffic participant M4 overlaps with the circles m3 and m5 of traffic participants M3 and M5, and that the circle m7 of traffic participant M7 overlaps with the circles m6 and m8 of traffic participants M6 and M8. Therefore, it integrates traffic participants M3 to M5 into a single integrated traffic participant M. 3-5 Traffic participants M6 to M8 are integrated into a single integrated traffic participant M. 6-8 The method for determining overlap is the same as in Implementation Method 1, and will not be repeated here.

[0120] Figure 7 An example of a screen displayed in the vehicle display device according to Embodiment 2 is shown. Figure 7 As shown, the display control unit 56 renders and overlays individual traffic participants and integrated traffic participants onto the external recognition image A based on the information of the traffic participants. Specifically, individual traffic participants M1 and M2 are drawn as traffic participant images B1 and B2, respectively, while integrated traffic participant M... 3-5 M 6-8 The images are drawn as traffic participant images B3 and B4, respectively. At this time, the display control unit 56 dynamically adjusts the level of detail of the integrated traffic participant images based on the distance between the integrated traffic participants and the vehicle 10, for example, dividing the drawing into multiple levels as follows.

[0121] High level of detail (e.g., within 20 meters): Used for integrated traffic participants closer to the vehicle, including more detail in the drawing. For example... Figure 7 As shown, integrating traffic participants M 3-5 The traffic participant image B3, which is closer to vehicle 10, is drawn with an outline that reflects the number of traffic participants it contains, and some facial details are also drawn.

[0122] Medium level of detail (e.g., distance between 20 and 100 meters): For integrated traffic participants at medium distances, such as integrated traffic participant M. 6-8 The distance to vehicle 10 is relatively far. Figure 7 As shown, the rendered traffic participant image B4 only draws the outlines that represent the number of traffic participants it contains, omitting details.

[0123] Low level of detail (e.g., distances beyond 100 meters): For integrated traffic participants at greater distances, simplified icons or outlines can be drawn, further reducing the level of detail.

[0124] Furthermore, as vehicle 10 moves, the distance between the integrated traffic participant and the vehicle changes in real time. When vehicle 10 approaches the integrated traffic participant, display control unit 56 can gradually increase the level of detail in the image. For example, when integrated traffic participant M... 6-8 When moving from a medium distance to a close distance, image B4 switches from medium detail to high detail, and the display control unit 56 can dynamically adjust the drawing detail level according to the latest distance.

[0125] In this way, by dynamically adjusting the level of detail in the drawing, the display control unit 56 can optimize the display effect based on the distance between traffic participants and vehicles. Close-up objects are drawn in more detail, while distant objects are displayed in a simplified manner, which can reduce unnecessary rendering burden. At the same time, hierarchical display makes the screen information more intuitive and clear, avoiding information overload, so as to highlight key objects while saving display resources.

[0126] <Display Control Unit: Implementation Method 3>

[0127] In this embodiment, the display control unit 56 further adjusts the drawing method of traffic participants according to their movement trends.

[0128] Figure 8 An example of the traffic participant integration method of Implementation 3 is shown, such as Figure 8 As shown, the display control unit 56 determines that traffic participants M1 and M2 are individual traffic participants and does not integrate them. At the same time, it determines that the circle m4 of traffic participant M4 overlaps with the circle m3 of traffic participant M3 and the circle m5 of traffic participant M5, and integrates traffic participants M3 to M5 into a single integrated traffic participant M. 3-5 The method for determining overlap is the same as in Implementation Method 1, and will not be repeated here.

[0129] The display control unit 56 further detects whether there is a traffic participant (hereinafter referred to as "approaching traffic participant") whose direction of movement is directed toward the vehicle 10. If such an approaching traffic participant exists and is included in the integrated traffic participants, the display control unit 56 separates the approaching traffic participant from the integrated traffic participants.

[0130] Specifically, the display control unit 56 filters the movement trends of traffic participants based on the field content of the traffic participant information table, detecting traffic participants whose movement trend is "approaching". As an example, in this embodiment, only traffic participant M3 has a movement trend of "approaching", therefore it is identified as an approaching traffic participant. Since approaching traffic participant M3 is included in the integrated traffic participant M... 3-5 Therefore, the control unit 56 separates M3 from the integrated traffic participants, treating it as a separate traffic participant. The separated integrated traffic participant M...3-5 It will be reorganized from only including M4 and M5 into an integrated traffic participant M 4-5 .

[0131] Figure 9 An example of a screen displayed in the vehicle display device according to Embodiment 3 is shown. Figure 9 As shown, individual traffic participants M1 to M3 are plotted as traffic participant images B1-B3, while the integrated traffic participant M... 4-5 The image B3 is drawn as a traffic participant image B4. The display control unit 56 improves the drawing detail of the approaching traffic participant M3 by drawing the image B3 at a higher resolution on the display device, ensuring that its outline and details are clearer. The display control unit 56 can also add directional arrows to the image B3 of the approaching traffic participant M3 to indicate its direction of movement (approaching vehicle 10), or identify the image B3 with a specific color or border so that the driver can quickly notice it.

[0132] For the non-approaching traffic participant M2 located between vehicle 10 and the approaching traffic participant M3, the display control unit 56 uses a perspective display method to increase the transparency of the image B2 of the non-approaching traffic participant M2, so that it does not obscure the approaching traffic participant in the display screen. In addition, the display control unit 56 can further reduce the detail of the image B2 of the non-approaching traffic participant M2 to simplify its display.

[0133] In this embodiment, the display control unit 56 updates the motion trend detection and drawing of approaching traffic participants in real time, periodically calculates the distance and motion trend between traffic participant M and vehicle 10, and readjusts the drawing logic once the state of the approaching traffic participant changes. For example, if traffic participant M3 changes from "approaching" to "moving away", the display control unit 56 re-evaluates the integration relationship and updates the image of the traffic participant.

[0134] In this way, the display control unit 56 dynamically adjusts its rendering method in real time according to the movement trends of traffic participants. By increasing the detail of the rendering of approaching traffic participants, the display device can highlight potential threat objects in a more intuitive way, thereby helping drivers to quickly identify and focus on high-risk objects. At the same time, it displays non-approaching traffic participants located between approaching traffic participants and vehicles from a perspective perspective, reducing the occlusion effect and making the display of approaching traffic participants clearer. This reduces the risk of drivers missing important information and improves the readability and safety of the screen information.

[0135] <Display Control Unit: Implementation Method 4>

[0136] In this embodiment, the display control unit 56 further adjusts the drawing method of traffic participants according to their priority.

[0137] Figure 10 An example of the traffic participant integration method of Implementation 4 is shown, such as Figure 10 As shown, the display control unit 56 determines that traffic participants M1 and M2 are individual traffic participants and does not integrate them. At the same time, it determines that the circle m4 of traffic participant M4 overlaps with the circle m3 of traffic participant M3 and the circle m5 of traffic participant M5, and integrates traffic participants M3 to M5 into a single integrated traffic participant M. 3-5 The method for determining overlap is the same as in Implementation Method 1, and will not be repeated here.

[0138] The display control unit 56 further detects whether there are traffic participants who require special attention (hereinafter referred to as "traffic participants requiring attention"). If such traffic participants exist and are included in the integrated traffic participants, the display control unit 56 separates the traffic participants requiring attention from the integrated traffic participants.

[0139] Specifically, the display control unit 56 filters traffic participants based on the field content of the traffic participant information table, selecting those with a "high" priority and marking them as traffic participants requiring attention. Traffic participants with higher priority generally pose a greater potential risk or are more disruptive to drivers, such as pedestrians pushing strollers, children riding bicycles, teenagers playing on skateboards, and other vulnerable traffic participants.

[0140] As an example, in this implementation, traffic participant M3 has a "high" priority and is therefore identified as a traffic participant requiring attention. Since traffic participant M3 requiring attention is included in the aggregate traffic participant M... 3-5 Therefore, the control unit 56 separates M3 from the integrated traffic participants, treating it as a separate traffic participant. The separated integrated traffic participant M... 3-5 It will be reorganized from only including M4 and M5 into an integrated traffic participant M 4-5 .

[0141] Figure 11 An example of a screen displayed in the vehicle display device according to Embodiment 4 is shown. Figure 11 As shown, for traffic participant M3 who requires attention, the display control unit 56 draws it separately as image B3 and increases its drawing detail, drawing image B3 at a higher resolution to ensure its outline and details are clearer. The display control unit 56 can also identify the image B3 of traffic participant M3 through specific colors, borders, flashing effects, etc., so that the driver can quickly notice it.

[0142] For traffic participant M2 located between vehicle 10 and the traffic participant M3 who needs attention, display control unit 56 uses a perspective display method to increase the transparency of the image B2 of traffic participant M2 so that it does not obscure the traffic participant M3 in the display screen. In addition, display control unit 56 can further reduce the detail of the image B2 of non-proximity traffic participant M2 to simplify its display.

[0143] In this way, the display control unit 56 identifies traffic participants requiring attention and displays them independently from the integrated objects, enhancing the highlighting effect. This provides the driver with prominent information about key traffic participants, optimizing the prompting effect of the driving assistance system and helping the driver to more quickly identify and focus on high-risk objects. Simultaneously, other traffic participants located between the traffic participants requiring attention and the vehicle are displayed with perspective, reducing obstruction and making the display of the traffic participants requiring attention clearer, thus reducing the risk of the driver missing important objects.

[0144] <Display Control Unit: Implementation Method 5>

[0145] In Implementation 1, if multiple traffic participants M have the same attributes and are close to each other, the display control unit 56 will integrate these traffic participants into one integrated traffic participant for display.

[0146] In this embodiment 5, the display control unit 56 further integrates traffic participants based on their distance from the vehicle 10. Specifically, when multiple traffic participants M with the same attributes are located within a specific line of sight of the vehicle 10, and the distances between these traffic participants M and the vehicle 10 all fall within a specified range, these traffic participants are integrated according to certain rules.

[0147] Figure 12 The traffic participant integration logic in Embodiment 5 is shown. The display control unit 56 first establishes a coordinate system on the top-view plane of the vehicle 10 and projects the position information of each traffic participant M into this coordinate system. Then, taking the center of the vehicle 10 as the starting point and the direction directly in front of the vehicle 10's line of sight as 0 degrees, traffic participants within a predetermined angle (e.g., ±30°) of the line of sight are selected. Simultaneously, with the center of the vehicle 10 as the center, distance ranges (e.g., near distance, medium distance, and far distance) are divided by predetermined first radius r1 and second radius r2. For the selected traffic participants, the display control unit 56 performs different levels of integration processing depending on the distance range:

[0148] Traffic participants in close proximity remain separate and are not integrated;

[0149] Traffic participants within a medium distance range may be grouped into a single integrated traffic participant in a maximum of two groups.

[0150] Traffic participants within a long distance range can be grouped into a single group of up to four.

[0151] It should be noted that the number of items integrated (e.g., 2 or 4) is merely an example and does not constitute a limitation on the present invention.

[0152] Furthermore, in this embodiment, the ranges of short distance, medium distance, and long distance can be dynamically adjusted as the vehicle 10 moves.

[0153] For example:

[0154] When the vehicle 10 is traveling at a higher speed, in order to reduce the driver's visual burden, the distance range can be expanded so that traffic participants at a greater distance can be displayed in an integrated form, thereby focusing the driver's attention on a more important area.

[0155] When a vehicle decelerates or travels at low speeds, the distance range can be reduced, allowing more road users to be displayed individually. This enables drivers to clearly understand the details of their surroundings, providing more accurate environmental information, especially in complex scenarios such as parking lots or congested roads.

[0156] The dynamic adjustment logic is as follows:

[0157] Initial range settings: When the vehicle is stationary or moving at low speed, the short distance range (first radius r1) is set to a small value, such as 20 meters; the medium distance range (second radius r2) is set to 50 meters; and the long distance range is the portion exceeding 50 meters.

[0158] Dynamic range adjustment: The higher the vehicle 10's speed, the larger r1 and r2 become. For example, when the speed reaches 60km / h, the close-range range can be expanded to 50 meters, the medium-range range to 100 meters, and the long-range range to more than 100 meters.

[0159] Real-time update range: The display control unit 56 updates the ranges of r1 and r2 in real time based on the speed sensor data of vehicle 10 or other vehicle speed information, and dynamically adjusts the grouping and integration logic of traffic participants.

[0160] For example, such as Figure 12 As shown, the following integration processing is performed on traffic participants M1 to M9 located within a line of sight of ±30 degrees.

[0161] Traffic participants M1 to M3 are located within the first radius r1 (close range), so they remain as separate traffic participants. Even if traffic participants M1 and M2 have overlapping positions, they are not integrated.

[0162] Traffic participants M4 to M6 are located within the mid-distance range between the first radius r1 and the second radius r2, and their positions overlap. Since traffic participants within this mid-distance range are required to be integrated into a maximum of two participants, traffic participants M4 and M5 are integrated into one integrated traffic participant M. 4-5 Traffic participant M6 remains a separate traffic participant.

[0163] Traffic participants M7~M 10 Located at a distance beyond the second radius r2, where M7, M8, and M9 have overlapping positional relationships, they are therefore integrated into a single integrated traffic participant M. 7-9 Traffic participant M 10 It does not overlap with other traffic participants, and therefore remains a separate traffic participant.

[0164] The method for determining overlap is the same as in Implementation Method 1, and will not be repeated here.

[0165] Then, the display control unit 56 renders and overlays the individual traffic participants and the integrated traffic participants onto the external recognition image A, based on the information of the traffic participants. Individual traffic participants M1, M2, M3, M6, M... 10 They were drawn as separate traffic participant images, while the integrated traffic participant M... 4-5 M 7-9 The traffic participant images are drawn as an integrated representation, and the specific drawing method is the same as in embodiments 1 to 4, so it will not be described again here.

[0166] Through this embodiment 5, the display control unit 56 can flexibly adjust the integrated display strategy according to the distance between the vehicle and traffic participants, further optimizing the display method. The display control unit 56 can also dynamically adjust the range of near, medium, and long distances based on the vehicle 10's driving speed, reducing visual interference for the driver at high speeds and providing more accurate environmental information at low speeds. This further helps the driver quickly and accurately identify surrounding traffic participants, while reducing visual information redundancy and extending the electric vehicle's driving range.

[0167] In the above embodiments, an example of using a vehicle (four-wheeled car) as the mobile device has been described, but it is not limited to this. For example, it could also be a two-wheeled vehicle, a Segway, or other vehicles. Furthermore, the concept of the present invention is not limited to vehicles, but can also be applied to robots, ships, aircraft, etc., that are equipped with a drive source and can move by the power of the drive source.

[0168] This invention is not limited to the aforementioned embodiments and can be appropriately modified and improved. For example, the integration conditions can be dynamically adjusted according to the attributes of traffic participants (changing the minimum and / or maximum number of traffic participants constituting the integrated traffic participants) to adapt to the display needs of different categories of traffic participants. For example, a higher integration number may be allowed for pedestrian groups, while a lower integration number may be maintained for vehicles, thereby enhancing the flexibility and practical applicability of the display effect.

[0169] In addition, the system can combine the vehicle's direction of travel with the target path to prioritize traffic participants in the direction of vehicle movement, thereby reducing interference from traffic participants in unrelated areas.

[0170] Furthermore, the control method described in the foregoing embodiments can be implemented by executing a pre-prepared control program. This control program is recorded in a computer-readable storage medium and is executed by reading it from the storage medium. Additionally, this control program can be provided in the form of storage on a non-transitory storage medium such as flash memory, or it can be provided via a network such as the Internet. The computer executing this control program can be included in a control device, or in an electronic device such as a smartphone, tablet terminal, or personal computer capable of communicating with the control device, or in a server device capable of communicating with these control devices and electronic devices.

[0171] In addition, the present invention includes at least the following items, wherein the items in parentheses represent the corresponding components or likes in the above embodiments, but are not limited thereto.

[0172] <Option 1>

[0173] A mobile device (vehicle 10) includes:

[0174] An external information acquisition device (camera 12, external identification unit 55) acquires external information around the mobile device;

[0175] Acquisition device (traffic participant detection unit 57) is used to acquire traffic participant information from the external information;

[0176] The display device (display control unit 56, touch screen 42) is used to generate and display an image representing the traffic conditions around the mobile device based on the external information and the traffic participant information;

[0177] The traffic participant information includes the attribute information of each traffic participant;

[0178] When generating the image, the display device integrates multiple traffic participants with the same attributes and specific positional relationships into a single integrated traffic participant, and draws the integrated traffic participant as a single object.

[0179] The mobile device of Scheme 1, when detecting multiple traffic participants in front, identifies traffic participants with specific positional relationships as a group and visualizes them on the display screen in a simplified and integrated group form, reducing unnecessary complex information drawing. This simplifies the visual information on the display screen, helps the driver quickly understand important information related to the vehicle, effectively reduces the processing load and power consumption of the display system, and extends the driving range of electric vehicles.

[0180] <Option 2>

[0181] The mobile device according to Scheme 1, wherein the attributes include people, vehicles and animals.

[0182] The mobile device in Scheme 2 classifies the attributes of traffic participants (such as people, vehicles, and animals), enabling the system to more accurately identify and distinguish the categories of traffic participants, improve the accuracy of integrating traffic participants and the breadth of application scenarios, and at the same time help to provide specific display optimizations for different categories of participants.

[0183] <Option 3>

[0184] According to the mobile device described in scheme 1 or 2, wherein,

[0185] When multiple integrated traffic participants exist in the generated image, the display device adjusts the rendering detail of each integrated traffic participant based on the distance between each integrated traffic participant and the mobile device.

[0186] The mapping detail of integrated traffic participants closer to the mobile device is higher than that of integrated traffic participants farther from the mobile device.

[0187] Scheme 3 dynamically adjusts the level of detail in the rendering of mobile devices based on the distance between the mobile devices and the traffic participants. This allows for more detailed display of traffic participants who are closer, improving the ability to identify potential hazards, while simplifying the display of traffic participants who are farther away, avoiding screen overload, and improving display efficiency and visual focus.

[0188] <Option 4>

[0189] According to any one of claims 1 to 3, the display device changes the minimum and / or maximum number of traffic participants constituting the integrated traffic participants based on the attribute.

[0190] The mobile device in Scheme 4 dynamically adjusts the integration conditions (such as minimum or maximum quantity) based on the attributes of traffic participants, thus adapting to the display needs of different categories of traffic participants. For example, it may allow for a higher integration quantity for pedestrian groups, while maintaining a lower integration quantity for vehicles, thereby enhancing the flexibility and practical applicability of the display effect.

[0191] <Option 5>

[0192] According to any one of Schemes 1 to 4, in the mobile device, the display device divides the area around the mobile device into multiple regions based on the distance from the mobile device, and refers to multiple traffic participants located in the same region as multiple traffic participants with a specific positional relationship.

[0193] The mobile device in Scheme 5, by dividing areas based on distance (e.g., near distance, medium distance, long distance) and integrating traffic participants within those areas, can better optimize the integration logic, improve the sense of hierarchy in the display screen and the accuracy of information expression, making it particularly suitable for complex traffic environments.

[0194] <Option 6>

[0195] According to the mobile device of Scheme 5, the display device changes the minimum and / or maximum number of traffic participants constituting the integrated traffic participants based on the distance between the area and the mobile device.

[0196] The mobile device in Scheme 6, combined with area division, can flexibly adjust the integrated display strategy (such as integrating the minimum or maximum number) according to the distance between the vehicle and traffic participants, achieving more granular display optimization and further optimizing the display method.

[0197] <Option 7>

[0198] The mobile device according to any one of schemes 1 to 6, wherein,

[0199] The acquisition device detects traffic participants moving toward the mobile device as approaching traffic participants.

[0200] When the approaching traffic participant is included among the plurality of traffic participants that are the integrated traffic participant, the display device separates the approaching traffic participant from the integrated traffic participant and draws it as a separate object.

[0201] The mobile device in Scheme 7, by detecting approaching traffic participants and displaying them separately from the integrated object, can highlight potentially dangerous traffic participants, improve driver alertness and reaction speed, and enhance driving safety.

[0202] <Option 8>

[0203] According to the mobile device of Scheme 7, the display device renders the near traffic participants with a higher level of detail than the non-near traffic participants.

[0204] The mobile device in Scheme 8 enhances the detail of the mapping of approaching traffic participants, enabling the display device to highlight potential threat objects in a more intuitive way, thereby helping drivers to identify and focus on high-risk objects more quickly.

[0205] <Option 9>

[0206] According to the mobile device of embodiment 7 or 8, the display device provides a perspective display of a non-proximity traffic participant located between the mobile device and the proximity traffic participant and covering at least a portion of the proximity traffic participant in the generated image.

[0207] The mobile device in Scheme 9 reduces the obstruction effect by providing a perspective display of non-proximity traffic participants located between the approaching traffic participants and the vehicle, making the display of approaching traffic participants clearer. This reduces the risk of drivers missing important information and improves the readability and safety of the screen information.

[0208] <Option 10>

[0209] The mobile device according to any one of schemes 1 to 6, wherein,

[0210] The acquisition device determines whether each traffic participant needs to pay attention;

[0211] When a traffic participant requiring attention is included among the plurality of traffic participants that are integrated as traffic participants, the display device separates the traffic participant requiring attention from the integrated traffic participants and draws it as a separate object.

[0212] The mobile device in Scheme 10 can provide drivers with prominent information prompts about key traffic participants by identifying traffic participants who require attention (such as pedestrians pushing strollers) and displaying them separately from the integrated objects, thereby optimizing the prompting effect of the driving assistance system and improving the intelligence and targeting of the system.

[0213] <Option 11>

[0214] According to the mobile device of Scheme 10, the display device highlights the traffic participants who need attention.

[0215] The mobile device in Scheme 11 can more intuitively alert drivers to potential risks by highlighting traffic participants who require attention, such as by using color, borders, or dynamic effects, thereby significantly improving the efficiency of drivers' attention allocation and response capabilities.

[0216] <Option 12>

[0217] According to the mobile device of embodiment 10 or 11, the display device provides a perspective display of a non-attentional traffic participant located between the mobile device and the traffic participant requiring attention, and which covers at least a portion of the traffic participant requiring attention in the generated image.

[0218] The mobile device in Scheme 12 displays non-attentional traffic participants through perspective, avoiding obstruction of attentional traffic participants, thereby ensuring the clear presentation of key traffic information, reducing the risk of misjudgment caused by visual interference, and improving the hierarchy and accuracy of information expression.

[0219] <Option 13>

[0220] A method for generating and displaying an image representing traffic conditions around a mobile device, wherein a computer installed in the mobile device performs the following steps:

[0221] Traffic participant information is obtained from external information surrounding the mobile device acquired by the external information acquisition device of the mobile device.

[0222] An image representing the traffic conditions around the mobile device is generated and displayed based on the external information and the traffic participant information, wherein...

[0223] When generating the image, multiple traffic participants with the same attributes and specific positional relationships are integrated into a single traffic participant, and the integrated traffic participant is drawn as a single object.

[0224] <Option 14>

[0225] A computer program product comprising a computer program that causes a computer to perform the method described in scheme 13.

[0226] Schemes 13 and 14 further provide control methods and computer program products that enable computers installed in mobile devices to perform simplified and integrated group-based visualization of traffic participants, reduce unnecessary complex information drawing, simplify the visualization information on the display screen, help drivers quickly understand important information related to the vehicle, effectively reduce the processing load and power consumption of the display system, and extend the driving range of electric vehicles.

Claims

1. A mobile device, comprising: External information acquisition device, which acquires external information around the mobile device; Acquisition device, used to acquire traffic participant information from the external information; A display device is used to generate and display an image representing the traffic conditions around the mobile device based on the external information and the traffic participant information; The traffic participant information includes the attribute information of each traffic participant; When generating the image, the display device integrates multiple traffic participants with the same attributes and specific positional relationships into a single integrated traffic participant, and draws the integrated traffic participant as a single object.

2. The mobile device according to claim 1, wherein the attribute includes a person, a vehicle, and an animal.

3. The mobile device according to claim 1 or 2, wherein, When multiple integrated traffic participants exist in the generated image, the display device adjusts the rendering detail of each integrated traffic participant based on the distance between each integrated traffic participant and the mobile device. The mapping detail of integrated traffic participants closer to the mobile device is higher than that of integrated traffic participants farther from the mobile device.

4. The mobile device according to any one of claims 1 to 3, wherein, The display device changes the minimum and / or maximum number of traffic participants constituting the integrated traffic participants based on the attribute.

5. The mobile device according to any one of claims 1 to 4, wherein, The display device divides the area around the mobile device into multiple regions based on the distance to the mobile device, and identifies multiple traffic participants located in the same region as multiple traffic participants with a specific positional relationship.

6. The mobile device according to claim 5, wherein, The display device changes the minimum and / or maximum number of traffic participants constituting the integrated traffic participants based on the distance between the area and the mobile device.

7. The mobile device according to any one of claims 1 to 6, wherein, The acquisition device detects traffic participants moving toward the mobile device as approaching traffic participants. When the approaching traffic participant is included among the plurality of traffic participants that are the integrated traffic participant, the display device separates the approaching traffic participant from the integrated traffic participant and draws it as a separate object.

8. The mobile device according to claim 7, wherein, The display device renders the near traffic participants with a higher level of detail than the non-near traffic participants.

9. The mobile device according to claim 7 or 8, wherein, The display device provides a perspective view of a non-proximity traffic participant located between the mobile device and the approaching traffic participant, and which covers at least a portion of the approaching traffic participant in the generated image.

10. The mobile device according to any one of claims 1 to 6, wherein, The acquisition device determines whether each traffic participant needs to pay attention; When a traffic participant requiring attention is included among the plurality of traffic participants that are integrated as traffic participants, the display device separates the traffic participant requiring attention from the integrated traffic participants and draws it as a separate object.

11. The mobile device according to claim 10, wherein, The display device highlights the traffic participants who require attention.

12. The mobile device according to claim 10 or 11, wherein, The display device provides a perspective view of a non-attentional traffic participant located between the mobile device and the traffic participant requiring attention, and which covers at least a portion of the traffic participant requiring attention in the generated image.

13. A method for generating and displaying an image representing traffic conditions around a mobile device, wherein a computer installed in the mobile device performs the following steps: Traffic participant information is obtained from external information surrounding the mobile device acquired by the external information acquisition device of the mobile device. An image representing the traffic conditions around the mobile device is generated and displayed based on the external information and the traffic participant information, wherein... When generating the image, multiple traffic participants with the same attributes and specific positional relationships are integrated into a single traffic participant, and the integrated traffic participant is drawn as a single object.

14. A computer program product comprising a computer program that causes a computer to perform the method of claim 13.

Images