Vehicle display method and vehicle

Abstract

The application provides a vehicle display method and a vehicle, and relates to the technical field of intelligent driving. The method comprises the following steps: a vehicle obtains a vehicle driving speed and a slope angle; then, when the vehicle meets the slope image display condition based on the vehicle driving speed and the slope angle, the vehicle obtains a vehicle slope driving type; wherein the vehicle slope driving type comprises uphill driving or downhill driving; then, the vehicle determines a target slope image according to the vehicle slope driving type, and controls a display device to display the target slope image; wherein the slope image coverage range corresponding to the downhill driving is greater than the slope image coverage range corresponding to the uphill driving. In this way, the driver can quickly focus on the key road condition information matching the current vehicle slope driving type, the visual field interference is reduced, and the judgment efficiency of the driver on the slope environment and the driving safety are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, specifically to a vehicle display method and a vehicle. Background Technology

[0002] In the field of intelligent driving technology, existing slope imaging systems typically use auxiliary images with uniform coverage to provide drivers with information on slope conditions.

[0003] However, the driver's primary field of vision differs significantly when driving uphill and downhill: uphill, the focus is on the immediate road surface in front of the vehicle, while downhill, the focus shifts to the distant road surface. If a fixed, uniform slope protection image range is used, the displayed image often includes the driver's primary field of vision. Since the driver has already focused on the primary field of vision, if the displayed image includes areas of vision that the driver no longer needs to focus on, the driver's attention is diverted, making it difficult to quickly refocus on crucial road condition information outside the primary field of vision. This, to some extent, reduces the driver's efficiency in judging the overall slope environment and compromises driving safety. Summary of the Invention

[0004] This application provides a vehicle display method and a vehicle, which enables the driver to quickly focus their attention on key road condition information that matches the current vehicle's slope driving type, reducing visual interference and improving the driver's judgment efficiency and driving safety regarding the slope environment.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions: Firstly, a vehicle display method is provided, which is applied to a vehicle. The method includes: acquiring the vehicle's driving speed and slope angle; determining that the vehicle meets the conditions for displaying a slope image based on the vehicle's driving speed and slope angle; acquiring the vehicle's slope driving type; wherein the vehicle's slope driving type includes uphill driving or downhill driving; determining a target slope image according to the vehicle's slope driving type; and controlling a display device to display the target slope image; wherein different vehicle slope driving types correspond to different slope image coverage areas, and the slope image coverage area corresponding to downhill driving is greater than the slope image coverage area corresponding to uphill driving.

[0006] In this embodiment, the vehicle can determine different slope image coverage areas based on different vehicle slope driving types, with the slope image coverage area corresponding to downhill driving being larger than that corresponding to uphill driving. Since drivers primarily focus on the nearby road surface near the front of the vehicle when driving uphill, while needing to anticipate road conditions further downhill when driving downhill, the actual visual field required by the driver differs between these two driving directions. Therefore, by matching slope images with different coverage areas for different vehicle slope driving types, the slope image displayed by the vehicle can match the road surface area currently of the driver's focus. This allows the driver to quickly focus their attention on key road condition information matching the current vehicle slope driving type, reducing visual interference and improving the driver's efficiency in judging the slope environment and driving safety.

[0007] In conjunction with the first aspect, in one possible design approach, determining the target slope image based on the vehicle's slope driving type includes: when the vehicle's slope driving type is uphill, determining a first target slope image corresponding to uphill driving; wherein the first target slope image includes current road surface information below the vehicle's front and road surface information in a first range in front of the vehicle; when the vehicle's slope driving type is downhill, determining a second target slope image corresponding to downhill driving; wherein the second target slope image includes current road surface information below the vehicle's front and road surface information in a second range in front of the vehicle, the distance along the vehicle's body direction in the second range being greater than the distance along the vehicle's body direction in the first range.

[0008] In this application, the distance along the vehicle's body direction in the second range is greater than the distance along the vehicle's body direction in the first range. This indicates that in a downhill scenario, the image of the road ahead presented by the vehicle is farther and longer than in an uphill scenario. This is because when going uphill, the driver needs to clearly see nearby obstacles below the front of the vehicle to prevent collisions; while when going downhill, the driver needs to anticipate the bottom of the slope and plan the driving trajectory, thus the second range can be extended to be longer. In this way, the visual needs of the driver in different slope directions are accurately matched, achieving differentiated visual field compensation that is highly matched with the driver's psychological focus, namely, preventing near-collisions when going uphill and preventing distant blindness when going downhill.

[0009] In conjunction with the first aspect, in one possible design approach, determining the first target slope image corresponding to uphill driving includes: acquiring a first historical frame image and a first current frame image captured by a first camera; wherein the first current frame image includes road surface information of a first range in front of the vehicle; cropping the first historical frame image to determine a cropped first image; wherein the first cropped image is used to represent the current road surface information below the vehicle's front; and stitching the first cropped image and the first current frame image together to obtain the first target slope image.

[0010] This application, by leveraging historically captured ground information based on the vehicle's existing imaging hardware, can generate a first target ramp image with a transparent visual effect at low cost and high efficiency. This allows the driver to intuitively see the ground conditions obscured by the front of the vehicle, thereby effectively avoiding the risk of collisions caused by blind spots.

[0011] In conjunction with the first aspect, in one possible design approach, determining the second target slope image corresponding to downhill driving includes: acquiring a second historical frame image and a second current frame image captured by a second camera, as well as a third current frame image captured by the second camera; wherein the second current frame image includes road surface information in front of the vehicle, and the field of view captured by the second camera is larger than the field of view captured by the second camera; cropping the second historical frame image to determine a cropped second image; wherein the cropped second image is used to represent the current road surface information below the vehicle's front; and stitching the second cropped image and the second current frame image together to obtain the second target image.

[0012] In this application, the second target slope image includes road condition information generated using historical frame images, creating a visual effect that makes the front of the vehicle transparent. This information is used to observe nearby blind spots and extends to the far end of the slope after processing the real-time image from a wide-angle camera. This eliminates safety hazards under the vehicle and provides drivers with ample visibility to plan downhill routes, improving their ability to anticipate and feel safe on steep slopes.

[0013] In conjunction with the first aspect, in one possible design, the method further includes: determining that the vehicle meets the conditions for displaying the slope image when the vehicle speed is less than a preset speed threshold and the slope angle is greater than a preset angle threshold; and determining that the vehicle does not meet the conditions for displaying the slope image when the vehicle speed is greater than the preset speed threshold or the slope angle is less than the preset angle threshold.

[0014] In this application, it is ensured that the image assistance is activated only in low-speed, steep-gradient scenarios where there is a genuine safety need (such as starting uphill or driving slowly on a steep slope), while remaining silent on high-speed or gentle slopes. This avoids unnecessary screen switching that distracts the driver and reduces the ineffective use of system resources, thus achieving the best balance between providing necessary safety assistance and minimizing interference with the driver's primary task.

[0015] In conjunction with the first aspect, in one possible design, the display device includes an in-vehicle display screen. Controlling the display device to display a target ramp image includes: determining different target ramp image display strategies based on the in-vehicle display screens at different locations; wherein the target ramp image display strategy includes: displaying the target ramp image on the vehicle's central control screen; displaying the target ramp image on the passenger screen corresponding to the passenger seat when there is a passenger in the vehicle's passenger seat; and executing the target ramp image display strategy.

[0016] In this application, key safety images are always visible to the driver on the central control screen; at the same time, the display on the passenger screen is strictly limited to the necessary scenario of having a passenger, avoiding invalid wake-up of the screen and waste of resources when the passenger is not present, thereby achieving precise configuration of safety information based on actual needs and improving the utilization efficiency of vehicle resources.

[0017] In conjunction with the first aspect, in one possible design approach, the target ramp image display strategy further includes: displaying a ramp image display control on a rear screen corresponding to the rear seat when there are passengers in the rear seats of the vehicle; and displaying a target ramp image on a rear screen corresponding to the rear seat in response to a first operation on the image display control.

[0018] In this application, when there are passengers, the vehicle only provides one optional entry point, giving the decision-making power of whether to switch the screen entirely to the passengers. This satisfies the need of some passengers to be informed about road conditions while maintaining the independence and continuity of rear-seat entertainment to the greatest extent and significantly reducing the ineffective use of vehicle resources.

[0019] In conjunction with the first aspect, in one possible design approach, when there are passengers in the rear seats of the vehicle, the target ramp image is displayed on the rear screen corresponding to the rear seats.

[0020] In this application, the vehicle only displays the target ramp image on the corresponding rear screen when it detects that there are passengers in the rear seats, thus fulfilling the necessity of resource allocation.

[0021] In conjunction with the first aspect, in one possible design approach, the method further includes: displaying the ramp angle and ramp warning icon on the vehicle's dashboard; and / or: overlaying a virtual arrow onto the real-world view of the road ahead in the display area of ​​the vehicle's augmented reality head-up display to indicate a safe passage path derived from the ramp view image.

[0022] In this application, the driver can quickly understand the current slope risk through icons and values ​​on the edge of the dashboard; through the virtual arrows superimposed on the real road surface by the augmented reality head-up display, the driver can obtain the best driving path based on image analysis without looking down at the central control screen. In this way, without increasing the operational burden or causing eye deviation, the efficiency of the driver's reception of key safety information and driving safety in slope scenarios are greatly improved.

[0023] Secondly, embodiments of this application provide a vehicle, including: a processor; and a memory for storing processor-executable instructions, wherein the processor is used to execute the vehicle display method of the first aspect described above.

[0024] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program for performing the vehicle display method of the first aspect described above.

[0025] Fourthly, embodiments of this application provide a computer program product, which includes a computer program that, when executed by a processor of a computer device, enables the computer device to perform the vehicle display method described in the first aspect.

[0026] The technical effects of any of the design methods in the second to fourth aspects can be found in the technical effects of different design methods in the first aspect, and will not be repeated here. Attached Figure Description

[0027] Figure 1 The diagram shows an application scenario of vehicle display methods in related technologies.

[0028] Figure 2 The diagram shown is an application scenario illustration of the vehicle display method provided in an exemplary embodiment of this application.

[0029] Figure 3 The diagram shown is a flowchart illustrating a vehicle display method provided in an exemplary embodiment of this application.

[0030] Figure 4 The diagram shown is a structural schematic of a vehicle provided in an exemplary embodiment of this application.

[0031] Figure 5 The diagram shown is a structural schematic of a vehicle display device provided in an exemplary embodiment of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] Application Overview As mentioned in the background section, if a fixed and uniform slope image assistance range is used, the presented slope image assistance screen often includes the actual field of vision area that the driver is focused on. Since the actual field of vision area has already been focused on by the driver, if the presented slope image assistance screen includes actual field of vision areas that the driver no longer needs to focus on, the driver's attention will be distracted, making it difficult to quickly focus on key road condition information in areas outside the actual field of vision. This, to some extent, weakens the driver's efficiency in judging the slope environment and reduces driving safety.

[0034] When a vehicle is traveling on a slope, although the front of the vehicle still obstructs the view, the change in the direction of gravity shifts the driver's sense of security and visual focus. The following examples illustrate both uphill and downhill scenarios. Figure 1 The diagram illustrates an application scenario of vehicle display methods in related technologies. For example... Figure 1 As shown in Figure (a), when vehicle 100 is going uphill, the front of the vehicle is raised high, obstructing the driver's view. The driver's biggest concern is whether there are steps, rocks, or other slope conditions close to the vehicle in front of the front of the vehicle. Therefore, the driver's vision and attention are generally focused on the slope range d1 directly in front of the vehicle. d1 can be a distance range along the longitudinal direction of the vehicle body, for example, d1 can be 1 to 3 meters.

[0035] like Figure 1 As shown in Figure (b), the front of the car is plunging downhill. Although there is a blind spot under the front of the car, the driver is more psychologically afraid of "what's at the bottom of the slope," "whether the downhill trajectory will deviate," and "whether the car will bottom out." Therefore, the driver's attention will instinctively move beyond the front of the car and look towards the transition area in the distance of the slope. Thus, the driver's vision and attention are generally concentrated on the slope range d2 directly in front of the front of the car. d2 can be a distance range along the longitudinal direction of the car body, for example, d2 can be 3 to 5 meters.

[0036] If a fixed and uniform slope protection image range is used, for example, a 6-meter longitudinal slope protection range in front of the vehicle, the presented slope protection image often includes the driver's primary field of vision (e.g., slope range d1 and slope range d2). Since the driver has already focused on the primary field of vision, if the presented slope protection image includes areas of the driver's field of vision that they no longer need to focus on, the driver's attention is diverted, making it difficult to quickly focus on key road condition information outside the primary field of vision. This, to some extent, weakens the driver's efficiency in judging the slope environment and reduces driving safety.

[0037] Specifically, in response to the aforementioned technical problems, this application provides a vehicle display method, which includes: acquiring the vehicle's driving speed and slope angle; then, based on the vehicle's driving speed and slope angle, determining that the vehicle meets the conditions for slope image display, acquiring the vehicle's slope driving type; wherein, the vehicle's slope driving type includes uphill driving or downhill driving; then, the vehicle determines a target slope image according to the vehicle's slope driving type, and controls a display device to display the target slope image; wherein, different vehicle slope driving types correspond to different slope image coverage areas, and the slope image coverage area corresponding to downhill driving is greater than the slope image coverage area corresponding to uphill driving.

[0038] In this embodiment, the vehicle can determine different slope image coverage areas based on different vehicle slope driving types, with the slope image coverage area corresponding to downhill driving being larger than that corresponding to uphill driving. Since drivers primarily focus on the nearby road surface near the front of the vehicle when driving uphill, while needing to anticipate road conditions further downhill when driving downhill, the actual visual field required by the driver differs between these two driving directions. Therefore, by matching slope images with different coverage areas for different vehicle slope driving types, the slope image displayed by the vehicle can match the road surface area currently of the driver's focus. This allows the driver to quickly focus their attention on key road condition information matching the current vehicle slope driving type, reducing visual interference and improving the driver's efficiency in judging the slope environment and driving safety.

[0039] Exemplary scenario The following is an illustrative diagram illustrating an application scenario of a vehicle display method. For example, Figure 2 The diagram illustrates an application scenario of the vehicle display method provided in an exemplary embodiment of this application. The vehicle 100 includes a central control screen 110, which can display target slope images with different slope image coverage areas on the central control screen 110 for different vehicle slope driving types.

[0040] Specifically, such as Figure 2As shown in Figure (a), the vehicle is driving uphill, and vehicle 100 acquires the vehicle's speed (e.g., 20 km / h) and slope angle in real time. When the slope angle is 18 degrees and the vehicle speed remains below 30 km / h, vehicle 100 determines that the conditions for displaying a slope image are met. At this time, vehicle 100 acquires that the vehicle's slope driving type is uphill, and then vehicle 100 generates a target slope image A. Target slope image A includes road condition information along the longitudinal direction of vehicle 100 at a distance d3, where d3 is the distance from position P1 to position P2. This road condition information includes the road conditions below the vehicle bumper and the road conditions in the relatively close range in front of the vehicle. Subsequently, vehicle 100 displays the target slope image A on the central control screen 110. In this way, the driver can see the blind spot below the bumper and the close-up view of the slope in the relatively long distance in front of the vehicle on the central control screen 110. The target slope image A does not include... Figure 1 As shown in Figure (a), the road condition information for the d1 slope range allows the driver to quickly focus their attention on key road condition information (road condition information for the d3 slope range) in areas outside their actual field of vision on the central control screen 110, improving the driver's efficiency in judging the slope environment and enhancing driving safety.

[0041] After a period of time, such as Figure 1 As shown in Figure (b), vehicle 100 crosses the crest of the hill and begins its descent. Vehicle 100 acquires its real-time vehicle speed (e.g., 20 km / h) and slope angle. When the vehicle speed remains below 30 km / h and the slope angle is still greater than 15 degrees, vehicle 100 determines that the conditions for displaying a slope image are met. At this time, vehicle 100 acquires the camera's view of the vehicle's direction of travel as descent, and then generates a target slope image B. The target slope image B includes the blind spot below the vehicle's bumper and the road conditions in the far distance in front of the vehicle. Subsequently, vehicle 100 displays the target slope image B on the central control screen 110. Target slope image B includes road condition information along the longitudinal direction of vehicle 100 at a distance d4, where d4 is the distance from position P1 to position P3, and the value of d4 is greater than d3. Compared to target slope image A, target slope image B includes road condition information below the vehicle bumper and a longer distance in front of the vehicle. This allows the driver to see the blind spot below the bumper and the distant view of the slope in front of the vehicle on the central control screen. Target slope image B does not include information such as... Figure 1 As shown in Figure (b), the road condition information for the d2 slope range allows the driver to quickly focus their attention on key road condition information (road condition information for the d4 slope range) in areas outside their actual field of vision on the central control screen 110, improving the driver's efficiency in judging the slope environment and enhancing driving safety.

[0042] The vehicle display method provided in this application can be applied to various vehicles. Vehicles include various types of vehicles, such as sedans, SUVs, buses, and trucks. This application does not impose any special limitations on the specific form of the vehicle.

[0043] It should be understood that the above application scenario examples are only shown to facilitate understanding of the spirit and principles of this application, and the embodiments of this application are not limited thereto. Rather, the embodiments of this application can be applied to any applicable scenario.

[0044] Exemplary methods Figure 3 The diagram shown is a flowchart illustrating a vehicle display method provided in an exemplary embodiment of this application. Figure 2 The method can be performed by a vehicle, such as Figure 1 Vehicle 100 is executed. For example... Figure 2 As shown, the vehicle display method may include the following steps: 310: Obtain vehicle speed and slope angle.

[0045] In some embodiments, vehicle speed can be obtained using wheel speed sensors.

[0046] Vehicle speed refers to a physical quantity that characterizes how fast a vehicle is currently moving. In some embodiments, vehicle speed may refer to the instantaneous vehicle speed collected and calculated by wheel speed sensors, and the unit may be kilometers per hour or miles per hour.

[0047] The ramp angle can be the angle between the road surface where the vehicle is located and the horizontal plane, used to characterize the degree of inclination of the road surface relative to the horizontal plane. In some embodiments, the ramp angle can be obtained through a vehicle tilt sensor. In other embodiments, the ramp angle of the road surface where the vehicle to be controlled is located can be determined based on gravitational acceleration, longitudinal acceleration, and acceleration. For example, it can be determined by the following formula (1): Where α is the slope angle of the road surface where the vehicle to be controlled is located. Let be the longitudinal acceleration, a be the acceleration, and g be the gravitational acceleration.

[0048] 320: Based on the vehicle's speed and slope angle, determine if the vehicle meets the conditions for slope image display, and obtain the vehicle's slope driving type.

[0049] In some embodiments, if the vehicle speed is less than a preset speed threshold and the slope angle is greater than a preset angle threshold, the vehicle is determined to meet the slope image display conditions. This indicates that when the vehicle is simultaneously in both low-speed and high-slope states, the driver is in a high-risk scenario requiring precise control and where changes in the vehicle's frontal posture significantly expand the blind spot. For example, when a vehicle starts climbing a slope or slowly descends a slope, the speed is usually low, and the driver has ample attention to focus on near-field images; similarly, a large slope angle causes the front of the vehicle to rise or fall, resulting in the area below the front of the vehicle and a short distance ahead being completely obscured by the vehicle body, creating a blind spot that the driver cannot overcome with natural vision. If the vehicle speed is greater than a preset speed threshold or the slope angle is less than a preset angle threshold, the vehicle is determined not to meet the slope image display conditions.

[0050] The reason for setting it to not trigger at high speeds is that when driving at high speeds (e.g., >30 km / h), the driver's attention needs to be highly focused on the road conditions far ahead to cope with rapidly changing traffic flow. If a sudden switch to a panoramic or ramp view is made at this time, the drastic change in the image will forcibly interrupt the driver's visual focus, causing distraction. Furthermore, image stitching at high speeds often suffers from motion blur or delay, which not only fails to provide effective assistance but may also create visual misleading effects and increase safety hazards. Therefore, setting a speed threshold, such as 30 km / h, is to avoid forcibly switching to the image view while driving at high speeds, because at high speeds the driver's visual focus should be on the road ahead, and image stitching may have a delay; a sudden switch can interfere with driving.

[0051] Setting an angle threshold, such as 15 degrees, is to avoid frequent triggering on slightly uneven road surfaces, which could cause unnecessary screen flickering. Conversely, if the vehicle speed exceeds a preset speed threshold or the slope angle is less than a preset threshold, the vehicle determines that it does not meet the conditions for displaying the slope image. In this case, the vehicle will not activate the slope image mode, or it will smoothly exit the mode and maintain the normal interface display. In this way, assistance is provided only when truly needed, avoiding excessive intervention.

[0052] In summary, by combining vehicle speed and slope angle to determine whether the conditions for slope image display are met, the system can accurately filter out the working conditions that truly require slope image assistance, avoiding accidental triggering in scenarios where no assistance is needed, such as high-speed driving (where the visual focus should be in the distance) or flat roads (where the blind spot can be covered by natural vision).

[0053] In some embodiments, the preset speed threshold and preset angle threshold can be preset according to actual conditions. The preset speed threshold can be 30 kilometers per hour, and the preset angle threshold can be 15 degrees, but is not limited to these.

[0054] Vehicle slope driving types include uphill driving and downhill driving. In some embodiments, the driving direction can be determined by analyzing the pitch angle change trend of the tilt sensor. For example, a continuous increase in the pitch angle over a preset time period indicates that the vehicle is going uphill, while a continuous decrease over a preset time period indicates that the vehicle is going downhill. In other embodiments, the slope angle can be determined based on the sign of the slope angle output by the Inertial Measurement Unit (IMU). For example, if the pitch angle output by the IMU is positive, it means that the front of the vehicle is tilted upward, which is determined to be in the uphill driving direction; if the pitch angle output by the IMU is negative, it means that the front of the vehicle is tilted downward, which is determined to be in the downhill driving direction.

[0055] The steps described above for obtaining the driving direction are only performed after it has been confirmed that the conditions for displaying the ramp image are met, thereby avoiding the additional computational overhead caused by determining the vehicle's direction in unnecessary scenarios.

[0056] 330: Determine the target slope image based on the vehicle's slope driving type, and control the display device to display the target slope image.

[0057] The coverage area of ​​the slope image varies depending on the type of vehicle driving on the slope, and the coverage area of ​​the slope image for downhill driving is greater than that for uphill driving.

[0058] Specifically, for uphill driving, the target slope image focuses on compensating for near blind spots caused by the vehicle's nose lifting. Its coverage area is concentrated on the current road surface directly below the front of the vehicle and the area closer to the front, allowing the driver to see if there are any low obstacles near the front of the vehicle. For downhill driving, the target slope image focuses on predicting road conditions further away. Its coverage area retains the blind spot view below the front of the vehicle while extending further ahead, allowing road information at the bottom of the slope to be displayed in advance, helping the driver plan their route.

[0059] For example, the target slope image generated when going uphill can include a view of the undercarriage simulating a transparent effect of the front of the vehicle and a top-down extended view covering 1-3 meters in front of the front of the vehicle; the target slope image generated when going downhill includes the same transparent view of the undercarriage and a top-down view covering 5-10 meters or even further in front of the front of the vehicle. By dynamically adjusting the image coverage based on the driving direction, the vehicle automatically provides the driver with visual information that highly matches their driving psychological focus. The driver can obtain effective blind spot assistance in slope scenarios without manual button operation, which significantly improves the active safety assistance capability when driving on slopes.

[0060] In this embodiment, the vehicle can determine different slope image coverage ranges according to different vehicle slope driving types. To a certain extent, this reduces the actual field of vision that the driver focuses on in the slope image presented by the vehicle. The driver can quickly focus their attention on key road condition information in areas outside the actual field of vision, thereby improving the driver's judgment efficiency of the slope environment and driving safety.

[0061] The following is an example of a scheme for determining the target slope image based on the vehicle's slope driving type.

[0062] When the vehicle is driving uphill, a first target slope image corresponding to uphill driving is determined. The first target slope image includes the current road surface information below the vehicle's front and the road surface information in a first range in front of the vehicle; that is, the so-called transparent chassis view and the road surface information in a first range in front of the vehicle.

[0063] When the vehicle is driving downhill, a second target slope image corresponding to downhill driving is determined; wherein, the second target slope image includes the current road surface information below the vehicle's front and the road surface information in a second range in front of the vehicle, and the distance along the vehicle's body direction in the second range is greater than the distance along the vehicle's body direction in the first range.

[0064] In this embodiment, the distance along the vehicle's body direction in the second range is greater than the distance along the vehicle's body direction in the first range. This indicates that in a downhill scenario, the image of the road ahead presented by the vehicle is farther and longer than in an uphill scenario. This is because when going uphill, the driver needs to see nearby obstacles below the front of the vehicle to prevent collisions, so the first range can be, for example, 1 to 3 meters in front of the vehicle; while when going downhill, the driver needs to anticipate the bottom of the slope and plan the driving trajectory, so the second range can be extended to 5 to 10 meters in front of the vehicle, or even longer. In this way, the visual needs of the driver in different slope directions are accurately matched, achieving differentiated visual field compensation that is highly matched with the driver's psychological focus, i.e., preventing near-collisions when going uphill and preventing distant blindness when going downhill.

[0065] In some embodiments, the process of determining the first target slope image corresponding to uphill driving includes the following steps 3211 to 3213: 3211: Obtain the first historical frame image and the first current frame image captured by the first camera.

[0066] The first current frame image is the image captured by the camera at the moment of capture, containing information about the road surface in the first range ahead. The first historical frame image is a ground image captured by the camera at a certain point in the past. The first camera can be a forward-looking low-angle camera, which has a limited field of view but can provide clear details of the road surface in front of the vehicle.

[0067] 3212: Crop the first historical frame image to determine the first cropped image.

[0068] The first cropped image is used to represent the current road surface information below the vehicle's front. This cropping process can determine the cropping area based on the vehicle's current pose and displacement, so that the cropped image content corresponds exactly to the road surface currently obscured by the vehicle's front.

[0069] 3213: The first target ramp image is obtained by stitching together the first cropped image and the first current frame image.

[0070] The first target ramp image is obtained by stitching the first cropped image and the first current frame image together. This can achieve a simple and intuitive transparency effect under the front of the vehicle without relying on complex multi-camera fusion or projection models, thus eliminating near-field blind spots when going uphill.

[0071] In some embodiments, the process of determining the second target slope image corresponding to downhill driving includes the following steps 3221 to 3223: 3221: Acquire the second historical frame image and the second current frame image captured by the second camera, as well as the third current frame image captured by the second camera.

[0072] The second current frame image includes road surface information in front of the vehicle, and the field of view captured by the second camera is larger than the field of view captured by the second camera.

[0073] In this embodiment, when the vehicle is traveling downhill on an incline, in addition to acquiring the second historical frame image and the second current frame image captured by the second camera, a third current frame image captured by the second camera is also acquired. The second current frame image includes road surface information in front of the vehicle. Compared to the process of determining the first target incline image, the camera in this embodiment has a wider field of view. For example, the second camera can be a forward-looking wide-angle camera, with a wider field of view than the first camera. The third current frame image can be a portion of the image corresponding to a more distant area within the wide-angle lens.

[0074] By acquiring images with a wider field of view, the vehicle can capture a broader scene, including the middle section and even the bottom of the slope. The vehicle then crops the second historical frame image to obtain a cropped image representing the current road surface information below the vehicle's nose. Finally, the cropped image and the second current frame image (or an image fused with information from a third current frame image) are stitched together to obtain the second target slope image.

[0075] 3222: Crop the second historical frame image to determine the cropped second image; wherein the second cropped image is used to represent the current road surface information below the vehicle's front.

[0076] 3223: The second target image is obtained by stitching the second cropped image and the second current frame image together.

[0077] Because the second camera has a wider field of view, the generated second target image can provide a long-distance overhead view that significantly surpasses the first target image, helping drivers to anticipate road conditions in the distance when going downhill.

[0078] In some embodiments, the display device includes a vehicle-mounted display screen, and controlling the display device to display the target ramp image includes the following steps 3231 to 3232: 3231: Determine different target ramp image display strategies based on the vehicle-mounted displays at different locations.

[0079] The target ramp image display strategy includes: displaying the target ramp image on the vehicle's central control screen; and displaying the target ramp image on the passenger screen corresponding to the passenger seat when there is a passenger in the vehicle's front passenger seat.

[0080] 3232: Execute the target ramp image display strategy.

[0081] In this embodiment, the central control screen on the driver's side serves as the primary display medium and has the highest display priority. Once the hill start image mode is triggered, the central control screen will automatically display the target hill start image, ensuring that the driver can obtain key road condition information without significantly shifting their gaze. For example, when the vehicle begins to go uphill, the central control screen immediately switches from the navigation interface to display the first target hill start image, which includes a transparent chassis and the road surface nearby.

[0082] The target ramp image can be displayed on the central control screen in full-screen, split-screen, or windowed format.

[0083] For the front passenger seat, the vehicle uses seat sensors to determine if there is a passenger. If the front passenger seat is empty, the screen remains unchanged, such as being black or displaying basic vehicle information. If there is a passenger, the vehicle will display an image of the same target ramp on the screen. This allows the front passenger to be aware of the current external conditions, and they may be able to alert the driver, thus improving safety.

[0084] The target ramp image can be displayed on the passenger-side screen in full-screen or split-screen format. For example, the passenger-side screen can display different content independently, such as displaying the target ramp image on the left side of the passenger-side screen while keeping the video playing on the right side, thus achieving a personalized experience where multiple screens within the cabin are independent and do not interfere with each other.

[0085] However, to respect the entertainment needs of the front passenger, this display strategy can be further optimized to present the information in a non-intrusive manner. For example, when the front passenger is watching a video, the ramp image can be displayed as a floating window, picture-in-picture, or a semi-transparent strip at the edge of the screen without forcibly interrupting the video playback. This ensures the transmission of safety information while maximizing the privacy and continuity of the passenger's entertainment.

[0086] In a multi-screen environment, the target ramp image display strategy can further consider passengers in the rear seats. Specifically, in some embodiments, when passengers are present in the rear seats, the vehicle displays the target ramp image directly on the corresponding rear screen without user confirmation. This strategy is suitable for scenarios with higher safety requirements or where rear passengers have a stronger need for road condition information. For example, when the vehicle is on a steep ramp (e.g., with a gradient greater than 30°), the vehicle can automatically determine it as a high-risk condition. In this case, even if the rear passengers do not actively request it, the vehicle will still display the ramp image on the rear screen so that the rear passengers can simultaneously understand the external environment, assisting the driver in making judgments or providing early warnings.

[0087] Rear-seat passengers typically don't need to actively monitor driving information, and forced display could cause unnecessary stress or interfere with their entertainment. Therefore, the vehicle gives rear-seat passengers the choice to check road conditions independently, rather than forcibly pushing them to the driver. Specifically, in some embodiments, when passengers are present in the rear seats, the vehicle displays a ramp image display control on the corresponding rear-seat screen. This control can be an icon, button, or interactive area. Then, the target ramp image is displayed on the corresponding rear-seat screen only if the vehicle responds to a first action on the ramp image display control (e.g., a user click, touch, or voice input). This approach balances the personalized needs of all passengers with improved driving safety.

[0088] In other embodiments, whether the target ramp image is displayed on the rear screen without user intervention can be flexibly adjusted according to the vehicle's preset safety policy or user-defined settings. For example, users can choose to enable or disable the function in the vehicle settings to achieve a balance between safety and privacy.

[0089] Furthermore, in some embodiments, to alert the user, the slope angle and a slope warning icon can be displayed on the vehicle's dashboard. When the slope assist function is triggered, the dashboard does not display the full-screen image, but instead displays the current slope angle value digitally or graphically at its edges or in a specific area, along with a special warning icon to indicate to the driver that the vehicle is in slope assist mode. This approach allows the driver to quickly confirm the current slope's inclination and whether the vehicle is actively operating while looking down at the dashboard, enhancing the efficiency and reliability of information acquisition.

[0090] Furthermore, in other embodiments, virtual arrows are overlaid on the real-world view of the road ahead in the display area of ​​the vehicle's Augmented Reality Head-up Display (AR-HUD) to indicate a safe passage path derived from the ramp view image.

[0091] For example, when a vehicle is traveling downhill, a forward-facing wide-angle camera analyzes the road conditions below the slope and calculates the optimal trajectory. This trajectory is then projected as virtual arrows (e.g., one or more green arrows) directly onto the driver's windshield via an augmented reality head-up display, indicating which direction the vehicle should travel to safely pass the bottom of the slope.

[0092] This augmented reality display method directly integrates guidance information into the driver's natural line of sight, providing clear route guidance without any shift in gaze. This greatly reduces cognitive load and operational risks in complex road conditions such as downhill sections, significantly improving driving intuitiveness and safety.

[0093] The above-mentioned display methods for target slope images can be cancelled if it is determined, based on the vehicle's speed and slope angle, that the vehicle does not meet the display conditions for slope images.

[0094] Exemplary Structure Figure 4 The diagram shown is a structural schematic of a vehicle provided in an exemplary embodiment of this application. Figure 4 As shown, vehicle 100 includes a cockpit domain controller, a vehicle tilt sensor, a vehicle speed sensor, a seat sensor, a forward low-angle camera, a forward wide-angle camera, a central control screen, a passenger screen, a rear screen, an instrument panel, and an augmented reality head-up display.

[0095] Vehicle 100 obtains vehicle speed and slope angle through vehicle speed sensor and body tilt sensor respectively. Based on the vehicle speed and slope angle, it determines that the vehicle meets the conditions for slope image display and obtains the vehicle's slope driving type. The vehicle's slope driving type includes uphill driving or downhill driving. Then, the vehicle determines the target slope image according to the vehicle's slope driving type and controls the display device (such as the central control screen, passenger screen, and rear screen) to display the target slope image. Different slope driving types correspond to different slope image coverage areas, and the slope image coverage area corresponding to downhill driving is greater than that corresponding to uphill driving.

[0096] According to one embodiment of this application, when the vehicle's slope driving type is uphill driving, a first target slope image corresponding to uphill driving is determined; wherein, the first target slope image includes the current road surface information below the vehicle's front and the road surface information of a first range in front of the vehicle; when the vehicle's slope driving type is downhill driving, a second target slope image corresponding to downhill driving is determined; wherein, the second target slope image includes the current road surface information below the vehicle's front and the road surface information of a second range in front of the vehicle, and the distance along the vehicle's body direction in the second range is greater than the distance along the vehicle's body direction in the first range.

[0097] According to one embodiment of this application, determining a first target slope image corresponding to uphill driving includes: acquiring a first historical frame image and a first current frame image captured by a forward-looking low-angle camera; wherein the first current frame image includes road surface information of a first range in front of the vehicle; cropping the first historical frame image to determine a cropped first image; wherein the first cropped image is used to represent the current road surface information below the vehicle's front; and stitching the first cropped image and the first current frame image together to obtain the first target slope image.

[0098] According to one embodiment of this application, determining a second target slope image corresponding to downhill driving includes: acquiring a second historical frame image and a second current frame image captured by a forward-looking wide-angle camera, and a third current frame image captured by the forward-looking wide-angle camera; wherein the second current frame image includes road surface information in front of the vehicle, and the field of view captured by the forward-looking wide-angle camera is larger than the field of view captured by the forward-looking wide-angle camera; cropping the second historical frame image to determine a cropped second image; wherein the second cropped image is used to represent the current road surface information below the vehicle's front; and stitching the second cropped image and the second current frame image together to obtain a second target image.

[0099] According to one embodiment of this application, when the vehicle speed is less than a preset speed threshold and the slope angle is greater than a preset angle threshold, it is determined that the vehicle meets the slope image display conditions; when the vehicle speed is greater than the preset speed threshold or the slope angle is less than the preset angle threshold, it is determined that the vehicle does not meet the slope image display conditions.

[0100] According to one embodiment of this application, the display device includes an in-vehicle display screen. Controlling the display device to display a target ramp image includes: determining different target ramp image display strategies based on the in-vehicle display screens at different locations; wherein, the target ramp image display strategy includes: displaying the target ramp image on the vehicle's central control screen; displaying the target ramp image on the passenger screen corresponding to the passenger seat when there is a passenger in the vehicle's passenger seat; and executing the target ramp image display strategy.

[0101] According to one embodiment of this application, the target ramp image display strategy further includes: when there are passengers in the rear seats of the vehicle, displaying a ramp image display control on the rear screen corresponding to the rear seats; and if a first operation is performed on the image display control, displaying a target ramp image on the rear screen corresponding to the rear seats.

[0102] According to one embodiment of this application, when there are passengers in the rear seats of the vehicle, the target ramp image is displayed on the rear screen corresponding to the rear seats.

[0103] According to one embodiment of this application, the method further includes: displaying a ramp angle and a ramp warning icon on the vehicle's dashboard; and / or: overlaying a virtual arrow onto the real-world view of the road ahead in the display area of ​​the vehicle's augmented reality head-up display to indicate a safe passage path derived from the ramp view image.

[0104] Exemplary device Figure 5 The diagram shown is a structural schematic of a vehicle display device provided in an exemplary embodiment of this application. Figure 5 As shown, the vehicle display device 500 includes: an acquisition module 510, a determination module 520, and a display module 530.

[0105] The acquisition module 510 is used to acquire the vehicle's driving speed and slope angle; the determination module 520 is used to acquire the vehicle's slope driving type when the vehicle meets the slope image display conditions based on the vehicle's driving speed and slope angle; wherein the vehicle's slope driving type includes uphill driving or downhill driving; the display module 530 is used to determine the target slope image according to the vehicle's slope driving type and control the display device to display the target slope image; wherein different vehicle slope driving types correspond to different slope image coverage areas, and the slope image coverage area corresponding to downhill driving is greater than the slope image coverage area corresponding to uphill driving.

[0106] According to one embodiment of this application, a determining module 520 is used to determine a first target slope image corresponding to uphill driving when the vehicle's slope driving type is uphill driving; wherein, the first target slope image includes the current road surface information below the vehicle's front and the road surface information of a first range in front of the vehicle; and to determine a second target slope image corresponding to downhill driving when the vehicle's slope driving type is downhill driving; wherein, the second target slope image includes the current road surface information below the vehicle's front and the road surface information of a second range in front of the vehicle, wherein the distance along the vehicle's body direction in the second range is greater than the distance along the vehicle's body direction in the first range.

[0107] According to one embodiment of this application, a determining module 520 is used to acquire a first historical frame image and a first current frame image captured by a first camera; wherein the first current frame image includes road surface information of a first range in front of the vehicle; the first historical frame image is cropped to determine a cropped first image; wherein the first cropped image is used to represent the current road surface information below the front of the vehicle; and the first cropped image and the first current frame image are stitched together to obtain a first target ramp image.

[0108] According to one embodiment of this application, a determining module 520 is used to acquire a second historical frame image and a second current frame image captured by a second camera, as well as a third current frame image captured by the second camera; wherein the second current frame image includes road surface information in front of the vehicle, and the field of view captured by the second camera is larger than the field of view captured by the second camera; the second historical frame image is cropped to determine a cropped second image; wherein the second cropped image is used to represent the current road surface information below the front of the vehicle; the second cropped image and the second current frame image are stitched together to obtain a second target image.

[0109] According to one embodiment of this application, the determining module 520 is further configured to determine that the vehicle meets the slope image display conditions when the vehicle speed is less than a preset speed threshold and the slope angle is greater than a preset angle threshold; and to determine that the vehicle does not meet the slope image display conditions when the vehicle speed is greater than a preset speed threshold or the slope angle is less than a preset angle threshold.

[0110] According to one embodiment of this application, a determining module 520 is used, and the display device includes an in-vehicle display screen. The display module 530 is used to determine different target ramp image display strategies based on the in-vehicle display screens at different locations. The target ramp image display strategies include: displaying the target ramp image on the vehicle's central control screen; displaying the target ramp image on the passenger screen corresponding to the passenger seat when there is a passenger in the passenger seat of the vehicle; and executing the target ramp image display strategy.

[0111] According to one embodiment of this application, the target ramp image display strategy further includes: when there are passengers in the rear seats of the vehicle, displaying a ramp image display control on the rear screen corresponding to the rear seats; and if a first operation is performed on the image display control, displaying a target ramp image on the rear screen corresponding to the rear seats.

[0112] According to one embodiment of this application, the display module 530 is used to display a target ramp image on a rear screen corresponding to the rear seat when there are passengers in the rear seats of the vehicle.

[0113] According to one embodiment of this application, the display module 530 is used to display the slope angle and slope warning icon on the vehicle's dashboard; and / or to overlay a virtual arrow on the real-world view of the road ahead in the display area of ​​the vehicle's augmented reality head-up display to indicate a safe passage path derived from the slope view image.

[0114] This application also provides a vehicle, including: a processor; and a memory for storing processor-executable instructions, wherein the processor is used to execute the vehicle display method provided in any of the above embodiments.

[0115] This application also provides a computer-readable storage medium storing a computer program for executing the vehicle display method provided in any of the above embodiments.

[0116] This application also provides a computer program product, which includes a computer program. When the computer program is executed by the processor of a computer device, it enables the computer device to perform the vehicle display method provided in any of the above embodiments.

[0117] All of the above-mentioned optional technical solutions can be combined in any way to form optional embodiments of this application, and will not be described in detail here.

[0118] Those skilled in the art will 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, or a combination of computer software and electronic hardware. 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.

[0119] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0123] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program verification codes, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] It should be noted that in the description of this application, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0125] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0126] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle display method, characterized in that, The method is applied to a vehicle, and the method includes: Obtain vehicle speed and slope angle If the vehicle meets the conditions for displaying a slope image based on the vehicle's speed and the slope angle, the vehicle's slope driving type is obtained; wherein, the vehicle's slope driving type includes uphill driving or downhill driving. The target slope image is determined based on the vehicle's slope driving type, and the display device is controlled to display the target slope image; wherein, different vehicle slope driving types correspond to different slope image coverage areas, and the slope image coverage area corresponding to downhill driving is greater than the slope image coverage area corresponding to uphill driving.

2. The vehicle display method according to claim 1, characterized in that, The step of determining the target slope image based on the vehicle's slope driving type includes: When the vehicle's slope driving type is uphill driving, a first target slope image corresponding to uphill driving is determined; wherein, the first target slope image includes the current road surface information below the vehicle's front and the road surface information in a first range in front of the vehicle; When the vehicle's slope driving type is downhill driving, a second target slope image corresponding to downhill driving is determined; wherein, the second target slope image includes the current road surface information below the vehicle's front and the road surface information of a second range in front of the vehicle, and the distance along the vehicle's body direction in the second range is greater than the distance along the vehicle's body direction in the first range.

3. The vehicle display method according to claim 2, characterized in that, The determination of the first target slope image corresponding to uphill driving includes: Acquire a first historical frame image and a first current frame image captured by a first camera; wherein, the first current frame image includes road surface information within a first range in front of the vehicle; The first historical frame image is cropped to determine the first cropped image; wherein, the first cropped image is used to represent the current road surface information under the front of the vehicle; The first target ramp image is obtained by stitching the first cropped image and the first current frame image together.

4. The vehicle display method according to claim 2, characterized in that, The determination of the second target slope image corresponding to downhill driving includes: Acquire a second historical frame image and a second current frame image captured by the second camera, as well as a third current frame image captured by the second camera; wherein the second current frame image includes road surface information in front of the vehicle, and the field of view captured by the second camera is larger than the field of view captured by the second camera. The second historical frame image is cropped to determine the cropped second image; wherein, the second cropped image is used to represent the current road surface information below the front of the vehicle; The second cropped image and the second current frame image are stitched together to obtain the second target image.

5. The vehicle display method according to claim 1, characterized in that, The method further includes: If the vehicle speed is less than a preset speed threshold and the slope angle is greater than a preset angle threshold, it is determined that the vehicle meets the slope image display conditions. If the vehicle's speed is greater than a preset speed threshold or the slope angle is less than a preset angle threshold, it is determined that the vehicle does not meet the conditions for slope image display.

6. The vehicle display method according to claim 1, characterized in that, The display device includes a vehicle-mounted display screen, and the control display device displays the image of the target ramp, including: Based on the in-vehicle displays at different locations, different target ramp image display strategies are determined; wherein, the target ramp image display strategies include: displaying the target ramp image on the vehicle's central control screen; and, when there is a passenger in the vehicle's front passenger seat, displaying the target ramp image on the front passenger screen corresponding to the front passenger seat; The target ramp image display strategy is executed.

7. The vehicle display method according to claim 6, characterized in that, The target ramp image display strategy also includes: when there are passengers in the rear seats of the vehicle, displaying ramp image display controls on the rear screen corresponding to the rear seats; If a first operation is performed on the image display control, the image of the target ramp is displayed on the rear screen corresponding to the rear seat.

8. The vehicle display method according to claim 6, characterized in that, When there are passengers in the rear seats of the vehicle, the image of the target ramp is displayed on the rear screen corresponding to the rear seats.

9. The vehicle display method according to claim 1, characterized in that, The method further includes: The vehicle's dashboard displays the slope angle and a slope warning icon; and / or; In the display area of ​​the vehicle's augmented reality head-up display, a virtual arrow is overlaid on the real-world view of the road ahead to indicate a safe passage path derived from the ramp view image.

10. A vehicle, characterized in that, include: processor; Memory used to store the processor's executable instructions. The processor is used to execute the vehicle display method according to any one of claims 1 to 8.

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