Navigation method, navigation device, navigation system, and vehicle

Abstract

A navigation method, a navigation device, a navigation system, a computer-readable storage medium, and a vehicle are provided. The navigation method includes the steps of: obtaining navigation information for the vehicle (S410); displaying a first navigation identifier in front of the vehicle by a first device (S420); and displaying a second navigation identifier in front of the vehicle by a second device (S430). The first navigation identifier and the second navigation identifier are used to jointly display the navigation information. This method can provide the driver with multi-dimensional navigation information, thereby increasing navigation flexibility and effectiveness and improving the navigation experience.

Description

[Technical Field]

[0001] This application claims priority to Chinese Patent Application No. 202211350394.4, entitled "Navigation Method, Navigation Device, Navigation System, and Vehicle," filed with the State Intellectual Property Office of the People's Republic of China on October 31, 2022, which is incorporated herein by reference in its entirety.

[0002] TECHNICAL FIELD Embodiments of the present application relate to the field of intelligent vehicle technology, and more particularly to a navigation method, a navigation device, a navigation system, and a vehicle. [Background technology]

[0003] The vehicle navigation system can plan a route based on the starting point and destination set by the driver, mark the driving route of the vehicle on an electronic map using arrows, lines, or other shapes during the driving process, and then display the driving route through the vehicle, providing the driver with real-time route prompts and real-time route guidance, which is very important for reliable vehicle driving. Summary of the Invention [Means for solving the problem]

[0004] SUMMARY OF THE INVENTION Embodiments of the present application provide a navigation method, a navigation device, a navigation system, and a vehicle to enhance the vehicle navigation experience.

[0005] According to a first aspect, there is provided a navigation method, the method including the steps of obtaining navigation information for a vehicle, displaying a first navigation identifier in front of the vehicle by a first device, and displaying a second navigation identifier in front of the vehicle by a second device, wherein the first navigation identifier and the second navigation identifier are jointly used to display the navigation information.

[0006] The navigation information may be route guidance information, and based on the navigation information, the driver can know in advance information such as the direction the vehicle should travel, the lane the vehicle should travel in, the vehicle restricted area, whether to turn left, turn right, go straight, or make a U-turn at the next intersection.

[0007] The first device and the second device may be devices located on the vehicle, such as front-mounted devices, rear-mounted devices, or exterior-mounted devices or interior-mounted devices, such as a head-up display (HUD) device, an in-vehicle display, or a vehicle light (e.g., a headlight). Alternatively, one or both of the first device and the second device may be one or more devices, such as a mobile phone or a tablet computer, that establish a connection to an in-vehicle processing device (e.g., a head unit). In the embodiments of the present application, "forward of the vehicle" may mean "forward of the head of the vehicle," "a portion of the interior of the vehicle near the head of the vehicle," "a ground area in front of the vehicle," or "a non-ground area in front of the vehicle."

[0008] To provide the driver with multi-dimensional navigation information, increase navigation flexibility and navigation effectiveness, and improve the navigation experience, for example, a first navigation identifier may be displayed in a non-ground area in front of the vehicle by a first device, and a second navigation identifier may be displayed in a ground area in front of the vehicle by a second device (e.g., a right turn guide arrow may be displayed in the non-ground area in front of the vehicle by the first device, and a right turn guide area may be displayed in the ground area in front of the vehicle by the second device).

[0009] To provide the driver with more navigation information, increase navigation flexibility and effectiveness, and improve the navigation experience, for example, a first navigation identifier may be displayed in the non-ground area in front of the vehicle by a first device, and a second navigation identifier may be displayed in the non-ground area in front of the vehicle by a second device (e.g., a right turn guide arrow may be displayed in the non-ground area in front of the vehicle by the first device, and a projection of the right turn guide arrow may be displayed in the non-ground area in front of the vehicle by the second device, so that the right turn guide arrow presents a three-dimensional effect overall).

[0010] To provide the driver with multi-dimensional navigation information, increase navigation flexibility and navigation effectiveness, and improve the navigation experience, for example, a first navigation identifier may be displayed in a ground area in front of the vehicle by a first device, and a second navigation identifier may be displayed in a non-ground area in front of the vehicle by a second device (e.g., a right turn guide arrow may be displayed in the ground area in front of the vehicle by the first device, and a right turn guide arrow may also be displayed in the non-ground area in front of the vehicle by the second device).

[0011] To provide the driver with more navigation information, increase navigation flexibility and navigation effectiveness, and improve the navigation experience, for example, a first navigation identifier may be displayed on the ground area in front of the vehicle by a first device, and a second navigation identifier may be displayed on the ground area in front of the vehicle by a second device (e.g., a right turn guide arrow may be displayed on the ground area in front of the vehicle by the first device, and a right turn guide area may be displayed on the ground area in front of the vehicle by the second device).

[0012] In this embodiment of the present application, a first device displays a first navigation identifier in front of the vehicle, for example, the first device displays the first navigation identifier in a non-ground area in front of the vehicle (specifically, for example, the first device forms a virtual image on the windshield to display the first navigation identifier), and a second device displays a second navigation identifier in front of the vehicle, for example, the second device displays the second navigation identifier on the ground in front of the vehicle, and the first navigation identifier and the second navigation identifier can jointly display navigation information. Compared with the method of displaying navigation information using a single device, this displays navigation information more clearly and flexibly, providing the driver with multi-dimensional navigation information, thereby increasing navigation flexibility and navigation effectiveness and improving the navigation experience.

[0013] For example, the first device projects a virtual image of the first navigation identifier onto the windshield of the vehicle. Generally, the virtual image is essentially two-dimensional and does not have a true three-dimensional effect. In this embodiment of the present application, to jointly display navigation information, the first device displays the first navigation identifier on a non-ground surface in front of the vehicle, and the second device displays the second navigation identifier on a ground surface in front of the vehicle. Compared with a method in which the first device displays the navigation identifier alone, this allows the driver to better determine the location and indication meaning of the navigation identifier. The combination of the first navigation identifier and the second navigation identifier provides a better display effect and greater flexibility, allowing the driver to easily determine the navigation route and improving the navigation experience.

[0014] Referring to the first aspect, in some implementations of the first aspect, the method further includes displaying, by the first device, a second navigation identifier in front of the vehicle if a predetermined condition is met.

[0015] Optionally, the predefined condition may include the effect of the second navigation identifier displayed by the second device not reaching a predefined effect, or the second device not being able to display the second navigation identifier in front of the vehicle.

[0016] It should be understood that if the driver cannot clearly and accurately determine the position and indication meaning of the second navigation identifier displayed by the second device, the effect of the second navigation identifier displayed by the second device may be deemed to have not reached the predetermined effect. Specifically, whether the driver can clearly and accurately determine the position and indication meaning of the identifier may be analyzed based on information such as the clarity and brightness of the outline of the second navigation identifier displayed by the second device.

[0017] "Displaying a second navigation identifier on the ground in front of the vehicle by a second device" is used as an example. It may be considered that the second navigation identifier cannot be displayed in front of the vehicle by the second device when the ambient brightness is equal to or greater than the operating brightness of the second device, when the display ground area of ​​the second navigation identifier is obscured, when the display ground area of ​​the second navigation identifier exceeds the ground display area of ​​the second device, etc. Vehicle lights are used as an example. The operating brightness of the second device may be understood as the projection brightness of the projection unit of the second device, and the ground display area of ​​the second device may be understood as the ground projection area of ​​the second device.

[0018] In an embodiment of the present application, when a predetermined condition is met, the first device can display a second navigation identifier in front of the vehicle, so that even if the second device cannot display the second navigation identifier in front of the vehicle or the effect of the second navigation identifier displayed by the second device is insufficient, the display effect of the navigation information can be guaranteed.

[0019] Referring to the first aspect, in some implementations of the first aspect, the method further includes determining that the display ground area of ​​the second navigation identifier is obstructed when a first distance between an obstruction in front of the vehicle and the second device is shorter than a second distance between the display ground area of ​​the second navigation identifier and the second device.

[0020] Referring to the first aspect, in some implementations of the first aspect, the first navigation identifier and the second navigation identifier are displayed synchronously.

[0021] In the embodiment of the present application, in order to ensure the display effect of the navigation information and improve the navigation experience, the first navigation identifier and the second navigation identifier may be displayed synchronously.

[0022] Referring to the first aspect, in some implementations of the first aspect, navigation information jointly displayed using the first navigation identifier and the second navigation identifier is presented with a three-dimensional effect.

[0023] In an embodiment of the present application, in order to enhance the integration of navigation information with the actual environment, the navigation information jointly displayed using the first navigation identifier and the second navigation identifier can be presented with a three-dimensional effect, so that the navigation route can be viewed more intuitively from the driver's perspective, thereby enhancing safety and improving the navigation experience and navigation efficiency.

[0024]

[0013] Referring to the first aspect, in some implementations of the first aspect, the first navigation identifier includes a first route guidance identifier, and the second navigation identifier includes a ground projection identifier corresponding to the first route guidance identifier. Specifically, the first route guidance identifier and the ground projection identifier jointly present a three-dimensional effect.

[0025] In an embodiment of the present application, in addition to displaying a first route guidance identifier in front of the vehicle by a first device, a ground projection identifier corresponding to the first route guidance identifier is displayed in front of the vehicle by a second device, so that the driver can see the first route guidance identifier presenting a three-dimensional effect, thereby enhancing the integration of the first route guidance identifier with the actual ground, allowing the driver to more intuitively see the route guided by the first route guidance identifier from their perspective, improving safety and improving the navigation experience and navigation efficiency.

[0026] Referring to the first aspect, in some implementations of the first aspect, the first navigation identifier includes a second route guidance identifier, and the second navigation identifier includes a third route guidance identifier.

[0027] For example, the second route guidance identifier may include a route guidance arrow and the third route guidance identifier may include a route guidance area.

[0028] For example, the second route guidance identifier may include a first portion of the target route guidance identifier, and the third route guidance identifier may include a second portion of the target route guidance identifier.

[0029] In an embodiment of the present application, in order to jointly guide a route based on the second route guidance identifier and the third route guidance identifier, in addition to the first device displaying the second route guidance identifier in front of the vehicle, the second device displays the third route guidance identifier in front of the vehicle, so that the route guided by the route guidance identifier can be viewed more intuitively from the driver's perspective, thereby enhancing safety and improving the navigation experience and navigation efficiency.

[0030] Referring to the first aspect, in some embodiments of the first aspect, the first device includes a head-up display (HUD) device and the second device includes a vehicle light, the vehicle light including a plurality of independently controllable projection units, the plurality of independently controllable projection units configured to control a projection direction such that the second navigation identifier is displayed on a ground in front of the vehicle.

[0031] This means that in a possible embodiment of the present application, when a first navigation identifier is displayed in a non-ground area in front of the vehicle by the HUD device, a second navigation identifier can be displayed on the ground in front of the vehicle by the vehicle lights, so as to jointly display navigation information. Compared with the conventional method in which navigation information is displayed only by the HUD device, this can improve the display effect of the navigation information, so that the driver can better determine the position and indication meaning of the navigation identifier, more easily determine the navigation route, and improve the navigation experience.

[0032] Referring to the first aspect, in some embodiments of the first aspect, the vehicle light includes a digital projection light and the projection unit is a micro-reflector, or the vehicle light includes a light emitting diode (LED) light and the projection unit is an LED bead.

[0033] According to a second aspect, there is provided a navigation device including: an acquisition module configured to obtain navigation information for a vehicle; and a processing module configured to display, by a first device, a first navigation identifier in front of the vehicle and further configured to display, by a second device, a second navigation identifier in front of the vehicle, wherein the first navigation identifier and the second navigation identifier are used jointly to display the navigation information.

[0034] Referring to the second aspect, in some embodiments of the second aspect, the processing module is further configured to cause the first device to display a second navigation identifier in front of the vehicle if a predetermined condition is met.

[0035] Optionally, the predefined condition may include the effect of the second navigation identifier displayed by the second device not reaching a predefined effect, or the second device not being able to display the second navigation identifier in front of the vehicle.

[0036] "Displaying a second navigation identifier on the ground in front of the vehicle by a second device" is used as an example. It may be considered that the second navigation identifier cannot be displayed in front of the vehicle by the second device when the ambient brightness is equal to or greater than the operating brightness of the second device, when the display ground area of ​​the second navigation identifier is obscured, when the display ground area of ​​the second navigation identifier exceeds the ground display area of ​​the second device, etc. Vehicle lights are used as an example. The operating brightness of the second device may be understood as the projection brightness of the projection unit of the second device, and the ground display area of ​​the second device may be understood as the ground projection area of ​​the second device.

[0037] Referring to the second aspect, in some embodiments of the second aspect, the processing module is further configured to determine that the display ground area of ​​the second navigation identifier is obstructed when a first distance between an obstruction in front of the vehicle and the second device is shorter than a second distance between the display ground area of ​​the second navigation identifier and the second device.

[0038] Referring to the second aspect, in some implementations of the second aspect, navigation information jointly displayed using the first navigation identifier and the second navigation identifier is presented with a three-dimensional effect.

[0039] Referring to the second aspect, in some implementations of the second aspect, the first navigation identifier includes a first route guidance identifier, and the second navigation identifier includes a ground projection identifier corresponding to the first route guidance identifier.

[0040] Referring to the second aspect, in some implementations of the second aspect, the first navigation identifier includes a second route guidance identifier, and the second navigation identifier includes a third route guidance identifier.

[0041] For example, the second route guidance identifier may include a route guidance arrow and the third route guidance identifier may include a route guidance area.

[0042] For example, the second route guidance identifier may include a first portion of the target route guidance identifier, and the third route guidance identifier may include a second portion of the target route guidance identifier.

[0043] Referring to the second aspect, in some embodiments of the second aspect, the first device includes a HUD device and the second device includes a vehicle light, the vehicle light includes a plurality of independently controllable projection units, and the plurality of independently controllable projection units are configured to control a projection direction so that the second navigation identifier is displayed on a ground in front of the vehicle.

[0044] Referring to the second aspect, in some embodiments of the second aspect, the vehicle light includes a digital projection light and the projection unit is a micro-reflector, or the vehicle light includes an LED light and the projection unit is an LED bead.

[0045] According to a third aspect, there is provided a navigation device including at least one processor, coupled to a memory and configured to read and execute instructions in the memory to perform a navigation method according to the first aspect or any one of the possible implementations of the first aspect.

[0046] According to a fourth aspect, there is provided a vehicle including a module configured to perform a navigation method according to the first aspect or any one of the possible implementations of the first aspect.

[0047] According to a fifth aspect, there is provided a navigation system including a first device, a second device, and a processing device, wherein the processing device is configured to perform the navigation method according to the first aspect or any one of the possible implementations of the first aspect for jointly displaying navigation information by the first device and the second device.

[0048] According to a sixth aspect, there is provided a computer-readable storage medium storing computer instructions which, when executed on a computer, perform a navigation method according to the first aspect or any one of the possible implementations of the first aspect.

[0049] According to a seventh aspect, there is provided a computer program product comprising computer program code which, when executed on a computer, enables the computer to perform a navigation method according to the first aspect or any one of the possible implementations of the first aspect.

[0050] According to an eighth aspect, there is provided a computing device including at least one processor and a memory, wherein the at least one processor is coupled to the memory and configured to read and execute instructions in the memory to perform a navigation method according to the first aspect or any one of the possible implementations of the first aspect.

[0051] According to a ninth aspect, there is provided a chip, the chip including a processor and a data interface, wherein the processor reads instructions stored in a memory through the data interface to perform the navigation method according to the first aspect or any one of the possible implementations of the first aspect.

[0052] Optionally, in one embodiment, the chip may further include a memory, the memory storing instructions, and the processor configured to execute the instructions stored in the memory, such that when the instructions are executed, the processor is configured to perform a navigation method according to the first aspect or any one of the possible implementations of the first aspect.

[0053] In an embodiment of the present application, a first device displays a first navigation identifier in front of the vehicle, for example, the first device displays the first navigation identifier in a non-ground area in front of the vehicle (specifically, for example, the first device forms a virtual image on the windshield and displays the first navigation identifier), and a second device displays a second navigation identifier in front of the vehicle, for example, the second device displays the second navigation identifier on the ground in front of the vehicle, whereby the first navigation identifier and the second navigation identifier can jointly display navigation information. Compared with a single device displaying navigation information, this displays navigation information more clearly and flexibly, providing the driver with multi-dimensional navigation information, thereby increasing navigation flexibility and effectiveness and improving the navigation experience. It is proposed that the first device can display the second navigation identifier in front of the vehicle when certain conditions are met, thereby ensuring the display effectiveness of navigation information even when the second device cannot display the second navigation identifier in front of the vehicle or when the second device displays the second navigation identifier insufficiently. To ensure the display effect of the navigation information and improve the navigation experience, the first navigation identifier and the second navigation identifier are displayed synchronously. To enhance the integration of the navigation information with the actual environment, the navigation information jointly displayed using the first navigation identifier and the second navigation identifier can be presented with a three-dimensional effect, allowing the driver to view the navigation route more intuitively, improving safety and the navigation experience and efficiency. To enhance the integration of the first route guidance identifier with the actual ground, in addition to displaying the first route guidance identifier in front of the vehicle by the first device, a ground projection identifier corresponding to the first route guidance identifier is displayed in front of the vehicle by the second device. This allows the driver to view the route guided by the first route guidance identifier more intuitively, improving safety and the navigation experience and efficiency.To jointly guide a route based on the second route guidance identifier and the third route guidance identifier, the first device displays the second route guidance identifier in front of the vehicle, and the second device displays the third route guidance identifier in front of the vehicle, allowing the driver to more intuitively view the route guided by the route guidance identifiers from the driver's perspective, improving safety and improving the navigation experience and navigation efficiency. To jointly display navigation information, when the HUD device displays the first navigation identifier in a non-ground area in front of the vehicle, the vehicle lights display the second navigation identifier on the ground in front of the vehicle. Compared to the conventional method in which navigation information is displayed only by the HUD device, this improves the display effect of the navigation information, allowing the driver to better determine the location and meaning of the navigation identifier, more easily determine the navigation route, and improve the navigation experience. [Brief explanation of the drawings]

[0054] [Figure 1] 1 is an example of a functional block diagram of a vehicle 100 according to an embodiment of the present application. [Figure 2(a)] FIG. 1 is an exemplary diagram of a vehicle cabin scenario according to an embodiment of the present application. [Figure 2(b)] 1 is an exemplary top view of an entire vehicle according to an embodiment of the present application. [Figure 3] FIG. 1 is an exemplary diagram illustrating displaying navigation information by an AR-HUD device according to an embodiment of the present application. [Figure 4] 1 is an exemplary diagram of a navigation method according to an embodiment of the present application; [Figure 5] FIG. 2 is an exemplary diagram of displaying navigation information according to an embodiment of the present application. [Figure 6] FIG. 4 is another exemplary diagram of displaying navigation information according to an embodiment of the present application. [Figure 7] FIG. 10 is yet another exemplary diagram of displaying navigation information according to an embodiment of the present application. [Figure 8] 1 is an exemplary flowchart for collaboratively displaying navigation information according to an embodiment of the present application. [Figure 9] FIG. 2 is an exemplary diagram of a vehicle light display source and corresponding ground projection according to an embodiment of the present application. [Figure 10] FIG. 10 is yet another exemplary diagram of displaying navigation information according to an embodiment of the present application. [Figure 11] FIG. 1 is an exemplary diagram of a system architecture according to an embodiment of the present application. [Figure 12] 1 is an exemplary diagram of a navigation device according to an embodiment of the present application; [Figure 13] 1 is an exemplary block diagram of a navigation device according to an embodiment of the present application; [Figure 14] 1 is an exemplary diagram of a navigation system according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0055] The following describes the technical solutions of the embodiments of the present application with reference to the accompanying drawings.

[0056] The solution of the present application may be applied to a vehicle, for example, to a navigation scenario during the vehicle's travel. The vehicle is a vehicle in a broad sense. The vehicle may be a transportation means (e.g., a commercial vehicle, a passenger car, a truck, or a train), an industrial vehicle (e.g., a forklift truck, a trailer, or a tractor), a civil engineering vehicle (e.g., an excavator or a bulldozer), an agricultural machine (e.g., a lawn mower or a harvester), a recreational machine, a toy vehicle, etc. The type of vehicle is not specifically limited in the embodiments of the present application.

[0057] 1 is an example of a functional block diagram of a vehicle 100 according to an embodiment of the present application. As shown in FIG. 1, the vehicle 100 may include a sensing system 120, a display device 130, and a computing platform 150. The sensing system 120 may include one or more sensors that sense information about the surrounding environment of the vehicle 100. For example, the sensing system 120 may include a positioning system, which may be a global positioning system (GPS), a BeiDou system or another positioning system, or an inertial measurement unit (IMU). As another example, the sensing system 120 may further include one or more of a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0058] The display devices 130 of the vehicle 100 are mainly classified into four types. The first type of display device is an in-vehicle display; the second type of display device is a projection display device, such as a head-up display (HUD) device; the third type of display device is a vehicle light display device; and the fourth type of display device is another display device, such as a mobile phone or tablet computer, that establishes a connection to an in-vehicle processing device (e.g., a head unit). The in-vehicle display is a physical display and is an important part of the in-vehicle infotainment system. For example, multiple displays may be arranged in the vehicle cabin, such as a digital dash panel display, a central display, a display in front of the passenger seat passenger (also called the front row passenger), a display in front of the left rear seat passenger, and a display in front of the right rear seat passenger. Windows may also be used as display devices for viewing. HUD devices, also called head-up display devices, are primarily configured to project information such as vehicle speed, fuel level, and navigation onto the windshield of the vehicle 100. After being reflected by the windshield, a virtual image is formed at a specific distance in front of the driver's line of sight, allowing the driver to view information without having to lower their head. This reduces the driver's line of sight movement time and avoids pupil changes due to line of sight movement, improving driving safety and comfort. HUDs include, for example, combiner head-up displays (C-HUDs), windshield head-up displays (W-HUDs), and augmented reality head-up displays (AR-HUDs). Currently, conventional HUDs primarily display vehicle equipment information such as vehicle speed and fuel level. Compared to conventional HUDs, AR-HUDs have a wider field of view and a farther screen, allowing them to integrate AR images with real-world surrounding information. This facilitates the driver's acquisition of road information and enables functions such as AR navigation, adaptive cruising, and lane departure warning. Vehicle light display devices may include digital projection lights, which include multiple micro-reflector units.By controlling the state of each micro-reflector unit, a desired pattern is formed on the ground in front of, behind, or around the vehicle, which is observed by drivers and pedestrians. Alternatively, the vehicle light display device may include an LED light. The LED includes a number of light bead units. By controlling the on / off state of each light bead unit, a desired pattern is formed on the ground in front of, behind, or around the vehicle, which is observed by drivers and pedestrians.

[0059] Some or all of the functions of vehicle 100 may be controlled by computing platform 150. Computing platform 150 may include one or more processors, e.g., processors 151-15n (n is a positive integer). A processor is a circuit having signal processing capabilities. In one embodiment, a processor may be a circuit capable of reading and executing instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may also be understood as a microprocessor), or a digital signal processor (DSP). In another embodiment, a processor can perform a specific function by using logical relationships in hardware circuits. The logical relationships in the hardware circuits may be fixed or reconfigurable. For example, a processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of a processor loading a configuration document to implement the hardware circuit configuration may be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. In addition, the processor may alternatively be a hardware circuit designed for artificial intelligence and may be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU). In addition, the computing platform 150 may further include a memory.The memory is configured to store instructions, and some or all of the processors 151 to 15n can access and execute the instructions in the memory to perform corresponding functions.

[0060] In an embodiment of the present application, to guide the vehicle's travel, the processor can determine a navigation identifier based on the navigation information, determine a display position of the navigation identifier in the real environment by referring to the information about the vehicle's 100 surrounding real environment obtained from the detection system 120, and then display the navigation identifier in the real environment via the display device 130. In some possible embodiments, the information about the vehicle's 100 surrounding real environment may be further stored in the form of data in the memory of the computing platform 150. It should be understood that the above operations may be performed by the same processor or multiple processors, which is not specifically limited in the embodiments of the present application.

[0061] FIG. 2(a) is an exemplary diagram of a vehicle cabin scenario according to an embodiment of the present application. One or more cameras may be mounted inside or outside the cabin and configured to capture images of the inside or outside of the cabin, such as a camera of a driver monitor system (DMS), a camera of a cabin monitor system (CMS), a camera of a dashcam, and a camera configured to detect situations outside the cabin (e.g., a digital video recorder (DVR)). FIG. 2(a) uses a camera located on an A-pillar as an example. The cameras configured to capture images of the inside and outside of the cabin may be the same camera or different cameras. It should be understood that the embodiment of the present application is not specifically limited to a specific location of the camera for collecting image information inside the cabin. The camera may be located on the A-pillar shown in FIG. 2, or may be located under the steering wheel, or may be located on the B-pillar, or may be located near the rearview mirror, etc.

[0062] In addition, an in-vehicle display may be arranged inside the vehicle cabin. In FIG. 2(a), a display arranged in the central control area is used as an example, and one or more of information required for driving (e.g., navigation information), audio and video entertainment information, vehicle configuration information, etc. may be displayed on the in-vehicle display. In addition, a HUD device may be arranged inside the vehicle cabin. Information such as vehicle speed, fuel level, and navigation information may be projected onto the vehicle windshield by the HUD device. A virtual image is formed at a specific distance in front of the driver's line of sight through reflection from the windshield. In addition, vehicle lights may be arranged inside or outside the vehicle cabin, forming required patterns in front of, behind, or around the vehicle for the driver and pedestrians to observe. The front of the vehicle may be in front of the vehicle head or may be a part of the vehicle cabin close to the vehicle head. For the vehicle head position, see FIG. 2(b).

[0063] The on-board camera, the on-board processor, and the vehicle display device (e.g., the on-board display, the HUD device, the vehicle light) can work together to display navigation information. Specifically, during the vehicle's travel, the camera can obtain information about the surrounding environment, the road, etc., and the on-board processor can determine the information that needs to be displayed by the vehicle display device based on the navigation information and the information obtained by the camera, and determine whether the vehicle display device can display the information.

[0064] For example, if the navigation information indicates a right turn at an upcoming intersection and the camera detects that the current ambient luminance is low, the in-vehicle processor can determine, based on the navigation information and information obtained by the camera, that the navigation information to be displayed by the vehicle display device indicates a right turn at the upcoming intersection and determine whether the display of the vehicle lights, the in-vehicle display, and the HUD device is affected by the current ambient luminance. If the display is not affected, the in-vehicle processor can select one or more of the display devices to display the upcoming intersection right turn identifier. For example, the vehicle lights can be selected for display. If the ambient environment is dark and the driver cannot clearly determine the location and boundaries of the road based on the current ambient luminance, an area identifier can be used when the upcoming intersection right turn identifier is displayed by the vehicle lights to guide the driver to drive into the right-turn lane, i.e., the vehicle lights can illuminate the right-turn lane area. If the ambient environment is dark but the driver can clearly determine the location and boundaries of the road based on the current ambient luminance, a right-turn arrow identifier can be used when the upcoming intersection right turn identifier is displayed by the vehicle lights to guide the driver to drive into the right-turn lane.

[0065] As another example, if navigation information indicates a right turn at an upcoming intersection and the camera detects that the vehicle is currently located on a congested road segment, the in-vehicle processor may determine, based on the navigation information and the information obtained by the camera, that a right turn identifier cannot be displayed on the ground at the upcoming intersection using the vehicle lights of the vehicle display devices, but can be displayed using the on-board display and HUD device. In this case, navigation information indicating a right turn at the upcoming intersection can be displayed using the on-board display and / or HUD device to guide the driver.

[0066] FIG. 3 is an exemplary diagram illustrating the display of navigation information by an AR-HUD device according to an embodiment of the present application. The AR-HUD device projects a navigation identifier onto the vehicle windshield. After reflection on the windshield, a virtual image of the navigation identifier blended with the actual environment is formed at a specific distance in front of the driver's line of sight, allowing the driver to view the navigation information without lowering their head. This improves driving safety. However, the virtual image is essentially on a two-dimensional plane and does not have a real three-dimensional effect. As a result, it is difficult to determine the specific location of the navigation identifier from the driver's perspective. This affects the display effect of the navigation information and causes a degradation of the driver's navigation experience. As shown in FIG. 3 , based on the coordinate position of the intersection, the AR-HUD device projects a right-turn navigation identifier at the intersection location in front of the driver's line of sight, thereby informing the driver to turn right at the intersection location. However, based on the currently displayed driver's field of view, it is difficult to determine whether the arrow is ahead or behind the sidewalk (forward can be understood as the side closer to the vehicle head position, and behind can be understood as the side farther from the vehicle head position). The AR-HUD user is brought back to reality from the AR scenario, which has a significant impact on the AR experience.

[0067] In the embodiment of the present application, in order to jointly display navigation information, a first navigation identifier is displayed in front of the vehicle by a first device, and a second navigation identifier is displayed in front of the vehicle by a second device, so that the display effect of navigation information is guaranteed, and multi-dimensional navigation information can be provided to the driver, so as to increase the flexibility of navigation and the effect of navigation, and improve the navigation experience.

[0068] The first device and the second device may be devices located on the vehicle, such as front-mounted devices, rear-mounted devices, or exterior-mounted devices or interior-mounted devices, such as a HUD device, an in-vehicle display, or a vehicle light (e.g., a headlight). Alternatively, one or both of the first device and the second device may be one or more devices, such as a mobile phone or a tablet computer, that establish a connection to an in-vehicle processing unit (e.g., a head unit). In the embodiments of the present application, "forward of the vehicle" may mean "forward of the head of the vehicle," "a portion of the interior of the vehicle near the head of the vehicle," "a ground area in front of the vehicle," or "a non-ground area in front of the vehicle."

[0069] To provide the driver with multi-dimensional navigation information, increase navigation flexibility and navigation effectiveness, and improve the navigation experience, for example, a first navigation identifier may be displayed in a non-ground area in front of the vehicle by a first device, and a second navigation identifier may be displayed in a ground area in front of the vehicle by a second device (e.g., a right turn guide arrow may be displayed in the non-ground area in front of the vehicle by the first device, and a right turn guide area may be displayed in the ground area in front of the vehicle by the second device).

[0070] To provide the driver with more navigation information, increase navigation flexibility and effectiveness, and improve the navigation experience, for example, a first navigation identifier may be displayed in the non-ground area in front of the vehicle by a first device, and a second navigation identifier may be displayed in the non-ground area in front of the vehicle by a second device (e.g., a right turn guide arrow may be displayed in the non-ground area in front of the vehicle by the first device, and a projection of the right turn guide arrow may be displayed in the non-ground area in front of the vehicle by the second device, so that the right turn guide arrow presents a three-dimensional effect overall).

[0071] To provide the driver with multi-dimensional navigation information, increase navigation flexibility and navigation effectiveness, and improve the navigation experience, for example, a first navigation identifier may be displayed in a ground area in front of the vehicle by a first device, and a second navigation identifier may be displayed in a non-ground area in front of the vehicle by a second device (e.g., a right turn guide arrow may be displayed in the ground area in front of the vehicle by the first device, and a right turn guide arrow may also be displayed in the non-ground area in front of the vehicle by the second device).

[0072] To provide the driver with more navigation information, increase navigation flexibility and navigation effectiveness, and improve the navigation experience, for example, a first navigation identifier may be displayed on the ground area in front of the vehicle by a first device, and a second navigation identifier may be displayed on the ground area in front of the vehicle by a second device (e.g., a right turn guide arrow may be displayed on the ground area in front of the vehicle by the first device, and a right turn guide area may be displayed on the ground area in front of the vehicle by the second device).

[0073] In the embodiments of the present application, the "front of the vehicle" may be abbreviated to "front of the vehicle", and no distinction is made in the present application.

[0074] For example, the first device is a HUD device and the second device is a vehicle light. For specific embodiments, please see the description below.

[0075] For example, the first device is a HUD device, and the second device is a mobile phone that establishes a connection to an in-vehicle processing device (e.g., a head unit). For example, a virtual image of the first navigation identifier may be formed by projection on the vehicle windshield by the HUD device. In addition, the mobile phone may be located in a position close to the vehicle head inside the vehicle, and the second navigation identifier is displayed in front of the vehicle by the mobile phone. For ease of understanding, the following embodiments mainly use an example in which the first device is a HUD device and the second device is a vehicle light for description.

[0076] 4 is an exemplary diagram of a navigation method according to an embodiment of the present application. Method 400 may be performed by a processing device. The processing device has processing capabilities. For example, the processing device may be one or more of a device having processing capabilities, such as a head unit, an on-board chip, an on-board processor, a computing platform 150, or a server. As shown in FIG. 4, method 400 includes steps S410 to S430. These steps will be described in detail below.

[0077] S410: Obtain vehicle navigation information.

[0078] The navigation information may be route guidance information, and based on the navigation information, the driver can know in advance information such as the direction the vehicle should travel, the lane the vehicle should travel in, the vehicle restricted area, whether to turn left, turn right, go straight, or make a U-turn at the next intersection.

[0079] Optionally, the navigation information may be obtained from a navigation system of the vehicle, a navigation system of a terminal device such as a mobile phone, or a server of a third-party platform. The third-party platform may provide navigation services to the driver. The server may be a local server or a cloud server. For example, the vehicle may report information about the starting point, current location, and destination to the server, and the server may generate navigation information from a database and send the navigation information to the vehicle.

[0080] S420: Display a first navigation identifier in front of the vehicle by a first device.

[0081] To display the first navigation identifier in front of the vehicle by the first device, for example, the processing device can generate a projection image corresponding to the first device (i.e., an image corresponding to the display source of the first device) after obtaining navigation information, and then send the projection image corresponding to the first device to the first device. For the manner of generating the projection image corresponding to the first device, please refer to the exemplary description of the following procedure 800.

[0082] S430: Display a second navigation identifier in front of the vehicle by a second device.

[0083] To display the second navigation identifier in front of the vehicle by the second device, for example, the processing device can generate a projection image corresponding to the second device (i.e., an image corresponding to the display source of the second device) after obtaining navigation information, and then send the projection image corresponding to the second device to the second device. For the manner of generating the projection image corresponding to the second device, please refer to the exemplary description of the following procedure 800.

[0084] In steps S420 and S430, "forward of the vehicle" may mean "forward of the vehicle head," "a portion of the vehicle interior close to the vehicle head," "a ground area in front of the vehicle," or "a non-ground area in front of the vehicle." For details, see the above description. The forward non-ground may be, for example, a two-dimensional plane at a certain distance in front of the driver's line of sight. This two-dimensional plane may be used to display a virtual image formed by reflection on the windshield (for example, displaying by a HUD device may be understood as displaying on the non-ground in front of the vehicle). The forward non-ground may be, for example, the position of an on-board component in the vehicle interior close to the vehicle head, or the position of an on-board component at the vehicle head. This is not limited thereto.

[0085] The first navigation identifier and the second navigation identifier are used to jointly display navigation information. Specifically, the first navigation identifier and the second navigation identifier can jointly guide the vehicle's driving route based on identifiers with different forms or shapes. For example, if the navigation information instructs a vehicle to turn right ahead, the first navigation identifier and the second navigation identifier can be used to guide the vehicle to turn right in different forms or shapes (see FIGS. 5 and 6(a)).

[0086] In this embodiment of the present application, a first device displays a first navigation identifier in front of the vehicle, for example, the first device displays the first navigation identifier in a non-ground area in front of the vehicle (specifically, for example, the first device forms a virtual image on the windshield to display the first navigation identifier), and a second device displays a second navigation identifier in front of the vehicle, for example, the second device displays the second navigation identifier on the ground in front of the vehicle, and the first navigation identifier and the second navigation identifier can jointly display navigation information. Compared with the method of displaying navigation information using a single device, this displays navigation information more clearly and flexibly, providing the driver with multi-dimensional navigation information, thereby increasing navigation flexibility and navigation effectiveness and improving the navigation experience.

[0087] For example, the first device projects a virtual image of the first navigation identifier onto the windshield of the vehicle. Generally, the virtual image is essentially on a two-dimensional plane in the non-ground area in front of the vehicle, without a true three-dimensional effect. In this embodiment of the present application, to jointly display navigation information, the first device displays the first navigation identifier on the non-ground area in front of the vehicle, and the second device displays the second navigation identifier on the ground in front of the vehicle. Compared with a method in which the first device displays the navigation identifier on the non-ground area in front of the vehicle, this allows the driver to better determine the location and indication meaning of the navigation identifier. The combination of the first navigation identifier and the second navigation identifier provides a better display effect and greater flexibility, allowing the driver to easily determine the navigation route and improving the navigation experience.

[0088] With reference to the accompanying drawings, the following describes a specific embodiment example in which a first navigation identifier and a second navigation identifier are used together to provide vehicle route guidance.

[0089] In one embodiment, in order to enhance the integration of the navigation information with the actual environment, the navigation information jointly displayed using the first navigation identifier and the second navigation identifier may be presented with a three-dimensional effect, so that the navigation route can be viewed more intuitively from the driver's perspective, enhancing safety and improving the navigation experience and navigation efficiency.

[0090] Optionally, the first navigation identifier may include a first route guidance identifier, and the second navigation identifier may include a ground projection identifier corresponding to the first route guidance identifier, wherein the first route guidance identifier and the ground projection identifier jointly present a three-dimensional effect.

[0091] In an embodiment of the present application, in addition to displaying a first route guidance identifier in front of the vehicle by a first device, a ground projection identifier corresponding to the first route guidance identifier is displayed in front of the vehicle by a second device, so that the driver can see the first route guidance identifier presenting a three-dimensional effect, thereby enhancing the integration of the first route guidance identifier with the actual ground, allowing the driver to more intuitively see the route guided by the first route guidance identifier from their perspective, improving safety and improving the navigation experience and navigation efficiency.

[0092] For example, FIG. 5 is an exemplary diagram displaying navigation information according to an embodiment of the present application. As shown in FIG. 5, in this example, the first route guidance identifier is a first right-turn guide arrow displayed on a non-ground surface ahead of the vehicle, and the ground projection identifier corresponding to the first route guidance identifier is a second right-turn guide arrow displayed on the ground surface ahead of the vehicle. The second right-turn guide arrow displayed on the ground surface is a ground projection having the shape of the first right-turn guide arrow from the driver's perspective. Overall, the first right-turn guide arrow and the second right-turn guide arrow present a three-dimensional effect. In this way, the driver can intuitively observe that the right-turn guide arrow is located ahead of the sidewalk and, based on this, determine to turn right ahead of the sidewalk.

[0093] In another embodiment, the first navigation identifier may include a second route guidance identifier, and the second navigation identifier may include a third route guidance identifier.

[0094] In an embodiment of the present application, in order to jointly guide a route based on the second route guidance identifier and the third route guidance identifier, in addition to the first device displaying the second route guidance identifier in front of the vehicle, the second device displays the third route guidance identifier in front of the vehicle, so that the route guided by the route guidance identifier can be viewed more intuitively from the driver's perspective, thereby enhancing safety and improving the navigation experience and navigation efficiency.

[0095] In one example, the second route guidance identifier may include a route guidance arrow and the third route guidance identifier may include a route guidance area.

[0096] FIG. 6 is another exemplary diagram displaying navigation information according to an embodiment of the present application. As shown in FIG. 6(a), the second route guidance identifier includes a route guidance arrow, such as a third right-turn guidance arrow, displayed on a non-ground surface in front of the vehicle. The third route guidance identifier includes a route guidance area, such as a right-turn guidance area, displayed on the ground in front of the vehicle. The right-turn guidance area indicates the vehicle's right-turn position and driving route at the intersection, allowing the driver to intuitively determine that they should turn right in front of the sidewalk. As shown in FIG. 6(b), the second route guidance identifier includes a route guidance arrow, such as a U-turn guidance arrow, displayed on the ground in front of the vehicle, and the third route guidance identifier includes a route guidance area, such as a U-turn guidance area, displayed on the ground in front of the vehicle, allowing the driver to intuitively determine that they should make a U-turn at the intersection.

[0097] In another example, the second route guidance identifier may include a first portion of the target route guidance identifier, and the third route guidance identifier may include a second portion of the target route guidance identifier.

[0098] FIG. 7 is yet another exemplary diagram displaying navigation information according to an embodiment of the present application. As shown in FIG. 7, in this example, the target route guidance identifier includes Arrows 1 to 4, the second route guidance identifier includes Arrows 2 and 3, and the third route guidance identifier includes Arrows 1 and 4. Arrows 1 and 4 are displayed on the ground, and Arrows 2 and 3 are displayed in the non-ground area. Based on this, the driver can observe the target route guidance identifier, and since the route guidance identifier is partially displayed on the ground, the integration of the target guidance identifier with the actual environment is enhanced. In addition, the route guidance identifier partially displayed on the ground can be further used to alert pedestrians, so that the pedestrians can decide whether to walk based on the identifier.

[0099] It should be understood that Figures 5 to 7 are merely examples. As long as the navigation identifier can be used to guide the driving route of a vehicle, the presentation form and shape of the navigation identifier are not limited in the embodiments of the present application.

[0100] In one optional design, the first device may be a HUD device, and the second device may be a vehicle light. The vehicle light includes a plurality of independently controllable projection units, and the plurality of independently controllable projection units are configured to control the projection direction so that the second navigation identifier is displayed on the ground in front of the vehicle. In another optional design, the second device may instead be another auxiliary device on the vehicle or on the road, as long as it can display the second navigation identifier in front of the vehicle and display navigation information in combination with the first navigation identifier displayed by the vehicle. This is not limited in the present application. It should be understood that the HUD device of the embodiments of the present application may be understood as an AR-HUD device, which will be simply referred to as a HUD device hereinafter for ease of description.

[0101] In an optional design, when a first navigation identifier is displayed by a HUD device in a non-ground area in front of the vehicle, a second navigation identifier may be displayed by a vehicle light on the ground in front of the vehicle to jointly display navigation information. Compared with the conventional manner in which navigation information is displayed only by a HUD device, this allows the driver to observe the navigation information without lowering their head, improving vehicle driving safety and enhancing the display effect of the navigation information, allowing the driver to better determine the position and indication meaning of the navigation identifier, more easily determine the navigation route, and improve the navigation experience.

[0102] Optionally, the vehicle lights may be digital projection lights, in which case the multiple independently controllable projection units may be micro-reflectors, and in operation, the degree of deflection of each micro-reflector may be controlled to reflect or not reflect light to display a second navigation identifier on the ground in front of the vehicle.

[0103] Optionally, the vehicle lights may instead be LED lights, in which case the multiple independently controllable projection units are LED light beads, and in operation, each LED light bead may be controlled to be on or off to cast light or not cast light ahead of the vehicle to display a second navigation identifier on the ground ahead of the vehicle.

[0104] Optionally, to ensure a display effect of jointly displaying navigation information, the first navigation identifier and the second navigation identifier may be displayed synchronously without overlapping or affecting each other.

[0105] Optionally, in actual operation, the display positions of the first navigation identifier and the second navigation identifier in front of the vehicle may be determined separately in advance. Then, based on the display positions of the first navigation identifier and the second navigation identifier, a projected image corresponding to the first device (i.e., an image corresponding to the display source of the first device) and a projected image corresponding to the second device (i.e., an image corresponding to the display source of the second device) are determined inversely. Then, the first device and the second device respectively display the first navigation identifier and the second navigation identifier at their corresponding display positions. The following describes an implementation process using an example with reference to FIG. 8.

[0106] 8 is an exemplary flowchart for collaboratively displaying navigation information according to an embodiment of the present application. For ease of explanation, this example mainly uses the collaborative display by the HUD device and the vehicle light as an example for explanation. Procedure 800 includes steps S810 to S830. These steps are described below.

[0107] S810: Determine the display positions of the first navigation identifier and the second navigation identifier, that is, determine the positions of the first navigation identifier and the second navigation identifier relative to the vehicle separately.

[0108] Specifically, navigation at an intersection is taken as an example. During the vehicle's driving process, the vehicle's position and attitude in the world coordinate system can be obtained in real time by the vehicle's IMU and GPS, and the world coordinates of the intersection can be obtained by referring to and analyzing navigation information and environmental information. Next, the position of the intersection relative to the vehicle is determined. Since the first navigation identifier and the second navigation identifier need to instruct the vehicle to turn left, turn right, go straight, or make a U-turn at the intersection, the first navigation identifier and the second navigation identifier need to be displayed at the intersection from the driver's perspective. Based on this, the positions of the first navigation identifier and the second navigation identifier relative to the vehicle can be determined separately.

[0109] S820: The first navigation identifier and the second navigation identifier are drawn.

[0110] It should be understood that before drawing, it is first necessary to determine whether to turn left, turn right, go straight, or make a U-turn at the intersection based on the navigation information, and then separately determine the shapes and positions of the first navigation identifier and the second navigation identifier that need to be displayed at the intersection based on the navigation information and the driver's viewpoint.

[0111] The first navigation identifier and the second navigation identifier may then be rendered by simulating a real-world scenario based on the three-dimensional coordinate points in the three-dimensional rendering space, and it should be understood that the first navigation identifier and the second navigation identifier rendered in the three-dimensional space should not overlap or affect each other.

[0112] Then, a projection image corresponding to the HUD device and a projection image corresponding to the vehicle lights are obtained by inverse calculation based on the drawn shapes of the first navigation identifier and the second navigation identifier that need to be displayed at the intersection. After the projection image is projected by the HUD device, the first navigation identifier can be displayed at the intersection from the driver's perspective. After the projection image is projected by the vehicle lights, the second navigation identifier can be displayed at the intersection.

[0113] Optionally, in the case of a HUD device, a first navigation identifier that needs to be displayed forward to obtain a projected image corresponding to the HUD device can be pre-projected onto the imaging near plane through a viewing frustum, the relevant parameters of which are determined based on the optics within the HUD device.

[0114] Optionally, in the case of vehicle lights, if there are no obstructions in front of the vehicle, the vehicle lights may project onto the ground in advance, and the position of the center point and projection range of the downward ground projection of the vehicle lights relative to the vehicle when the vehicle is at a specific vehicle body position may be obtained. Based on this, a mapping table between the vehicle light display sources (i.e., the m*n independently controllable projection units of the vehicle lights) and the ground projection area x*y of the vehicle light display sources may be generated. See FIG. 9 for an example of the vehicle light display sources and the corresponding ground projection. In actual operation, the projection image corresponding to the vehicle lights and the position of the projection image on the display source may be determined based on the shape and position of the second navigation identifier to be displayed on the ground and the mapping table. Based on this, in actual operation, the projection units corresponding to the projection image may be controlled to project (i.e., reflect or project light), and the other projection units may not project (i.e., reflect or project light). In this case, the bright area within the ground projection area of ​​the vehicle lights is the second navigation identifier. Alternatively, the projection unit corresponding to the projection image is controlled not to project, and the other projection units project, in this case, the dark area in the ground projection area of ​​the vehicle light is the second navigation identifier.

[0115] S830: Transmit and display the projection image and the projection image respectively, i.e., transmit the obtained projection image and the projection image to the HUD device and the vehicle light for display, so as to display the first navigation identifier and the second navigation identifier at the intersection location by the HUD device and the vehicle light.

[0116] Optionally, the same display frequency may be set for the projected image and the projected image to ensure that the first navigation identifier and the second navigation identifier are displayed synchronously. It should be understood that the process of setting the display frequency should take into consideration the latency of transmitting the projected image to the HUD device and the latency of transmitting the projected image to the vehicle lights. For example, if the latency of transmitting 60 frames of projected image to the HUD device is 1 second and the latency of transmitting 50 frames of projected image to the vehicle lights is 1 second, this means that the transmission frequency of transmitting the projected image to the HUD device cannot exceed 60 Hz, and the transmission frequency of transmitting the projected image to the vehicle lights cannot exceed 50 Hz. Based on the transmission frequency, the display frequency of the HUD device and the vehicle lights may be set not to exceed 50 Hz. For example, simultaneous display is achieved at 50 Hz. In addition, generally, if the image switching frequency is 24 Hz or higher, a coherent image may be seen due to the persistence of the visual effect. In view of this, in actual operation, the display frequency of the projection image and the projection image may be controlled to be 24 Hz or more, so that the driver can continuously observe the first navigation identifier and the second navigation identifier based on the duration of the visual effect. It should be understood that the projection image and the projection image are generated in real time based on real-time navigation information and road information.

[0117] Optionally, to ensure the reliability of the image data corresponding to the current time, the current frame image data (i.e., the current frame of the projection image and the current frame of the projection image) and the current accurate display time may be linked based on a timestamp service.

[0118] Optionally, the aforementioned synchronous display may mean that the final image data is displayed synchronously, or it may mean that the generation, transmission, and display of the projection and projected images are synchronized.

[0119] Optionally, synchronous display may also refer to synchronous display within a certain error range. For example, the generation latency, transmission latency, and display latency of the projection image may be different from those of the projection image, so the time at which the image data is finally displayed is different (i.e., there is a time difference). In actual operation, as long as the display is performed simultaneously from the driver's perspective (i.e., from the driver's perspective, the navigation route can be clearly and accurately determined based on the displayed first navigation identifier and second navigation identifier), the time difference can be controlled within an appropriate range.

[0120] The above is a detailed description of the joint display of the HUD device and the vehicle light. In addition, it should be further understood that in actual operation, due to factors such as the environment and road conditions, the second device may not be able to display the second navigation identifier in front of the vehicle, or the second navigation identifier displayed in front of the vehicle may not be effective, resulting in an insufficient display effect of the navigation information.

[0121] In view of this, an embodiment of the present application proposes that, when a predetermined condition is met, the first device may display a second navigation identifier in front of the vehicle. The predetermined condition may include the second device being unable to display the second navigation identifier in front of the vehicle, or the effect of the second navigation identifier displayed in front of the vehicle not reaching a predetermined effect.

[0122] It should be understood that if the driver cannot clearly and accurately determine the location and meaning of the second navigation identifier displayed by the second device, the effect of the second navigation identifier displayed by the second device may be deemed to be insufficient. Specifically, whether the driver can clearly and accurately determine the location and meaning of the identifier may be analyzed based on information such as the clarity and brightness of the outline of the second navigation identifier displayed by the second device. Taking vehicle lights as an example, if the difference between the ambient brightness and the projection brightness of the projection unit is not large, the definition of the second navigation identifier will be low, and the effect of the second navigation identifier displayed by the second device will not be as effective as expected.

[0123] It should be understood that the inability of the second device to display the second navigation identifier in front of the vehicle can be understood as the inability of the second device to display the second navigation identifier in front of the vehicle. "Displaying the second navigation identifier on the ground in front of the vehicle by the second device" is used as an example. It can be considered that the second device cannot display the second navigation identifier in front of the vehicle when the ambient brightness is equal to or greater than the operating brightness of the second device, when the display ground area of ​​the second navigation identifier is occluded, when the display ground area of ​​the second navigation identifier exceeds the ground display area of ​​the second device, etc. Vehicle lights are used as an example. The operating brightness of the second device can be understood as the projection brightness of the projection unit of the second device, and the ground display area of ​​the second device can be understood as the ground projection area of ​​the second device. The display ground area of ​​the second navigation identifier is the area occupied when the second navigation identifier is displayed on the ground.

[0124] In an embodiment of the present application, when a predetermined condition is met, the first device can display a second navigation identifier in front of the vehicle, so that even if the second device cannot display the second navigation identifier in front of the vehicle or the effect of the second navigation identifier displayed by the second device is insufficient, the display effect of the navigation information can be guaranteed.

[0125] Taking the HUD device and vehicle lights as an example, if the vehicle lights cannot display the second navigation identifier on the ground in front of the vehicle, or if the effect of the second navigation identifier displayed on the ground in front of the vehicle does not reach the predetermined effect, the HUD device may display the second navigation identifier. Specifically, a projection image corresponding to the HUD device may be generated based on the first navigation identifier and the second navigation identifier, so that the HUD device displays the first navigation identifier and the second navigation identifier in the non-ground area in front of the vehicle.

[0126] Optionally, if a first distance between an obstruction in front of the vehicle and the second device is shorter than a second distance between the displayed ground area of ​​the second navigation identifier and the second device, the displayed ground area of ​​the second navigation identifier may be determined to be obstructed.

[0127] In one embodiment, the first distance and the second distance may each be a specific value. For example, the first distance may be the distance between the center of an obstruction (i.e., an obstacle) in front of the vehicle and the second device, and the second distance may be the distance between the center of the display ground area of ​​the second navigation identifier and the second device. As another example, the first distance may be the distance between the edge of the obstruction in front of the vehicle that is closer to the second device, and the second distance may be the distance between the edge of the display ground area of ​​the second navigation identifier that is farther from the second device. Of course, the first distance and the second distance may instead be defined in another manner. This is not a limitation of the present application.

[0128] In another embodiment, the first distance and the second distance may each be a range of values. For example, the first distance range may be [x1, x2], where x1 may be the distance between the second device and the edge of the obstruction in front of the vehicle that is closer to the second device, and x2 may be the distance between the second device and the edge of the obstruction in front of the vehicle that is farther from the second device. The second distance range may be [y1, y2], where y1 may be the distance between the second device and the edge of the display ground area of ​​the second navigation identifier that is closer to the second device, and y2 may be the distance between the second device and the edge of the display ground area of ​​the second navigation identifier that is farther from the second device.

[0129] In yet another embodiment, one of the first distance and the second distance may be a specific value and the other may be a range of values.

[0130] It should be understood that in actual operation, the first distance and the second distance may alternatively be the distance between the obstruction and another reference object (e.g., a position within the vehicle head) and the distance between the display ground area of ​​the second navigation identifier and another reference object, which is not limited in this application.

[0131] Optionally, even when the first navigation identifier and the second navigation identifier are displayed in front of the vehicle by the first device, the navigation information jointly displayed using the first navigation identifier and the second navigation identifier may be presented with a three-dimensional effect. A method for displaying navigation information with a three-dimensional effect on a non-ground area in front of the vehicle by the first device will be described below with reference to FIG. 10 . FIG. 10 is yet another exemplary diagram for displaying navigation information according to an embodiment of the present application. As shown in FIG. 10 , the first device may simultaneously display a first right-turn guide arrow and a second right-turn guide arrow on a two-dimensional plane in front of the vehicle (i.e., a non-ground area in front of the vehicle). The second right-turn guide arrow is a projection having the shape of the first right-turn guide arrow from the driver's perspective. Overall, the first right-turn guide arrow and the second right-turn guide arrow present a three-dimensional effect. In this way, the driver can intuitively observe that the right-turn guide arrow is located in front of the sidewalk and, based on this, determine to turn right in front of the sidewalk.

[0132] It should be understood that the navigation identifier is merely an example. In actual operation, the navigation identifier may include a driving speed identifier, a turn identifier, an obstacle reminder identifier, a lane change reminder identifier, a bridge reminder identifier, an intersection reminder identifier, etc. This is not limited in the present application.

[0133] Optionally, in addition to AR navigation scenarios during vehicle driving, the solution of the present application can also be applied to scenarios such as 3D audio and video scenarios, entertainment scenarios, and game scenarios in parking lot situations. For example, taking a game as an example, the HUD can display in-game elements in front of the vehicle, and the vehicle lights can project or display other representations of the elements on the ground, so that the in-game elements are fully integrated with the real-world scenario. In this way, the AR immersion of the AR-HUD display can be enhanced and the experience effect can be optimized.

[0134] In the following, the system architecture of the embodiments of the present application is described using a HUD device and a vehicle light as an example.

[0135] 11 is an exemplary diagram of a system architecture according to one embodiment of the present application. As shown in FIG. 11, the system architecture 1100 includes a navigation system 1110, a detection module 1120, a processing module 1130, a HUD device 1140, and a vehicle light 1150.

[0136] The navigation system 1110 is configured to generate navigation information and transmit the navigation information to the processing module 1130 .

[0137] For the detection module 1120, please refer to the detection system 120. The detection module 1120 is configured to detect information about the environment, roads, obstacles, etc., and send the detected information to the processing module 1130.

[0138] The processing module 1130 determines, based on the navigation information and the detected information, a first navigation identifier, a second navigation identifier, and respective display positions of the first navigation identifier and the second navigation identifier; then, based on the detected information, determines whether the second navigation identifier can be displayed on the ground in front of the vehicle by the vehicle lights 1150; if the second navigation identifier can be displayed on the ground in front of the vehicle by the vehicle lights 1150, reverse-calculates a projection image corresponding to the vehicle lights 1150 based on the second navigation identifier, so as to display the second navigation identifier on the ground in front of the vehicle by the vehicle lights 1150; and then projects the calculated projection image onto the vehicle lights 1150. 4 to 10 , and transmits the calculated projection image to the HUD device 1140; if the vehicle light 1150 cannot display the second navigation identifier on the ground in front of the vehicle, the processing module 1130 is configured to inversely calculate a projection image corresponding to the HUD device 1140 based on the first navigation identifier and the second navigation identifier, so that the HUD device 1140 displays the first navigation identifier on the non-ground area in front of the vehicle; and if the vehicle light 1150 cannot display the second navigation identifier on the ground in front of the vehicle, the processing module 1130 is configured to inversely calculate a projection image corresponding to the HUD device 1140 based on the first navigation identifier and the second navigation identifier, so that the HUD device 1140 displays the first navigation identifier and the second navigation identifier on the non-ground area in front of the vehicle. It should be understood that the specific processing content of the processing module 1130 should be referred to the related content of FIGS. 4 to 10 , and the details will not be described again.

[0139] 12 is an exemplary diagram of a navigation device according to an embodiment of the present application. The device 1200 may be located in the vehicle 100, specifically, in the computing platform 150 of the vehicle 100, or in an electronic device associated with the vehicle 100, or in the processing module 1130 in the system architecture 1100. The device 1200 may be configured to perform the above-described method 400. The device 1200 includes an acquisition module 1210 and a processing module 1220. The acquisition module 1210 may be configured to perform the relevant operations in step S410, and the processing module 1220 may be configured to perform the relevant operations in steps S420 and S430.

[0140] Specifically, the acquisition module 1210 is configured to obtain navigation information for the vehicle. The processing module 1220 is further configured to display a first navigation identifier in front of the vehicle by a first device and to display a second navigation identifier in front of the vehicle by a second device, wherein the first navigation identifier and the second navigation identifier are jointly used to display the navigation information.

[0141] Optionally, the processing module 1220 may be further configured to cause the first device to display a second navigation identifier in front of the vehicle if a predetermined condition is met.

[0142] Optionally, the pre-defined condition may include preventing the second navigation identifier from being displayed in front of the vehicle by the second device, or the effect of the second navigation identifier being displayed in front of the vehicle not achieving a pre-defined effect.

[0143] "Displaying a second navigation identifier on the ground in front of the vehicle by a second device" is used as an example. It may be considered that the second navigation identifier cannot be displayed in front of the vehicle by the second device when the ambient brightness is equal to or greater than the operating brightness of the second device, when the display ground area of ​​the second navigation identifier is obscured, when the display ground area of ​​the second navigation identifier exceeds the ground display area of ​​the second device, etc. Vehicle lights are used as an example. The operating brightness of the second device may be understood as the projection brightness of the projection unit of the second device, and the ground display area of ​​the second device may be understood as the ground projection area of ​​the second device. The display ground area of ​​the second navigation identifier is the area occupied when the second navigation identifier is displayed on the ground.

[0144] Optionally, the processing module 1220 may be further configured to determine that the displayed ground area of ​​the second navigation identifier is occluded when a first distance between an obstruction in front of the vehicle and the second device is less than a second distance between the displayed ground area of ​​the second navigation identifier and the second device.

[0145] Optionally, the first navigation identifier and the second navigation identifier may be displayed synchronously.

[0146] Optionally, the first navigation identifier may include a first route guidance identifier, and the second navigation identifier may include a ground projection identifier corresponding to the first route guidance identifier.

[0147] Optionally, the first navigation identifier may include a second route guidance identifier, and the second navigation identifier may include a third route guidance identifier.

[0148] Optionally, the first device may include a HUD device and the second device may include a vehicle light, the vehicle light including a plurality of independently controllable projection units configured to control a projection direction such that the second navigation identifier is displayed on a ground in front of the vehicle.

[0149] Optionally, the vehicle light may include a digital projection light and the projection unit may be a micro-reflector, or the vehicle light may include an LED light and the projection unit may be an LED bead.

[0150] FIG. 13 is an exemplary block diagram of a navigation device according to an embodiment of the present application. Optionally, the device 1300 may be a computer device. The device 1300 shown in FIG. 13 may include a processor 1310, a transceiver 1320, and a memory 1330. The processor 1310, the transceiver 1320, and the memory 1330 are connected through an internal connection path. The memory 1330 is configured to store instructions. The processor 1310 is configured to execute the instructions stored in the memory 1330 so that the transceiver 1320 receives / transmits some parameters. Optionally, the memory 1330 may be coupled to the processor 1310 through an interface or may be integrated with the processor 1310.

[0151] It should be noted that the transceiver 1320 may include a transceiver device, such as, but not limited to, an input / output interface, to facilitate communication between the apparatus 1300 and another device or communication network.

[0152] The processor 1310 may be a general-purpose CPU, a microprocessor, an ASIC, a GPU, or one or more integrated circuits, and is configured to execute related programs to implement the navigation method of the method embodiments of the present application. Alternatively, the processor 1310 may be an integrated circuit chip and have signal processing capabilities. In a specific implementation, the steps of the navigation method of the present application may be completed by using hardware integrated logic circuits within the processor 1310 or by using instructions in the form of software. Alternatively, the processor 1310 may be a general-purpose processor, a DSP, an ASIC, an FPGA or another programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The processor can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc. The steps of the methods disclosed with reference to the embodiments of the present application may be performed and completed directly by a hardware decoding processor, or may be performed and completed using a combination of hardware and software modules within the decoding processor. The software module may be located in a storage medium that is mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, or a register. The storage medium is located in the memory 1330. The processor 1310 reads information in the memory 1330 and executes the navigation method of the method embodiment of the present application in cooperation with the processor hardware.

[0153] The memory 1330 may be read only memory (ROM), static storage, dynamic storage, or random access memory (RAM).

[0154] To facilitate communication between the apparatus 1300 and another device or communication network, the transceiver 1320 may use, for example, but not limited to, a transceiver device of a walkie-talkie type. For example, if the apparatus 1300 is located in a vehicle, the transceiver 1320 may be used to obtain navigation information.

[0155] 14 is an exemplary diagram of a navigation system according to an embodiment of the present application. As shown in FIG. 14, the system 1400 includes a first device 1410, a second device 1420, and a processing device 1430.

[0156] For the first device 1410 and the second device 1420, please refer to the above description of the first device and the second device. The details will not be described again. For example, the first device 1410 may be the HUD device 1140 of the system architecture 1100, and the second device 1420 may be the vehicle light 1150 of the system architecture 1100.

[0157] The processing unit 1430 may be located in the vehicle 100, specifically in the computing platform 150 of the vehicle 100, or in an electronic device associated with the vehicle 100. The processing unit 1430 may be configured to execute the above-described method 400. Specifically, the processing unit 1430 may obtain navigation information of the vehicle, then obtain input images (i.e., display source images, for example, the projected image of the HUD device and the projected image of the vehicle lights) for the first device 1410 and the second device 1420 based on the navigation information, and transmit the input images to the first device 1410 and the second device 1420. Then, the first device 1410 displays a first navigation identifier in front of the vehicle, and the second device 1420 displays a second navigation identifier in front of the vehicle. It should be understood that the above-described operations performed by the processing unit 1430 are used as an example only. For other contents of the processing device 1430, please refer to the related contents of the processing module 1130, the device 1200, and the device 1300 of the system architecture 1100 described above, and the details will not be described again.

[0158] An embodiment of the present application further provides a computer program product, which includes computer program code, which, when executed on a computer, enables the computer to perform the method of the aforementioned embodiment.

[0159] An embodiment of the present application further provides a computer-readable storage medium, which stores program codes or instructions, which, when executed by a processor of a computer, enable the processor to perform the method of the aforementioned embodiment.

[0160] An embodiment of the present application further provides a chip including a processor configured to read instructions stored in the memory, which, when executed by the processor, enables the chip to perform the method of the aforementioned embodiment.

[0161] Those skilled in the art can realize that, in combination with the examples described in the embodiments disclosed herein, the units and algorithm steps can be implemented by electronic hardware or by a combination of computer software and electronic hardware. Whether a function is performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can implement the described functions using various methods for each specific application, but this implementation should not be considered to exceed the scope of this application.

[0162] For the purpose of easy description, it is clearly understood by those skilled in the art that the detailed working processes of the aforementioned systems, devices and units should be referred to the corresponding processes of the aforementioned method embodiments, and the details will not be described again here.

[0163] In some embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the described device embodiments are merely examples. For example, the division into units is merely a logical division of function. In actual implementation, other division schemes may be used. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or discussed mutual couplings or direct couplings or communication connections may be implemented using some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electronic, mechanical, or other forms.

[0164] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, and may be located in one location or distributed over multiple network units. Some or all of the units may be selected based on actual requirements to achieve the objectives of the solutions of the embodiments.

[0165] In addition, the functional units in the embodiments of the present application may be integrated into one processing unit, each of the units may exist physically alone, or two or more units may be integrated into one unit.

[0166] When a function is implemented in the form of a software functional unit and sold or used as an independent product, the function may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may essentially, or a contributing part thereof, or a part of the technical solution may be implemented in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium capable of storing program code, such as a USB flash drive, a removable hard disk, a ROM, a RAM, a magnetic disk, an optical disk, etc.

[0167] The above description is merely a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application shall fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims. [Explanation of symbols]

[0168] 100 vehicles 120 Detection System 130 Display device 150 Computing Platforms 151, 152, 15n processors 1100 System Architecture 1110 Navigation System 1120 Detection Module 1130 Processing Module 1140 HUD device 1150 Vehicle Light 1200 equipment 1210 Acquisition Module 1220 Processing Module 1300 equipment 1310 processor 1320 Transceiver 1330 memory 1400 System 1410 First Device 1420 Second Device 1430 Processing equipment

Claims

1. 1. A navigation method comprising: obtaining navigation information for a vehicle; displaying a first navigation identifier in front of the vehicle by a first device; displaying a second navigation identifier on the ground in front of the vehicle by a second device; Including, the first navigation identifier and the second navigation identifier are used to jointly display the navigation information; method.

2. The method of claim 1 , further comprising displaying the second navigation identifier by the first device in front of the vehicle when a predetermined condition is met.

3. The step of displaying a first navigation identifier in front of the vehicle by a first device includes:

3. The method of claim 1 or 2, comprising displaying the first navigation identifier by the first device in a non-ground area in front of the vehicle.

4. The method of claim 1 , wherein the first navigation identifier and the second navigation identifier are displayed synchronously.

5. The method of claim 1 , wherein the navigation information jointly displayed using the first navigation identifier and the second navigation identifier is presented with a three-dimensional effect.

6. The method of claim 5 , wherein the first navigation identifier includes a first route guidance identifier and the second navigation identifier includes a ground projection identifier corresponding to the first route guidance identifier.

7. The method of claim 1 , wherein the first navigation identifier comprises a second route guidance identifier, and the second navigation identifier comprises a third route guidance identifier.

8. The method of claim 7 , wherein the second route guidance identifier comprises a route guidance arrow and the third route guidance identifier comprises a route guidance area.

9. The method of claim 7 , wherein the second route guidance identifier comprises a first portion of a target route guidance identifier, and the third route guidance identifier comprises a second portion of the target route guidance identifier.

10. the first device includes a head-up display (HUD) device, the second device includes a vehicle light, the vehicle light including a plurality of independently controllable projection units; 10. The method of claim 1, wherein the plurality of independently controllable projection units are configured to control a projection direction so that the second navigation identifier is displayed on the ground in front of the vehicle.

11. The vehicle light includes a digital projection light, and the projection unit is a micro-reflector; or The method of claim 10, wherein the vehicle light comprises a light-emitting diode (LED) light and the projection unit is an LED bead.

12. The predetermined conditions are the following conditions: The effect of the second navigation identifier displayed by the second device does not reach a predetermined effect; the ambient luminance is equal to or greater than the operating luminance of the second device; the display ground area of ​​the second navigation identifier is obscured; or the display ground area of ​​the second navigation identifier exceeds the ground display area of ​​the second device; The method of claim 2, comprising one or more of:

13. 13. The method of claim 12, further comprising determining that the displayed ground area of ​​the second navigation identifier is obstructed if a first distance between an obstruction in front of the vehicle and the second device is less than a second distance between the displayed ground area of ​​the second navigation identifier and the second device.

14. A navigation device, an acquisition module configured to obtain navigation information for the vehicle; a processing module configured to display, by a first device, a first navigation identifier in front of the vehicle and further configured to display, by a second device, a second navigation identifier on a ground in front of the vehicle, wherein the first navigation identifier and the second navigation identifier are used jointly to display the navigation information; An apparatus comprising:

15. The processing module includes:

15. The device of claim 14, further configured to cause the first device to display the second navigation identifier in front of the vehicle when a predetermined condition is met.

16. The processing module includes:

16. An apparatus according to claim 14 or 15, configured to display the first navigation identifier by the first device in a non-ground area in front of the vehicle.

17. 17. The apparatus of claim 14, wherein the first navigation identifier and the second navigation identifier are displayed synchronously.

18. 18. The apparatus of claim 14, wherein the navigation information jointly displayed using the first navigation identifier and the second navigation identifier is presented with a three-dimensional effect.

19. 20. The apparatus of claim 18, wherein the first navigation identifier includes a first route guidance identifier and the second navigation identifier includes a ground projection identifier corresponding to the first route guidance identifier.

20. 18. The apparatus of claim 14, wherein the first navigation identifier comprises a second route guidance identifier, and the second navigation identifier comprises a third route guidance identifier.

21. 21. The apparatus of claim 20, wherein the second route guidance identifier comprises a route guidance arrow and the third route guidance identifier comprises a route guidance area.

22. 21. The apparatus of claim 20, wherein the second route guidance identifier comprises a first portion of a target route guidance identifier and the third route guidance identifier comprises a second portion of the target route guidance identifier.

23. the first device includes a head-up display (HUD) device, the second device includes a vehicle light, the vehicle light including a plurality of independently controllable projection units; 23. The apparatus of claim 14, wherein the plurality of independently controllable projection units are configured to control a projection direction so that the second navigation identifier is displayed on the ground in front of the vehicle.

24. The vehicle light includes a digital projection light, and the projection unit is a micro-reflector; or 24. The apparatus of claim 23, wherein the vehicle light comprises a light-emitting diode (LED) light and the projection unit is an LED bead.

25. The predetermined conditions are the following conditions: The effect of the second navigation identifier displayed by the second device does not reach a predetermined effect; the ambient luminance is equal to or greater than the operating luminance of the second device; the display ground area of ​​the second navigation identifier is obscured; or the display ground area of ​​the second navigation identifier exceeds the ground display area of ​​the second device; 16. The apparatus of claim 15, comprising one or more of:

26. The processing module includes:

26. The device of claim 25, further configured to determine that the displayed ground area of ​​the second navigation identifier is obstructed if a first distance between an obstruction in front of the vehicle and the second device is less than a second distance between the displayed ground area of ​​the second navigation identifier and the second device.

27. 14. A navigation device comprising at least one processor, the at least one processor coupled to a memory and configured to read and execute instructions in the memory to implement the method of any one of claims 1 to 13.

28. 14. A navigation system comprising a first device, a second device, and a processing device, wherein the processing device is configured to perform the method of any one of claims 1 to 13 for collaboratively displaying the navigation information by the first device and the second device.

29. 14. A computer-readable storage medium having stored thereon computer instructions that, when executed on a computer, perform the method of any one of claims 1 to 13.

30. A vehicle comprising a module configured to carry out the method according to any one of claims 1 to 13.

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