Front vehicle display method and apparatus for intelligent driving assistance system, and computer system

Abstract

A front vehicle display method for an intelligent driving assistance system, said method using an intelligent driving assistance system. The front vehicle display method comprises the steps as follows: extracting parameters, involving: on the basis of real-time information combined with an algorithm, outputting a transverse vector distance and a longitudinal vector distance of a front vehicle relative to a host vehicle, and also outputting parameter information of a left lane line and a right lane line of a driving lane of the host vehicle; and determining a screen display position, involving: calculating a transverse position of the front vehicle, a relative position relationship between the front vehicle and the lane lines, and a longitudinal position relationship between front vehicles, so as to obtain transverse position display and longitudinal position display of the front vehicle in a display screen, and then transmitting parameter signals of the transverse position display and the longitudinal position display to the display screen. Further disclosed are a front vehicle display apparatus for an intelligent driving assistance system, and a computer system. Processed position information of a front vehicle is completely output to a screen display end for display, such that the visual experience of a customer can be improved. The present invention can be widely applied to the field of intelligent driving.

Description

Method, device and computer system for displaying a vehicle ahead in an intelligent driving assistance system Technical Field

[0001] The present invention relates to intelligent driving technology, and in particular to a method, device and computer system for displaying a vehicle ahead of an intelligent driving assistance system. Background Art

[0002] With the advancement of automotive intelligence and electrification, intelligent driving functions (ADAS / AD) have gradually become a key area of ​​R&D and technological investment for mainstream manufacturers. While ADAS functions provide customers with driving safety and comfort, the vehicle's cockpit human-machine interface (HMI) also offers customers an upgraded technological experience. The vehicle's instrument display is a crucial component of the HMI module. Traditional vehicle instrument clusters typically display only basic vehicle status information such as speed and engine speed. ADAS-equipped vehicles, however, tend to map actual road conditions onto the instrument cluster, providing customers with more information about ADAS-related functions. The vehicle is a crucial component of the driving situation, and its display on the instrument cluster is a crucial component of the HMI. However, the instrument cluster displays of some currently available vehicles suffer from inaccurate positioning of the preceding vehicle or inconsistent size and proportions, resulting in a poor user experience.

[0003] In view of this, some manufacturers have proposed the following solution: Referring to Figures 1 and 2, through the sensor unit 12, the processing unit 14 transmits the acquired road user, road surface information, and road sign information to the instrument unit 16 for real-time display.

[0004] However, in the entire solution, the processing unit 14 only plays the role of sending the actual road conditions to the instrument for display as realistically and accurately as possible, without separating the display module and taking into account the functional requirements of the instrument display (comfort, etc.).

[0005] Summary of the Invention

[0006] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a method, device and computer system for displaying the vehicle ahead in an intelligent driving assistance system, so as to solve the following technical problems:

[0007] 1. It can solve the problem of inaccurate lateral display of vehicles or even wrong lane display;

[0008] 2. It can solve the problems of vehicle overlap, vehicle model being too small, or the number of vehicles ahead being limited;

[0009] 3. This method can reduce the computing power problem of the instrument itself;

[0010] 4. Through intuitive data, you can quickly find the cause of the instrument display problem;

[0011] 5. This patent can effectively improve the human-computer interaction experience of lower-cost vehicle models that are limited by hardware such as sensors and instruments.

[0012] The present invention provides a method for displaying a vehicle in front of an intelligent driving assistance system, which utilizes the intelligent driving assistance system and includes the following steps: extracting parameters: during the driving process of the own vehicle, based on the information collected in real time by the vehicle sensor and combined with an algorithm, outputting the lateral vector distance and longitudinal vector distance of the vehicle in front relative to the own vehicle, and at the same time outputting parameter information of the left and right lane lines of the lane where the own vehicle is traveling; the information collected in real time by the vehicle sensor includes the position, speed, head direction and lane line information of the vehicle in front; determining the screen display position: based on the parameter information, calculating respectively from the lateral position of the vehicle in front, the relative position relationship between the vehicle in front and the lane line, and the longitudinal position relationship between each vehicle in front, to obtain the lateral position display and longitudinal position display of the vehicle in front on the display screen, respectively, and then transmitting the parameter signals of the lateral position display and the longitudinal position display to the display screen for display, wherein it is assumed that the lane widths of the lanes in the same direction in which the own vehicle is traveling are the same.

[0013] In the above technical solution, the specific process of the screen display position determination step is as follows: display of the lateral position of the vehicle in front: calculate the lane to which the vehicle in front belongs, obtain the ratio of the lateral distance parameter of the vehicle in front to the lane width at the vehicle's location, and transmit the lane to which the vehicle in front belongs and the obtained ratio to the display screen to display the lateral position of the vehicle in front; display of the longitudinal position of the vehicle in front: adopt a segmented longitudinal vehicle position display method to divide the longitudinal position of the screen into two areas, area 1 displays nearby vehicles, and area 2 displays distant vehicles. The size of the vehicle model in the area is linearly set according to the distance from the vehicle.

[0014] In the above technical solution, the specific process of the step of displaying the lateral position of the vehicle in front is as follows: lane judgment: based on the parameter information, the lateral vector distance between the own vehicle and the vehicle in front is first combined with the lane line algorithm to judge the lane to which the vehicle in front belongs; left and right lane line position ratio calculation: after judging the lane to which the vehicle in front belongs, calculate the vector distance of the vehicle in front from the left lane line or the right lane line of the vehicle's lane in each lane, and then calculate the percentage of the vector distance to the lane width at the vehicle's location; screen lateral position display: the calculated percentage signal of the vector distance of each vehicle in front from the left lane line or the right lane line of the vehicle's lane to the lane width at the vehicle's location and the lane signal to which the vehicle in front belongs are transmitted to the display screen, so that the screen display module can display the lateral position of the vehicle in front.

[0015] In the above technical solution, in the lane determination step, the specific process of determining the lane to which the front vehicle belongs is as follows: Solving the distance between the vehicle and the left and right lane lines: Substituting the longitudinal vector distance Px of the front vehicle into the lane line function of the left and right lane lines of the vehicle, respectively calculate the lateral vector distance value Y of the vehicle to the left and right lane lines of the vehicle. L With Y R , where the lane line function is Y=C0+C1*x+C2*x 2 +C3*x 3 ; Lane determination: Then the lateral vector distance Py between the vehicle and the vehicle in front is respectively Y L and Y R Compare and judge the left, center and right lanes where the vehicle in front is located: 1) When Py>Y L When the vehicle ahead is in the left lane; 2) when Y L ≥Py≥Y R When the vehicle ahead is in the middle lane where the vehicle is located; 3) When Y R >Py, the vehicle ahead is in the right lane; in the above three cases, the vehicle is assumed to be driving in the middle lane.

[0016] In the above technical solution, in the left and right lane line position ratio calculation step, the vector distance D between the front vehicle in each lane and the left lane line or the right lane line of the vehicle lane is L The calculation process is as follows: 1) When the vehicle ahead is in the left lane, D L =Py-Y L ; 2) When the vehicle ahead is in the middle lane where the vehicle is located, D L =Y L -Py; 3) When the vehicle ahead is in the right lane, D L =Y R -Py.

[0017] In the above technical solution, in the left and right lane line position ratio calculation step, the vector distance D between the front vehicle and the left lane line or the right lane line of the vehicle lane is L Percentage D of the lane width W at the vehicle's location L The calculation process of _Pct is as follows: 1) Lane width W = Y L -Y R ; 2) When the vehicle ahead is in the left lane, D L _Pct=(Py-Y L ) / (Y L -Y R ); 3) When the vehicle ahead is in the middle lane where the vehicle is located, D L _Pct=(Y L -Py) / (Y L -Y R);4) When the vehicle ahead is in the right lane, D L _Pct=(Y R -Py) / (Y L -Y R ).

[0018] In the above technical solution, the specific process of the step of displaying the longitudinal position of the front vehicle is as follows: area partitioning: the longitudinal display area of ​​the instrument is divided into two parts, area 1 and area 2, area 1 occupies X% of the longitudinal display area, and area 2 occupies 1-X% of the longitudinal display area; the position relationship of each area: area 1 displays the display end position Lgt_Lim of the near vehicle, and area 2 is used to display the vehicle between the display end position Lgt_Lim of the near vehicle and the farthest position Lgt_Max of the far vehicle; static model of the front vehicle in area 1: only one front vehicle model is displayed on each lane of the instrument in area 1, which is the front vehicle closest to the vehicle in each lane, and the model size of the front vehicle Size_min=( 1-X%)*L, L is the longitudinal size of the instrument display area, and the longitudinal position of the front vehicle is always maintained at the X% position of the instrument; Dynamic model of the front vehicle in area 1: When the front vehicle is running in area 1, its model size and longitudinal position are adjusted according to the longitudinal position Px in a linear proportion Px_Pct, where the Px_Pct calculation logic is as follows: Px_Pct = (Px*X%) / Lgt_Lim; Arrangement of the positions of various front vehicles: The longitudinal display position of the front vehicle on the screen is Px_Pct from the bottom to the top of the screen display area, and the model size of the front vehicle is: Size_zone1 = -(Size_base-Size_min) / X%*P X _Pct+Size_base, where Size_base is the base model size, which is the model size of the vehicle in front at Px=0.

[0019] In the above technical solution, in the parameter extraction step, the coordinate system used by the ADAS visualization module takes the ground corresponding to the intersection of the vehicle's central axis and the camera's horizontal line as the origin of the vehicle coordinate system, with the forward direction being X, forward being positive, and the side being Y, left being positive; wherein, the collected position information and lane line parameters are as follows: Py: the vector distance in the Y direction between the center of the rear axle of the self-vehicle and the center of the rear axle of the front vehicle; Px: the vector distance in the X direction between the center of the front guardrail of the self-vehicle and the center of the rear guardrail of the front vehicle; C0_L0: the distance between the left lane line and the self-vehicle. The lateral vector distance from the center of the rear axle of the vehicle; C0_RO: The lateral vector distance from the right lane line to the center of the rear axle of the vehicle; C1_L0: The angle between the tangent line of the left lane line at the turn and the straight line of the left lane line; C1_R0: The angle between the tangent line of the right lane line at the turn and the straight line of the right lane line; C2_L0: The curvature of the left lane line at the turn; C2_R0: The curvature of the right lane line at the turn; C3_L0: The rate of change of curvature of the left lane line at the turn; C3_R0: The rate of change of curvature of the right lane line at the turn.

[0020] The present invention also provides a front vehicle display device of an intelligent driving assistance system, including an intelligent driving assistance system, wherein the intelligent driving assistance system includes the following parts: a perception fusion module: during the driving process of the vehicle, based on the information collected in real time by the vehicle sensors and combined with the algorithm, the lateral vector distance and longitudinal vector distance of the front vehicle relative to the vehicle are output, and at the same time, the parameter information of the left and right lane lines of the lane where the vehicle is driving is output; the information collected in real time by the vehicle sensors includes the position, speed, front direction and lane line information of the front vehicle; an ADAS visualization module: based on the parameter information, calculations are performed respectively from the lateral position of the front vehicle, the relative position relationship between the front vehicle and the lane line, and the longitudinal position relationship between each front vehicle, and the lateral position display and longitudinal position display of the front vehicle on the display screen are obtained respectively, and then the parameter signals of the lateral position display and the longitudinal position display are transmitted to the display screen for display, wherein, by default, the lane widths of the lanes in the same direction in which the vehicle is driving are the same.

[0021] The present invention also provides a computer system, which includes a front vehicle display device of an intelligent driving assistance system.

[0022] The method, device, and computer system for displaying a vehicle ahead in an intelligent driving assistance system of the present invention have the following beneficial effects:

[0023] 1. This solution introduces a lane line function method. By comparing the lateral position of the vehicle in front with the lane line, it can provide the screen with the lane of the vehicle in front and its lateral position parameter information in the lane, thereby solving the problem of inaccurate lateral display of the vehicle or even displaying the wrong lane.

[0024] 2. This solution uses a segmented vehicle longitudinal position display method to optimize vehicle overlap, problems such as vehicle models being too small, or the limited display of the number of vehicles ahead, thereby restoring the actual road conditions as much as possible and providing customers with a better visual experience.

[0025] 3. Since the ADAS visualization system is independent of the car's display system, this method can reduce the computing load of the display itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG1 is a hardware logic block diagram of a solution provided by a related manufacturer in the prior art;

[0027] FIG2 is a schematic diagram of a real road condition targeted by a solution provided by a related manufacturer in the prior art;

[0028] FIG3 is a schematic diagram of the overall process of a method for displaying a preceding vehicle in an intelligent driving assistance system according to the present invention;

[0029] FIG4 is a flow chart showing the lateral position of a vehicle ahead in the step of determining the screen position in the method for displaying a vehicle ahead in an intelligent driving assistance system according to the present invention;

[0030] FIG5 is a schematic diagram of a road surface in the lane determination step of the preceding vehicle lateral position display step of the preceding vehicle display method of the intelligent driving assistance system according to the present invention;

[0031] FIG6 is a diagram showing the vector distance D between the front vehicle in each lane and the left lane line or the right lane line of the vehicle in the step of calculating the position ratio of the left and right lane lines in the step of displaying the lateral position of the front vehicle in the step of determining the screen position of the front vehicle in the method for displaying the front vehicle in the intelligent driving assistance system of the present invention. L Schematic diagram of a real-life road scene (taking the vehicle ahead as an example, located in the left lane of the vehicle);

[0032] 7 is a flow chart showing the longitudinal position of a vehicle ahead in the step of determining the screen position in the method for displaying a vehicle ahead in an intelligent driving assistance system according to the present invention;

[0033] FIG8 is a schematic diagram of a real-scene display of a display screen showing the longitudinal position of a vehicle ahead in the step of determining the screen position in the method for displaying a vehicle ahead in an intelligent driving assistance system according to the present invention;

[0034] FIG9 is a schematic diagram illustrating the relationship between the size of the front vehicle model and its longitudinal proportion in the instrument panel, showing a specific technical effect in the front vehicle longitudinal position display step of the front vehicle display method of the intelligent driving assistance system of the present invention;

[0035] FIG10 is a schematic structural diagram of a display device for a vehicle ahead of an intelligent driving assistance system according to the present invention;

[0036] FIG11 is a schematic diagram of the structure of the computer system of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and examples, but the examples should not be construed as limiting the present invention.

[0038] The technical contents disclosed in FIG. 1 and FIG. 2 have been described in detail in the background technology and will not be repeated here.

[0039] 3 , the method for displaying a vehicle ahead of the intelligent driving assistance system of the present invention includes the following steps:

[0040] Signal acquisition: During driving, the vehicle's sensors collect real-time information about the vehicle ahead, including its position, speed, heading, and lane markings, and transmit this information to the ADAS perception fusion module.

[0041] Extracting parameters: Based on this information and combined with an algorithm, the perception fusion module outputs the lateral vector distance (Py) and longitudinal vector distance (Px) of the vehicle ahead relative to the ego vehicle, as well as the parameter information of the left and right lane lines of the ego vehicle's lane. The coordinate system used by the ADAS visualization module uses the ground corresponding to the intersection of the vehicle's centerline and the camera's horizontal line as the vehicle coordinate system origin, with X as the forward direction and Y as the side direction.

[0042] The following is a description of the location information and lane line parameters:

[0043] Py: The vector distance between the center of the rear axle of the vehicle and the center of the rear axle of the vehicle in front in the Y direction

[0044] Px: The vector distance in the X direction from the front center of the vehicle to the rear center of the vehicle in front

[0045] C0_L0: The lateral vector distance between the left lane line and the center of the vehicle's rear axle

[0046] C0_RO: The horizontal vector distance from the right lane line to the center of the rear axle of the vehicle

[0047] C1_L0: The angle between the tangent line of the left lane line at the turning point and the straight line of the left lane line

[0048] C1_R0: The angle between the tangent line of the right lane line at the turning point and the straight line of the right lane line

[0049] C2_L0: Curvature of the left lane line at the turn

[0050] C2_R0: Curvature of the right lane line at the turn

[0051] C3_L0: Curvature change rate of the left lane line at the turn

[0052] C3_R0: Curvature change rate of the right lane line at the turn

[0053] Screen display position determination: Based on the information provided by the perception fusion module, the ADAS visualization module optimizes the lateral position of the front vehicle, the relative position relationship between the front vehicle and the lane line, and the longitudinal position, and obtains the lateral position display and longitudinal position display of the front vehicle on the display screen, respectively. The parameter signals of the lateral position display and the longitudinal position display are then output to the screen for display. Among them, the ADAS visualization module defaults to the same lane width as the ego vehicle and the lane width of the ego vehicle is the same and the ego vehicle is traveling in the same direction.

[0054] Among them, as the most important step in the present invention, the specific process of the screen display position determination step is as follows:

[0055] 1. Lateral position display of the vehicle ahead

[0056] Refer to Figure 4. Lane determination: Based on the information output by perception fusion, the ADAS visualization module first compares the lateral vector distance between the vehicle and the preceding vehicle with the lane marking algorithm to determine the lane to which the preceding vehicle belongs.

[0057] As shown in FIG5 , in this embodiment, the determination method is specifically as follows:

[0058] The distance between the vehicle and the left and right lane lines is solved by substituting the longitudinal position Px of the vehicle in front into the lane line function of the left and right lane lines of the vehicle. The lane line function formula is Y = C0 + C1*x + C2*x 2 +C3*x 3 , respectively calculate the lateral vector distances YL and YR between the vehicle and the left and right lane lines;

[0059] Lane determination: Compare the lateral vector distance Py between the vehicle and the preceding vehicle with YL and YR according to Table 1 below to determine the left, center, or right lanes where the preceding vehicle is located (in all cases, the vehicle is assumed to be in the center lane):

[0060] Table 1

[0061] Calculation of the percentage of left and right lane markings: After determining the lane to which the preceding vehicle belongs, refer to Figure 6 , and calculate the vector distance DL between the preceding vehicle and the left or right lane marking of the vehicle's lane in different lanes (using the embodiment of Figure 6 as an example, the preceding vehicle is located in the left lane of the vehicle). Then, according to Figure 5 , calculate the percentage DL_Pct of DL to the lane width W at the vehicle's location. The specific calculation process is detailed in Table 1.

[0062] On-screen lateral position display: Finally, the ADAS visualization module transmits the calculated vector distance DL of each front vehicle from the left lane line or right lane line of the own vehicle's lane to the lane percentage signal DL_Pct of the lane width W at the own vehicle, as well as the lane signal to which the front vehicle belongs to the screen display module for it to display the lateral position of the front vehicle.

[0063] 2. Longitudinal position display of the vehicle ahead

[0064] There are currently two common methods for displaying the longitudinal direction of the vehicle ahead on the market:

[0065] Displaying the vehicle ahead at the actual distance it can display maximizes the reproduction of real-time road conditions. However, due to sensor errors, distant vehicles may be displayed inaccurately or jitterily. Furthermore, due to the limited longitudinal size of the instrument, the vehicle model displayed on the instrument may be smaller.

[0066] Only the closest vehicles ahead (e.g. within 50 meters) are displayed. This can optimize the visual experience and avoid the problem of jitter or inaccurate display of distant vehicles. However, the ADAS function may be activated but the corresponding vehicle is not displayed on the instrument panel, causing discomfort to customers.

[0067] Since the above two methods have great deficiencies in displaying the longitudinal arrangement of vehicles in front, the present invention proposes a segmented method for displaying the longitudinal position of vehicles to provide customers with a better visual experience while restoring the actual road conditions as much as possible.

[0068] As shown in FIG7 and FIG8 , in the method for displaying a vehicle ahead in the intelligent driving assistance system of the present invention, the specific process of the step of displaying the longitudinal position of the vehicle ahead is as follows:

[0069] Area partitioning: The instrument's vertical display area is divided into two parts: Area 1 and Area 2. Area 1 occupies X% of the vertical display area (can be calibrated to occupy the vast majority of the screen, such as 90%), and Area 2 occupies 1-X% of the vertical display area. Generally, it is set to 50≤X≤100.

[0070] The position relationship of each area: Area 1 is used to display the display end position Lgt_Lim of the nearby vehicle (calibrated according to the display effect), and Area 2 is used to display the vehicles between the display end position Lgt_Lim of the nearby vehicle and the farthest display position Lgt_Max of the distant vehicle (calibrable);

[0071] Static model of the vehicle ahead in area 1: Each lane in area 1 displays only one vehicle ahead. This is the vehicle ahead closest to the vehicle in each lane. Its model size is Size_min = (1 - X%) * L, where L is the longitudinal size of the instrument display area. Its longitudinal position is always maintained at the X% position on the instrument.

[0072] Dynamic model of the vehicle ahead in area 1: When the ahead vehicle is running in area 1, its model size and longitudinal position are adjusted according to the linear ratio Px_Pct based on the longitudinal position Px, where the calculation logic of Px_Pct is as follows: Px_Pct = (Px*X%) / Lgt_Lim;

[0073] Position arrangement of each vehicle in front: The vertical display position of the vehicle in front on the screen is Px_Pct from the bottom to the top of the screen display area. The model size of the vehicle in front is: Size_zone1 = -(Size_base - Size_min) / X%*P X _Pct+Size_base,

[0074] Among them, Size_base is the baseline model size, which is the model size of the front vehicle at Px=0.

[0075] The specific effect is shown in Figure 9, which shows the relationship between the size of the front vehicle model and its longitudinal proportion in the instrument panel.

[0076] The above is the complete process of the method for displaying the vehicle ahead in the intelligent driving assistance system of the present invention.

[0077] 10 , the front vehicle display device of the intelligent driving assistance system of the present invention includes an intelligent driving assistance system, which includes the following parts:

[0078] Perception Fusion Module: Based on real-time information collected by vehicle sensors and algorithms, it outputs the lateral and longitudinal vector distances of the vehicle ahead relative to the vehicle, as well as the parameters of the left and right lane markings of the vehicle's driving lane. The information collected in real time by the vehicle sensors includes the position, speed, heading, and lane markings of the vehicle ahead.

[0079] ADAS visualization module: Based on the parameter information, calculations are performed respectively from the lateral position of the front vehicle, the relative position relationship between the front vehicle and the lane line, and the longitudinal position relationship between each front vehicle, to obtain the lateral position display and longitudinal position display of the front vehicle on the display screen, and then the parameter signals of the lateral position display and the longitudinal position display are transmitted to the display screen for display. Among them, it is assumed that the lane widths of the lanes in the same direction as the vehicle are traveling are the same.

[0080] 11 , a computer system according to the present invention includes a front vehicle display device of an intelligent driving assistance system.

[0081] Of course, as a preferred embodiment of the present invention, in order to enhance the human-computer interaction experience of the instrument, the sensor accuracy can be improved and lidar can be introduced, while the screen computing power can be upgraded and the screen display area can be increased, which will provide better display effects when displaying real-time traffic information.

[0082] The key technical points and technical principles of the present invention are:

[0083] 1. For the lateral display of the vehicle ahead, a lane line equation is introduced as a reference benchmark. By calculating the relative position of the vehicle ahead and the lane line, the percentage of the vehicle ahead in the lane is determined. The screen displays the lanes horizontally according to the percentage of each lane, rather than directly using the lateral distance of the vehicle ahead relative to the vehicle as is commonly seen.

[0084] 2. For the longitudinal display of the vehicle ahead, a segmented display method is used, and the calculation method for the minimum vehicle model under this method is defined. In Area 1, the relationship between the longitudinal distance Px of the vehicle ahead, the longitudinal percentage displayed on the screen, and the vehicle model size is defined.

[0085] Definitions of Abbreviations and Key Terms

[0086] ADAS (Advanced Driver Assistance Systems): Advanced Driver Assistance Systems

[0087] AD (Autonomous Driving): Autonomous Driving

[0088] HMI (Human Machine Interface): Human-Machine Interaction

[0089] ADAS visualization module: used to display the front vehicle and lane lines on the road where the ADAS vehicle is located in real time to provide users with a good interactive experience

[0090] Vehicles ahead: Vehicles ahead other than your own vehicle that need to be displayed on the instrument panel

[0091] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

[0092] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A method for displaying a vehicle ahead of an intelligent driving assistance system, characterized in that: Using the intelligent driving assistance system, the following steps are included: Extracting parameters: During the driving process of the vehicle, based on the information collected in real time by the vehicle sensors and combined with the algorithm, the lateral vector distance and longitudinal vector distance of the vehicle in front relative to the vehicle are output, and the parameter information of the left and right lane lines of the lane where the vehicle is driving is output at the same time; the information collected in real time by the vehicle sensors includes the position, speed, head direction and lane line information of the vehicle in front; Screen display position determination: Based on the parameter information, calculations are performed respectively from the lateral position of the front vehicle, the relative position relationship between the front vehicle and the lane line, and the longitudinal position relationship between each front vehicle, to obtain the lateral position display and longitudinal position display of the front vehicle on the display screen, and then the parameter signals of the lateral position display and the longitudinal position display are transmitted to the display screen for display, wherein it is assumed that the lane widths of the lanes in the same direction as the vehicle are the same.

2. The method for displaying a vehicle ahead of an intelligent driving assistance system according to claim 1, characterized in that: The specific process of the screen display position determination step is as follows: Front vehicle lateral position display: calculate the lane to which the front vehicle belongs, obtain the ratio of the lateral distance parameter of the front vehicle to the lane width of the vehicle, and transmit the lane to which the front vehicle belongs and the obtained ratio to the display screen to display the lateral position of the front vehicle; Display of the longitudinal position of the vehicle in front: A segmented longitudinal vehicle position display method is adopted to divide the longitudinal position of the screen into two areas. Area 1 displays nearby vehicles, and area 2 displays distant vehicles. The size of the vehicle model in the area is set linearly according to the distance from the vehicle.

3. The method for displaying a vehicle ahead of an intelligent driving assistance system according to claim 2, characterized in that: The specific process of the step of displaying the lateral position of the vehicle ahead is as follows: Lane determination: Based on the parameter information, the lateral vector distance between the vehicle and the front vehicle is first combined with the lane line algorithm to determine the lane to which the front vehicle belongs; Calculation of the ratio of left and right lane lines: After determining the lane to which the vehicle ahead belongs, calculate the ratio of each lane line. The vector distance between the front vehicle in each lane and the left lane line or the right lane line of the own vehicle lane is calculated, and then the percentage of the vector distance to the lane width at the own vehicle is calculated; On-screen lateral position display: The calculated vector distance of each vehicle ahead from the left lane line or the right lane line of the own vehicle's lane as a percentage of the lane width at the own vehicle and the lane signal to which the vehicle ahead belongs are transmitted to the display screen so that the screen display module can display the lateral position of the vehicle ahead.

4. The method for displaying a vehicle ahead of an intelligent driving assistance system according to claim 3, characterized in that: In the lane determination step, the specific process of determining the lane to which the front vehicle belongs is as follows: Solve the distance between the vehicle and the left and right lane lines: Substitute the longitudinal vector distance Px of the vehicle in front into the lane line function of the left and right lane lines of the vehicle, and calculate the lateral vector distance value Y of the vehicle from the left and right lane lines of the vehicle. L With Y R , where the lane line function is Y = C0 + C1*x + C2*x 2 +C3*x 3 ; Lane determination: Then the lateral vector distance Py between the vehicle and the vehicle in front is respectively L and Y R Compare and judge the left, middle and right lanes where the vehicle ahead is located: 1) When Py>Y L When the vehicle ahead is in the left lane; 2) When Y L ≥Py≥Y R When the vehicle ahead is in the middle lane where the vehicle is located; 3) When Y R >Py, the vehicle ahead is in the right lane; In the above three situations, it is assumed that the vehicle is driving in the middle lane.

5. The method for displaying a vehicle ahead of an intelligent driving assistance system according to claim 4, characterized in that: In the left and right lane line position ratio calculation step, the vector distance D between the front vehicle in each lane and the left lane line or the right lane line of the vehicle lane is L The calculation process is as follows: 1) When the vehicle ahead is in the left lane, D L =Py-Y L ; 2) When the vehicle ahead is in the middle lane where the vehicle is located, D L =Y L -Py; 3) When the vehicle ahead is in the right lane, D L =Y R -Py.

6. The method for displaying a vehicle ahead of an intelligent driving assistance system according to claim 5, characterized in that: In the left and right lane line position ratio calculation step, the vector distance D between the front vehicle and the left lane line or the right lane line of the vehicle lane is L The percentage of the lane width W at the vehicle location D L The calculation process of _Pct is as follows: 1) The lane width of the vehicle is W = Y L -Y R ; 2) When the vehicle ahead is in the left lane, D L _Pct=(Py-Y L ) / (Y L -Y R ); 3) When the vehicle ahead is in the middle lane where the vehicle is located, D L _Pct=(Y L -Py) / (Y L -Y R ); 4) When the vehicle ahead is in the right lane, D L _Pct=(Y R -Py) / (Y L -Y R ).

7. The method for displaying a vehicle ahead of an intelligent driving assistance system according to claim 6, characterized in that: The specific process of the step of displaying the longitudinal position of the vehicle ahead is as follows: Area partitioning: The vertical display area of ​​the instrument is divided into two parts: Area 1 and Area 2. Area 1 occupies X% of the vertical display area, and Area 2 occupies 1-X% of the vertical display area. The position relationship of each area: Area 1 displays the end position Lgt_Lim of the nearby vehicle display, and Area 2 is used to display the vehicles between the end position Lgt_Lim of the nearby vehicle display and the farthest position Lgt_Max of the distant vehicle display; Static model of the vehicle ahead in area 1: In area 1, only one vehicle ahead model is displayed on each lane of the instrument. It is the vehicle ahead closest to the vehicle in each lane. The model size of the vehicle ahead is Size_min = (1-X%) * L, where L is the longitudinal size of the instrument display area. The longitudinal position of the vehicle ahead is always maintained at the X% position of the instrument. Dynamic model of the vehicle ahead in area 1: When the vehicle ahead is running in area 1, its model size and longitudinal position are adjusted according to the longitudinal position Px in a linear proportion Px_Pct, where the calculation logic of Px_Pct is as follows: Px_Pct = (Px*X%) / Lgt_Lim; Position arrangement of each vehicle in front: The vertical display position of the vehicle in front on the screen is Px_Pct from the bottom to the top of the screen display area. The model size of the vehicle in front is: Size_zone1=-(Size_base-Size_min) / X%*P X _Pct+Size_base, Among them, Size_base is the base model size, which is the model size of the front vehicle at Px=0.

8. The method for displaying a vehicle ahead of an intelligent driving assistance system according to claim 7, characterized in that: In the parameter extraction step, the coordinate system used by the ADAS visualization module takes the ground corresponding to the intersection of the vehicle centerline and the camera horizontal line as the origin of the vehicle coordinate system, the forward direction is X, the forward direction is positive, and the side direction is Y, the left direction is positive; Among them, the collected location information and lane line parameters are as follows: Py: the vector distance between the rear axle center of the vehicle and the rear axle center of the front vehicle in the Y direction; Px: the vector distance in the X direction from the front protection center of the vehicle to the rear protection center of the vehicle in front; C0_L0: The lateral vector distance between the left lane line and the center of the rear axle of the vehicle; C0_RO: The lateral vector distance from the right lane line to the center of the rear axle of the vehicle; C1_L0: The angle between the tangent line of the left lane line at the turning point and the straight line of the left lane line; C1_R0: The angle between the tangent line of the right lane line at the turn and the straight line of the right lane line; C2_L0: the curvature of the left lane line at the turning point; C2_R0: curvature of the right lane line at the turn; C3_L0: Curvature change rate of the left lane line at the turn; C3_R0: The curvature change rate of the right lane line at the turn.

9. A front vehicle display device of an intelligent driving assistance system, comprising an intelligent driving assistance system, characterized in that: The intelligent driving assistance system includes the following parts: Perception fusion module: During the driving process of the vehicle, based on the information collected in real time by the vehicle sensors and combined with the algorithm, it outputs the lateral vector distance and longitudinal vector distance of the vehicle in front relative to the vehicle, and also outputs the parameter information of the left and right lane lines of the vehicle's driving lane; The vehicle transmission The information collected by the sensor in real time includes the position, speed, direction of the vehicle in front and lane information; ADAS visualization module: Based on the parameter information, calculations are performed respectively from the lateral position of the front vehicle, the relative position relationship between the front vehicle and the lane line, and the longitudinal position relationship between each front vehicle, to obtain the lateral position display and longitudinal position display of the front vehicle on the display screen, and then the parameter signals of the lateral position display and the longitudinal position display are transmitted to the display screen for display, wherein it is assumed that the lane widths of the lanes in the same direction as the vehicle are the same.

10. A computer system, characterized in that: The computer system includes the front vehicle display device of the intelligent driving assistance system as claimed in claim 9.

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