Lane navigation information display method and apparatus, and HUD system, device and medium

Abstract

The present disclosure relates to the technical field of intelligent driving. Disclosed are a lane navigation information display method and apparatus, and an HUD system, a device and a medium. The method comprises: acquiring positioning data and a navigation path of a vehicle, and dividing the navigation path into a plurality of road sections; when it is determined that the vehicle enters the current road section, determining the current AR lane image, the next AR lane image and the remaining AR lane images, and respectively setting corresponding adjustment parameters therefor; and respectively adjusting the current AR lane image, the next AR lane image and the remaining AR lane images to respective corresponding target display positions on the basis of the adjustment parameters, and respectively displaying the current AR lane image, the next AR lane image and the remaining AR lane images at the target display positions. By means of the technical solution provided in the present disclosure, visual and accurate lane navigation information can be provided for a driver, time for a lane change operation can be reserved for the driver, and the driving safety can be improved.

Description

Lane navigation information display method, device, HUD system, equipment and medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on June 25, 2023, with application number 202310753202.2 and invention name “Lane navigation information display method, device, electronic device and storage medium”. The contents of the Chinese patent application are hereby incorporated into this disclosure by reference. Technical Field

[0003] The present disclosure relates to the field of intelligent driving technology, and in particular to a lane navigation information display method, device, HUD system, equipment and medium. Background Art

[0004] In existing technology, lane navigation information is typically provided to drivers in two ways. The first method uses a virtual vehicle to simulate its driving on the current road section. This method can display the number of lanes and the target lane to the driver. The second method uses voice announcements and a magnified image of the intersection to display current road conditions to the driver when approaching an intersection. This type of information is usually displayed at a fixed time preset by the navigation system.

[0005] In real-world driving, both of these approaches can cause drivers to miss the optimal lane change opportunity due to the shortness of some road sections, or when encountering unexpected situations such as traffic jams or road breakdowns. Therefore, intelligently providing drivers with intuitive and accurate lane guidance information has become a pressing issue.

[0006] Summary of the Invention

[0007] The present disclosure provides a lane navigation information display method, device, HUD system, equipment and medium, which can intelligently provide drivers with intuitive and accurate lane navigation information, reserve time for drivers to change lanes, and improve driving safety and driving experience.

[0008] In a first aspect, the present disclosure provides a lane navigation information display method applied to a HUD, the method comprising:

[0009] Acquiring positioning data and a navigation path of the vehicle, and dividing the navigation path into a plurality of sections, wherein the plurality of sections include a current section, a next section, and remaining sections, wherein the remaining sections are sections of the plurality of sections other than the current section and the next section;

[0010] When it is determined based on the positioning data that the vehicle enters a current road section, determining a current augmented reality (AR) lane image corresponding to the current road section, a next AR lane image corresponding to the next road section, and remaining AR lane images corresponding to remaining road sections to be displayed in the image display component of the HUD;

[0011] Setting corresponding adjustment parameters for the current AR lane image, the next AR lane image, and the remaining AR lane images, respectively;

[0012] Based on the adjustment parameters, the current AR lane image, the next AR lane image, and the remaining AR lane images are respectively adjusted to their corresponding target display positions, and the current AR lane image, the next AR lane image, and the remaining AR lane images are respectively displayed at the target display positions to display lane navigation information in the image display component.

[0013] The present disclosure provides a method for displaying lane navigation information. The method divides a navigation route into multiple road sections based on the number of lanes and the same lane arrow information for each lane, thereby determining AR lane images for the multiple road sections. When a vehicle enters the current road section, the method determines the current AR lane image, the next AR lane image, and the remaining AR lane images to be displayed from the multiple AR lane images. The method then displays the current AR lane image, the next AR lane image, and the remaining AR lane images at target display locations. The method can detect the current road section in real time and, because the AR lane images for the current road section, the next road section, and the remaining road sections are displayed to the driver immediately upon entering the current road section, it allows the driver to make lane changes in advance and provides real-time guidance. The method not only informs the driver of the number of lanes, lane arrow information, target lane, and current lane in the current road section, but also provides an advance notice of the number of lanes, lane arrow information, and target lane for the next road section. This facilitates the driver's timely and accurate judgment on complex roads, thereby assisting the driver in efficiently completing driving tasks. The present disclosure can intelligently provide the driver with intuitive and accurate lane navigation information, reserve time for the driver to change lanes, and improve driving safety and driving experience.

[0014] In a second aspect, the present disclosure provides a lane navigation information display device integrated into a HUD, the device comprising:

[0015] a road segment division module, configured to obtain positioning data and a navigation path of the vehicle, and divide the navigation path into a plurality of road segments, wherein the plurality of road segments include a current road segment, a next road segment, and remaining road segments, wherein the remaining road segments are road segments other than the current road segment and the next road segment in the plurality of road segments;

[0016] a display image determination module, configured to, when it is determined based on the positioning data that the vehicle has entered a current road section, determine a current AR lane image corresponding to the current road section, a next AR lane image corresponding to the next road section, and remaining AR lane images corresponding to remaining road sections to be displayed in the image display component of the HUD;

[0017] an adjustment parameter determination module, configured to set corresponding adjustment parameters for the current AR lane image, the next AR lane image, and the remaining AR lane images, respectively;

[0018] A navigation information display module is used to adjust the current AR lane image, the next AR lane image, and the remaining AR lane images to their respective corresponding target display positions based on the adjustment parameters, and display the current AR lane image, the next AR lane image, and the remaining AR lane images at the target display positions, so as to display lane navigation information in the image display component.

[0019] In a third aspect, the present disclosure provides an electronic device, the electronic device comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the lane navigation information display method described in any embodiment of the present disclosure.

[0023] In a fourth aspect, the present disclosure provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement the lane navigation information display method described in any embodiment of the present disclosure when executed.

[0024] In a fifth aspect, the present disclosure provides a head-up display (HUD) system, comprising: an image generator, an imaging optical path component, an image display component, and a processor; wherein:

[0025] The image generator is configured to generate an image digital signal and convert the image digital signal into light that carries image information;

[0026] The imaging optical path component is configured to reflect the light carrying the image information and project it onto the image display component;

[0027] The image display component is configured to form a visually observable virtual image based on the light projected by the imaging optical path component;

[0028] The processor is configured to execute the lane navigation information display method described in any embodiment of the present disclosure.

[0029] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description.

[0030] It is understandable that before using the technical solutions disclosed in the various embodiments of this disclosure, the type, scope of use, and usage scenarios of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0031] BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] FIG1 is a schematic diagram of the HUD system structure provided by an embodiment of the present disclosure.

[0034] FIG2 is a flow chart of a method for displaying lane navigation information provided in an embodiment of the present disclosure.

[0035] FIG3 is a schematic diagram of segment division of a navigation path provided by an embodiment of the present disclosure.

[0036] FIG4A is a schematic diagram of an AR lane image provided by an embodiment of the present disclosure.

[0037] FIG4B is a first schematic diagram of a current AR lane image provided by an embodiment of the present disclosure.

[0038] FIG4C is a second schematic diagram of the current AR lane image provided by an embodiment of the present disclosure.

[0039] FIG4D is a schematic diagram of lane navigation information provided by an embodiment of the present disclosure.

[0040] FIG5 is a schematic diagram of a display window in an image display component provided in an embodiment of the present disclosure.

[0041] FIG6A is a schematic diagram showing the orientations of the first display surface, the second display surface, and the third display surface in the target display position provided by an embodiment of the present disclosure.

[0042] FIG6B is a schematic diagram showing the remaining AR lane images provided by an embodiment of the present disclosure.

[0043] FIG6C is another schematic diagram showing the remaining AR lane images provided in an embodiment of the present disclosure.

[0044] FIG7 is a schematic diagram of a rotation animation of switching from a last displayed AR lane image to a currently displayed AR lane image provided by an embodiment of the present disclosure.

[0045] FIG8 is a schematic structural diagram of a lane navigation information display device provided in an embodiment of the present disclosure.

[0046] FIG9 is a block diagram of an electronic device for implementing a lane navigation information display method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0047] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0048] It should be noted that the terms "first", "second", "target" and "original" in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including", "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] The present disclosure provides a head-up display (HUD) system. As shown in FIG1 , the HUD system 10 includes an image generator 11, an imaging optical path component 12, and an image display component 13. The image generator 11 is used to generate an image digital signal (i.e., a real image) and convert the image digital signal into light that carries image information. In some examples, the image generator 11 can be an optical machine made using digital light processing (DLP) or liquid crystal on silicon (LCOS) technology, including an illumination component and a projection component, and the projection component can be a micro-projection lens. The imaging optical path component 12 reflects the real image through, for example, a reflector and projects it onto the image display component 13, so that the image display component 13 forms a virtual image 2 that can be visually observed based on the light projected by the imaging optical path component 12. Depending on the application scenario, the image display component 13 will also be different. For example, when the application scenario is a movie theater, the image display component 13 is a projection screen or a display screen. When the application scenario is to display driving information on the windshield of a vehicle, the image display component 13 is the windshield of the vehicle. In some examples, the image display component 13 is the windshield of the vehicle, which is used to display the vehicle driving information.

[0050] Figure 2 is a flow chart of a lane navigation information display method provided by an embodiment of the present disclosure. This embodiment can be applied to displaying the AR lane image of the current road section and the next AR lane image of the next road section in an augmented reality head-up display (AR-HUD) when a vehicle is detected entering the current road section, so that the driver can understand the lane navigation information of the current road section and the next road section, and then make driving actions in a timely manner. The lane navigation information display method provided by this embodiment can be executed by the lane navigation information display device provided by the embodiment of the present disclosure. The device can be implemented by software and / or hardware and integrated into the electronic device that executes this method. In some examples, the electronic device in the embodiment of the present disclosure can be a head-up display (HUD) system as shown in Figure 1.

[0051] Referring to FIG2 , the method of this embodiment includes but is not limited to the following steps:

[0052] S210: Acquire the vehicle's positioning data and navigation path, and divide the navigation path into multiple sections.

[0053] In the present disclosure, the multiple road sections include the current road section, the next road section, and the remaining road sections, and the remaining road sections are the road sections other than the current road section and the next road section in the multiple road sections. In this embodiment, the vehicle also has a driving assistance device, which can be an advanced driving assistance system (ADAS) or a map navigation system.

[0054] In the disclosed embodiment, the HUD system further includes a processor 14, which may include a data acquisition unit, a data processing unit, and a data analysis unit. When the vehicle begins driving, the data acquisition unit may acquire the vehicle's positioning data from a map navigation system or an ADAS system, and obtain the vehicle's navigation path from the map navigation system. The data processing unit may divide the acquired navigation path into multiple road segments according to a preset division criterion and assign road segment identification numbers to each road segment.

[0055] For example, let the road section identification number be R. Assuming that the total number of road sections is n, the road section identification numbers of multiple road sections are respectively recorded as R1, R2, ..., Ri, Ri+1, ..., Rn-1, Rn, where i represents the road section index number.

[0056] Optionally, the preset division criterion may be to divide navigation path segments with the same number of lanes and identical lane arrow information into one segment. As shown in Figure 3, the figure schematically illustrates a division method for dividing the navigation path from the start point to the end point into n segments according to the preset division criterion. As can be seen from Figure 3, the lanes in each segment have identical lane arrow information at all locations.

[0057] Furthermore, after dividing the navigation path into multiple road sections, you can first draw a corresponding AR lane image for each of the multiple road sections to obtain multiple AR lane images; then determine the image identification numbers corresponding to the multiple AR lane images, and the image identification numbers correspond one-to-one to the section identification numbers of the multiple road sections; next, in the image display component, display each AR lane image based on the initial display position and image identification number corresponding to each AR lane image.

[0058] In some examples, the initial display position may refer to the position where multiple AR lane images are first displayed when the vehicle begins driving (e.g., entering the first road section); since this embodiment introduces the lane navigation information display method disclosed herein when the vehicle enters the current road section, the initial display position may also refer to the position where multiple AR lane images are displayed when the vehicle enters the previous road section. The specific display method for displaying AR lane images at the initial display position is roughly the same as the specific display method for displaying AR lane images at the target display position, and will be described in detail in the following embodiments.

[0059] Specifically, when drawing a corresponding AR lane image for each of the multiple road sections, the map navigation system can first obtain road information in the navigation path, and then determine the lane arrow information corresponding to each of the multiple road sections from the road information; then, based on the navigation path and lane arrow information, determine the target lane that the vehicle should travel in each road section; finally, based on the lane arrow information and target lane corresponding to each road section, generate an AR lane image for each road section. Figure 4A shows a schematic diagram of an AR lane image, which illustrates four lanes, with the second and third lanes being the target lanes, i.e., the through lanes.

[0060] In some examples, when generating an AR lane image for each road section based on the lane arrow information corresponding to each road section and the target lane, the lane arrow information of the target lane can be displayed in a first display mode, and the lane arrow information of the first other lane can be displayed in a second display mode, thereby obtaining an AR lane image corresponding to each road section; wherein, the first other lane is a lane other than the target lane in each road section. Optionally, the display mode can be a preset color, preset size, preset animation, etc. As shown in Figure 3A, the target lane is displayed in black (first display mode) and the first other lane is displayed in gray (second display mode). The specific form of the display mode can also be customized according to user needs, which will not be repeated here.

[0061] S220. When it is determined based on the positioning data that the vehicle enters the current road section, determine the current AR lane image corresponding to the current road section, the next AR lane image corresponding to the next road section, and the remaining AR lane images corresponding to the remaining road sections to be displayed in the HUD image display component.

[0062] In the embodiment of the present disclosure, the data analysis unit analyzes the positioning data obtained by the data acquisition unit in step S210 to determine the current road section where the vehicle is located in real time. In other words, it determines whether the vehicle enters the current road section from the previous road section. If it is determined that the vehicle enters the current road section, the HUD executes step S220.

[0063] In some examples, when determining that a vehicle has entered a current road section, the HUD can determine the road section identification number corresponding to the current road section, and then determine the road section identification number of the next road section based on the road section identification number corresponding to the current road section, and ultimately determine the next road section corresponding to the current road section; and then determine the remaining road sections based on the same method as described above. Because the image identification number of the AR lane image corresponds one-to-one with the road section identification number, the image identification number corresponding to the road section identification number can be determined, thereby obtaining the image identification numbers corresponding to the current AR lane image, the next AR lane image, and the remaining AR lane images respectively; and based on the image identification numbers, the current AR lane image, the next AR lane image, and the remaining AR lane images are determined from multiple AR lane images.

[0064] It can be understood that when a vehicle enters the current road section, the current AR lane image to be displayed on the HUD is the next AR lane image that was previously displayed on the HUD when the vehicle was traveling on the previous road section. The next AR lane image to be displayed on the HUD is the next AR lane image that was previously displayed on the HUD when the vehicle was traveling on the previous road section. By analogy with the image identification numbers, the remaining AR lane images to be displayed on the HUD can be obtained.

[0065] Furthermore, considering that in order to better and intelligently prompt the driver whether he needs to change lanes, the driver can be prompted with the current lane in which the vehicle is currently located, it is necessary to highlight the lane arrow information of the current lane in the current AR lane image.

[0066] Specifically, after determining that the vehicle has entered the current road section based on the positioning data, the lane navigation information display method provided by the embodiment of the present disclosure may also include: determining the current lane of the vehicle in the current road section based on the positioning data; using the first display mode to display the lane arrow information of the target lane, using the second display mode to display the lane arrow information of the second other lane, and using the third display mode to display the lane arrow information of the current lane, thereby obtaining the current AR lane image corresponding to the current road section; wherein the second other lane is the lane other than the target lane and the current lane in the current road section. Optionally, the display mode can be a preset color, preset size, preset animation, etc. That is to say, different lanes are displayed differently through the first display mode, the second display mode, and the third display mode. The specific display mode can be customized according to user needs and will not be elaborated here.

[0067] For example, Figure 4B is a first schematic diagram of the current AR lane image provided by an embodiment of the present disclosure. Referring to Figure 4B, there are four lanes, the second lane and the third lane are target lanes, that is, straight lanes, where the second lane is also the current lane, and the first lane and the fourth lane are second other lanes; the second lane is displayed in black and with a magnified effect in the figure, the third lane is displayed in black, and the first lane and the fourth lane are displayed in gray; it can be seen from Figure 4B that the current vehicle is traveling in the target lane, and the driver does not need to change lanes.

[0068] As another example, Figure 4C is a second schematic diagram of the current AR lane image provided by an embodiment of the present disclosure. Referring to Figure 4C, there are four lanes, the second lane and the third lane are target lanes, i.e., straight lanes, the first lane is the current lane, i.e., the left turn lane, and the fourth lane is the second other lane; the second lane and the third lane are displayed in black, the fourth lane is displayed in gray, and the first lane is displayed in gray with a magnified effect; it can be seen from Figure 4C that the current vehicle is traveling in a non-target lane (the first lane), and the driver needs to change lanes to the right to travel to the second lane or the third lane.

[0069] S230 , respectively set corresponding adjustment parameters for the current AR lane image, the next AR lane image, and the remaining AR lane images.

[0070] In the embodiment of the present disclosure, when the vehicle is traveling on the previous road section, the display position corresponding to the next AR lane image displayed by the HUD last time is recorded as the initial display position; when the vehicle enters the current road section, the next AR lane image displayed by the HUD last time becomes the current AR lane image to be displayed by the HUD this time, and the display position corresponding to the current AR lane image displayed by the HUD this time is recorded as the target display position, and the adjustment parameters corresponding to adjusting this AR lane image from the initial display position to the target display position are determined.

[0071] When the vehicle is traveling on the previous road section, the display position of the next AR lane image displayed by the HUD is recorded as the initial display position. When the vehicle enters the current road section, the next AR lane image displayed by the HUD becomes the next AR lane image to be displayed by the HUD. The display position of the next AR lane image displayed by the HUD is recorded as the target display position. The adjustment parameters corresponding to adjusting this AR lane image from the initial display position to the target display position are determined. Similarly, the adjustment parameters corresponding to the remaining AR lane images to be displayed by the HUD can be obtained by analogy based on the image identification number.

[0072] S240. Based on the adjustment parameters, the current AR lane image, the next AR lane image, and the remaining AR lane images are adjusted to their corresponding target display positions, and the current AR lane image, the next AR lane image, and the remaining AR lane images are displayed at the target display positions, so as to display the lane navigation information in the image display component.

[0073] In the disclosed embodiment, the HUD adjusts the current AR lane image, the next AR lane image, and the remaining AR lane images from their respective initial display positions to their respective target display positions, and displays lane navigation information at the target display positions to assist the driver in understanding the current road conditions and determining whether a lane change is necessary. Optionally, the image display component may be a certain area of ​​the vehicle's windshield.

[0074] Optionally, considering that displaying all AR lane images of multiple road sections to the driver may interfere with the driver's driving, the remaining AR lane images can be hidden at the target display position, and only the current AR lane image and the next AR lane image can be clearly displayed; further, the current AR lane image can be enlarged and displayed to better distinguish it from the next AR lane image.

[0075] For example, Figure 4D is a schematic diagram of lane navigation information provided by an embodiment of the present disclosure. The penultimate row of arrows at the bottom of the interface of the image display component in Figure 4D is the AR lane image of the current road section, which may include the lane arrow of the current lane where the vehicle is located in the current road section (such as reference numeral 21), lane arrows of all target lanes (such as reference numeral 22), and lane arrows of the second other lane (such as reference numeral 23); the penultimate row of arrows at the bottom is the AR lane image of the next road section, which may include lane arrows of all target lanes of the next road section (such as reference numeral 31), and lane arrows of the first other lane (such as reference numeral 32).

[0076] The technical solution provided in this embodiment divides the navigation path into multiple sections by obtaining the vehicle's positioning data and navigation path; when it is determined based on the positioning data that the vehicle has entered the current section, the current AR lane image corresponding to the current section, the next AR lane image corresponding to the next section, and the remaining AR lane images corresponding to the remaining sections to be displayed in the HUD image display component are determined; corresponding adjustment parameters are set for the current AR lane image, the next AR lane image, and the remaining AR lane images respectively; based on the adjustment parameters, the current AR lane image, the next AR lane image, and the remaining AR lane images are respectively adjusted to their corresponding target display positions, and the current AR lane image, the next AR lane image, and the remaining AR lane images are respectively displayed at the target display positions, so as to display lane navigation information in the image display component. The present invention rationally divides a navigation route into multiple road sections based on whether they have the same number of lanes and the same lane arrow information for each lane, and then determines AR lane images for the multiple road sections. When a vehicle enters the current road section, the current AR lane image, the next AR lane image, and the remaining AR lane images to be displayed are determined from the multiple AR lane images. The current AR lane image, the next AR lane image, and the remaining AR lane images are then displayed at the target display location. The present invention can detect the current road section of the vehicle in real time. Since the AR lane images of the current road section, the next road section, and the remaining road sections are displayed to the driver immediately upon entering the current road section, the driver can be given time to change lanes. The present invention also provides real-time guidance to the driver, not only informing the driver of the number of lanes, lane arrow information, target lane, and current lane of the current road section, but also informing the driver of the number of lanes, lane arrow information, and target lane of the next road section in advance. This facilitates the driver to make timely and correct judgments on complex roads, thereby assisting the driver in completing driving tasks efficiently. The present disclosure can intelligently provide the driver with intuitive and accurate lane navigation information, reserve time for the driver to change lanes, and improve driving safety and driving experience.

[0077] The following further describes the lane navigation information display method provided by the embodiment of the present disclosure. The embodiment of the present disclosure is optimized based on the above embodiment. The specific optimization is: the interface interaction process of displaying the AR lane image at the target display position of the image display component is explained in detail.

[0078] Figure 5 is a schematic diagram of a display window in an image display component provided in an embodiment of the present disclosure, wherein Figure 5(a) is a front view of the display window, Figure 5(b) is a side view of the display window, Figure 5(c) is a perspective view of the display window, and Figure 5(d) is a top view of the display window. A three-dimensional coordinate system (i.e., a right-handed coordinate system) is constructed in the image display component to display the AR lane image. The coordinate origin of the three-dimensional coordinate system (i.e., the reference symbol O in the figure) is the center point of the lower boundary of the display window in the image display component, which is also the center point of the lower boundary of the AR lane image. The X-axis is perpendicular to the Y-axis and Z-axis and is horizontally pointing to the left. The Y-axis is perpendicular to the ground and upward. The Z-axis is the forward direction of the vehicle. The size of the display window is determined by the field of view of the driver's eye point. As can be seen from Figures 5(b) and 5(d), the length of the display window is 2x1, and the height of the display window is y1. The length of the display window is determined by the horizontal field of view at the driver's eye point, and the height of the display window is determined by the vertical field of view at the driver's eye point.

[0079] The remaining road sections include the first road section that has not been entered and the second road section that has been passed; the remaining AR lane images include the first AR lane image corresponding to the first road section and the second AR lane image corresponding to the second road section; the target display position includes the first display surface, the second display surface and the third display surface; the first display surface is perpendicular to the second display surface and the third display surface respectively, and the second display surface is parallel to the third display surface; the upper boundary of the first display surface coincides with the lower boundary of the second display surface, and the lower boundary of the first display surface coincides with the upper boundary of the third display surface.

[0080] Figure 6A is a schematic diagram of the orientations of the first display surface, the second display surface, and the third display surface in the target display position provided by an embodiment of the present disclosure. Referring to Figure 6A , with a three-dimensional coordinate system as a reference, the first display surface 1 is parallel to the XOY plane, and the center point of the lower boundary of the first display surface is the coordinate origin of the XOY plane. The second display surface 2 and the third display surface 3 are parallel to the XOZ plane, and the coordinate of the second display surface 2 on the Y axis is h, that is, the height of the AR lane image is h. The center point of the upper boundary of the third display surface 3 is the coordinate origin of the XOZ plane.

[0081] The first display surface 1 is used to display the current AR lane image to be displayed, the second display surface 2 is used to display the next AR lane image to be displayed and the first AR lane image to be displayed, and the third display surface 3 is used to display the second AR lane image to be displayed; on the second display surface 2, the next AR lane image and the first AR lane image are stacked and displayed in sequence or spread out in sequence according to the image identification number; on the third display surface 3, the second AR lane image is stacked and displayed in sequence or spread out in sequence according to the image identification number.

[0082] FIG6B is a schematic diagram showing the remaining AR lane images provided by an embodiment of the present disclosure. Referring to FIG6B , the current road segment is denoted as Ra. The center point Qa of the current AR lane image in the first display surface 1 of FIG6B is at position (xa, ya, za) = (0, h / 2, 0) in the coordinate system of the figure and is parallel to the XOY plane. From the driver's perspective, it appears as a front view with no perspective distortion. The next road segment is denoted as Ra+1. The center point Qa+1 of the next AR lane image in the second display surface of FIG6B is at position (xa+1, ya+1, za+1) = (0, h, h / 2) in the coordinate system of the figure and is parallel to the XOZ plane. From the driver's perspective, it appears as a top view with perspective distortion. The first road segments are denoted as Ra+2, Ra+3, ..., Rn. The first AR lane image in the second display surface of FIG6B has coordinate point h on the Y axis, is parallel to the XOZ plane, and extends along the positive Z axis. Therefore, the positions of the center points Qa+2, Qa+3, ..., Qn of the first AR lane image in the coordinate system are: The second road segment is denoted as Ra-1, Ra-2, ..., R1. The second AR lane image in the third display plane in Figure 6B has coordinate point 0 on the Y axis, is parallel to the XOZ plane, and extends along the positive Z axis. Therefore, the positions of the center points Qa-1, Qa-2, ..., Q1 of the first AR lane image in the coordinate system in the figure are:

[0083] FIG6C is another schematic diagram showing the remaining AR lane images provided by an embodiment of the present disclosure. The current AR lane image in the first display plane and the next AR lane image in the second display plane are arranged in the same manner as in FIG6B . The first road segments are denoted as Ra+2, Ra+3, ..., Rn. The first AR lane image in the second display plane in the figure has coordinate point h on the Y axis and is parallel to the XOZ plane. The images overlap at reference numeral 9 from top to bottom in the order of their image identification numbers. The positions of the center points Qa+2, Qa+3, ..., Qn of the first AR lane images in the coordinate system in the figure are Position(xa+2, ya+2, za+2) = Position(xa+3, ya+3, za+3) = ... = Position(xn, yn, zn) = (0, h, h / 2). The second road section is denoted as Ra-1, Ra-2, ..., R1. The second AR lane image in the third display surface in the figure has coordinate point 0 on the Y axis, is parallel to the XOZ plane, and overlaps at the reference mark 10 from top to bottom in the order of image identification numbers. The positions of the center points Qa-1, Qa-2, ..., Q1 of the second AR lane images in the coordinate system in the figure are Position(xa-1,ya-1,za-1) = Position(xa-2,ya-2,za-2) ... = Position(x1,y1,z1) = (0,0,h / 2).

[0084] The following describes how, when a vehicle enters the current road section, the HUD adjusts the current AR lane image, the next AR lane image, and the remaining AR lane images to their corresponding target display positions based on adjustment parameters, and displays the current AR lane image, the next AR lane image, and the remaining AR lane images at the target display positions, thereby realizing the specific process of displaying lane navigation information in the image display component.

[0085] The specific process of adjusting the AR lane images to their corresponding target display positions is as follows:

[0086] Adjustment parameters include a virtual rotation axis, rotation direction, rotation coordinates, translation direction, and translation coordinates. These adjustment parameters are based on the center point Q of the AR lane image. As shown in Figure 6B , reference numeral 1 denotes the first display surface for displaying the current AR lane image; reference numeral 2 denotes the second display surface for displaying the next AR lane image; reference numeral 3 denotes the second display surface for displaying the first AR lane image; reference numeral 4 denotes the third display surface for displaying the previous AR lane image; and reference numeral 5 denotes the third display surface for displaying a second AR lane image in addition to the previous AR lane image. Reference numeral 6 denotes the rotation direction of the first, second, and third display surfaces 1, 2, and 4, which is used only to illustrate the rotation animation and does not appear on the actual screen. Reference numeral 7 denotes the virtual rotation axis for the first, second, and third display surfaces 1, 2, and 4, which passes through point F (0, h / 2, h / 2) and is parallel to the X-axis. This axis is used for illustration and is not visible on the HUD imaging surface. Reference numeral 8 denotes the translation direction of the first AR lane image corresponding to the first road segment, which is used only to illustrate the rotation animation and does not appear on the actual screen.

[0087] When the AR lane images are displayed in a spread-out manner according to the image identification numbers on the second and third display surfaces (i.e., the display method of the remaining AR lane images in FIG6B ), the current AR lane image, the next AR lane image, and the remaining AR lane images are adjusted to their respective corresponding target display positions based on the adjustment parameters. First, the current AR lane image to be displayed can be rotated by a first rotation coordinate (e.g., Rotation(xa, ya, za) = (90, 0, 0)) along a virtual rotation axis (such as reference numeral 7 in FIG6B ) and a rotation direction (the direction indicated by reference numeral 6 in FIG6B ) to rotate the current AR lane image to be displayed from the second display surface to the first display surface; then, based on a first translation direction (such as the direction indicated by reference numeral 8 in FIG6B ), the next AR lane image to be displayed and the first AR lane image to be displayed are translated by a first translation coordinate (e.g., translated in the negative direction of the Z axis by h) to respectively rotate the next AR lane image to be displayed and the first AR lane image to be displayed on the second display surface. The images are translated from their respective initial display positions to target display positions. Next, the last displayed current AR lane image is rotated by a second rotation coordinate (e.g., Rotation(xa-1, ya-1, za-1) = (0, 0, 0)) along the virtual rotation axis and rotation direction to rotate the last displayed current AR lane image from the first display surface to the third display surface. Finally, based on the second translation direction (the opposite direction indicated by reference numeral 8 in FIG6B ), the last displayed second AR lane image is translated by a second translation coordinate (e.g., translated in the positive direction of the Z axis by h) to translate the last displayed second AR lane image from their respective initial display positions to the target display positions in the third display surface. The current AR lane image to be displayed this time is the next AR lane image displayed last time, the next AR lane image to be displayed this time is one of the first AR lane images displayed last time, and the current AR lane image to be displayed last time is one of the second AR lane images to be displayed this time.

[0088] The second specific process of adjusting the AR lane images to their corresponding target display positions is as follows:

[0089] Adjustment parameters include the virtual rotation axis, rotation direction, and rotation coordinates. These adjustment parameters are based on the center point Q of the AR lane image. As shown in Figure 6C , unlike Figure 6B , reference numeral 9 denotes the second display surface for displaying the first AR lane image, and reference numeral 10 denotes the third display surface for displaying the second AR lane image.

[0090] When AR lane images are displayed in a stacked manner according to image identification numbers on the second display surface and the third display surface (i.e., the display method of the remaining AR lane images in Figure 6C), the current AR lane image, the next AR lane image and the remaining AR lane images are adjusted to their respective corresponding target display positions based on the adjustment parameters, including: the difference from Figure 6B is that the next AR lane image to be displayed is translated by a first translation coordinate (such as a translation h in the negative direction of the Z axis) based on the first translation direction (such as the direction indicated by the figure mark 8 in Figure 6B) to achieve the translation of the next AR lane image to be displayed from the corresponding initial display position to the target display position on the second display surface; there is no need to translate the second AR lane image displayed last time.

[0091] The following describes a specific process for displaying lane navigation information in an image display component by displaying the current AR lane image, the next AR lane image, and the remaining AR lane images at target display locations.

[0092] The current AR lane image, the next AR lane image, and the remaining AR lane images are displayed at the target display positions respectively, including: setting the transparency parameter (denoted as T1) corresponding to the first display surface to the first parameter, setting the transparency parameter (denoted as T2) corresponding to the second display surface to the second parameter, and setting the transparency parameter (denoted as T3) corresponding to the third display surface to the third parameter, where the first parameter is greater than the second parameter, and the second parameter is greater than the third parameter; displaying the current AR lane image based on the first parameter on the first display surface, displaying the next AR lane image based on the second parameter on the second display surface, displaying the first AR lane image based on the third parameter on the second display surface, and displaying the second AR lane image based on the third parameter on the third display surface, thereby achieving the display of the current AR lane image, the next AR lane image, and the remaining AR lane images with a three-dimensional perspective effect in the image display component.

[0093] Optionally, the first parameter T1 can be set to 1, that is, the current AR lane image is fully displayed; the second parameter T2 can be set to 0.6, that is, the next AR lane image is partially displayed; and the third parameter T3 can be set to 0, that is, the remaining AR lane images are not displayed.

[0094] In an embodiment of a practical application, FIG7 is a schematic diagram of a rotation animation switching from the last displayed AR lane image to the AR lane image to be displayed this time, wherein FIG7(a) is the last displayed AR lane image, and FIG7(b) is the AR lane image to be displayed this time.

[0095] The navigation path is divided into six sections, such as R1, R2, ..., R6. When the vehicle is traveling on section R2, the first display surface shows the AR lane image for section R2, with position parameters: Position (x2, y2, z2) = (0, h / 2, 0), Rotation (x2, y2, z2) = (90, 0, 0), and T1 = 1. The second display surface shows the AR lane image for section R3, with position parameters: Position (x3, y3, z3) = (0, h, h / 2), Rotation (x3, y3, z3) = (0, 0, 0), and T2 = 0.6.

[0096] Once the vehicle enters the R3 section, an animation trigger signal is generated based on the positioning data obtained by the map navigation system and the map data calculation and comparison. The triggering rotation animation is divided into the following three parts:

[0097] The first part shows the current AR lane image fading out of the first display surface. Specifically, the AR lane image of road section R2 rotates uniformly along virtual rotation axis 7 in rotation direction 6 from the first display surface to the third display surface, gradually fading out of sight. The position parameters (Position(x2,y2,z2)) of the AR lane image of road section R2 change from (0,h / 2,0) to (0,0,h / 2), the rotation (x2,y2,z2) changes from (90,0,0) to (0,0,0), and the transparency parameter (T1=1) changes to (T3=0).

[0098] The second part shows the previous displayed AR lane image becoming the current AR lane image. The AR lane image of road section R3 rotates uniformly from the second display surface to the first display surface along virtual rotation axis 7 and rotation direction 6. The position parameters (Position (x3, y3, z3)) of the AR lane image of road section R3 change from (0, h, h / 2) to (0, h / 2, 0), the rotation parameters (x3, y3, z3) change from (0, 0, 0) to (90, 0, 0), and the transparency parameter changes from T2 = 0.6 to T1 = 1.

[0099] The third section shows the next AR lane image gradually appearing from an invisible state to the second display surface: the AR lane image of road section R4 is uniformly translated along the negative Z-axis from position 31 to position 2. The position parameters (Position (x4, y4, z4)) of the AR lane image of road section R4 change from (0, h, 3h / 2) to (0, h, h / 2), while the Rotation (x4, y4, z4) remains unchanged. The transparency parameter (T2 = 0) changes from 0 to 0.6.

[0100] In the HUD image display component, the lane navigation information diagram shown in Figure 7(a) is displayed at the beginning of the rotation animation, and the lane navigation information diagram shown in Figure 7(b) is displayed at the end of the rotation animation.

[0101] FIG8 is a schematic diagram of the structure of a lane navigation information display device provided by an embodiment of the present disclosure, which is integrated into a HUD. As shown in FIG8 , the device 800 may include:

[0102] A road segment division module 810 is configured to obtain positioning data and a navigation path of the vehicle, and divide the navigation path into a plurality of road segments, wherein the plurality of road segments include a current road segment, a next road segment, and remaining road segments, wherein the remaining road segments are road segments other than the current road segment and the next road segment.

[0103] a display image determination module 820 for determining, when it is determined based on the positioning data that the vehicle has entered a current road segment, a current AR lane image corresponding to the current road segment, a next AR lane image corresponding to the next road segment, and remaining AR lane images corresponding to remaining road segments to be displayed in the image display component of the HUD;

[0104] An adjustment parameter determination module 830 is configured to set corresponding adjustment parameters for the current AR lane image, the next AR lane image, and the remaining AR lane images, respectively;

[0105] The navigation information display module 840 is used to adjust the current AR lane image, the next AR lane image, and the remaining AR lane images to their respective corresponding target display positions based on the adjustment parameters, and display the current AR lane image, the next AR lane image, and the remaining AR lane images at the target display positions, so as to display lane navigation information in the image display component.

[0106] Furthermore, the navigation information display module 840 includes an initial image display unit and a target image display unit;

[0107] The initial image display unit can be used to draw a corresponding AR lane image for each of the multiple road sections after dividing the navigation path into multiple road sections, so as to obtain multiple AR lane images; determine the image identification numbers corresponding to the multiple AR lane images, and the image identification numbers correspond one-to-one to the section identification numbers of the multiple road sections; in the image display component, display each AR lane image based on the initial display position corresponding to each AR lane image and the image identification number.

[0108] Furthermore, the initial image display unit includes a lane image drawing subunit;

[0109] The lane image drawing subunit is used to determine the lane arrow information corresponding to each of the multiple road sections; determine the target lane of the vehicle in each of the road sections based on the navigation path and the lane arrow information; and generate an AR lane image for each road section based on the lane arrow information and the target lane corresponding to each road section.

[0110] Furthermore, the above-mentioned display image determination module 820 can be specifically used to: determine the next road section corresponding to the current road section based on the road section identification number, and then determine the remaining road sections; determine the image identification number corresponding to the road section identification number; and determine the current AR lane image, the next AR lane image and the remaining AR lane images from the multiple AR lane images based on the image identification number.

[0111] Furthermore, the lane image drawing subunit can be specifically used to: display the lane arrow information of the target lane in a first display mode, and display the lane arrow information of the first other lane in a second display mode, so as to obtain an AR lane image corresponding to each road section; wherein, the first other lane is a lane other than the target lane in each road section.

[0112] Furthermore, the above-mentioned lane image drawing sub-unit can also be specifically used to: after determining that the vehicle has entered the current road section based on the positioning data, determine the current lane of the vehicle in the current road section according to the positioning data; use the first display method to display the lane arrow information of the target lane, use the second display method to display the lane arrow information of the second other lane, and use the third display method to display the lane arrow information of the current lane, so as to obtain the current AR lane image corresponding to the current road section; wherein, the second other lane is a lane in the current road section other than the target lane and the current lane.

[0113] Optionally, the remaining road sections include a first road section that has not been entered and a second road section that has been passed; the remaining AR lane images include a first AR lane image corresponding to the first road section and a second AR lane image corresponding to the second road section; the target display position includes a first display surface, a second display surface and a third display surface; the first display surface is perpendicular to the second display surface and the third display surface respectively, and the second display surface is parallel to the third display surface; the upper boundary of the first display surface coincides with the lower boundary of the second display surface, and the lower boundary of the first display surface coincides with the upper boundary of the third display surface.

[0114] Optionally, the first display surface is used to display the current AR lane image to be displayed, the second display surface is used to display the next AR lane image to be displayed and the first AR lane image to be displayed, and the third display surface is used to display the second AR lane image to be displayed; in the second display surface, the next AR lane image and the first AR lane image are stacked and displayed in sequence or spread out in sequence according to the image identification number; in the third display surface, the second AR lane image is stacked and displayed in sequence or spread out in sequence according to the image identification number.

[0115] Furthermore, the target image display unit can be used to set the transparency parameter corresponding to the first display surface to a first parameter, the transparency parameter corresponding to the second display surface to a second parameter, and the transparency parameter corresponding to the third display surface to a third parameter, where the first parameter is greater than the second parameter, and the second parameter is greater than the third parameter; the current AR lane image is displayed based on the first parameter in the first display surface, the next AR lane image is displayed based on the second parameter in the second display surface, and the remaining AR lane images are displayed based on the third parameter in the third display surface, thereby realizing the display of the current AR lane image, the next AR lane image, and the remaining AR lane images with a three-dimensional perspective effect in the image display component.

[0116] Optionally, the adjustment parameter includes at least one of a virtual rotation axis, a rotation direction, a rotation coordinate, a translation direction, and a translation coordinate;

[0117] Furthermore, the above-mentioned target image display unit can also be used to rotate the current AR lane image to be displayed this time by a first rotation coordinate along the virtual rotation axis and the rotation direction when the AR lane image is spread out and displayed in the second display surface and the third display surface according to the image identification number, so as to realize rotating the current AR lane image to be displayed this time from the second display surface to the first display surface; based on the first translation direction, translate the next AR lane image to be displayed this time and the first AR lane image to be displayed this time by a first translation coordinate, so as to realize respectively translating the next AR lane image to be displayed this time and the first AR lane image to be displayed this time from their respective corresponding initial display positions to the target display positions in the second display surface; along the virtual rotation axis and the rotation direction. The rotation axis and the rotation direction rotate the current AR lane image displayed last by the second rotation coordinate, so as to rotate the current AR lane image displayed last from the first display surface to the third display surface; based on the second translation direction, the second AR lane image displayed last is translated by the second translation coordinate, so as to translate the second AR lane images displayed last from their respective corresponding initial display positions to target display positions in the third display surface; wherein, the current AR lane image to be displayed this time is the next AR lane image displayed last, the next AR lane image to be displayed this time is one of the first AR lane images displayed last, and the current AR lane image displayed last is one of the second AR lane images to be displayed this time.

[0118] The lane navigation information display device provided in this embodiment can be applied to the lane navigation information display method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0119] FIG9 is a block diagram of an electronic device for implementing a lane navigation information display method of an embodiment of the present disclosure. The electronic device 90 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0120] As shown in Figure 9, the electronic device 90 includes at least one processor 91 and a memory connected to the at least one processor 91, such as a read-only memory (ROM) 92, a random access memory (RAM) 93, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 91 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 92 or the computer program loaded from the storage unit 98 into the random access memory (RAM) 93. Various programs and data required for the operation of the electronic device 90 can also be stored in the RAM 93. The processor 91, ROM 92, and RAM 93 are connected to each other via a bus 94. An input / output (I / O) interface 95 is also connected to the bus 94.

[0121] Multiple components in the electronic device 90 are connected to the I / O interface 95, including an input unit 96, such as a keyboard, a mouse, etc.; an output unit 97, such as various types of displays, speakers, etc.; a storage unit 98, such as a magnetic disk, an optical disk, etc.; and a communication unit 91, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 91 allows the electronic device 90 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0122] Processor 91 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 91 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. Processor 91 executes the various methods and processes described above, such as the lane navigation information display method.

[0123] In some embodiments, the lane guidance information display method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 98. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 90 via ROM 92 and / or communication unit 91. When the computer program is loaded into RAM 93 and executed by processor 91, one or more steps of the lane guidance information display method described above can be performed. Alternatively, in other embodiments, processor 91 can be configured to perform the lane guidance information display method in any other appropriate manner (e.g., via firmware).

[0124] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0126] In the context of the present disclosure, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use with or in conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0129] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0130] Note that the above are only preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments described herein, and that those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present disclosure. For example, those skilled in the art can use the various forms of processes shown above, reorder, add, or delete steps; and can perform the steps described in the present disclosure in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present disclosure can be achieved, and this document does not limit them here.

[0131] The above specific embodiments do not limit the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A lane navigation information display method, characterized in that: Applied to a head-up display (HUD) system, the method includes: Acquire the positioning data and navigation path of the vehicle, and divide the navigation path into a plurality of sections, wherein the plurality of sections include a current section, a next section, and remaining sections, and the remaining sections are sections of the plurality of sections except the current section and the next section; When it is determined based on the positioning data that the vehicle enters the current road section, a current AR lane image corresponding to the current road section, a next AR lane image corresponding to the next road section, and remaining AR lane images corresponding to the remaining road sections to be displayed in the image display component of the HUD are determined; respectively setting corresponding adjustment parameters for the current AR lane image, the next AR lane image, and the remaining AR lane images; Based on the adjustment parameters, the current AR lane image, the next AR lane image and the remaining AR lane images are respectively adjusted to their respective corresponding target display positions, and the current AR lane image, the next AR lane image and the remaining AR lane images are respectively displayed at the target display positions to display lane navigation information in the image display component.

2. The lane navigation information display method according to claim 1, characterized in that: After dividing the navigation path into a plurality of sections, the method further includes: Draw a corresponding AR lane image for each of the multiple road sections to obtain multiple AR lane images; Determine image identification numbers corresponding to the plurality of AR lane images, wherein the image identification numbers correspond one-to-one to the road segment identification numbers of the plurality of road segments; In the image display component, each AR lane image is displayed based on the initial display position corresponding to each AR lane image and the image identification number.

3. The lane navigation information display method according to claim 2, characterized in that: The step of drawing a corresponding AR lane image for each of the plurality of road sections includes: Determining lane arrow information corresponding to each road section in the plurality of road sections; Determine a target lane for the vehicle in each road section based on the navigation path and the lane arrow information; An AR lane image is generated for each road section based on the lane arrow information corresponding to each road section and the target lane.

4. The lane navigation information display method according to claim 2, characterized in that: The determining of the current AR lane image corresponding to the current road section, the next AR lane image corresponding to the next road section, and the remaining AR lane images corresponding to the remaining road sections to be displayed in the image display component of the HUD includes: Based on the road segment identification number, the next road segment corresponding to the current road segment is determined, and then determining the remaining road sections; Determine the image identification number corresponding to the road section identification number; The current AR lane image, the next AR lane image, and the remaining AR lane images are determined from the plurality of AR lane images based on the image identification numbers.

5. The lane navigation information display method according to claim 3, characterized in that: The generating an AR lane image for each road section based on the lane arrow information corresponding to each road section and the target lane includes: The lane arrow information of the target lane is displayed in a first display mode, and the lane arrow information of the first other lane is displayed in a second display mode, so as to obtain an AR lane image corresponding to each road section; The first other lanes are lanes other than the target lane in each road section.

6. The lane navigation information display method according to claim 5, characterized in that: After determining that the vehicle enters the current road section based on the positioning data, the method further includes: Determining a current lane of the vehicle in the current road section according to the positioning data; The lane arrow information of the target lane is displayed in the first display mode, the lane arrow information of the second other lane is displayed in the second display mode, and the lane arrow information of the current lane is displayed in the third display mode, so as to obtain a current AR lane image corresponding to the current road section; The second other lane is a lane other than the target lane and the current lane in the current road section.

7. The lane navigation information display method according to claim 2, characterized in that: The remaining road sections include a first road section that has not been entered and a second road section that has been passed; the remaining AR lane images include a first AR lane image corresponding to the first road section and a second AR lane image corresponding to the second road section; the target display position includes a first display surface, a second display surface and a third display surface; the first display surface is perpendicular to the second display surface and the third display surface respectively, and the second display surface is parallel to the third display surface; the upper boundary of the first display surface coincides with the lower boundary of the second display surface, and the lower boundary of the first display surface coincides with the upper boundary of the third display surface.

8. The lane navigation information display method according to claim 7, characterized in that: The first display surface is used to display the current AR lane image to be displayed this time, the second display surface is used to display the next AR lane image to be displayed this time and the first AR lane image to be displayed this time, and the third display surface is used to display the second AR lane image to be displayed this time; On the second display surface, the next AR lane image and the first AR lane image are displayed in sequence by stacking or spreading out according to the image identification number; The second AR lane images are sequentially stacked and displayed or sequentially spread out and displayed on the third display surface according to the image identification numbers.

9. The lane navigation information display method according to claim 7, characterized in that: The respectively displaying the current AR lane image, the next AR lane image, and the remaining AR lane images at the target display position includes: The transparency parameter corresponding to the first display surface is set to a first parameter, the transparency parameter corresponding to the second display surface is set to a second parameter, and the transparency parameter corresponding to the third display surface is set to a third parameter, wherein the first parameter is greater than the second parameter, and the second parameter is greater than the third parameter; The current AR lane image is displayed in the first display surface based on the first parameter, the next AR lane image is displayed in the second display surface based on the second parameter, the first AR lane image is displayed in the second display surface based on the third parameter, and the second AR lane image is displayed in the third display surface based on the third parameter, thereby realizing displaying the current AR lane image, the next AR lane image and the remaining AR lane images with a three-dimensional perspective effect in the image display component.

10. The lane navigation information display method according to claim 8, characterized in that: The adjustment parameters include at least one of a virtual rotation axis, a rotation direction, a rotation coordinate, a translation direction, and a translation coordinate; when the AR lane image is displayed in the second display surface and the third display surface according to the image identification number, adjusting the current AR lane image, the next AR lane image, and the remaining AR lane images to their corresponding target display positions based on the adjustment parameters respectively, includes: Rotating the current AR lane image to be displayed this time by a first rotation coordinate along the virtual rotation axis and the rotation direction, so as to realize rotating the current AR lane image to be displayed this time from the second display surface to the first display surface; Based on the first translation direction, the next AR lane image to be displayed this time and the first AR lane image to be displayed this time are translated by a first translation coordinate, so as to respectively translate the next AR lane image to be displayed this time and the first AR lane image to be displayed this time from their respective corresponding initial display positions to target display positions in the second display surface; Rotating the last displayed current AR lane image by a second rotation coordinate along the virtual rotation axis and the rotation direction, so as to realize rotating the last displayed current AR lane image from the first display surface to the third display surface; Based on the second translation direction, the second AR lane image displayed last is translated by the second translation coordinate, so as to translate the second AR lane images displayed last from their respective corresponding initial display positions to target display positions in the third display surface; Among them, the current AR lane image to be displayed this time is the next AR lane image displayed last time, the next AR lane image to be displayed this time is one of the first AR lane images displayed last time, and the current AR lane image displayed last time is one of the second AR lane images to be displayed this time.

11. A lane navigation information display device, characterized in that: Integrated in a head-up display (HUD) system, the device comprises: The road segmentation module is used to obtain the vehicle's positioning data and navigation path, and divide the navigation path into The path is divided into a plurality of sections, the plurality of sections including a current section, a next section and other sections, the other sections being sections other than the current section and the next section among the plurality of sections; A display image determination module, for determining, when it is determined based on the positioning data that the vehicle enters a current road section, a current AR lane image corresponding to the current road section, a next AR lane image corresponding to the next road section, and remaining AR lane images corresponding to remaining road sections to be displayed in the image display component of the HUD; an adjustment parameter determination module, configured to respectively set corresponding adjustment parameters for the current AR lane image, the next AR lane image, and the remaining AR lane images; A navigation information display module is used to adjust the current AR lane image, the next AR lane image and the remaining AR lane images to their respective corresponding target display positions based on the adjustment parameters, and display the current AR lane image, the next AR lane image and the remaining AR lane images at the target display positions, so as to display lane navigation information in the image display component.

12. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the lane navigation information display method described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the lane navigation information display method described in any one of claims 1 to 10 when executed.

14. A head-up display (HUD) system, characterized in that: The HUD system includes: an image generator, an imaging optical path component, an image display component and a processor; wherein, The image generator is configured to generate an image digital signal and convert the image digital signal into light that carries image information; The imaging optical path component is configured to reflect the light carrying the image information and project it to the image display component; The image display component is configured to form a virtual image that can be visually observed based on the light projected by the imaging optical path component; The processor is configured to execute the lane navigation information display method according to any one of claims 1 to 10.

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