Vehicle angle-of-view image rendering method and apparatus

Abstract

Provided in the present application are a vehicle angle-of-view image rendering method and apparatus, which are applied to a vehicle having a plurality of display screens for displaying, on different display screens, rendered images that are not completely the same, so as to increase the observable range of a user. The method comprises: first, acquiring vehicle environment information; then, acquiring a first virtual angle-of-view mode and a second virtual angle-of-view mode on the basis of the vehicle environment information, wherein parameters of a virtual camera that correspond to the first virtual angle-of-view mode are not completely the same as parameters of the virtual camera that correspond to the second virtual angle-of-view mode; then, on the basis of the first virtual angle-of-view mode, the second virtual angle-of-view mode and the vehicle environment information, performing rendering, so as to obtain a first rendered image and a second rendered image, wherein usually, images obtained by means of rendering on the basis of different parameters of the virtual camera are different, that is, the first rendered image is different from the second rendered image; and then, displaying the first rendered image by means of a first display screen, and displaying the second rendered image by means of a second display screen.

Description

Vehicle perspective image rendering method and device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 20, 2023, with application number 202311224019.X and application name “A method and device for rendering a vehicle perspective image”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of equipment reliability verification, and in particular to a vehicle perspective image rendering method and device. Background Art

[0003] Vehicles are rapidly transitioning from traditional, purely human-driven cars to smart cars equipped with autonomous driving systems. Compared to traditional cars, smart cars are equipped with more sensors and have at least one screen in the cabin. These sensors collect data about the surrounding environment, create a model, and display a real-time rendering of the vehicle's surroundings on the screen. The real-time rendering on the screen allows users to perceive the surrounding environment from a bird's-eye view.

[0004] Typically, in existing real-time renderings of the surrounding environment, the perspective of the real-time rendering will be slightly changed when passing through an intersection or roundabout. When the perspective changes, environmental information that can be captured more clearly in the original perspective may be difficult to grasp in a timely manner in the converted perspective, affecting driving decisions. For example, in a straight-ahead perspective, the information in front of the vehicle can be clearly grasped. In a turning perspective, due to the larger perspective, the surrounding environment of the vehicle may be displayed less, resulting in a smaller perspective for observing the vehicle's environment and a smaller visual range. Therefore, the driver's safety may be reduced.

[0005] Summary of the Invention

[0006] The present application provides a vehicle perspective image rendering method and device, which are applied to a vehicle with multiple display screens, displaying different rendering images on different display screens, thereby improving the user's observable range.

[0007] In view of this, in a first aspect, the present application provides a vehicle perspective image rendering method, which is applied to a vehicle, and the vehicle includes a first display screen and a second display screen. The method includes: first, obtaining vehicle environment information, which may include information generated when the vehicle is running; then obtaining a first virtual perspective mode and a second virtual perspective mode based on the vehicle environment information, the parameters of the virtual camera corresponding to the first virtual perspective mode and the parameters of the virtual camera corresponding to the second virtual mode are not completely the same, such as each virtual perspective mode may include one or more parameters. When each virtual perspective mode includes multiple parameters, the parameters of the two virtual modes may not be completely the same, such as only one of the parameters may be different or two parameters may be different; then rendering is performed according to the first virtual perspective mode, the second virtual perspective mode and the vehicle environment information to obtain a first rendered image and a second rendered image, the first rendered image being rendered based on the parameters corresponding to the first virtual perspective mode, and the second rendered image being rendered based on the parameters corresponding to the second virtual perspective mode. Generally, the images rendered based on different virtual camera parameters are also different, that is, the first rendered image and the second rendered image are different; then the first rendered image is displayed through the first display screen, and the second rendered image is displayed through the second display screen.

[0008] In the implementation manner of the present application, different virtual camera parameters can be used for rendering on different display screens to obtain non-identical rendered images, so that images rendered based on different virtual perspectives can be displayed on different display screens. Even when the vehicle's driving perspective changes, images of different perspectives can also be displayed on different display screens, thereby improving the driver's visual range and improving the driver's driving safety.

[0009] In one possible implementation, the aforementioned acquisition of the first virtual perspective mode and the second virtual perspective mode based on the vehicle environment information may include determining the first virtual perspective mode and the second virtual perspective mode from at least one mode based on the vehicle environment information. Thus, at least one virtual perspective mode may be pre-set, and once the vehicle environment information is collected, an appropriate virtual perspective mode may be directly selected from the at least one mode based on the vehicle environment information.

[0010] In one possible implementation, the aforementioned acquisition of the first virtual perspective mode and the second virtual perspective mode based on the vehicle environment information may further include: determining the scene in which the vehicle is located based on the vehicle environment information; and determining the first virtual perspective mode and the second virtual perspective mode from at least one mode based on the scene. In the implementation of the present application, the scene in which the vehicle is currently located can be determined based on the collected vehicle environment information, and the perspective modes of the virtual cameras of each display screen can be determined based on the scene, thereby determining a virtual perspective mode that is adapted to the scene in which the vehicle is located.

[0011] In one possible implementation, the at least one mode is divided into an original mode and an overlay mode, where the overlay mode is a mode in which rendering is overlaid on the original mode. In the implementation of the present application, the at least one mode can be divided into an original mode and an overlay mode, where the overlay mode can overlay the display on the basis of the original mode, thereby achieving a richer display.

[0012] In a possible implementation, the aforementioned original mode includes at least one of the following: a basic mode, a rapid acceleration mode, a rapid deceleration mode, a radar mode, a high-angle viewing angle mode, or a human driving mode. The basic mode is a mode corresponding to the vehicle's initial rendering angle, the rapid acceleration mode is a mode corresponding to the rendering angle when the vehicle's acceleration is greater than a preset acceleration, the rapid deceleration mode is a mode corresponding to the rendering angle when the vehicle's acceleration is less than a preset deceleration, the radar angle is a mode corresponding to the rendering angle when the vehicle needs to refer to information detected by the radar during operation, the high-angle viewing angle mode is a mode corresponding to the rendering angle when the vehicle is in a preset road environment, and the human driving angle is a mode corresponding to the rendering angle when the vehicle's driving mode is the user driving mode;

[0013] The overlay mode includes a left-turn perspective mode or a right-turn perspective mode. The left-turn perspective mode is a mode corresponding to the rendering perspective when the vehicle turns left, and the right-turn perspective mode is a mode corresponding to the rendering perspective when the vehicle turns right.

[0014] In the implementation manner of the present application, the set perspective mode can cover a variety of vehicle driving scenarios, can adapt to more scenarios, and obtain a rendering image that is more suitable for the vehicle driving scenario.

[0015] In a possible embodiment, the parameters of the aforementioned first virtual perspective or the parameters of the second virtual perspective include at least one of the following: pitch angle, the distance between the virtual camera and the vehicle in the rendering corresponding space, the height of the virtual camera, the horizontal field of view FOV or the vertical FOV.

[0016] In the embodiment of the present application, when determining the parameters of the virtual camera, the pitch angle, vehicle distance, height, horizontal FOV or vertical FOV, etc. can be determined, so as to determine the parameters of the virtual camera from various dimensions.

[0017] In one possible implementation, the aforementioned vehicle environment information includes at least one of the following: information collected by at least one sensor installed on the vehicle, information generated by the vehicle while driving, or information read from a stored map. Therefore, when collecting vehicle environment information, environmental information inside or outside the vehicle can be collected from a variety of sources to obtain a virtual perspective mode that matches the actual vehicle scene.

[0018] In a second aspect, the present application provides a vehicle perspective image rendering device, which is applied to a vehicle, wherein the vehicle includes a first display screen and a second display screen, and the device includes:

[0019] An acquisition module is used to obtain vehicle environment information, including information generated when the vehicle is running;

[0020] A virtual perspective selection module is used to obtain a first virtual perspective mode and a second virtual perspective mode according to vehicle environment information, wherein parameters of a virtual camera corresponding to the first virtual perspective mode and parameters of a virtual camera corresponding to the second virtual perspective mode are not completely the same;

[0021] a rendering module, configured to render according to the first virtual perspective mode, the second virtual perspective mode, and the vehicle environment information to obtain a first rendered image and a second rendered image, wherein the first rendered image is obtained by rendering based on parameters corresponding to the first virtual perspective mode, and the second rendered image is obtained by rendering based on parameters corresponding to the second virtual perspective mode;

[0022] The display module is configured to display a first rendered image on a first display screen and a second rendered image on a second display screen.

[0023] The effects of the second aspect or any optional implementation of the second aspect can be found in the description of the first aspect or any optional implementation of the first aspect, and will not be repeated here.

[0024] In a possible implementation, the virtual perspective selection module is specifically configured to determine a first virtual perspective mode and a second virtual perspective mode from at least one mode according to vehicle environment information.

[0025] In a possible implementation, the virtual perspective selection module is specifically configured to: determine a scene in which the vehicle is located according to vehicle environment information; and determine a first virtual perspective mode and a second virtual perspective mode from at least one mode according to the scene.

[0026] In a possible implementation, at least one mode is divided into an original mode and an overlay mode, and the overlay mode is a mode in which rendering is overlaid on the original mode.

[0027] In a possible embodiment, the original mode includes at least one of the following: basic mode, rapid acceleration mode, rapid deceleration mode, radar mode, high perspective mode or human driving mode, the basic mode is the mode corresponding to the vehicle's initial rendering perspective, the rapid acceleration mode is the mode corresponding to the rendering perspective when the vehicle's acceleration is greater than the preset acceleration, the rapid deceleration mode is the mode corresponding to the rendering perspective when the vehicle's acceleration is less than the preset deceleration, the radar perspective is the mode corresponding to the rendering perspective when the vehicle needs to refer to the information detected by the radar during operation, the high perspective mode is the mode corresponding to the rendering perspective when the vehicle is in a preset road environment, and the human driving perspective is the mode corresponding to the rendering perspective when the vehicle's driving mode is the user driving mode; the overlay mode includes a left turn perspective mode or a right turn perspective mode, the left turn perspective mode is the mode corresponding to the rendering perspective when the vehicle turns left, and the right turn perspective mode is the mode corresponding to the rendering perspective when the vehicle turns right.

[0028] In one possible embodiment, the parameters of the first virtual perspective or the parameters of the second virtual perspective include at least one of the following: pitch angle, the distance between the virtual camera and the vehicle in the rendering corresponding space, the height of the virtual camera, the horizontal field of view FOV or the vertical FOV.

[0029] In a possible implementation, the vehicle environment information includes at least one of the following: information collected by at least one sensor provided on the vehicle, information generated while the vehicle is driving, or information read from a stored map.

[0030] In a third aspect, embodiments of the present application provide a vehicle perspective image rendering device, comprising: a processor and a memory, wherein the processor and the memory are interconnected via a circuit, and the processor invokes program code in the memory to execute the processing-related functions of any of the methods described in the first aspect. Optionally, the vehicle perspective image rendering device may be a chip.

[0031] In the fourth aspect, an embodiment of the present application provides a vehicle perspective image rendering device, which can also be called a digital processing chip or chip. The chip includes a processing unit and a communication interface. The processing unit obtains program instructions through the communication interface, and the program instructions are executed by the processing unit. The processing unit is used to perform functions related to processing as described in the first aspect or any optional embodiment of the first aspect.

[0032] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium comprising instructions, which, when executed on a computer, enables the computer to execute the method in the above-mentioned first aspect or any optional embodiment of the first aspect.

[0033] In a sixth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute a method in any optional implementation of the first or second aspect above.

[0034] In a seventh aspect, an embodiment of the present application provides a vehicle comprising the device as described in the third aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic structural diagram of a vehicle provided by the present application;

[0036] FIG2 is a schematic structural diagram of another vehicle provided by the present application;

[0037] FIG3 is a flow chart of a vehicle perspective image rendering method provided by the present application;

[0038] FIG4 is a schematic diagram of an application scenario provided by this application;

[0039] FIG5 is a flow chart of another vehicle perspective image rendering method provided by the present application;

[0040] FIG6 is a schematic diagram of a virtual perspective provided by this application;

[0041] FIG7 is a schematic diagram of a rendered image provided by this application;

[0042] FIG8 is a schematic diagram of another rendered image provided by this application;

[0043] FIG9 is a schematic diagram of another rendered image provided by this application;

[0044] FIG10 is a schematic diagram of another rendered image provided by this application;

[0045] FIG11 is a schematic diagram of another rendered image provided by this application;

[0046] FIG12 is a schematic structural diagram of a vehicle perspective image rendering device provided by the present application;

[0047] FIG13 is a schematic structural diagram of another vehicle perspective image rendering device provided in this application. DETAILED DESCRIPTION

[0048] The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making any creative work shall fall within the scope of protection of this application.

[0049] The method provided in this application can be applied to a vehicle. The method provided in this application can be deployed in a vehicle or in a terminal connected to the vehicle.

[0050] In order to facilitate understanding of the present solution, the structure of the vehicle provided in the present application is first introduced in conjunction with Figure 1 in the embodiment of the present application.

[0051] Please refer to Figure 1 , which is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of the present application. Vehicle 100 can be configured for either full or partial autonomous driving. For example, vehicle 100 can obtain environmental information about its surroundings through perception system 120 and, based on analysis of the environmental information, derive an autonomous driving strategy to achieve full autonomous driving, or present the analysis results to a user to achieve partial autonomous driving.

[0052] Vehicle 100 may include various subsystems, such as an infotainment system 110, a perception system 120, a decision control system 130, a drive system 140, a computing platform 150, and a display system 160. Alternatively, vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of vehicle 100 may be interconnected via wired or wireless means.

[0053] The vehicle internal environment information mentioned in the following embodiments of the present application may include information generated by various systems in the vehicle during operation of the vehicle, such as signals generated by various systems or logs of various systems.

[0054] In some embodiments, the infotainment system 110 may include a communication system 111 , an entertainment system 112 , and a navigation system 113 .

[0055] The communication system 111 may include a wireless communication system 111 that can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 111 may use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE, or 5G cellular communication. The wireless communication system 111 may communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system 146 may communicate directly with the device using an infrared link, Bluetooth, or ZigBee. The wireless communication system 111 may include one or more dedicated short range communications (DSRC) devices that may include public and / or private data communications between vehicles and / or roadside stations.

[0056] The entertainment system 112 may include a central control screen, a microphone, and speakers. Users can use the entertainment system 112 to listen to the radio and play music in the vehicle. Alternatively, they can connect their mobile phone to the vehicle and project their phone's screen onto the central control screen, which may be touch-sensitive and user-operated. In some cases, the microphone can capture the user's voice signal and, based on analysis of the voice signal, enable the user to control certain aspects of the vehicle 100, such as adjusting the vehicle's temperature. In other cases, the speakers can play music to the user.

[0057] In addition, in some driving scenarios, the vehicle's environmental information or navigation information can also be displayed on the central control screen. The central control screen can be the first display screen mentioned in the following embodiments of this application, or it can also be the second display screen, etc.

[0058] The navigation system 113 may include map services provided by a map provider to provide navigation for the vehicle 100. The navigation system 113 may be used in conjunction with the vehicle's global positioning system 121 and inertial measurement unit 122. The map services provided by the map provider may be two-dimensional maps or high-precision maps, such as the vehicle environment information mentioned below in this application, or may include information read from a map (such as a two-dimensional map or a high-precision map).

[0059] The perception system 120 may include several types of sensors that sense information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a global positioning system 121 (the global positioning system may be a GPS system, or a BeiDou system, or other positioning systems), an inertial measurement unit (IMU) 122, a lidar 123, a millimeter-wave radar 124, an ultrasonic radar 125, and a camera 126. The perception system 120 may also include sensors of the internal systems of the monitored vehicle 100 (for example, an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and recognition are key functions for the safe operation of the vehicle 100.

[0060] The global positioning system 121 may be used to determine the geographic location of the vehicle 100 .

[0061] The inertial measurement unit 122 is used to sense changes in position and orientation of the vehicle 100 based on inertial acceleration. In some embodiments, the inertial measurement unit 122 may be a combination of an accelerometer and a gyroscope.

[0062] LiDAR 123 may utilize laser light to sense objects in the environment in which vehicle 100 is located. In some embodiments, LiDAR 123 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0063] The millimeter wave radar 124 can use radio signals to sense objects in the surrounding environment of the vehicle 100. In some embodiments, in addition to sensing objects, the millimeter wave radar 124 can also be used to sense the speed and / or heading of the objects.

[0064] The ultrasonic radar 125 may sense objects around the vehicle 100 using ultrasonic signals.

[0065] The camera device 126 may be used to capture image information of the surrounding environment of the vehicle 100. The camera device 126 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, etc. The image information acquired by the camera device 126 may include static image information or video stream information.

[0066] The vehicle external environment information mentioned in the embodiments of the present application may include information collected by the various sensors in the aforementioned perception system 120.

[0067] The decision control system 130 includes a computing system 131 that analyzes and makes decisions based on the information obtained by the perception system 120. The decision control system 130 also includes a vehicle controller 132 that controls the power system of the vehicle 100, as well as a steering system 133, throttle 134 and braking system 135 for controlling the vehicle 100.

[0068] The computing system 131 can process and analyze the various information obtained by the perception system 120 in order to identify targets, objects and / or features in the environment surrounding the vehicle 100. The targets may include pedestrians or animals, and the objects and / or features may include traffic signals, road boundaries and obstacles. The computing system 131 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking and other technologies. In some embodiments, the computing system 131 can be used to map the environment, track objects, estimate the speed of objects, and so on. The computing system 131 can analyze the various information obtained and derive a control strategy for the vehicle.

[0069] The vehicle controller 132 can be used to coordinate and control the vehicle's power battery and engine 141 to improve the power performance of the vehicle 100.

[0070] The steering system 133 may be used to adjust the forward direction of the vehicle 100. For example, in one embodiment, the steering system 133 may be a steering wheel system.

[0071] The throttle 134 is used to control the operating speed of the engine 141 and thus the speed of the vehicle 100 .

[0072] Braking system 135 is used to control the deceleration of vehicle 100. Braking system 135 can use friction to slow the rotation of wheels 144. In some embodiments, braking system 135 can convert the kinetic energy of wheels 144 into electric current. Braking system 135 can also take other forms to slow the rotation of wheels 144 and thus control the speed of vehicle 100.

[0073] Drive system 140 includes components that provide power to vehicle 100. In one embodiment, drive system 140 may include engine 141, energy source 142, transmission system 143, and wheels 144. Engine 141 may be an internal combustion engine, an electric motor, an air compression engine, or another combination of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. Engine 141 converts energy source 142 into mechanical energy.

[0074] Examples of energy source 142 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 142 may also provide energy to other systems of vehicle 100.

[0075] The transmission system 143 can transmit mechanical power from the engine 141 to the wheels 144. The transmission system 143 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission system 143 may also include other components, such as a clutch. The drive shaft may include one or more shafts that can be coupled to one or more wheels 144.

[0076] In addition, the decision control system 130 may also include an instrument screen (not shown in Figure 1), which is usually set near the steering wheel of the vehicle, or set at a position in the vehicle that is convenient for the user to observe. For example, the instrument screen can be the second display screen mentioned in this application, or it can also be the first display screen, etc.

[0077] In some possible scenarios, the data displayed on the central control screen and the instrument screen can be combined into one display screen, or the central control screen and the instrument screen can be different display areas logically divided from the same display screen. In the following implementation of this application, two display screens are used as an example for introduction.

[0078] Some or all functions of the vehicle 100 are controlled by a computing platform 150. The computing platform 150 may include at least one processor 151 that can execute instructions 153 stored in a non-transitory computer-readable medium such as a memory 152. In some embodiments, the computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner.

[0079] The processor 151 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 151 may include a graphics processing unit (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application-specific integrated circuit (ASIC), or a combination thereof. The processor 151 may be located on a device remote from the vehicle and communicate wirelessly with the vehicle.

[0080] In some embodiments, memory 152 may include instructions 153 (e.g., program logic) that are executable by processor 151 to perform various functions of vehicle 100. Memory 152 may also include additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of infotainment system 110, perception system 120, decision control system 130, and drive system 140.

[0081] In addition to instructions 153, memory 152 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other similar vehicle data, as well as other information. This information may be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0082] The computing platform 150 may control functions of the vehicle 100 based on input received from various subsystems, such as the drive system 140, the perception system 120, and the decision control system 130. For example, the computing platform 150 may utilize input from the decision control system 130 to control the steering system 133 to avoid an obstacle detected by the perception system 120. In some embodiments, the computing platform 150 may be operable to provide control over many aspects of the vehicle 100 and its subsystems.

[0083] Alternatively, one or more of the above components may be installed or associated separately from the vehicle 100. For example, the memory 152 may be partially or completely separate from the vehicle 100. The above components may be communicatively coupled together in a wired and / or wireless manner.

[0084] Optionally, the above components are only an example. In actual applications, the components in the above modules may be added or deleted according to actual needs. Figure 1 should not be understood as a limitation to the embodiments of the present application.

[0085] An autonomous vehicle, such as vehicle 100 above, traveling on a road can identify objects in its surroundings to determine adjustments to its current speed. The objects can be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object can be considered independently, and the speed adjustment to be made to the autonomous vehicle can be determined based on its respective characteristics, such as its current speed, acceleration, and distance from the vehicle.

[0086] Optionally, the vehicle 100 or a sensing and computing device associated with the vehicle 100 (e.g., computing system 131, computing platform 150) can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so all identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 100 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine what stable state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors can also be considered to determine the speed of the vehicle 100, such as the lateral position of the vehicle 100 in the road it is traveling on, the curvature of the road, the proximity of static and dynamic objects, etc.

[0087] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of vehicle 100 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes on the road).

[0088] In the method provided herein, the one or more functions to be implemented in the vehicle may include, but are not limited to, the functions of the various systems shown in the aforementioned vehicle. For example, various functions of the infotainment system 110 may be implemented, or the tracking perception function of the perception system 120 may be implemented, and so on.

[0089] The vehicle 100 may be a car, truck, motorcycle, bus, ship, airplane, helicopter, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, etc., and the embodiments of the present application do not impose any particular limitation thereto.

[0090] Figure 2 shows a schematic diagram of the system architecture of a vehicle 100 based on some embodiments. The vehicle 100 includes multiple vehicle integration units (VIUs) 11, a telematic box (T-BOX) 12, a cockpit domain controller (CDC), a mobile data center (MDC) 14, and a vehicle domain controller (VDC) 15.

[0091] Vehicle 100 also includes various types of sensors installed on the vehicle body, including: a laser radar 21, a millimeter-wave radar 22, an ultrasonic radar 23, and a camera 24. Multiple sensors of each type may be provided. It should be understood that while FIG2 illustrates the layout of various sensors on vehicle 100, the number and layout of sensors shown in FIG2 are merely illustrative. Those skilled in the art will appreciate the appropriate selection of sensor types, numbers, and layouts as needed.

[0092] FIG2 shows four VIUs. It should be understood that the number and positions of the VIUs in FIG2 are only an example, and those skilled in the art may select appropriate number and positions of the VIUs according to actual needs.

[0093] The vehicle integrated unit VIU 11 provides a plurality of vehicle components with some or all of the data processing functions or control functions required by the vehicle components. The VIU may have one or more of the following functions.

[0094] 1. Electronic control functions: The VIU is used to implement the electronic control functions provided by the electronic control unit (ECU) within some or all vehicle components. For example, the control function required by a vehicle component or the data processing function required by a vehicle component.

[0095] 2. The same functions as the gateway, that is, the VIU can also have some or all of the same functions as the gateway, such as protocol conversion function, protocol encapsulation and forwarding function, and data format conversion function.

[0096] 3. The function of processing data across vehicle components, that is, processing and calculating data obtained from actuators of multiple vehicle components.

[0097] It should be noted that the data involved in the above functions may include operating data of actuators in vehicle components, such as actuator motion parameters, actuator operating status, etc. The data involved in the above functions may also be data collected by data acquisition units (e.g., sensors) of vehicle components, such as road information or weather information collected by vehicle sensors, which is not specifically limited in the present embodiment.

[0098] In the example of vehicle 100 in FIG2 , vehicle 100 may be divided into multiple domains, each of which has an independent domain controller. Specifically, FIG2 shows two domain controllers: a cockpit domain controller CDC 13 and a vehicle domain controller VDC 15 .

[0099] The cockpit domain controller CDC 13 can be used to implement functional control of the cockpit area of ​​the vehicle 100. Vehicle components in the cockpit area may include a head-up display (HUD), an instrument panel, a radio, a central control screen, a navigation system, a camera, etc.

[0100] The vehicle domain controller VDC 15 can be used to coordinate and control the vehicle's power battery and engine 141 to improve the power performance of the vehicle 100. In some embodiments, the vehicle domain controller 132 in Figure 1 can implement various functions of the VDC.

[0101] FIG2 also shows the Internet of Vehicles device T-BOX 12 and the mobile data center MDC 13. T-BOX 12 can be used to achieve communication between the vehicle 100 and internal and external devices. T-BOX can obtain data from in-vehicle devices through the bus of the vehicle 100, and can also communicate with the user's mobile phone through a wireless network. In some embodiments, T-BOX 12 can be included in the communication system 111 of FIG1. ​​The mobile data center MDC 13 is used to output drive, transmission, steering, braking and other execution control instructions based on core control algorithms such as environmental perception positioning, intelligent planning and decision-making, and vehicle motion control to achieve automatic control of the vehicle 100. It can also realize human-computer interaction of vehicle driving information through a human-computer interaction interface. In some embodiments, the computing platform 150 in FIG1 can implement various functions of MDC 13.

[0102] In Figure 2, the four VIUs 11 form a ring topology network. Each VIU 11 is connected to sensors in its immediate vicinity. T-BOX 12, CDC 13, MDC 14, and VDC 15 are also connected to the VIU's ring topology network. The VIU 11 can obtain information from each sensor and report it to CDC 13, MDC 14, and VDC 15. The ring topology also enables communication between T-BOX 12, CDC 13, MDC 14, and VDC 15.

[0103] It should be understood that the above-mentioned ring topology connection is only an illustration, and those skilled in the art may select other appropriate VIU connection methods according to their needs.

[0104] The connection between VIUs can use, for example, Ethernet; the connection between VIU and T-BOX 12, CDC 13, MDC 14 and VDC 15 can use, for example, Ethernet or peripheral component interconnect express (PCIe) bus; the connection between VIU and sensors can use, for example, controller area network (CAN), local interconnect network (LIN), FlexRay, multimedia data transmission (MOST) and the like.

[0105] In an embodiment of the present application, when collecting vehicle environment information, the signals or data transmitted between each VIU can be collected to analyze the driving status of the vehicle, thereby determining the viewing mode of the virtual camera during subsequent rendering, and different viewing modes usually correspond to different virtual camera parameters, thereby rendering various driving scenes of the vehicle.

[0106] The method provided in this application can be applied to a vehicle having at least two display screens, which can specifically include a central control screen (i.e., a display screen typically located in the central control position), an instrument screen (i.e., a display screen typically located on the instrument panel or a display screen used to display the instrument panel), a head-up display (HUD), a rearview mirror display screen, or a rear-seat display screen. This application exemplarily introduces the first display screen and the second display screen. The first display screen and the second display screen can be any of the aforementioned two display screens and can be replaced with specific display screens in specific application scenarios. Detailed description is omitted below.

[0107] The following describes the method flow provided by this application in conjunction with the aforementioned vehicle structure.

[0108] Referring to FIG3 , the present application provides a vehicle perspective rendering method, which is applied to a vehicle having at least two display screens, as described below.

[0109] 301. Collect vehicle environment information.

[0110] The vehicle environment information may include data generated when the vehicle is running. The vehicle environment information may be used to indicate the environment in which the vehicle is located or the vehicle condition after the vehicle is started, such as the driving condition of the vehicle.

[0111] Specifically, the vehicle environment information may include vehicle internal environment information, vehicle external environment information, or data read from storage, etc. For example, the vehicle environment information may include, but is not limited to: information collected by sensors in the vehicle, such as information collected by the aforementioned perception system 120; signals or data generated by various components of the vehicle while it is driving; or data read from a high-precision map, etc.

[0112] 302. Acquire a first virtual viewing angle mode and a second virtual viewing angle mode with different virtual camera parameters according to vehicle environment information.

[0113] After collecting the vehicle environment information, before rendering, the parameters of the virtual cameras used for the first display screen and the second display screen respectively during rendering can be determined first, so as to facilitate subsequent rendering. In the embodiment of the present application, when determining the parameters of the virtual camera, the first virtual perspective mode and the second virtual perspective mode can be determined based on the vehicle environment, wherein different virtual perspective modes correspond to different virtual camera parameters to adapt to different environments or different vehicle operating states. The first virtual perspective mode includes the parameters of the virtual camera used when rendering for the first display screen, and the second virtual perspective mode includes the parameters of the virtual camera used when rendering for the second display screen.

[0114] Optionally, at least one virtual perspective mode can be pre-set, and then the virtual perspective mode corresponding to each display screen can be selected from the at least one mode. For example, the current perspective mode of each display screen can be obtained, and then the next virtual perspective mode can be determined based on the collected vehicle environment information. If the next virtual perspective mode is the same as the current perspective mode, there is no need to adjust the virtual camera parameters. If the next virtual perspective mode is different from the current perspective mode, the virtual camera parameters can be adjusted to switch to the new virtual perspective mode.

[0115] In one possible scenario, an adapted first virtual perspective mode and a second virtual perspective mode can be determined from the at least one mode according to the vehicle environment information, thereby obtaining a virtual perspective mode adapted to the vehicle environment or operating conditions.

[0116] In another possible scenario, the scene in which the vehicle is located can be determined based on the vehicle environment information, and then the first virtual perspective mode and the second virtual perspective mode can be determined from the at least one mode based on the scene, so that a virtual perspective mode adapted to the environment or operating conditions of the vehicle can be obtained.

[0117] Furthermore, when determining virtual camera parameters, the rendering parameters can also be determined based on information about the first and second displays. For example, parameters related to the virtual perspective mode can be determined based on parameters such as the maximum resolution of the first and second displays, or the display area size of each display. In other words, the virtual camera parameters set for different displays in a vehicle are typically different, so the appropriate virtual camera parameters can be determined based on the actual display resources of each display.

[0118] Optionally, the aforementioned at least one mode can be specifically divided into an original mode and an overlay mode, and the overlay mode is a mode in which the display is overlaid on the original mode.

[0119] Generally, in some possible scenarios, the original mode may include but is not limited to at least one of the following: basic mode, rapid acceleration mode, rapid deceleration mode, radar mode, high-angle viewing angle mode, or human-driving mode, etc. The basic mode is the mode corresponding to the vehicle's initial rendering angle; the rapid acceleration mode is the mode corresponding to the rendering angle when the vehicle's acceleration is greater than a preset acceleration, in other words, the rendering angle mode corresponding to when the vehicle is rapidly accelerating; the rapid deceleration mode is the mode corresponding to the rendering angle when the vehicle's acceleration is less than a preset acceleration, in other words, the rendering angle mode corresponding to when the vehicle is rapidly decelerating; the radar angle is the mode corresponding to the rendering angle when the vehicle needs to refer to the information detected by the radar during operation, in other words, the rendering angle mode when the vehicle enables the radar or refers to the information collected by the radar during driving; the high-angle viewing angle is the mode corresponding to the rendering angle when the vehicle is in a preset road environment; and the human-driving angle is the mode corresponding to the rendering angle when the vehicle's driving mode is the user driving mode.

[0120] In some possible scenarios, the overlay mode may include but is not limited to: a left-turn perspective mode or a right-turn perspective mode, etc. The left-turn perspective mode is the mode corresponding to the rendering perspective when the vehicle turns left, and the right-turn perspective mode is the mode corresponding to the rendering perspective when the vehicle turns right. Among them, the aforementioned left turn / right turn may include a left turn or a right turn when the vehicle is moving forward, and may also include a left turn or a right turn when the vehicle is reversing, which can be determined based on the actual application scenario.

[0121] Optionally, the parameters of the virtual camera, i.e., the parameters of the first virtual perspective or the parameters of the second virtual perspective, include at least one of the following: pitch angle, distance between the virtual camera and the vehicle, height of the virtual camera, horizontal field of view FOV or vertical FOV.

[0122] In one possible scenario, the parameters in the first virtual perspective mode and the second virtual perspective mode are not exactly the same, such as different camera heights, different pitch angles, or different distances between the virtual camera and the vehicle, so that the vehicle's environment can be displayed more comprehensively when the vehicle turns, thereby improving vehicle safety.

[0123] 303 : Render according to the first virtual perspective mode, the second virtual perspective mode, and the vehicle environment information to obtain a first rendered image and a second rendered image.

[0124] After obtaining the first virtual perspective mode, the second virtual perspective mode, and the vehicle environment information, rendering can be performed based on the first virtual perspective mode, the second virtual perspective mode, and the vehicle environment information to obtain a first rendered image and a second rendered image. The vehicle environment information may include information about the vehicle's external environment or the vehicle's internal environment. When rendering, the rendering can be based on the vehicle's external environment or the vehicle's internal environment so that the vehicle's internal or external environment conditions can be displayed on the vehicle's display screen, allowing the user to observe the vehicle's external environment or the vehicle's internal operating conditions.

[0125] For example, when rendering, the vehicle's environment can first be modeled based on the collected vehicle environment information to obtain a 3D modeling diagram. The vehicle's position within the 3D modeling diagram is then determined, and the virtual camera position is determined based on virtual camera parameters (such as the distance from the vehicle and the camera height). The 3D model is then imaged (or photographed) from a virtual perspective represented by this set of parameters, combining the camera's pitch angle, horizontal field of view (FOV), and vertical field of view (FOV). The viewing angle of the 3D model is then determined, and the 3D model image observed from this perspective is the rendered 2D perspective image, which can then be displayed on a display screen.

[0126] Rendering is the process of converting a 3D / 2D model into a display image, which can include modeling, building materials, building animations, and rendering and displaying. Specifically, when rendering, the rendering methods that can be used include but are not limited to physic based rendering (PBR), forward rendering pipeline, or deferred rendering pipeline. The appropriate rendering method can be selected according to the actual application scenario, and this application does not limit this.

[0127] 304 . Display the first rendered image on the first display screen, and display the second rendered image on the second display screen.

[0128] After the first rendered image and the second rendered image are obtained, the first rendered image may be displayed on the first display screen, and the second rendered image may be displayed on the second display screen.

[0129] In the embodiments of the present application, when rendering for different display screens, different virtual camera parameters can be used for rendering, resulting in different rendered images. When a user is driving a vehicle or an autonomous vehicle, different rendered images can be displayed on different display screens of the vehicle, allowing the user to view the vehicle's current external environment from two different perspectives, which can more comprehensively display the vehicle's environment and improve the user's driving safety. In particular, at the perspective of some vehicle corners, by displaying different heights or pitch angles on two display screens, the environment near the vehicle can be more comprehensively displayed, improving the vehicle's driving safety.

[0130] The above describes the method flow provided by this application. The following further describes the method flow provided by this application in conjunction with specific application scenarios.

[0131] This application is exemplified by taking the first display screen and the second display screen as the central control screen and the instrument screen in the vehicle, respectively, as an example. Generally, a smart car equipped with an autonomous driving system is equipped with a variety of sensors, which can capture environmental data through sensors and model the environmental data. There are usually multiple solutions for modeling: for example, one can perform 3D modeling based on point cloud data collected by a lidar; the other can use an image sensor to perform modeling based on the image of the image sensor. After modeling, a 3D model of the physical environment around the vehicle is obtained, and it is refreshed in real time as the vehicle moves. Generally, the closer the distance to the vehicle, the more detailed the environmental information is, and the contours of objects in the physical environment in the 3D model are more consistent with the actual contours of the objects.

[0132] The 3D model presents the environment around the vehicle in a three-dimensional modeling manner. A virtual camera is determined in the 3D model, and the 3D model is "photographed" from the perspective of the virtual camera, thereby obtaining a two-dimensional view with a stereoscopic perspective, which is displayed on the cockpit screen, thereby obtaining a real-time environment rendering displayed on the screen.

[0133] First, the application scenario of the method provided in this application can be shown in Figure 4, which may include:

[0134] Smart Car / Smart Cockpit 001: Equipped with a built-in vehicle operating system and equipped with multiple sensors, it automatically determines the driving strategy for the current scenario based on collected sensor information and system data, generating and executing corresponding driving strategy instructions. During this process, a model is created based on the acquired sensor data and presented at a specific perspective, which is displayed on the cockpit display as a real-time rendering of the vehicle's surroundings.

[0135] User 002: Usually the driver. During driving, the driver uses the on-screen environmental rendering to understand the risks, road conditions, and other information around the vehicle.

[0136] Based on the aforementioned process and application scenarios, refer to FIG5 , which is a flowchart of another vehicle perspective rendering method provided by this application.

[0137] As shown in FIG. 5 , the method provided by the present application may include environment acquisition, virtual perspective mode selection, rendering, and display stages, etc.

[0138] Among them, first, the external environment information of the vehicle can be collected through the sensors installed in the vehicle, or the internal environment information of the vehicle can be collected through the signals or data transmitted in the vehicle, and then the virtual perspective mode corresponding to each screen used for rendering is selected; then, image rendering is performed based on the vehicle environment information and the virtual perspective mode of each screen to obtain the rendered image of each screen respectively; then the corresponding rendered image can be displayed on each display screen.

[0139] The following is an introduction to each stage.

[0140] 1. Environmental Collection

[0141] Vehicle environmental information can include information about the environment inside and outside the vehicle: it can include physical environment information inside and outside the vehicle recognized by the vehicle (such as information collected by sensors), as well as information such as electronic signals within the vehicle system, and can also read data (such as information in high-precision maps).

[0142] Typically, physical environment information can be acquired through a variety of channels. For example, vehicles are equipped with various sensors, such as lidar, millimeter-wave radar, infrared, ranging, and imaging, and can acquire signals from these sensors. Specifically, physical environment information can be directly acquired by analyzing the signals collected by these sensors. For example, infrared sensors can be used to detect pedestrians, and distance measurements can be made between the pedestrian and the vehicle using ranging sensors. Physical environment information can also be acquired by processing the raw sensor signals and analyzing the processed results. For example, by modeling the surrounding environment using lidar point cloud data and then analyzing this modeled surrounding environment, information about the vehicle's surroundings can be obtained.

[0143] Common physical environment information may also include, but is not limited to: narrow roads, roundabouts, U-turn intersections, crossroads, three-way intersections, traffic lights, electronic capture cameras, the rotation angle of the vehicle's tires, obstacles, pedestrians, etc.

[0144] The electronic signal information within the vehicle system is automatically triggered by the vehicle computer system when it detects that preset conditions have been met, or it is obtained from the various subsystems of the vehicle computer. It can also be generated by the human intervention of the vehicle owner / passenger. Automatic triggering, for example, occurs when the vehicle enters a narrow lane (how to explain, the vehicle driving channel in the physical sense), and the autonomous driving system generates a collision warning signal based on the processing of sensor information; it is obtained by the various subsystems of the vehicle computer, for example, turning and lane change information obtained from the navigation system; it is generated by human intervention, for example, when the driver operates the steering wheel to trigger the driving mode to change from pure autonomous driving mode (also known as intelligent driving mode) to manual driving mode / assisted driving mode.

[0145] Electronic signal information within common vehicle systems includes but is not limited to: intelligent driving mode on / off, manual driving mode on / off, collision warning signals, vehicle driving path information (such as going straight, turning left / right, entering a roundabout, making a U-turn, changing lanes), vehicle speed, acceleration, etc.

[0146] 2. Virtual Perspective Mode Selection

[0147] (1) First, introduce the types of virtual perspective modes

[0148] Before rendering, the vehicle's currently set virtual viewing angle modes for the instrument panel and the central control panel can also be obtained. Based on the collected vehicle environment information, the corresponding virtual viewing angle modes for the instrument panel and the central control panel are determined.

[0149] For ease of distinction, the virtual perspective mode rendered in the instrument screen and central control screen can be called the current virtual perspective mode, and the virtual perspective mode to be rendered in the current process can be called the target virtual perspective mode of the instrument screen and central control screen.

[0150] Generally, when determining the target virtual viewing angle modes of the instrument screen and the central control screen, the parameters of the corresponding virtual cameras can be determined, that is, the corresponding virtual viewing angle modes can be determined by the parameters.

[0151] For example, as shown in FIG6 , the parameters of the virtual camera may include but are not limited to pitch angle, distance from the vehicle model, camera height, horizontal FOV or vertical FOV, etc., which can generally be used for imaging during rendering.

[0152] In the implementation manner of the present application, different images can usually be displayed on the instrument screen and the central control screen. Therefore, in the same virtual perspective mode, the virtual camera parameters of the instrument screen and the central control screen are not exactly the same, such as different pitch angles, different distances from the vehicle model, different camera heights, different horizontal FOVs or different vertical FOVs, etc. For example, if the instrument screen and the central control screen are both in the basic perspective mode, when the vehicle computer accelerates / decelerates rapidly, the virtual cameras corresponding to the instrument screen and the central control screen both have a rapid acceleration / deceleration mode. Optionally, in the same virtual perspective mode, the virtual camera parameters corresponding to the instrument screen and the virtual camera parameters corresponding to the central control screen can be the same or different. Usually, the virtual camera parameters corresponding to the instrument screen and the virtual camera parameters corresponding to the central control screen are not exactly the same.

[0153] The virtual perspective modes provided in this application may include multiple ones. The virtual perspective parameters corresponding to the instrument screen and the central control screen are exemplarily introduced below.

[0154] (1) Instrument screen

[0155] For example, the virtual perspective modes of the environment rendering on the instrument panel include multiple modes, such as four original perspective modes and two superimposed perspective modes. Original perspective modes may include, but are not limited to, basic perspective, rapid acceleration perspective, rapid deceleration perspective, and radar perspective. Superimposed perspective modes may include, but are not limited to, left-turn perspective and right-turn perspective. Typically, the superimposed perspective adjusts the deflection angle and direction based on the original perspective to facilitate display when the vehicle is turning.

[0156] For the original view, each virtual view mode defines different virtual camera parameters. Table 1 shows the virtual camera parameter changes corresponding to the view mode of the environment rendering on the instrument screen.

[0157] Table 1

[0158] When the perspective mode changes, the horizontal FOV and vertical FOV of the virtual camera corresponding to the environment rendering on the dashboard usually do not change, and remain consistent with the basic perspective.

[0159] When the radar is triggered, the pitch angle increases, while the pitch angle remains unchanged in other modes;

[0160] In the rapid acceleration perspective, the distance between the virtual camera and the ego vehicle increases compared to the basic perspective. The camera moves backward relative to the ego vehicle, and its height decreases. Increasing the distance from the ego vehicle helps the driver see a wider range of the surrounding environment, while decreasing the height is to minimize the impact of the increased distance from the ego vehicle on the reduced clarity of the environment.

[0161] The rapid deceleration perspective is primarily designed for emergency braking situations. In this scenario, there's usually a serious risk on the ground ahead of the vehicle. Users focus primarily on the immediate surroundings, with less focus on the distant environment. Therefore, compared to the basic perspective, the camera height is lowered, and the distance between the camera and the vehicle is reduced, to provide a clearer view of the ground near the vehicle.

[0162] The radar field of view is primarily designed to mitigate the risk of collisions with the vehicle itself, so the distance between the camera and the vehicle needs to be minimized. However, collisions can occur in all directions, so the camera's height needs to be raised and its pitch angle increased to capture information about the vehicle's surroundings.

[0163] (2) Central control screen

[0164] For example, the virtual perspective modes of the environment rendering on the central control screen include multiple modes, such as original perspective mode and overlay perspective mode. Original perspective modes include but are not limited to: basic perspective, high perspective, and human driver perspective modes, while overlay perspective modes include but are not limited to left turn perspective and right turn perspective.

[0165] For the original viewing angle mode, each virtual viewing angle mode defines different virtual camera parameters. Table 2 shows the changes in virtual camera parameters for the corresponding viewing angle modes of the environment rendering on the central control screen.

[0166] Table 2

[0167] The high viewing angle is mainly used to view the environment close to the vehicle, such as traffic lights and traffic flow at intersections. Therefore, the camera height is raised, and the pitch angle, horizontal FOV, and vertical FOV are increased to focus on the environment near the vehicle.

[0168] The human driving mode is mainly set up for manual driving. Compared with the basic mode, it lowers the pitch angle and height, and reduces the horizontal FOV and vertical FOV, so as to more fully display the information in front of the vehicle for the driver to understand and provide information support for the driver's driving decision.

[0169] Typically, the basic perspectives of the instrument panel and the central control screen have different parameter settings, and thus each focuses on displaying different environmental information. For example, when the instrument screen focuses on displaying the environment near the vehicle, the central control screen may focus on displaying the environment in front of the vehicle.

[0170] In addition, the number of viewing angle modes corresponding to the central control screen and the number of viewing angle modes corresponding to the instrument screen can be the same or different. For example, the instrument screen's viewing angle mode can include a rapid acceleration mode or a rapid deceleration mode, while the central control screen does not need to set a rapid acceleration mode or a rapid deceleration mode. Of course, in some scenarios, a rapid acceleration mode or a rapid deceleration mode can also be set for the central control screen. The number or type of viewing angle modes for each display screen can be determined based on the actual application scenario. This application is only for example introduction.

[0171] (2) Secondly, introduce the triggering conditions of each virtual perspective mode

[0172] After acquiring environmental information, the system can determine the virtual viewing angles of the instrument panel's and central control panel's virtual cameras, respectively, to determine the current viewing angles for the instrument panel and central control panel's renderings of the surrounding environment. The determined target viewing angles are consistent with the acquired environmental information and meet the needs of the vehicle's current environment.

[0173] There are several ways to select the virtual perspective mode for the instrument panel and central control screen. For example, you can use the collected vehicle environment information to determine which virtual perspective mode meets the requirements and directly select the corresponding virtual perspective mode. You can also use the collected vehicle environment information to determine the scene in which the vehicle is located and then select the target virtual perspective mode based on the virtual perspective mode corresponding to that scene. Each of these methods is described below.

[0174] (1) Select the target virtual perspective mode based on the conditions met

[0175] For example, Table 3 exemplarily shows the correspondence between vehicle environment information and virtual perspective modes.

[0176] Table 3

[0177] Typically, if the vehicle environment information satisfies a preset number of conditions corresponding to a viewing angle mode, the viewing angle mode can be determined as the target viewing angle mode. For example, as long as any one of the conditions is met, the viewing angle mode can be determined as the target viewing angle mode. For another example, a priority / type can be set for each condition. When a single condition with a priority higher than a preset level is met, or a single condition of a preset type is met, the viewing angle mode is determined as the target viewing angle mode. For the remaining conditions, two or more conditions can be met simultaneously for the viewing angle mode to be determined as the target viewing angle mode.

[0178] (2) Select the target virtual perspective mode according to the scene

[0179] Specifically, the scene in which the vehicle is located can be determined based on at least one collected environmental information. Usually, the correspondence between the vehicle scene and the viewing angle mode can be predefined, and then the viewing angle mode determined based on the vehicle scene is the target viewing angle mode.

[0180] When determining the target viewing angle mode in this manner, multiple vehicle scenarios can be defined, and different vehicle scenarios can correspond to the same viewing angle mode. In the same vehicle scenario, the viewing angle mode of the instrument panel's environmental rendering and the central control panel's environmental rendering can be the same or different.

[0181] Table 4 shows the correspondence between some vehicle scenes and viewing modes.

[0182] Table 4

[0183] In the vehicle scene determination shown in Table 4, condition ① is usually a necessary condition, and if any one of conditions ② and ③ is met, it can be determined that the vehicle is in the corresponding vehicle scene.

[0184] After determining the current perspective mode and target perspective mode of the surrounding environment renderings of the instrument screen and the central control screen, compare whether the two are the same. If they are the same, no adjustment is required. If they are different, they need to be adjusted to the target perspective mode.

[0185] Because the perspective modes of the environment renderings on the instrument screen and the central control screen are determined separately, they can be adjusted independently. If only the current perspective mode of the environment rendering on the instrument screen is inconsistent with the target perspective mode, only the perspective mode of the environment rendering on the instrument screen needs to be adjusted to the target perspective mode. If only the current perspective mode of the environment rendering on the central control screen is inconsistent with the target perspective mode, only the perspective mode of the environment rendering on the central control screen needs to be adjusted to the target perspective mode. If both perspective modes are inconsistent, both perspective modes need to be adjusted.

[0186] When adjusting the perspective mode, for the original perspective, you only need to change the corresponding virtual camera parameters. For changes to the overlay perspective, adjustments to the overlay perspective are independent of the original perspective and can be combined. Specifically, the virtual camera parameters for the overlay perspective are different from those for the original perspective, allowing them to be adjusted independently.

[0187] Superimposing shots primarily involves adjusting the azimuth angle. The azimuth angle's magnitude and direction are mapped to the front wheel's rotation angle and direction. This directional mapping is reflected in the left-turn and right-turn perspectives. The mapping between the azimuth angle adjustment and the front wheel's rotation angle is the same for both left-turn and right-turn perspectives. This mapping can be defined using a pre-defined function.

[0188] 3. Rendering

[0189] After determining the target virtual perspective modes displayed on the instrument screen and the central control screen respectively, rendering can be performed based on the target virtual perspective modes of the instrument screen and the central control screen respectively and the collected vehicle environment information.

[0190] For example, the vehicle's external environment information collected by the vehicle's image sensor or radar sensor can be rendered, that is, the vehicle's external environment can be displayed in different perspectives on the instrument screen and the central control screen.

[0191] For example, the vehicle's internal environment information can be rendered, such as the operating conditions of various components while the vehicle is driving, such as steering signals, braking signals, or energy recovery signals. At this time, different components or components under different perspectives can be displayed on the instrument screen and the central control screen.

[0192] For example, the vehicle interior environment and the vehicle exterior environment may be rendered separately, such as displaying the vehicle interior environment on the instrument screen and displaying the vehicle exterior environment on the central control screen.

[0193] Specifically, the present application does not limit the rendering method for image rendering, for example, PBR, forward rendering pipeline or deferred rendering pipeline can be used.

[0194] 4. Display

[0195] After obtaining the rendered image, the corresponding rendered image can be displayed on the central control screen and instrument screen respectively.

[0196] In the embodiments of the present application, virtual camera parameters can be determined for the instrument panel and display screen, respectively. These parameters can be different for the instrument panel and display screen, resulting in different rendered images based on the different virtual camera parameters. Therefore, different rendered images can be displayed on the central control screen and the instrument panel, respectively, allowing the user to observe information about the vehicle's interior and exterior environments from different perspectives, thereby increasing the amount of information available to the user and improving driving safety.

[0197] For example, while the central control screen displays a panoramic view, the instrument screen can display a zoomed-in view of a portion of the panoramic image. For example, when a scratch risk is identified, existing solutions typically display a zoomed-in view of the portion on the central control screen. However, the solution provided in this application allows a risk area to be identified and then focused on and displayed on either the instrument panel or the central control screen, effectively highlighting a key area on one screen. This allows one screen to highlight the risk area while another simultaneously displays a panoramic view, improving the driver's field of view.

[0198] Generally, there is a difference between the local perspective mode (i.e., the mode that displays a local magnified image) and other perspective modes: the camera's anchor object has changed. The camera anchor object in other perspective modes is the vehicle, while the local perspective mode is other objects on the map (such as risk objects). Therefore, the parameters of the anchor object can also be set in the parameters of the virtual camera in the local perspective mode.

[0199] Furthermore, to highlight risk areas, a zoomed-in image can be displayed on the instrument panel. Typically, the instrument panel is located directly in front of the driver, making it easier for the driver to see. Highlighting the areas on the panel allows the user to more intuitively and conveniently observe the vehicle environment, improving driving safety.

[0200] For example, the rendered images in each viewing mode are introduced below.

[0201] For example, the images displayed on the instrument panel and central control screen in a basic perspective can be shown in Figure 7. Typically, in intelligent driving scenarios, the situational awareness (SR) views of the instrument panel and central control screen use a basic perspective by default. The SR view is a rendering of the vehicle's surroundings, and the basic perspective parameters of the SR view on the instrument panel and the central control screen are different. As can be seen from the figure, the distance between the camera on the central control screen and the vehicle is significantly greater than that of the instrument panel (judged by the amount of image behind the vehicle), and the height of the camera is also significantly greater than that of the instrument panel (the central control panel's image is more of a bird's-eye view, while the instrument panel's image is more of a head-on view). The central control panel also has a significantly larger horizontal FOV, capturing more horizontal images, and a significantly larger vertical FOV than the instrument panel, capturing more vertical images in the direction of travel.

[0202] For example, the images displayed on the instrument panel and central control screen during a rapid acceleration scenario can be shown in Figure 8. In a rapid acceleration scenario, the instrument panel enters the rapid acceleration perspective, while the central control screen maintains the basic perspective. In the rapid acceleration perspective of the instrument panel (compared to the basic perspective), the distance to the vehicle behind the vehicle increases, allowing for more information to be seen, such as the car in the adjacent lane behind the vehicle. The camera's lowered height allows for a wider range of observation, helping to simultaneously capture more information about the surroundings in front and behind.

[0203] For example, the images displayed on the instrument panel and central control screen during a sudden deceleration scenario can be as shown in Figure 9. In this scenario, the instrument panel enters a sudden deceleration perspective, while the central control screen maintains a basic perspective. Compared to the basic perspective, the sudden deceleration perspective of the instrument panel reduces the distance to the vehicle and lowers the camera height to better focus on the surrounding environment. During sudden deceleration, there are often abnormal road conditions near the vehicle, such as traffic accidents or ground collapses. This change in perspective helps users capture more clear information about the surrounding environment.

[0204] For example, the images displayed on the instrument panel and central control screen in an intersection scenario can be shown in Figure 10. In this intersection scenario, the instrument panel maintains the basic lens, while the central control screen uses a high-angle lens. The high-angle lens increases the pitch angle (compared to the basic lens), raises the camera height, and increases the horizontal and vertical FOVs to capture a full view of the intersection. In this way, the instrument panel and central control screen use different perspectives to display information of different granularity, helping users observe the surrounding environment from two perspectives.

[0205] For example, in a left U-turn scenario, the images displayed on the instrument panel and central control panel can be as shown in Figure 11. The central control panel and the instrument panel both superimpose a left turn perspective on the basic lens, and the rotation angle is adapted to the deflection angle of the front wheels.

[0206] Obviously, when driving in the same scene, the driver's perspective switches to the basic perspective. Compared with the basic perspective, the driver's perspective keeps the distance to the vehicle unchanged, the pitch angle becomes smaller, the camera height is lowered, and the horizontal FOV and vertical FOV are reduced.

[0207] The above describes the process of the method provided by the present application. Now, in combination with the above method process, the structure of the device for executing the above method process provided by the present application is introduced.

[0208] Referring to FIG12 , a schematic structural diagram of a vehicle perspective image rendering device provided in the present application includes the following.

[0209] The vehicle includes a first display screen and a second display screen, and the device includes:

[0210] The acquisition module 1201 is used to obtain vehicle environment information, which includes information generated when the vehicle is running;

[0211] A virtual perspective selection module 1202 is configured to obtain a first virtual perspective mode and a second virtual perspective mode according to vehicle environment information, wherein parameters of a virtual camera corresponding to the first virtual perspective mode and parameters of a virtual camera corresponding to the second virtual perspective mode are not completely the same;

[0212] a rendering module 1203 configured to perform rendering according to the first virtual perspective mode, the second virtual perspective mode, and the vehicle environment information to obtain a first rendered image and a second rendered image, wherein the first rendered image is obtained by rendering based on parameters corresponding to the first virtual perspective mode, and the second rendered image is obtained by rendering based on parameters corresponding to the second virtual perspective mode;

[0213] The display module 1204 is configured to display the first rendered image on a first display screen and display the second rendered image on a second display screen.

[0214] In a possible implementation, the virtual perspective selection module 1202 is specifically configured to determine a first virtual perspective mode and a second virtual perspective mode from at least one mode according to vehicle environment information.

[0215] In a possible implementation, the virtual perspective selection module 1202 is specifically configured to: determine a scene in which the vehicle is located according to vehicle environment information; and determine a first virtual perspective mode and a second virtual perspective mode from at least one mode according to the scene.

[0216] In a possible implementation, at least one mode is divided into an original mode and an overlay mode, and the overlay mode is a mode in which rendering is overlaid on the original mode.

[0217] In a possible embodiment, the original mode includes at least one of the following: basic mode, rapid acceleration mode, rapid deceleration mode, radar mode, high perspective mode or human driving mode, the basic mode is the mode corresponding to the vehicle's initial rendering perspective, the rapid acceleration mode is the mode corresponding to the rendering perspective when the vehicle's acceleration is greater than the preset acceleration, the rapid deceleration mode is the mode corresponding to the rendering perspective when the vehicle's acceleration is less than the preset deceleration, the radar perspective is the mode corresponding to the rendering perspective when the vehicle needs to refer to the information detected by the radar during operation, the high perspective mode is the mode corresponding to the rendering perspective when the vehicle is in a preset road environment, and the human driving perspective is the mode corresponding to the rendering perspective when the vehicle's driving mode is the user driving mode; the overlay mode includes a left turn perspective mode or a right turn perspective mode, the left turn perspective mode is the mode corresponding to the rendering perspective when the vehicle turns left, and the right turn perspective mode is the mode corresponding to the rendering perspective when the vehicle turns right.

[0218] In one possible embodiment, the parameters of the first virtual perspective or the parameters of the second virtual perspective include at least one of the following: pitch angle, the distance between the virtual camera and the vehicle in the rendering corresponding space, the height of the virtual camera, the horizontal field of view FOV or the vertical FOV.

[0219] In a possible implementation, the vehicle environment information includes at least one of the following: information collected by at least one sensor provided on the vehicle, information generated while the vehicle is driving, or information read from a stored map.

[0220] As shown in FIG13 , it is a schematic diagram of the hardware structure of a vehicle perspective image rendering device 130 provided in an embodiment of the present application.

[0221] The vehicle perspective image rendering device 130 shown in FIG13 may include: a processor 1301 , a memory 1302 , a communication interface 1303 , and a bus 1304 . The processor 1301 , the memory 1302 , and the communication interface 1303 may be connected via the bus 1304 .

[0222] The processor 1301 is the control center of the vehicle perspective image rendering device 130 and can be a general-purpose central processing unit (CPU) or other general-purpose processors, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0223] As an example, the processor 1301 may include one or more CPUs, such as CPU 0 and CPU 1 shown in FIG. 13 .

[0224] The memory 1302 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0225] In one possible implementation, memory 1302 may exist independently of processor 1301. Memory 1302 may be connected to processor 1301 via bus 1304 and used to store data, instructions, or program code. When processor 1301 calls and executes the instructions or program code stored in memory 1302, the resource scheduling method provided in the embodiments of the present application can be implemented.

[0226] In another possible implementation, the memory 1302 may also be integrated with the processor 1301 .

[0227] Communication interface 1303 is used to connect vehicle perspective image rendering device 130 to other devices via a communication network, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. Communication interface 1303 may include a receiving unit for receiving data and a transmitting unit for transmitting data.

[0228] Bus 1304 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. This bus can be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, FIG13 shows only one thick line, but this does not mean that there is only one bus or only one type of bus.

[0229] It should be pointed out that the structure shown in Figure 13 does not constitute a limitation on the vehicle perspective image rendering device 130. In addition to the components shown in Figure 13, the vehicle perspective image rendering device 130 may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0230] Optionally, the vehicle perspective image rendering device shown in the aforementioned FIG. 13 is a chip.

[0231] The present application also provides a digital processing chip. The digital processing chip integrates circuits and one or more interfaces for implementing the aforementioned processor 1301 or the functions of processor 1301. When the digital processing chip integrates a memory, the digital processing chip can perform the method steps of any one or more of the aforementioned embodiments. When the digital processing chip does not integrate a memory, it can be connected to an external memory via a communication interface. The digital processing chip implements the actions performed by the vehicle perspective image rendering device in the aforementioned embodiment according to the program code stored in the external memory.

[0232] An embodiment of the present application also provides a computer program product, which, when executed on a computer, enables the computer to execute the steps of the method described in the embodiments shown in the aforementioned Figures 3 to 11.

[0233] The vehicle perspective image rendering device provided in the embodiment of the present application can be a chip, and the chip includes: a processing unit and a communication unit. The processing unit can be, for example, a processor, and the communication unit can be, for example, an input / output interface, a pin or a circuit. The processing unit can execute the computer-executable instructions stored in the storage unit, and use the chip to execute the method described in the embodiments shown in Figures 3 to 11. Optionally, the storage unit is a storage unit in the chip, such as a register, a cache, etc. The storage unit can also be a storage unit located outside the chip in the wireless access device, such as a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM), etc.

[0234] Specifically, the aforementioned processing unit or processor may be a central processing unit (CPU), a neural-network processing unit (NPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processing unit or processor may be used to execute the steps of the method corresponding to the aforementioned Figures 3 to 11.

[0235] A vehicle is also provided in an embodiment of the present application, which includes the device shown in Figure 12 or Figure 13 above.

[0236] It should also be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided in this application, the connection relationship between the modules indicates that there is a communication connection between them, which can be specifically implemented as one or more communication buses or signal lines.

[0237] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general-purpose hardware, and of course can also be implemented by dedicated hardware including application-specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. In general, all functions performed by computer programs can be easily implemented with corresponding hardware, and the specific hardware structures used to implement the same function can also be diverse, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, software program implementation is a better implementation method in most cases. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer's floppy disk, USB flash drive, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc., including a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0238] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0239] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website, a computer, a server, or a data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0240] The terms "first," "second," "third," "fourth," and the like in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0241] Finally, it should be noted that the above is only a specific implementation method of the present application, but the protection scope of the present application is not limited to this. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the protection scope of the present application.

Claims

1. A vehicle perspective image rendering method, characterized in that: Applied to a vehicle, the vehicle includes a first display screen and a second display screen, the method includes: Acquiring vehicle environment information, wherein the vehicle environment information includes information generated when the vehicle is running; Acquire a first virtual viewing angle mode and a second virtual viewing angle mode according to the vehicle environment information, wherein parameters of a virtual camera corresponding to the first virtual viewing angle mode and parameters of a virtual camera corresponding to the second virtual viewing angle mode are not completely the same; Rendering is performed according to the first virtual perspective mode, the second virtual perspective mode, and the vehicle environment information to obtain a first rendered image and a second rendered image, wherein the first rendered image is rendered based on parameters corresponding to the first virtual perspective mode, and the second rendered image is rendered based on parameters corresponding to the second virtual perspective mode; The first rendered image is displayed through the first display screen, and the second rendered image is displayed through the second display screen.

2. The method according to claim 1, characterized in that The acquiring the first virtual perspective mode and the second virtual perspective mode according to the vehicle environment information includes: The first virtual perspective mode and the second virtual perspective mode are determined from at least one mode according to the vehicle environment information.

3. The method according to claim 1, characterized in that The acquiring of the first virtual perspective mode and the second virtual perspective mode according to the vehicle environment information further includes: Determining the scene in which the vehicle is located according to the vehicle environment information; The first virtual perspective mode and the second virtual perspective mode are determined from at least one mode according to the scene.

4. The method according to claim 2 or 3, characterized in that: The at least one mode is divided into an original mode and an overlay mode, and the overlay mode is a mode in which overlay rendering is performed in the original mode.

5. The method according to claim 4, characterized in that The original mode includes at least one of the following: a basic mode, a rapid acceleration mode, a rapid deceleration mode, a radar mode, a high-angle mode or a human-driving mode, wherein the basic mode is a mode corresponding to an initial rendering angle of the vehicle, the rapid acceleration mode is a mode corresponding to a rendering angle of the vehicle when the acceleration of the vehicle is greater than a preset acceleration, the rapid deceleration mode is a mode corresponding to a rendering angle of the vehicle when the acceleration of the vehicle is less than a preset deceleration, the radar angle of view is a mode corresponding to a rendering angle of view when the vehicle needs to refer to information detected by the radar when running, the high-angle mode is a mode corresponding to a rendering angle of view when the vehicle is in a preset road environment, and the human-driving angle of view is a mode corresponding to a rendering angle of view when the driving mode of the vehicle is a user driving mode; The overlay mode includes a left turn viewing angle mode or a right turn viewing angle mode, wherein the left turn viewing angle mode is a mode corresponding to the rendering viewing angle when the vehicle turns left, and the right turn viewing angle mode is a mode corresponding to the rendering viewing angle when the vehicle turns right.

6. The method according to any one of claims 1 to 5, characterized in that The parameters of the first virtual perspective or the parameters of the second virtual perspective include at least one of the following: The pitch angle, the distance between the virtual camera and the vehicle in the rendering space, the height of the virtual camera, the horizontal field of view FOV or the vertical FOV.

7. The method according to any one of claims 1 to 6, characterized in that The vehicle environment information includes at least one of the following: The information may be information collected by at least one sensor provided on the vehicle, information generated when the vehicle is traveling, or information read from a stored map.

8. A vehicle perspective image rendering device, characterized in that: Applied to a vehicle, the vehicle comprises a first display screen and a second display screen, and the device comprises: A collection module, used to obtain vehicle environment information, wherein the vehicle environment information includes information generated when the vehicle is running; A virtual viewing angle selection module is used to obtain a first virtual viewing angle mode and a second virtual viewing angle mode according to the vehicle environment information. The parameters of the virtual camera corresponding to the first virtual perspective mode are not completely the same as the parameters of the virtual camera corresponding to the second virtual perspective mode; a rendering module, configured to perform rendering according to the first virtual perspective mode, the second virtual perspective mode, and the vehicle environment information to obtain a first rendered image and a second rendered image, wherein the first rendered image is rendered based on parameters corresponding to the first virtual perspective mode, and the second rendered image is rendered based on parameters corresponding to the second virtual perspective mode; The display module is configured to display the first rendered image through the first display screen, and to display the second rendered image through the second display screen.

9. The device according to claim 8, characterized in that The virtual perspective selection module is specifically used to determine the first virtual perspective mode and the second virtual perspective mode from at least one mode according to the vehicle environment information.

10. The device according to claim 8, characterized in that The virtual perspective selection module is specifically used for: Determining the scene in which the vehicle is located according to the vehicle environment information; The first virtual perspective mode and the second virtual perspective mode are determined from at least one mode according to the scene.

11. The device according to claim 9 or 10, characterized in that The at least one mode is divided into an original mode and an overlay mode, and the overlay mode is a mode in which overlay rendering is performed in the original mode.

12. The device according to claim 11, characterized in that The original mode includes at least one of the following: a basic mode, a rapid acceleration mode, a rapid deceleration mode, a radar mode, a high-angle mode or a human-driving mode, wherein the basic mode is a mode corresponding to an initial rendering angle of the vehicle, the rapid acceleration mode is a mode corresponding to a rendering angle of the vehicle when the acceleration of the vehicle is greater than a preset acceleration, the rapid deceleration mode is a mode corresponding to a rendering angle of the vehicle when the acceleration of the vehicle is less than a preset deceleration, the radar angle of view is a mode corresponding to a rendering angle of view when the vehicle needs to refer to information detected by the radar when running, the high-angle mode is a mode corresponding to a rendering angle of view when the vehicle is in a preset road environment, and the human-driving angle of view is a mode corresponding to a rendering angle of view when the driving mode of the vehicle is a user driving mode; The overlay mode includes a left turn viewing angle mode or a right turn viewing angle mode, wherein the left turn viewing angle mode is a mode corresponding to the rendering viewing angle when the vehicle turns left, and the right turn viewing angle mode is a mode corresponding to the rendering viewing angle when the vehicle turns right.

13. The device according to any one of claims 8 to 12, characterized in that The parameters of the first virtual perspective or the parameters of the second virtual perspective include at least one of the following: The pitch angle, the distance between the virtual camera and the vehicle in the rendering space, the height of the virtual camera, the horizontal field of view FOV or the vertical FOV.

14. The device according to any one of claims 8 to 13, characterized in that The vehicle environment information includes at least one of the following: The information may be information collected by at least one sensor provided on the vehicle, information generated when the vehicle is traveling, or information read from a stored map.

15. A vehicle perspective image rendering device, characterized in that: The method comprises a processor, wherein the processor is coupled to a memory, wherein the memory stores a program, and when the program instructions stored in the memory are executed by the processor, the method according to any one of claims 1 to 7 is implemented. 16 . A computer-readable storage medium comprising a program, which, when executed by a processing unit, performs the method according to claim 1 .

17. A vehicle, characterized in that: Comprising the apparatus of claim 15.

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