Head-up display apparatus, display control method and apparatus and storage medium

Abstract

A head-up display apparatus, a display control method and apparatus and a storage medium, belonging to the technical field of assisted driving. The method comprises: acquiring a reference line of a target turning intersection, the reference line being used for indicating an entrance of the target turning intersection; acquiring a first angular change with respect to the reference line presented during a turning process after driving out of a stop line; and on the basis of the first angular change, controlling a second angular change of navigation guidance. Therefore, the angle of navigation guidance continuously changes in real time as a vehicle advances at a turning intersection, so that a driver can intuitively perceive the distance between a current vehicle and an exit of the turning intersection on the basis of the orientation of the navigation guidance, thus improving the driving experience of the driver.

Description

Head-up display device, display control method, device and storage medium CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to a Chinese patent application filed with the Patent Office of China on January 17, 2024, with application number 2024100714965 and invention name “Head-up display device, display control method, device and storage medium”. The contents of the Chinese patent application are hereby incorporated into this application by reference. Technical Field

[0002] The present disclosure relates to the field of assisted driving technology, and in particular to a head-up display device, a display control method, a device, and a storage medium. Background Art

[0003] Augmented Reality-Head Up Display (AR-HUD) is an in-vehicle interactive system that integrates augmented reality technology, head-up display technology, and multi-information fusion technology.

[0004] In existing technologies, it is impossible to provide continuous and accurate signals to the AR-HUD at turning intersections. Therefore, the navigation guidance cannot change its posture in real time (for example, when the vehicle has already exited the curve, the AR-HUD continues to display the turning animation), resulting in a poor user experience. Technical content

[0005] The present disclosure provides a head-up display device, a display control method, a device, and a storage medium, which can provide intuitive and accurate navigation guidance at turning intersections and improve driving safety.

[0006] The technical solution of the present disclosure is achieved as follows:

[0007] In a first aspect, the present disclosure provides a display control method, which includes: obtaining a baseline of a target turning intersection, the baseline being used to indicate an entrance to the target turning intersection; obtaining a first angle change with the baseline when exiting a stop line during a turning process; and controlling a second angle change of navigation guidance according to the first angle change.

[0008] In the second aspect, the present disclosure provides a display control device, which includes: an acquisition part and a control part; the acquisition part is configured to acquire a baseline of a target turning intersection, and the baseline is used to indicate the entrance of the target turning intersection; the acquisition part is also configured to acquire a first angle change with the baseline during the turning process when exiting the stop line; the control part is configured to control a second angle change of the navigation guidance according to the first angle change.

[0009] In a third aspect, the present disclosure provides a display control device, comprising: a processor and a memory; the processor is configured to execute instructions stored in the memory to implement the display control method as described in the first aspect.

[0010] In a fourth aspect, the present disclosure provides a computer-readable storage medium storing at least one instruction, wherein the at least one instruction is used to be executed by a processor to implement the display control method as described in the first aspect.

[0011] In a fifth aspect, the present disclosure provides a head-up display device, which includes a display control unit and a display unit; wherein the display control unit is configured to obtain a baseline of a target turning intersection, wherein the baseline is used to indicate an entrance to the target turning intersection; and obtain a first angle change with the baseline during the turning process when exiting the stop line; and is configured to control a second angle change of the navigation guidance according to the first angle change; the display unit is configured to project the navigation guidance onto the windshield of the vehicle for display based on the control of the display control unit.

[0012] In a sixth aspect, the present disclosure provides a vehicle comprising the head-up display device described in the fifth aspect.

[0013] The present disclosure provides a head-up display device, display control method, device, and storage medium. The method includes: obtaining a baseline of a target turning intersection, the baseline indicating the entrance to the target turning intersection; obtaining a first angle change relative to the baseline during the turning process; and controlling a second angle change of the navigation guidance based on the first angle change. In this way, at the turning intersection, the angle of the navigation guidance continuously changes in real time as the vehicle progresses through the intersection. The driver can intuitively sense the current distance from the vehicle to the exit of the turning intersection through the navigation guidance gesture, thereby improving the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments. The drawings described below are only exemplary embodiments of the present disclosure.

[0015] FIG1 is a schematic diagram showing the composition of a vehicle-mounted system provided by the present disclosure.

[0016] FIG. 2 is an exemplary top view of a vehicle provided by the present disclosure.

[0017] FIG. 3 is an exemplary perspective view from a driver's seat of a vehicle provided by the present disclosure.

[0018] FIG4 is a schematic diagram of the architecture of the head-up display device provided by the present disclosure.

[0019] FIG5 is one of the schematic diagrams of the navigation guidance provided by the present disclosure.

[0020] FIG6 is a second schematic diagram of the navigation guidance provided by the present disclosure.

[0021] FIG7 is a third schematic diagram of the navigation guidance provided by the present disclosure.

[0022] FIG8 is a flowchart of a display control method according to the present disclosure.

[0023] FIG9 is a schematic diagram of entering a stop line and exiting a stop line provided by the present disclosure.

[0024] FIG10 is a schematic diagram of a frame of an environmental image provided by the present disclosure.

[0025] FIG11 is a schematic diagram of angle variation provided by the present disclosure.

[0026] FIG12 is a fourth schematic diagram of the navigation guidance provided by the present disclosure.

[0027] FIG13 is a second flow chart of the display control method provided by the present disclosure.

[0028] FIG14 is a fifth schematic diagram of the navigation guidance provided by the present disclosure.

[0029] FIG15 is a schematic diagram of a baseline provided by the present disclosure.

[0030] FIG16 is a third flow chart of the display control method provided by the present disclosure.

[0031] FIG17 is a schematic diagram of a frame of an environmental image after rasterization processing provided by the present disclosure.

[0032] FIG18 is a fourth flow chart of the display control method provided by the present disclosure.

[0033] FIG19 is a schematic diagram of various coordinate points in a frame of environmental image provided by the present disclosure.

[0034] FIG20 is a fifth flow chart of the display control method provided by the present disclosure.

[0035] FIG21 is a sixth flow chart of the display control method provided by the present disclosure.

[0036] FIG. 22 is a schematic diagram of arc length provided by the present disclosure.

[0037] FIG23 is a schematic diagram showing the distance to the exit of a turning intersection provided by the present disclosure.

[0038] FIG24 is a schematic diagram showing the composition of a display control device provided by the present disclosure.

[0039] FIG25 is a schematic structural diagram of a display control device provided by the present disclosure. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present disclosure more apparent, the following will describe in detail exemplary embodiments of the present disclosure with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described herein.

[0041] The terms "first," "second," and so forth in the specification of this application are used to distinguish similar objects, and are not intended to describe a particular order or precedence. It should be understood that such terms are interchangeable where appropriate, so that the present disclosure can be implemented in an order other than that illustrated or described herein. Furthermore, the objects distinguished by "first," "second," and so forth generally refer to a class of objects and do not limit the number of objects. For example, the first object may be one or more. The technical solutions of this disclosure will be described clearly and completely below, in conjunction with the accompanying drawings.

[0042] Referring to FIG. 1 , an example of an in-vehicle system 100 applicable to the technical solutions of the present disclosure is shown. In some examples, the vehicle equipped with the in-vehicle system 100 may be an internal combustion engine vehicle powered by an engine, a hybrid vehicle powered by an engine and an electric motor, an electric vehicle powered by an electric motor, or other types of vehicles. Throughout this specification, the vehicle equipped with the in-vehicle system 100 is referred to as the vehicle itself.

[0043] As shown in FIG1 , the vehicle-mounted system 100 includes: a navigation subsystem 110, an environmental detection device group 120 for acquiring the vehicle's environment while the vehicle is traveling, a driving state detection device group 130, a data processing unit 140, a display control unit 150, and a display unit 160. The aforementioned components or device groups are coupled together via a communication bus 12. In some examples, the communication bus 12 is used for connection and communication between the aforementioned components or device groups. It should be noted that FIG1 only shows a portion of the vehicle-mounted system 100, and does not represent all components of the vehicle-mounted system 100.

[0044] In Figure 1 , navigation subsystem 110 includes a positioning device 111 and a map information storage device 112. Positioning device 111 can determine the vehicle's position based on positioning systems such as the Global Positioning System (GPS), China's Beidou system, Russia's GLONASS, Europe's Galileo, Japan's Quasi-Zenith Satellite System (QZSS), and India's Indian Regional Navigation Satellite System (IRNSS), obtaining the vehicle's location information. Map information storage device 112 stores map information and can retrieve a navigation route to a destination based on the location information obtained from positioning device 111. The location information and navigation route are then displayed in a map application.

[0045] In Figure 1, the environment detection device group 120 may include an on-vehicle communication device 121, a radar 122, a laser rangefinder 123, and a camera 124. These devices can acquire environmental information representing the surrounding environment of the vehicle.

[0046] The in-vehicle communication device 121 can wirelessly communicate with one or more devices directly or via a communication network. These devices capable of wireless communication with the in-vehicle communication device 121 can include other vehicles, roadside equipment or roadside stations, or mobile devices used by passengers in the vehicle. In some examples, the in-vehicle communication device 121 can use 3G cellular communications, such as code division multiple access (CDMA), EVDO, global system for mobile communications (GSM), general packet radio service (GPRS), or 4G cellular communications, such as long-term evolution (LTE), or 5G cellular communications. In some examples, the in-vehicle communication device 121 can also use WiFi to communicate with a wireless local area network (WLAN). In some embodiments, the in-vehicle communication device 121 can also communicate directly with devices using infrared links, Bluetooth, or ZigBee. In some examples, the in-vehicle communication device 121 can also use other wireless protocols to communicate with devices.

[0047] Radar 122 is used to sense objects in the vehicle's surroundings and may also be used to sense the speed and / or direction of these objects. In some examples, radar 122 uses electromagnetic waves or lasers as a medium to detect objects based on a time of flight (TOF) or phase shift method, and obtains the position, distance, and relative speed of the detected object. In some examples, radar 122 may be configured at an appropriate location on the exterior of the vehicle to detect objects located in front of, behind, or to the side of the vehicle.

[0048] The laser rangefinder 123 may utilize laser light to sense objects in the environment of the host vehicle. In some embodiments, the laser rangefinder 123 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0049] Camera 124 can be used to capture multiple images of the vehicle's surroundings. Camera 124 can be a still camera or a video camera. In some examples, to capture images of the vehicle's exterior, camera 124 can be located at an appropriate location outside the vehicle. For example, to capture images of the front of the vehicle, camera 124 can be positioned within the vehicle's interior, close to the front windshield. Alternatively, camera 124 can be positioned around the front bumper or radiator grille. In some examples, to capture images of the rear of the vehicle, camera 124 can be positioned within the vehicle's interior, close to the rear window. Alternatively, camera 124 can be positioned around the rear bumper, trunk, or tailgate. In some examples, to capture images of the sides of the vehicle, camera 124 can be positioned within the vehicle's interior, close to at least one of the side windows. Alternatively, camera 124 can be positioned around a side mirror, fender, or door.

[0050] In Figure 1 , driving state detection device group 130 may include a steering angle sensor 131 for detecting the steering angle of the host vehicle, a vehicle speed sensor 132 for detecting the vehicle's driving speed, and an acceleration sensor 133 for detecting acceleration applied to the host vehicle. In some examples, as shown in the dashed box, an inertial sensor 134 may also be included to detect changes in the host vehicle's position and orientation based on inertial acceleration. In a specific implementation, this inertial sensor 134 may be a combination of the acceleration sensor 133 and a gyroscope.

[0051] In Figure 1 , the data processing unit 140 can be implemented as a computing system comprising a memory, a processor, input / output interfaces, and a bus connecting these. In some examples, the data processing unit 140 uses program instructions stored in the memory to cause the processor to execute multiple commands to process data obtained by the navigation subsystem 110, the environmental detection device group 120, and the driving status detection device group 130. In some examples, the data processing unit 140 can also partially or fully control the driving of the vehicle based on the processed data.

[0052] In FIG1 , as shown by the dashed box, the display control unit 150 and the display unit 160 may serve as the main components of the head-up display device 170. After receiving data processed by the data processing unit 140, or after receiving data obtained by the navigation subsystem 110, the environmental detection device group 120, and the driving status detection device group 130, the display control unit 150 may process the received data to obtain display information to be displayed, and then project this display information onto the windshield of the vehicle via the display unit 160 for display.

[0053] 2 and the exemplary perspective view from the driver's seat of the vehicle shown in FIG3 , the vehicle includes a windshield 204 at the front of the vehicle. The driver and passengers in the passenger compartment 208 of the vehicle can see the front of the vehicle through the windshield 204.

[0054] 3 , the windshield 204 is visually located above the vehicle's dashboard 206. The driver can turn a steering wheel 210 within the passenger cabin 208 to steer the vehicle, such as to change lanes, merge, and park the vehicle. In some embodiments, the steering wheel 210 can be retracted or omitted.

[0055] Head-up display 170 (see FIG. 4 ) projects display information 212 (e.g., a virtual image) onto a portion of windshield 204 through one or more apertures (e.g., aperture 216 ) in instrument panel 206 . While FIG. 3 illustrates an example size for display information 212 , display information 212 may be presented over a larger or smaller area. Display information 212 may include various vehicle information, such as current vehicle speed, current gear in the vehicle's transmission, engine speed, vehicle direction, current infotainment system settings, and / or other vehicle information. Head-up display 170 provides information to the vehicle driver without the driver having to look away from objects in front of the vehicle.

[0056] Referring to the exemplary implementation architecture of the head-up display device 170 shown in FIG4 , the display control unit 150 generates a signal 412 based on data processed by the data processing unit 140 or data 420 transmitted by the navigation subsystem 110, the environmental detection device group 120, and the driving status detection device group 130. The display unit 160 may include a light source 161 and an optical path component 162. Based on the signal 412 from the display control unit 150, the light source 161 outputs light (e.g., a virtual image) for display on the windshield 204. For example, the light source 161 may include one or more lasers and output red, green, and blue light.

[0057] Optical path assembly 162 reflects the output of light source 161 onto windshield 204 through aperture 216. A viewer (e.g., the driver) can view display information 212 in a display area projected onto windshield 204. In some examples, optical path assembly 162 may include one or more reflectors (plane mirrors) and concave mirrors (magnifying mirrors). The output of light source 161 is reflected back by the reflector and magnified by the concave mirror before being reflected onto windshield 204 to form a virtual image 40 that can be visually observed by the driver. The virtual image 40 appears to be projected onto projection surface 41 at a set distance in front of the vehicle, while the real environment remains visible through projection surface 41. In some examples, optical path assembly 162 may be omitted, and light source 161 may project display information 212 directly onto windshield 204 to form virtual image 40 on projection surface 41.

[0058] As shown in Figures 1 to 4 above, the display control unit 150 projects navigation guidance onto the windshield 204 via the display unit 160, based on the vehicle's location information and navigation route provided by the navigation subsystem 110, just before entering a turning intersection. This guidance allows the driver to more intuitively understand whether to turn left or right at the upcoming intersection. Specifically, when a left turn is about to occur, as shown in Figure 5 , navigation guidance 51 is displayed in a portion 5 of the windshield 204. The arrow on navigation guidance 51 points to the left, indicating a left turn; as shown in Figure 6 , the arrow on navigation guidance 51 points to the right, indicating a right turn.

[0059] Combining Figures 5 and 6, it can be seen that at a turning intersection, the navigation guidance can clearly instruct the driver to turn left or right. The navigation guidance is prominently displayed on the windshield, so that the driver can see the relevant information without having to lower his head, prompting the user to turn left or right, avoiding missing the turning intersection, and improving safety and convenience.

[0060] Although the navigation guide 51 shown in Figures 5 and 6 can prompt the driver to turn left or right at a turning intersection, the navigation guide's posture does not change in real time during the turning process. Instead, after the turn is completed, the navigation guide's posture changes directly from the navigation guide in Figures 5 and 6 to the navigation guide 51 shown in Figure 7. Even after the turn is completed, the navigation guide's posture still instructs the driver to turn left or right. This is because existing navigation guide posture changes are either dependent on navigation signals, but these signals are generally not able to provide continuous and accurate navigation signals at turning intersections; or they are dependent on vehicle computer signals, such as steering wheel angles, but changes in steering wheel angles cannot accurately reflect the vehicle's turning process. Therefore, at turning intersections, the existing navigation guide's posture cannot be dynamically changed in real time, resulting in a poor driving experience for the driver.

[0061] It should be noted that the navigation guide 51 in FIG. 5 , FIG. 6 and FIG. 7 is merely an exemplary illustration and is not intended to limit the present disclosure. The navigation guide may also be represented in other forms.

[0062] Based on the above, the present disclosure aims to provide a solution that enables navigation guidance to change in real time as the vehicle moves at a turning intersection. FIG8 illustrates an example of a display control method provided by the present disclosure. This method can be executed by the aforementioned head-up display device 170, and in particular, by the display control unit 150 within the head-up display device 170. The method illustrated in FIG8 includes steps S701 to S703.

[0063] In step S701, a baseline of a target turning intersection is obtained.

[0064] Among them, the baseline is used to indicate the entrance of the target turning intersection.

[0065] Specifically, if the distance between the vehicle and the target turning intersection is determined to be less than or equal to a preset distance, multiple frames of environmental imagery are acquired within a preset range of the vehicle at a preset frequency. If the stop-entry line in the target frame environmental image is at a preset position, a baseline is determined based on the stop-entry line in the target frame environmental image. The multiple frames of environmental imagery include the target frame environmental image. This reduces the data processing pressure on the vehicle's computer by only acquiring environmental images and detecting the stop-entry line immediately before entering the turning intersection.

[0066] When the navigation subsystem 110 is enabled, the distance between the current position of the vehicle and the target turning intersection to be entered can be determined during the navigation route. Specifically, when the navigation subsystem 110 determines that the distance between the current position of the vehicle and the target turning intersection to be entered is less than or equal to a preset distance, it can notify the camera 124 to capture an image of the environment within a preset range of the vehicle.

[0067] For each frame of the environmental image, it is detected whether the frame includes a stop line and whether the stop line is located at a preset position in the frame of the environmental image. If not, the next frame of the environmental image is detected. If so, the frame of the environmental image is determined to be the target frame of the environmental image, and the baseline is determined based on the stop line included in the target frame of the environmental image.

[0068] In step S702, a first angle change between the vehicle and the reference line during the turning process after exiting the stop line is obtained.

[0069] The entry stop line is the stop line located before the sidewalk before entering the turning intersection. If no stop line is set before the turning intersection, the edge of the sidewalk can also be used as the entry stop line. The exit stop line is the stop line after entering the turning intersection and after the next sidewalk. If no stop line is set after the next sidewalk, the edge of the next sidewalk can also be used as the exit stop line. As shown in Figure 9, taking the example of a vehicle about to turn left as indicated by the dotted arrow, the stop line before the sidewalk is the entry stop line 801, and the stop line after the next sidewalk is the exit stop line 803. If the entry stop line 801 does not exist, the dotted sidewalk edge 802 is used as the entry stop line. If the exit stop line 803 does not exist, the dotted sidewalk edge 804 is used as the exit stop line. The specific entry stop line and exit stop line can also be other markings, as long as they can mark the start and end of the turning intersection, and this disclosure does not limit them.

[0070] Specifically, the angle between the baseline and the exit stop line in the target frame environment image is determined as the reference angle; the angle between the exit stop line and the baseline in the first environment image during the turning process is determined as the target angle; and the change in the target angle relative to the reference angle is determined as the first angle change. The first environment image is the environment image following the target frame environment image.

[0071] After the target frame, continue acquiring environmental images. For each frame, determine the angle between the baseline and the exit stop line. For each first frame, maintain the baseline constant. As the vehicle approaches the target intersection, the angle between the exit stop line and the baseline in the first frame decreases.

[0072] For example, the preset position is the lower half of the image. If the stop-entry line is located in the lower half of the image, it indicates that the desired target frame environment image has been detected. As shown in Figure 10, in the acquired target frame environment image 90, the vehicle is about to turn left. The stop-entry line of the target turning intersection serves as the baseline 901 (if the stop-entry line in the image is too short to intersect with the exit stop line, the baseline is obtained by extending the stop-entry line). The angle 903 between the exit stop line 902 of the target turning intersection and the baseline 901 serves as the reference angle.

[0073] Figure 11 exemplifies the change in the target angle compared to the reference angle across multiple consecutive frames of environmental images. The dashed arrows indicate the vehicle exiting the stop line (shown as a dashed line) in multiple consecutive frames of the first environmental image. As the vehicle progresses through the intersection, the target angle between the exit stop line 902 and the baseline 901 decreases. Therefore, the change in the angle between the exit stop line and the baseline can reflect the vehicle's progress through the target intersection.

[0074] In step S703, the second angle change of the navigation guidance is controlled according to the first angle change.

[0075] In actual application, at a turning intersection, the maximum change angle of the navigation guidance is 90 degrees. The navigation guidance 51 in FIG. 5 or FIG. 6 is changed to the navigation guidance 51 in FIG. 7 , and the angle change is 90 degrees.

[0076] For example, as shown in FIG12 , which illustrates a left turn, as the vehicle enters the intersection and continues moving, the first angle in FIG11 decreases. In FIG12 , the navigation guide 51 changes from horizontal to leftward, along the direction of the dashed arrow, until it aligns with the vehicle's forward direction (the solid arrow in FIG12 represents the vehicle's direction of travel). The angle change of the navigation guide 51 is shown by dashed lines in the figure. This means that the angle of the navigation guide changes in sync with the vehicle's movement, continuously changing as the vehicle enters the intersection. This angle change intuitively reflects the vehicle's progress from entering the intersection to exiting it. Specifically, at the intersection, the angle of the navigation guide changes in real time, providing a more intuitive representation of the current state of travel. It should be noted that FIG12 only illustrates four examples of navigation guide angle changes. In actual applications, the preset frequency of acquiring images of the external environment is much higher than the frequency that the human eye can perceive. Therefore, the frequency of changes in the displayed navigation guide is also higher than the frequency that the human eye can perceive. For example, if the angle of the navigation guide changes at a frequency of 30 frames per second, the driver will see the changes in the navigation guide as a continuous animation.

[0077] According to the change of the first angle, the change of the second angle of the navigation guidance is controlled. Specifically, a first ratio of the preset change angle and the reference angle is determined; the angle of the navigation guidance is controlled to be the product of the difference between the reference angle and the target angle and the first ratio.

[0078] In the present disclosure, the preset change angle is the maximum change angle of the navigation guidance at the turning intersection, the reference angle is the maximum angle between the baseline and the exit stop line in the collected environmental image (the angle between the baseline and the exit stop line in the target frame environmental image), and the display angle of the navigation guidance changes synchronously with the change of the angle in the collected environmental image. For example: the reference angle is 60 degrees, the preset change angle is 90 degrees, the ratio of 90 to 60 is 1.5, the angle between the exit stop line and the baseline in the next frame of the environmental image is 50 degrees, the difference between 60 and 50 is 10 degrees, and the product of 10 and 1.5 is 15. If it is a left turn, the navigation guidance will be offset by 15 degrees clockwise based on the angle shown in Figure 5. If it is a right turn, the navigation guidance will be offset by 15 degrees counterclockwise based on the angle shown in Figure 6; in the next frame of the environmental image, the exit stop line will be offset by 15 degrees. The angle between the target angle and the baseline is 45 degrees. The difference between 60 and 45 is 15 degrees, and the product of 15 and 1.5 is 22.5. If the target turns left, the navigation guidance is offset 22.5 degrees clockwise from the angle shown in Figure 5. If the target turns right, the navigation guidance is offset 22.5 degrees counterclockwise from the angle shown in Figure 6. This continues until, in a certain frame of the environment image, the target angle is 0 degrees. The difference is 60 degrees, and the navigation guidance offset is 90 degrees, indicating the end of the turn. In this way, as the angle in the environment image changes, the navigation guidance angle also changes accordingly, allowing the navigation guidance to intuitively reflect the vehicle's travel status at the turn.

[0079] Based on the principle that the farther away, the smaller the image, the closer to the exit stop line of the target turning intersection, the larger the displayed navigation guidance image, thereby further enhancing the driver's visual experience. In conjunction with FIG8 , as shown in FIG13 , in some examples, after obtaining the first angle change between the exit stop line and the baseline during the turning process, the method further includes the following step S704.

[0080] In step S704, the display size of the navigation guide is controlled to change according to the first angle change.

[0081] For example, as shown in FIG14 , which is an example of a left turn, as the vehicle enters the turning intersection and continues to move, the first angle corresponding to FIG11 becomes smaller and smaller, and the navigation guide 51 in FIG14 changes from a horizontal direction to the left, along the direction of the dotted arrow, and the display size becomes larger and larger, until the displayed size is the largest when it is consistent with the forward direction of the vehicle. The change process of the navigation guide 51 is shown in the dotted line in the figure. The display size of the navigation guide shown in FIG14 becomes larger as the vehicle gets closer to the exit stop line. In this way, after entering the turning intersection, the angle change of the navigation guide is consistent with the actual vehicle's travel status at the turning intersection, and according to the principle of smaller at a distance and larger near, by changing the display size of the navigation guide, the effect of augmented reality is achieved, further enhancing the driver's experience.

[0082] According to the change of the first angle, the change of the display size of the navigation guide is controlled. Specifically, a second ratio of the preset change multiple and the reference angle is determined; and the display size is controlled to expand the product of the difference between the reference angle and the target angle and the second ratio.

[0083] To help the driver perceive the approach to the turn exit based on the navigation guidance displayed on windshield 204, the display size of the navigation guidance can be controlled after the vehicle enters the turn, based on the principle of smaller at distance and larger near. This allows for a more realistic experience for the driver. For example, the preset change factor is 2, the reference angle is 60 degrees, and the ratio is 1 / 30. If the target angle in the next frame of the environment image is 50 degrees, the difference between 60 and 50 is 10 degrees, and the product of 10 and 1 / 30 is 1 / 3, the navigation guidance will be enlarged by 1 / 3 of the original. This continues until, in a certain frame of the environment image, the target angle is 0 degrees. The difference is 60 degrees, and the navigation guidance is enlarged by 2 times the original, at which point the turn ends. In this way, as the driver approaches the turn exit, the size of the navigation guidance displayed on the AR-HUD continuously increases, providing a better user experience.

[0084] To ensure that the baseline remains constant in each frame, the resolution of the environmental image captured by the vehicle remains constant in steps S701 to S703. A coordinate can be determined based on a pixel in each frame, thereby identifying the two pixels through which the baseline passes in the target frame. In any subsequent frame, the baseline is determined based on these two pixels. However, due to the large number of pixels and the high precision required, the stop-entry line in the actual captured environmental image is wide, making it difficult to accurately determine the coordinates based on the pixels. Figure 15 shows an enlarged image of baseline 901. Each white dot represents a pixel. The origin is the lower-left corner of the environmental image, with the positive direction being downward and to the left. Since baseline 901 has multiple possible values ​​for its ordinate while its abscissa remains constant, determining the baseline requires a strategy to select two pixels from the multiple pixels to determine the baseline in the next frame. This process is computationally expensive.

[0085] In order to simplify the determination of the baseline, referring to FIG16 , the above-mentioned process of obtaining a continuous multi-frame environment image within a preset range of the vehicle according to a preset frequency includes the following steps S1501 and S1502 .

[0086] In step S1501, multiple frames of initial environment images are collected continuously within a preset range of the vehicle at a preset frequency.

[0087] In step S1502 , each frame of the initial environment image is rasterized to obtain multiple frames of environment images.

[0088] The size of each grid is obtained by reducing the resolution of each frame of the initial environment image by a preset ratio.

[0089] The resolution of the environmental image captured by camera 124 in this vehicle is typically constant. Therefore, the size of each grid can be determined based on the image resolution. For example, if the image resolution is 1152×576 and the preset ratio is 1 / 100, the size of each grid is 11.52×5.76. Referring to FIG17 , the image obtained by rasterizing the image of FIG10 , the size of each grid is much larger than the size of a pixel. Reference line 901 is located within the grid, and each grid serves as a coordinate point. This facilitates determining the reference line based on the coordinate points.

[0090] Specifically, referring to FIG18 , when the entry stop line of the target frame environment image is located at a preset position, determining the baseline according to the entry stop line of the target frame environment image includes the following steps S1701 and S1702 .

[0091] In step S1701 , when the entry stop line of the target frame environment image is located at a preset position, the reference coordinates are determined according to the grid where the preset point of the entry stop line is located.

[0092] In step S1702 , a line passing through the reference coordinates and parallel to the horizontal axis is determined as a reference line.

[0093] Specifically, as shown in Figure 19, the target frame environment image, after acquisition and rasterization, is depicted. The lower left corner is the origin, the horizontal axis is the horizontal direction, and the vertical axis is the vertical axis. Reference coordinate 1801 is the midpoint of the stop-entry line corresponding to the vehicle's lane (the preset point of the stop-entry line). Line segment 1802, passing through reference coordinate 1801 and parallel to the horizontal axis, is defined as the reference line. The reference line may completely coincide with the stop-entry line, or there may be a small error, but the effect of this error on the angle is negligible.

[0094] Accordingly, corresponding to the rasterized environmental image, see FIG20 , the above-mentioned determination of the angle between the exit stop line and the baseline of the first environmental image during the turning process as the target angle includes the following steps S1901 to S1903 .

[0095] In step S1901, the coordinates of the stop point are determined according to the grid where the preset point of the exit stop line in the first environment image is located.

[0096] In this disclosure, different preset points can be set for different numbers of lanes at the turn exit, but the selected preset point remains unchanged during a turn. For example, in a single lane, when turning left, the intersection of the exit stop line and the outermost lane can be selected as the preset point. In a two-lane car, the intersection of the middle lane line and the exit stop line with the outermost lane can be selected as the preset point, or the intersection of the exit stop line and the outermost lane can be selected as the preset point. This disclosure does not make specific restrictions. In Figure 19, taking a left turn as an example, the intersection of the exit stop line and the outermost lane line is determined as the stop point coordinate 1803.

[0097] In step S1902 , the coordinates of the intersection point are determined based on the grid where the intersection point of the exit stop line and the baseline of the first environment image is located.

[0098] If the exit stop line and the baseline do not intersect, the exit stop line and the baseline are extended until the two lines intersect. The intersection coordinates 1804 are shown in FIG.

[0099] In step S1903, the target angle is determined according to the reference coordinates, the intersection point coordinates and the stop point coordinates.

[0100] In the present disclosure, the target angle is determined based on the reference coordinates, intersection coordinates, and stop point coordinates. Specifically, the vector dot product formula is used to derive the vector angle. For vector a and vector b, the vector dot product formula is: a×b = |a||b|cosθ, so the angle θ = acos(a×b) / (|a|×|b|). For example, the intersection coordinates, reference coordinates, and stop point coordinates are: A(1, 1), B(2, 1), C(2, 2), AC=(Cx-Ax, Cy-Ay)=(2-1, 2-1)(1, 1); AB=(Bx-Ax, By-Ay)=(2-1, 1-1)=(1, 0), cosA = (AB×AC) / (|AB|×|AC|)= , meaning that angle A is 45 degrees. In two dimensions, calculating the angle using vectors is computationally less complex, requiring only a single arc cosine operation. This saves computational effort and reduces the computing power required by the vehicle's computer.

[0101] In the present disclosure, in addition to indicating the distance to the exit of the turning intersection through the angle change of the navigation guidance, the distance to the exit can also be intuitively displayed on the windshield 204. Specifically, as shown in Figure 21, it is achieved through the following steps 2001 to 2003.

[0102] In step 2001 , the distance between the reference coordinates and the intersection coordinates is determined as the target radius.

[0103] In step 2002, in a target circle, a target arc length corresponding to a target included angle at the center angle of the circle is determined.

[0104] The center of the target circle is the intersection coordinate, and the radius of the target circle is the target radius.

[0105] In step 2003 , the target arc length is displayed in a graphical user interface of an augmented reality head-up display system of the host vehicle.

[0106] Since turns are typically short, the present disclosure approximates the driving trajectory at a turn as an arc. As shown in FIG22 , the center of target circle 210 is intersection coordinate 1804 , and the distance between reference coordinate 1801 and intersection coordinate 1804 is target radius 2101 . As the vehicle approaches the turn, angle 803 , i.e., the central angle, decreases, and the arc length corresponding to this central angle also decreases. This arc length corresponds to the distance between the vehicle and the exit of the turn.

[0107] Specifically, the target arc length corresponding to the target angle is calculated using the formula: (πr / 180) × θ, where r is the target radius and θ is the target angle. As shown in Figure 23, the "50m" displayed in partial area 5 of windshield 204 represents the distance to the exit of the turn. This allows the driver to more intuitively understand the current distance to the exit of the turn, providing better guidance.

[0108] In the present disclosure, in order to further reduce the data processing pressure of the vehicle computer, the method also includes: when the vehicle ends turning, controlling the vehicle to stop acquiring the environment image within a preset range.

[0109] Whether the vehicle has completed the turn can be determined based on the target angle or the target arc length. Specifically, when the target angle is less than or equal to the preset angle, it is determined that the vehicle has completed the turn; when the target angle is greater than the preset angle, it is determined that the vehicle has not completed the turn. Alternatively, when the target arc length is less than or equal to the preset arc length, it is determined that the vehicle has completed the turn; when the target arc length is greater than the preset arc length, it is determined that the vehicle has not completed the turn. After determining that the turn is completed, continue according to the original processing strategy for navigation guidance in the AR-HUD. In this way, after the turn is completed, there is no need to continue to acquire environmental images and continue subsequent processing, which reduces the processing pressure of the vehicle computer.

[0110] Based on the same inventive concept as the aforementioned technical solution, referring to FIG24 , a display control device 230 provided by the present disclosure is shown, and the display control device 230 may be the display control unit 150 shown in FIG1 or FIG4 , and the display control device 230 includes: an acquisition part 2301 and a control part 2302; wherein, the acquisition part 2301 is configured to acquire a baseline of a target turning intersection, and the baseline is used to indicate an entrance to the target turning intersection; the acquisition part 2301 is further configured to acquire a first angle change with the baseline during the turning process when exiting the stop line; the control part 2302 is configured to control a second angle change of the navigation guidance according to the first angle change.

[0111] In some examples, the acquisition part 2301 is specifically configured to acquire continuous multi-frame environmental images within a preset range of the vehicle at a preset frequency when it is determined that the distance between the vehicle and the target turning intersection is less than or equal to a preset distance; when the entry stop line of the target frame environmental image is at a preset position, the baseline is determined according to the entry stop line of the target frame environmental image, and the multi-frame environmental images include the target frame environmental image.

[0112] In some examples, the acquisition portion 2301 is specifically configured to determine the angle between the baseline and the exit stop line of the target frame environmental image as a reference angle; determine the angle between the exit stop line and the baseline of the first environmental image during the turning process as a target angle, where the first environmental image is an environmental image subsequent to the target frame environmental image; and determine the change in the target angle relative to the reference angle as a first angle change.

[0113] In some examples, the acquisition part 2301 is specifically configured to collect multiple frames of continuous initial environmental images within a preset range of the vehicle at a preset frequency; each frame of the initial environmental image is rasterized to obtain multiple frames of environmental images, and the size of each grid is obtained by reducing the resolution of each frame of the initial environmental image by a preset ratio.

[0114] In some examples, the acquisition part 2301 is specifically configured to determine the reference coordinates based on the grid where the preset point of the entry stop line is located when the entry stop line of the target frame environment image is at a preset position; and determine the line passing through the reference coordinates and parallel to the horizontal axis as the reference line.

[0115] In some examples, the acquisition portion 2301 is specifically configured to determine the stop point coordinates based on the grid where the preset point of the exit stop line of the first environmental image is located; determine the intersection point coordinates based on the grid where the intersection point of the exit stop line of the first environmental image and the baseline is located; and determine the target angle based on the baseline coordinates, the intersection point coordinates and the stop point coordinates.

[0116] In some examples, the display control device 230 also includes a display part and a determination part, the determination part is configured to determine the distance between the reference coordinates and the intersection coordinates as the target radius; in the target circle, the center angle is determined to be the target arc length corresponding to the target angle, the center of the target circle is the intersection coordinates, and the radius of the target circle is the target radius; the display part is configured to display the target arc length in the graphical user interface of the augmented reality-head-up display system of the vehicle.

[0117] In some examples, the determination part is also configured to, after determining the target angle based on the reference coordinates, the intersection point coordinates and the stop point coordinates, determine that the vehicle's turn is completed if the target angle is less than or equal to a preset angle; and determine that the vehicle's turn is not completed if the target angle is greater than the preset angle.

[0118] In some examples, the determination part is further configured to determine, in the target circle, after determining the target arc length corresponding to the target angle with the center angle of the circle being the target angle, and if the target arc length is less than or equal to the preset arc length, determine that the vehicle's turn is complete; if the target arc length is greater than the preset arc length, determine that the vehicle's turn is not complete.

[0119] In some examples, the control portion 2302 is further configured to control a change in the display size of the navigation guide according to the first angle change after obtaining a first angle change relative to the baseline during the turning process when exiting the stop line.

[0120] In the embodiment of the present application, each module can implement the display control method provided by the above method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0121] Reference is made to Figure 25, which shows a block diagram of a display control device according to an exemplary embodiment of the present disclosure. In some examples, the display control device has communication capabilities and can access a wired or wireless network. In some examples, the display control device can receive data based on the accessed wired or wireless network. It is understood that the display control device is responsible for the calculation and processing of the technical solution of the present disclosure, and the present disclosure does not limit this.

[0122] As shown in FIG. 25 , the display control device shown in the present disclosure may include one or more of the following components: a processor 2410 and a memory 2420 .

[0123] Optionally, the processor 2410 utilizes various interfaces and circuits to connect various components within the computing device. It executes instructions, programs, code sets, or instruction sets stored in the memory 2420, as well as accesses data stored in the memory 2420, to perform various functions of the computing device and process data. Optionally, the processor 2410 can be implemented in at least one hardware form: a digital signal processing (DSP), a field programmable gate array (FPGA), or a programmable logic array (PLA). The processor 2410 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a neural network processing unit (NPU), and a baseband chip. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing content displayed on the touchscreen display; the NPU is used to implement artificial intelligence (AI) functions; and the baseband chip handles wireless communications. It is understandable that the above-mentioned baseband chip may not be integrated into the processor 2410, but may be implemented by a separate chip.

[0124] Memory 2420 may include random access memory (RAM) or read-only memory (ROM). Optionally, memory 2420 includes non-transitory computer-readable storage medium. Memory 2420 may be used to store instructions, programs, code, code sets, or instruction sets. Memory 2420 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), and instructions for implementing each of the above method embodiments. The data storage area may store data created based on the use of the computing device.

[0125] In addition, those skilled in the art will understand that the structures of the computing devices shown in the above figures do not constitute limitations on the computing devices. The computing devices may include more or fewer components than shown, or may combine certain components or arrange the components differently. For example, the computing devices may also include a display screen, a camera assembly, a microphone, a speaker, a radio frequency circuit, an input unit, sensors (such as an accelerometer, an angular velocity sensor, a light sensor, etc.), an audio circuit, a WiFi module, a power supply, a Bluetooth module, and other components, which will not be described in detail here.

[0126] The present disclosure also provides a computer-readable storage medium storing at least one instruction, wherein the at least one instruction is used to be executed by a processor to implement the display control method described in the above embodiments.

[0127] The present disclosure also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium; a processor of a computing device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computing device executes to implement the display control method described in each of the above embodiments.

[0128] The present disclosure also provides a head-up display device, which includes a display control unit and a display unit; the display control unit is configured to obtain a baseline of a target turning intersection, where the baseline is used to indicate an entrance to the target turning intersection; and obtain a first angle change with the baseline when exiting the stop line during the turning process; and is configured to control a second angle change of the navigation guidance based on the first angle change; the display unit is configured to project the navigation guidance onto the windshield of the vehicle for display based on the control of the display control unit.

[0129] The present disclosure also provides a vehicle, including the above-mentioned head-up display device, and the vehicle can implement each process of the display control method provided by the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0130] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in this disclosure can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0131] It should be noted that the technical solutions described in this disclosure can be combined arbitrarily without conflict.

[0132] The exemplary embodiments of the present disclosure described in detail above are merely illustrative and not restrictive. Those skilled in the art will appreciate that various modifications and combinations may be made to these embodiments or their features without departing from the principles and spirit of the present disclosure, and such modifications should fall within the scope of the present disclosure. Industrial Applicability

[0133] In this embodiment, a baseline of the target turning intersection is obtained, indicating the entrance to the target turning intersection. A first angle change between the vehicle and the baseline during the turning process is obtained. Based on the first angle change, a second angle change in the navigation guidance is controlled. In this way, at the turning intersection, the angle of the navigation guidance continuously changes in real time as the vehicle progresses through the intersection. The navigation guidance gesture allows the driver to intuitively sense the vehicle's distance from the exit of the turning intersection, thereby enhancing the driving experience.

Claims

1. A display control method, characterized in that, The display control method includes: Obtaining a reference line of a target turning intersection, where the reference line is used to indicate the entrance of the target turning intersection; Obtaining a first angle change between the stop line when driving out during the turning process and the reference line; Controlling a second angle change of the navigation guidance according to the first angle change.

2. The display control method according to claim 1, wherein The obtaining of the reference line of the target turning intersection includes: When it is determined that the distance between the vehicle itself and the target turning intersection is less than or equal to a preset distance, obtaining a plurality of consecutive environmental images within a preset range of the vehicle itself at a preset frequency; When the entrance stop line in the target frame environmental image is located at a preset position, determining the reference line according to the entrance stop line in the target frame environmental image, where the plurality of environmental images include the target frame environmental image.

3. The display control method according to claim 2, wherein The obtaining of the first angle change between the stop line when driving out during the turning process and the reference line includes: Determining the included angle between the reference line and the exit stop line in the target frame environmental image as a reference included angle; Determining the included angle between the exit stop line in the first environmental image during the turning process and the reference line as a target included angle, where the first environmental image is an environmental image after the target frame environmental image; Determining the change of the target included angle relative to the reference included angle as the first angle change.

4. The display control method according to claim 3, wherein The obtaining of a plurality of consecutive environmental images within a preset range of the vehicle itself at a preset frequency includes: Collecting a plurality of consecutive initial environmental images within a preset range of the vehicle itself at a preset frequency; Performing rasterization processing on each frame of the initial environmental image to obtain the plurality of environmental images, where the size of each grid is obtained by reducing the resolution of each frame of the initial environmental image by a preset ratio.

5. The display control method according to claim 4, wherein The determining of the reference line according to the entrance stop line in the target frame environmental image when the entrance stop line in the target frame environmental image is located at a preset position includes: When the entrance stop line in the target frame environmental image is located at a preset position, determining a reference coordinate according to the grid where the preset point of the entrance stop line is located; Determining the line passing through the reference coordinate and parallel to the horizontal axis as the reference line.

6. The display control method according to claim 5, wherein The determining of the included angle between the exit stop line in the first environmental image during the turning process and the reference line as the target included angle includes: Determining a stop point coordinate according to the grid where the preset point of the exit stop line in the first environmental image is located; Determining an intersection point coordinate according to the grid where the intersection point of the exit stop line in the first environmental image and the reference line is located; Determining the target included angle according to the reference coordinate, the intersection point coordinate, and the stop point coordinate.

7. The display control method according to claim 6, wherein The display control method further includes: Determining the distance between the reference coordinate and the intersection point coordinate as a target radius; In a target circle, determining a target arc length corresponding to the target included angle as the central angle, where the center of the target circle is the intersection point coordinate and the radius of the target circle is the target radius; Displaying the target arc length in the graphical user interface of the augmented reality - head-up display system of the vehicle itself.

8. The display control method according to claim 6, characterized in that After determining the target included angle according to the reference coordinate, the intersection point coordinate, and the stop point coordinate, the display control method further includes: When the target included angle is less than or equal to the preset angle, it is determined that the turning of the vehicle ends; When the target included angle is greater than the preset angle, it is determined that the turning of the vehicle does not end.

9. The display control method according to claim 7, wherein After determining the target arc length corresponding to the target included angle with the central angle in the target circle, the display control method further includes: When the target arc length is less than or equal to the preset arc length, it is determined that the turning of the vehicle ends; When the target arc length is greater than the preset arc length, it is determined that the turning of the vehicle does not end.

10. The display control method according to any one of claims 1 to 9, characterized in that, After obtaining the first angle change between the driving-out stop line and the reference line during the turning process, the display control method further includes: Controlling the change of the display size of the navigation guidance according to the first angle change.

11. A display control device, characterized in that, The display control device includes: an acquisition part and a control part; The acquisition part is configured to acquire the reference line of the target turning intersection, and the reference line is used to indicate the entrance of the target turning intersection; The acquisition part is further configured to acquire the first angle change between the driving-out stop line and the reference line during the turning process; The control part is configured to control the second angle change of the navigation guidance according to the first angle change.

12. A display control device, characterized in that, The display control device includes: a processor and a memory; the processor is used to execute the instructions stored in the memory to implement the display control method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the display control method according to any one of claims 1 to 10.

14. A head-up display device, characterized in that, The head-up display device includes a display control unit and a display unit; wherein, The display control unit is configured to acquire the reference line of the target turning intersection, and the reference line is used to indicate the entrance of the target turning intersection; and acquire the first angle change between the driving-out stop line and the reference line during the turning process; and is configured to control the second angle change of the navigation guidance according to the first angle change; The display unit is configured to project the navigation guidance onto the windshield of the vehicle for display based on the control of the display control unit.

Images