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. The method comprises: when it is detected that there is an obstacle ahead of a present vehicle in its driving direction, acquiring attribute information of the obstacle; when the obstacle is located in the current driving lane of the present vehicle, on the basis of the attribute information of the obstacle and driving state data of the present vehicle, determining and displaying a first obstacle avoidance area corresponding to the obstacle; detecting whether there is another vehicle in an overtaking lane for the present vehicle to overtake; when another vehicle is detected in the overtaking lane, on the basis of driving state data of the another vehicle and the driving state data of the present vehicle, determining and displaying a second obstacle avoidance area corresponding to the another vehicle; and, on the basis of the first obstacle avoidance area and the second obstacle avoidance area, controlling the display mode of a leading line of the present vehicle so as to give a prompt of a driving operation for safely avoiding the obstacle.

Description

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

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to a Chinese patent application filed with the Patent Office of China on January 22, 2024, with application number 2024100900899 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

[0003] 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

[0004] A head-up display (HUD) device projects light from an image source onto an imaging window (e.g., an imaging board, windshield, etc.) through, for example, a reflective optical design, to display vehicle status information such as speed and fuel level, as well as navigation, hazard warnings, and other indication information at an appropriate location in front of the driver. This allows the driver to obtain relevant information such as speed and fuel level without shifting their line of sight from the road ahead, thereby improving driving safety and the driving experience.

[0005] Technical content

[0006] The present disclosure provides a head-up display device, a display control method, a device, and a storage medium, which can intuitively and safely guide a driver to avoid obstacles during driving.

[0007] The technical solution of the present disclosure is achieved as follows:

[0008] In a first aspect, the present disclosure provides a display control method, the method comprising:

[0009] When an obstacle is detected ahead of the vehicle's travel direction, acquiring attribute information of the obstacle;

[0010] When the obstacle is in the current driving lane of the host vehicle, a first obstacle avoidance area corresponding to the obstacle is determined based on the attribute information of the obstacle and the driving state data of the host vehicle and is displayed;

[0011] Detect whether there are other vehicles in the lane where the vehicle needs to borrow the lane;

[0012] When another vehicle is detected in the borrowing lane, determining and displaying a second obstacle avoidance area corresponding to the other vehicle based on the driving status data of the other vehicle and the driving status data of the own vehicle;

[0013] The display mode of the trajectory line of the host vehicle is controlled based on the first obstacle avoidance area and the second obstacle avoidance area to prompt the driver to perform a driving operation to safely avoid the obstacle.

[0014] In a second aspect, the present disclosure provides a display control device, comprising: a detection part, an acquisition part, a determination part, and a control part; wherein,

[0015] The detection part is configured to detect whether there is an obstacle ahead of the vehicle in the direction of travel;

[0016] The acquisition part is configured to acquire attribute information of the obstacle when detecting that there is an obstacle ahead of the vehicle in the direction of travel;

[0017] The determining portion is configured to, when the obstacle is in the current driving lane of the host vehicle, determine and display a first obstacle avoidance area corresponding to the obstacle based on the attribute information of the obstacle and the driving state data of the host vehicle;

[0018] The detection part is further configured to detect whether there are other vehicles in the lane where the vehicle needs to borrow the lane;

[0019] The determining section is further configured to, when another vehicle is detected in the borrowing lane, determine and display a second obstacle avoidance area corresponding to the other vehicle based on the driving state data of the other vehicle and the driving state data of the own vehicle;

[0020] The control section is configured to control a display mode of the trajectory line of the host vehicle based on the first obstacle avoidance area and the second obstacle avoidance area to prompt a driving operation to safely avoid the obstacle.

[0021] 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.

[0022] 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.

[0023] In a fifth aspect, the present disclosure provides a head-up display device, comprising a display control unit and a display unit; wherein,

[0024] The display control unit is configured to obtain attribute information of the obstacle when detecting that there is an obstacle ahead of the vehicle in the direction of travel;

[0025] and, when the obstacle is in the current driving lane of the host vehicle, determining and displaying a first obstacle avoidance area corresponding to the obstacle based on the attribute information of the obstacle and the driving state data of the host vehicle;

[0026] Also, detecting whether there are other vehicles in the lane where the vehicle needs to borrow the lane;

[0027] and, when another vehicle is detected in the borrowing lane, determining and displaying a second obstacle avoidance area corresponding to the other vehicle based on the driving status data of the other vehicle and the driving status data of the own vehicle;

[0028] controlling a display mode of the trajectory line of the host vehicle based on the first obstacle avoidance area and the second obstacle avoidance area to prompt a driving operation to safely avoid the obstacle;

[0029] The display unit is configured to project and display the first obstacle avoidance area, the second obstacle avoidance area, and the track line onto a windshield of the vehicle under the control of the display control unit.

[0030] In a sixth aspect, the present disclosure provides a vehicle, comprising the head-up display device described in the fifth aspect.

[0031] The present disclosure provides a head-up display device, a display control method, a device and a storage medium; when a vehicle is avoiding an obstacle, the device prompts the driver's driving operation by combining a first obstacle avoidance area corresponding to the obstacle and a second obstacle avoidance area corresponding to other vehicles in the passing lane, thereby intuitively and safely guiding the driver to avoid obstacles during driving.

[0032] BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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.

[0034] FIG1 is a schematic diagram showing the composition of a vehicle-mounted system provided by the present disclosure.

[0035] FIG. 2 is an exemplary top view of a vehicle provided by the present disclosure.

[0036] FIG. 3 is an exemplary perspective view from a driver's seat of a vehicle provided by the present disclosure.

[0037] FIG4 is a schematic diagram of the architecture of the head-up display device provided by the present disclosure.

[0038] FIG5 is a schematic diagram of an image of a track line provided by the present disclosure.

[0039] FIG6 is a flow chart of a display control method provided by the present disclosure.

[0040] FIG7(A) is a schematic diagram of an obstacle in a driving lane provided by the present disclosure.

[0041] FIG7(B) is a schematic diagram of an obstacle observed by a driver provided by the present disclosure.

[0042] FIG8(A) is a schematic diagram of an offset distance provided by the present disclosure.

[0043] FIG8(B) is another schematic diagram of offset distance provided by the present disclosure.

[0044] FIG9(A) is a schematic diagram of a first obstacle avoidance area provided by the present disclosure.

[0045] FIG9(B) is another schematic diagram of a first obstacle avoidance area provided by the present disclosure.

[0046] FIG10(A) is a schematic diagram of observing a first obstacle avoidance area provided by the present disclosure.

[0047] FIG10(B) is a schematic diagram of observing another first obstacle avoidance area provided by the present disclosure.

[0048] FIG11(A) is a schematic diagram showing an observation of a second obstacle avoidance area provided by the present disclosure.

[0049] FIG11(B) is a schematic diagram showing another second obstacle avoidance area provided by the present disclosure.

[0050] FIG12(A) is a schematic diagram showing another type of second obstacle avoidance area provided by the present disclosure.

[0051] FIG12(B) is a schematic diagram showing another type of second obstacle avoidance area provided by the present disclosure.

[0052] FIG13 is a flow chart of a method for controlling the display of the vehicle's track line provided by the present disclosure.

[0053] FIG14 is a schematic diagram of display according to the first display mode provided by the present disclosure.

[0054] FIG15(A) is a schematic diagram of a track line length provided by the present disclosure.

[0055] FIG15(B) is another schematic diagram of track length provided by the present disclosure.

[0056] FIG16 is a schematic diagram of display according to the second display mode provided by the present disclosure.

[0057] FIG17 is a schematic diagram of display according to the third display mode provided by the present disclosure.

[0058] FIG18 is a schematic diagram of display according to the fourth display mode provided by the present disclosure.

[0059] FIG19 is a schematic diagram showing the composition of a display control device provided by the present disclosure.

[0060] FIG20 is a schematic structural diagram of a display control device provided by the present disclosure. DETAILED DESCRIPTION

[0061] 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.

[0062] 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 this 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, a vehicle equipped with this in-vehicle system 100 will be referred to as the vehicle itself.

[0063] 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 during driving, a vehicle driving state detection device group 130, a data processing unit 140, a display control unit 150, and a display unit 160. The above 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 above components or device groups. It should be noted that FIG1 only shows a portion of the vehicle-mounted system 100, and not all components of the vehicle-mounted system 100.

[0064] In Figure 1 , the navigation subsystem 110 includes a positioning device 111 and a map information storage device 112. Positioning device 111 can locate 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 obtain a navigation route to the destination based on the location information obtained from positioning device 111. The location information and navigation route are then displayed in a map application.

[0065] 1 , the environment detection device group 120 may include an onboard 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.

[0066] The in-vehicle communication device 121 can communicate wirelessly with one or more devices directly or via a communication network. These devices that can communicate with the in-vehicle communication device 121 can be other vehicles, roadside devices or roadside stations, or mobile terminal devices used by passengers in the vehicle. In some examples, the in-vehicle communication device 121 can use 3G cellular communication, such as code division multiple access (CDMA), EVDO, global system for mobile communications (GSM) / general packet radio service (GPRS), or 4G cellular communication, such as long term evolution (LTE), or 5G cellular communication. 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 use infrared links, Bluetooth, or ZigBee to communicate directly with devices. In some examples, the in-vehicle communication device 121 can also use other wireless protocols to communicate with devices.

[0067] The radar 122 is used to sense objects in the surrounding environment of the vehicle, and can also be used to sense the speed and / or direction of these objects. In some examples, the radar 122 can use electromagnetic waves or lasers as a medium to detect objects based on a time of flight (TOF) method or a phase-shift method, and detect the position of the detected object, the distance to the detected object, and the relative speed. In some examples, in order to be able to detect objects located in front of, behind, or to the side of the vehicle, the radar 122 can be configured at an appropriate location outside the vehicle.

[0068] The laser rangefinder 123 may utilize laser light to sense objects in the environment in which the host vehicle is located. 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.

[0069] Camera 124 can be used to capture multiple images of the vehicle's surroundings. Camera 122 can be a still camera or a video camera. In some examples, to capture images of the vehicle's exterior, camera 122 can be located at an appropriate location outside the vehicle. For example, to capture images of the front of the vehicle, camera 122 can be positioned within the vehicle's interior, close to the front windshield. Alternatively, camera 122 can be positioned around the front bumper or radiator grille. In some examples, to capture images of the rear of the vehicle, camera 122 can be positioned within the vehicle's interior, close to the rear window. Alternatively, camera 122 can be positioned around the rear bumper, trunk, or tailgate. In some examples, to capture images of the sides of the vehicle, camera 122 can be positioned within the vehicle's interior, close to at least one of the side windows. Alternatively, camera 122 can be positioned around the side mirrors, fenders, or doors.

[0070] In Figure 1 , vehicle driving state detection device group 130 may include a steering angle sensor 131 for detecting the steering angle of the vehicle, a vehicle speed sensor 132 for detecting the vehicle's driving speed, and an acceleration sensor 133 for detecting acceleration applied to the vehicle. In some examples, as shown in the dashed box, an inertial sensor 134 may also be included to detect changes in the 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.

[0071] 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 vehicle 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.

[0072] In FIG1 , as shown by the dashed box, the display control unit 150 and the display unit 160 may serve as the main body of a head-up display (HUD) 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 vehicle 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 vehicle's windshield for display via the display unit 160.

[0073] 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.

[0074] 3 , the windshield 204 is visually positioned above the vehicle dashboard 206. The driver can turn the steering wheel 210 within the passenger compartment 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.

[0075] The head-up display 170 (see FIG. 4 ) projects display information 212 (e.g., a virtual image) onto a portion of the windshield 204 through one or more apertures (e.g., aperture 216 ) in the instrument panel 206 . Although FIG. 3 illustrates an example size of the display information 212 , the display information 212 may be presented over a larger or smaller area. Examples of the display information 212 include various vehicle information, such as the current vehicle speed, the current gear of the vehicle's transmission, the engine speed, the vehicle's direction of travel, the current infotainment system settings, and / or other vehicle information. The head-up display 170 provides information to the vehicle driver without the driver having to look away from objects in front of the vehicle.

[0076] 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 environment detection device group 120, and the vehicle 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.

[0077] The optical path component 162 reflects the output of the light source 161 onto the windshield 204 through the hole 216. The viewer (e.g., the driver) can view the display information 212 in the display area projected onto the windshield 204. In some examples, the optical path component 162 may include one or more reflectors (plane mirrors) and concave mirrors (magnifying glasses). The output of the light source 161 is reflected back by the reflector and magnified by the concave mirror and then reflected onto the windshield 204 to form a virtual image 40 that can be visually observed by the driver. The visual effect presented by the virtual image 40 is that the virtual image 40 is projected onto a projection surface 41 at a set distance in front of the vehicle, but the real environment remains visible through the projection surface 41. In some examples, the optical path component 162 may also be omitted, and the light source 161 may project the display information 212 directly onto the windshield 204 to form the virtual image 40 on the projection surface 41.

[0078] As shown in Figures 1 to 4 above, when the vehicle is driving, the display control unit 150 determines the direction information of the vehicle's driving trajectory based on the vehicle's position information and the navigation path provided by the navigation subsystem 110, and projects the direction information of the driving trajectory onto the windshield 204 in the form of a track line through the display unit 160. The driver can drive the vehicle to the destination along the guided road according to the guidance of the projected track line. For example, as shown in Figure 5, in the display area 5 of the windshield 204, the track line 51 is displayed as being covered on the driving road. Since the track line 51 is a virtual image formed by the display unit 160, its figure mark is indicated by a dotted line in Figure 5. The lane line 52 of the driving road is a scene in the real environment, so its figure mark is indicated by a solid line in Figure 5. In FIG5 , the track line 51 is shown as a line extending from the front of the vehicle toward the direction of travel. The extension direction of the line corresponds to the direction of the vehicle's travel trajectory. If the current direction of the travel trajectory is a straight-ahead direction, the track line 51 shown in FIG5 will correspondingly appear to extend from the front of the vehicle in a straight-ahead direction. In some examples, as the direction of the travel trajectory changes, the extension direction of the track line 51 will also change corresponding to the direction of the travel trajectory. As can be seen from FIG5 , the track line 51 can intuitively show the driver the direction of the travel trajectory, allowing the driver to see relevant information without having to lower his head, thereby improving safety and convenience. It is a visual aid used to assist the driver in better understanding the vehicle's position and intended travel path during driving.

[0079] During the driving process of this vehicle, when there is an obstacle in front of the driving direction of this vehicle, such as a static obstacle such as a large stone or a pit, the obstacle can be detected by a device in the environmental detection device group 120, such as the radar 122, the laser rangefinder 123 or the camera 124. The display control unit 150 controls the display mode of the track line 51 based on the detected obstacle to warn the driver. For example, in some related scheme examples, the display control unit 150 can control the extension direction of the track line 51 displayed on the display unit 160 to bypass the obstacle, so that the driver can control the driving direction of this vehicle based on the extension direction of the track line 51 bypassing the obstacle, thereby avoiding the obstacle.

[0080] During the implementation of the aforementioned solutions, drivers often attempt to avoid obstacles by changing to an adjacent lane or maneuvering in an adjacent lane. However, if there are other vehicles in the adjacent lane, such maneuvers can easily lead to traffic accidents such as scraping or rear-ending the other vehicle when changing lanes or using the adjacent lane. To reduce the likelihood of traffic accidents and improve driving safety, the present disclosure aims to provide early warning of obstacles while also incorporating the driving conditions of vehicles in adjacent lanes, intuitively and safely guiding drivers to avoid the obstacle.

[0081] Based on this, as shown in FIG6 , an example of a display control method provided by the present disclosure is shown, which can be executed by the aforementioned head-up display device 170, and in particular, can be executed by the display control unit 150 in the aforementioned head-up display device 170. The method shown in FIG6 includes steps S601 to S603.

[0082] In step S601 , when an obstacle is detected ahead of the vehicle's traveling direction, attribute information of the obstacle is acquired.

[0083] In the present disclosure, as shown in FIG7(A) as an example, a vehicle 71 equipped with the vehicle-mounted system 100 shown in FIG1 is traveling in a current lane 72. When an obstacle 73 is present in front of the vehicle 71 in its direction of travel, the vehicle 71 can detect the obstacle 73 using devices in the environmental detection device group 120, such as a radar 122, a laser rangefinder 123, or a camera 124. The vehicle 71 can also use the devices in the environmental detection device group 120 to obtain attribute information of the obstacle 73, such as the location and size of the obstacle 73. Furthermore, based on the attribute information of the obstacle 73, it can be determined whether the obstacle is in the current lane 72 of the vehicle 71. FIG7(B) shows what the driver sees through the windshield when an obstacle 73 is present in the current lane 72 of the vehicle 71 and is visible in front of the vehicle 71. In the present disclosure, the obstacle 73 existing in the right front of the vehicle 71 is used as an example for explanation. It can be understood that the technical solution provided by the present disclosure can also be applied to the situation where the obstacle 73 exists in the left front of the vehicle 71, and the present disclosure will not elaborate on this.

[0084] In step S602, when an obstacle is located in the current driving lane of the host vehicle, a first obstacle avoidance area corresponding to the obstacle is determined based on the attribute information of the obstacle and the driving state data of the host vehicle.

[0085] In the present disclosure, during driving, the vehicle 71 will usually deviate in a direction away from an obstacle to bypass the obstacle. When the vehicle deviates in a direction away from an obstacle, the distance of the deviation from the obstacle is usually related to the road area occupied by the obstacle compared to the driving direction before the deviation, for example, the schematic diagram of the road area occupied by the obstacle shown in Figure 8 (A) and Figure 8 (B). The area of ​​the lane occupied by the obstacle in Figure 8 (A) is smaller than the area of ​​the lane occupied by the obstacle in Figure 8 (B). When bypassing the obstacle, the vehicle 71 in Figure 8 (B) will deviate a greater distance (as shown by the distance that the dotted arrow deviates from the solid arrow in the figure) relative to the driving direction before the deviation (as shown by the solid arrow in the figure) compared to the vehicle 71 in Figure 8 (A) to bypass the obstacle.

[0086] In addition, when the vehicle 71 deviates in the direction away from the obstacle, the offset distance away from the obstacle is usually related to the driving speed of the vehicle 71. For example, when the driving speed of the vehicle 71 is high, the offset distance is large; when the driving speed is low, the offset distance is small, thereby ensuring that the vehicle 71 will not collide with the obstacle when bypassing the obstacle.

[0087] Taking the obstacle as a benchmark, the present disclosure defines the area within the above two offset distance ranges as the first obstacle avoidance area described in step S602. That is, if the vehicle needs to safely bypass the obstacle, the vehicle should not drive into the first obstacle avoidance area.

[0088] Regarding the definition of the first obstacle avoidance area described above, in some examples, determining and displaying the first obstacle avoidance area corresponding to the obstacle based on the attribute information of the obstacle and the driving status data of the host vehicle in step S602 may include:

[0089] Determine the lane area occupied by the obstacle on the current driving lane based on the location information and size information of the obstacle;

[0090] Determine a first safe distance between the vehicle and the obstacle boundary based on the occupied lane area and the vehicle's speed; wherein the first safe distance is positively correlated with the vehicle's speed;

[0091] Based on the obstacle boundary, a first obstacle avoidance area is determined and displayed according to a first safety distance.

[0092] Specifically, in the above example, after host vehicle 71 obtains the location of obstacle 73 according to the example described in step S601, it can determine the specific location of obstacle 73 in the current lane 72. For example, obstacle 73 is located at the center of lane 72, or one meter to the right of the center of lane 72. Subsequently, based on the size of obstacle 73 and its specific location in lane 72, the area of ​​lane 72 that obstacle 73 covers laterally can be determined, i.e., the occupied lane area described in the above example. Based on the occupied lane area of ​​obstacle 73, when host vehicle 71 safely circumvents obstacle 73, it must maintain a safety distance, i.e., a first safety distance, between itself and the boundary of obstacle 73. This safety distance is related to the speed of the host vehicle: faster speeds increase the safety distance, while slower speeds decrease the safety distance. Based on this first safety distance, the area within the first safety distance, with obstacle 73 as the reference, can be referred to as the first obstacle avoidance zone. It should be noted that, since the first safety distance is positively correlated with the vehicle's driving speed, the range of the first obstacle avoidance area is also positively correlated with the vehicle's driving speed, which will not be elaborated in this disclosure.

[0093] For example, taking the obstacle shown in FIG8(A) as an example, referring to FIG9(A) and FIG9(B), the driving speed of vehicle 71 in FIG9(A) is less than the driving speed of vehicle 71 in FIG9(B). Therefore, the size of first obstacle avoidance area 91-A corresponding to obstacle 73 shown by the dashed arc in FIG9(A) is smaller than the size of first obstacle avoidance area 91-B corresponding to obstacle 73 shown by the dashed arc in FIG9(B). In a specific implementation, display control unit 150 can project the first obstacle avoidance area onto obstacle 73 via display unit 160 to prompt the driver. Corresponding to the first obstacle avoidance area shown in FIG9(A) and FIG9(B), the first obstacle avoidance area observed by the driver is shown in FIG10(A) and FIG10(B), respectively. It can be understood that in Figures 10(A) and 10(B) and some of the subsequent figures shown in this disclosure, the display control unit 150 can also project the road speed limit information, the current speed information of the vehicle and the current driving gear information of the vehicle into the display area 5 of the windshield through the display unit 160.

[0094] In step S603, it is detected whether there are other vehicles in the lane where the vehicle needs to borrow the lane.

[0095] In the present disclosure, the vehicle 71 can offset the obstacle 73 based on the above-mentioned first obstacle avoidance area to bypass the obstacle 73. However, when offsetting, it is usually necessary to use the adjacent lane for driving. When it is necessary to use the lane, the equipment such as radar 122, laser rangefinder 123 or camera 124 in the environmental detection equipment group 120 can also be used to detect whether there are other vehicles on the borrowing lane. In combination with the above-mentioned disclosure, taking the obstacle 73 existing in the right front of the vehicle 71 as an example, the borrowing lane that the vehicle 71 needs to use is the left lane adjacent to the current driving lane 72 of the vehicle 71. It can be understood that the equipment in the environmental detection equipment group 120 can not only detect whether there are other vehicles on the borrowing lane, but also perceive the driving status of the other vehicles when detecting other vehicles, such as the driving direction, driving speed and vehicle size of the other vehicles.

[0096] In step S604, when another vehicle is detected in the borrowing lane, a second obstacle avoidance area corresponding to the other vehicle is determined based on the driving status data of the other vehicle and the driving status data of the own vehicle and is displayed.

[0097] In the present disclosure, if there is another vehicle in the borrowing lane, and the other vehicle's speed causes it to meet the host vehicle 71 in the same or opposite direction near the obstacle 73, then the other vehicle in the borrowing lane will affect the host vehicle 71's ability to circumvent the obstacle 73. If the other vehicle in the borrowing lane is traveling faster and passes the obstacle 73 before the host vehicle 71, or if the other vehicle is traveling slower and passes the obstacle 73 later than the host vehicle 71, then the other vehicle will not affect the host vehicle 71's ability to circumvent the obstacle.

[0098] Based on this, in some examples, determining and displaying the second obstacle avoidance area corresponding to the other vehicle based on the driving status data of the other vehicle and the driving status data of the own vehicle in step S604 includes:

[0099] Determine whether other vehicles are about to meet your vehicle near an obstacle based on their direction and speed.

[0100] When other vehicles are about to meet this vehicle near an obstacle, obtain the position information of other vehicles in the borrowing lane;

[0101] Obtaining the relative speed between the other vehicle and the own vehicle based on the speed of the other vehicle;

[0102] Determining a second safe distance between the vehicle and the other vehicle when the vehicle and the other vehicle meet based on the position information and relative speed of the other vehicle in the borrowing lane; wherein the second safe distance is positively correlated with the relative speed;

[0103] Based on other vehicles, a second obstacle avoidance area is determined and displayed according to a second safety distance.

[0104] Specifically, in the above example, when it is determined that another vehicle in the passing lane will be approaching vehicle 71 in the same or opposite direction near obstacle 73, a safety distance must be reserved for the vehicle. To determine the second safety distance between the vehicle and the other vehicle, the position of the other vehicle in the passing lane is first determined based on the detected position information of the other vehicle. For example, the other vehicle is located at the center of the passing lane or one meter to the right of the center of the passing lane. Furthermore, the relative speed between the two vehicles can be determined based on their respective speeds. If the relative speed is high, a larger second safety distance must be reserved; if the relative speed is low, a smaller second safety distance must be reserved. After obtaining the position information of the other vehicle in the passing lane, the area within the second safety distance, based on the position of the other vehicle in the passing lane, can be referred to as the second obstacle avoidance zone. It should be noted that since the second safety distance is positively correlated with the relative speed, the extent of the second obstacle avoidance zone is also positively correlated with the relative speed. This is not further described in this disclosure.

[0105] For example, as shown in Figures 11(A) and 11(B), the other vehicles in the borrowing lane in Figure 11(A) are located at the center of the borrowing lane, and the other vehicles in the borrowing lane in Figure 11(B) are located 1 meter to the right of the center of the borrowing lane. When the relative speed of the other vehicles is the same as that of the host vehicle, the reserved second safety distance is also the same. At this time, the second obstacle avoidance area displayed by the display control unit 150 via the display unit 160 can be seen from Figures 11(A) and 11(B): the position of the second obstacle avoidance area 11-A in Figure 11(B) is offset to the right of the position of the second obstacle avoidance area 11-B in Figure 11(A).

[0106] In addition, taking the other vehicles in the borrowing lane shown in Figure 11(A) as an example, which are located at the center of the borrowing lane, refer to Figure 12(A) and Figure 12(B). The relative speed between the other vehicles and the vehicle 71 in Figure 12(A) is smaller than the relative speed between the other vehicles and the vehicle 71 in Figure 12(B). Therefore, the second safety distance in Figure 12(A) is smaller than the second safety distance in Figure 12(B). Then the size of the second obstacle avoidance area 12-A shown in Figure 12(A) is smaller than the size of the second obstacle avoidance area 12-A shown in Figure 12(B).

[0107] In step S605 , the display mode of the trajectory line of the host vehicle is controlled based on the first obstacle avoidance area and the second obstacle avoidance area to prompt the driver to perform a driving operation to safely avoid obstacles.

[0108] In the present disclosure, after obtaining the first obstacle avoidance area and the second obstacle avoidance area through the above steps, the display mode of the vehicle's trajectory line can be controlled to remind the driver to safely detour to avoid the obstacle while paying attention to the first obstacle avoidance area and the second obstacle avoidance area at the same time.

[0109] Through the technical solution shown in Figure 6 above, when the vehicle is avoiding obstacles, the first obstacle avoidance area corresponding to the obstacle and the second obstacle avoidance area corresponding to other vehicles in the passing lane are combined to provide the driver with driving operation prompts, thereby intuitively and safely guiding the driver to avoid obstacles during driving.

[0110] For the technical solution shown in Figure 6, in some possible implementations, referring to Figure 13, step S605 controls the display of the vehicle's trajectory line based on the first obstacle avoidance area and the second obstacle avoidance area to prompt driving operations to safely avoid obstacles, including steps S131 to S136.

[0111] In step S131 , the trajectory of the host vehicle is controlled to be displayed in a first display manner in which the trajectory detours around an obstacle with the curvature of the edge of the first obstacle avoidance area and extends between the first obstacle avoidance area and the second obstacle avoidance area.

[0112] In this implementation, as shown in the exemplary content displayed in the first display mode in FIG. 14 , the track line bypasses the obstacle along the edge curvature of the first obstacle avoidance area 91 and extends between the first obstacle avoidance area 91 and the second obstacle avoidance area 12 .

[0113] In step S132 , it is determined whether the track line displayed in the first display mode overlaps with the first obstacle avoidance area and the second obstacle avoidance area.

[0114] In step S133 , when the track line displayed in the first display mode does not overlap with the first obstacle avoidance area and the second obstacle avoidance area, the track line of the host vehicle is kept displayed in the first display mode.

[0115] In step S134, when the track line displayed in the first display mode overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, it is determined whether the track line displayed in the first display mode will still overlap with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the vehicle's driving speed is reduced.

[0116] In this implementation, if the track line displayed in the first display mode overlaps with any one of the first obstacle avoidance area 91 and the second obstacle avoidance area 12, it means that the vehicle will enter the overlapping obstacle avoidance area based on the current driving state by traveling according to the track line shown in Figure 14. If the vehicle is about to enter the first obstacle avoidance area 91, it means that there is a high possibility that the vehicle will collide with an obstacle. If the vehicle is about to enter the second obstacle avoidance area 12, it means that there is a high possibility that the vehicle will collide with other vehicles traveling on the borrowing lane. In order to avoid the above situation, considering that the range of the obstacle avoidance area is correlated with the driving speed of the vehicle, you can try to reduce the driving speed of the vehicle. As the driving speed of the vehicle decreases, the range of the first obstacle avoidance area 91 and the second obstacle avoidance area 12 also decreases, and then the probability of the track line shown in Figure 14 overlapping with any one of the first obstacle avoidance area 91 and the second obstacle avoidance area 12 also decreases.

[0117] In step S135, if the trajectory line displayed in the first display mode does not overlap with the first obstacle avoidance area and the second obstacle avoidance area after the vehicle's driving speed is reduced, the first display mode is combined with the display mode for prompting the reduction of the vehicle speed to obtain the second display mode, and the trajectory line of the vehicle is displayed according to the second display mode to prompt the execution of the driving operation to reduce the vehicle's driving speed.

[0118] In this implementation, if the vehicle's speed is reduced so that the track line does not overlap with either the first obstacle avoidance area 91 or the second obstacle avoidance area 12, then a second display mode can be formed on the basis of the first display mode shown in Figure 14 by combining the display mode for prompting the reduction of the vehicle speed, and the track line can be displayed according to the second display mode, so that the driver can intuitively get the driving operation prompt to reduce the vehicle's speed.

[0119] In some examples, the length of the displayed track line can be a fixed length. When the extended length of the track line is a fixed length, in addition to displaying the track line of the host vehicle in the second display mode, the method further includes controlling the display unit to display an icon indicating deceleration to prompt the user to perform a driving operation to reduce the speed of the host vehicle.

[0120] For the above example, specifically, the display control unit 150 may control the display unit 160 to additionally display a sign image for deceleration in the display area 5 , thereby prompting the driver to reduce the driving speed of the vehicle.

[0121] In other examples, the length of the track line can also be adapted to the driving speed of the vehicle. Generally speaking, the higher the driving speed, the longer the track line. As shown in Figure 15 (A) and Figure 15 (B), the length of the track line shown in Figure 15 (A) is less than the length of the track line shown in Figure 15 (B), which means that in the scene shown in Figure 15 (A), the driving speed of the vehicle is less than that in the scene shown in Figure 15 (B). Based on this, when the extended length of the track line is adapted to the driving speed of the vehicle, the track line of the vehicle is displayed according to the second display mode, including:

[0122] Compared with the first display mode, the length of the vehicle's track line is shortened;

[0123] Displays the own vehicle's track line in its shortened length.

[0124] Regarding the above example, it should be noted that since the extension length of the track line is adapted to the driving speed, the length of the track line can be shortened to prompt the driver to reduce the vehicle's speed. For example, based on the first display mode shown in Figure 14, the length of the track line is shortened as the second display mode, and the shortened track line is shown in Figure 16.

[0125] In step S136, if the trajectory line displayed in the first display mode still overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the vehicle's driving speed is reduced, the second display mode is combined with the display mode for braking to obtain a third display mode, and the trajectory line of the vehicle is displayed according to the third display mode to prompt the driver to perform a driving operation to make the distance between the vehicle and the obstacle greater than the safe distance or to brake the vehicle.

[0126] In this implementation, if the track line still overlaps with either the first obstacle avoidance area 91 or the second obstacle avoidance area 12 after reducing the driving speed, it means that reducing the driving speed can no longer safely avoid the obstacle. In this case, the vehicle needs to be braked so that the distance between the vehicle and the obstacle is greater than the safe distance or the vehicle needs to be stopped. After waiting for other vehicles in the lane to leave the obstacle, the obstacle can be avoided by using the lane. Therefore, based on the second display mode, a third display mode can be formed by combining the display mode for prompting braking, and the track line can be displayed according to the third display mode, so that the driver can intuitively understand whether to brake the vehicle so that the distance between the vehicle and the obstacle is greater than the safe distance or stop the vehicle.

[0127] In combination with the track lines of the two aforementioned length display modes, in some examples, when the extended length of the track line is a fixed length value, in addition to displaying the track line of the host vehicle in the third display mode, the method further includes:

[0128] The control display unit displays an indicator image for instructing braking to prompt the user to perform a driving operation such as making the distance between the host vehicle and the obstacle greater than a safe distance or braking the host vehicle.

[0129] In some examples, when the extension length of the track line is adapted to the driving speed of the vehicle, the track line of the vehicle is displayed in a third display mode, including: compared with the second display mode, the color of the track line of the vehicle is changed to a warning color used to remind the vehicle to brake; and the track line of the vehicle is displayed in the warning color.

[0130] In the above example, the warning color can be selected as red.

[0131] For the above example, in order to improve the warning effect, in addition to displaying the vehicle's track line in the third display mode, the method also includes: filling the colors in the first obstacle avoidance area and the second obstacle avoidance area with warning colors for reminding the vehicle to brake.

[0132] For example, based on the second display mode shown in FIG16 , the track line in FIG16 and the figures before FIG16 is filled with green, indicating that the vehicle is moving. The first obstacle avoidance area and the second obstacle avoidance area are filled with gray. To prompt the driver to brake the vehicle, the track line can be filled with a warning color (such as red) in the third display mode shown in FIG17 . In addition, the first obstacle avoidance area and the second obstacle avoidance area can also be filled with the warning color, so that the driver brakes the vehicle when observing the warning color.

[0133] It should be noted that the above technical solution is a solution for display control when there are other vehicles traveling in the borrowing lane. When no other vehicles are detected in the borrowing lane, there is no need to consider the vehicle driving conditions in the adjacent lane. It is only necessary to control the display of the track line based on the first obstacle avoidance area corresponding to the obstacle to avoid the obstacle. Based on this, in some possible implementations, the method also includes: when no other vehicles are detected in the borrowing lane, controlling the display of the vehicle's track line based on the first obstacle avoidance area to prompt driving operations to safely avoid obstacles.

[0134] Regarding the above implementation, in some examples, controlling the display of the vehicle's trajectory based on the first obstacle avoidance area to prompt driving operations to safely avoid obstacles includes:

[0135] Controlling the trajectory of the host vehicle to be displayed in a fourth display mode of circumventing the obstacle using the curvature of the edge of the first obstacle avoidance area;

[0136] Obtaining an overlapping area between the track line displayed in the fourth display mode and the first obstacle avoidance area;

[0137] Based on the fourth display mode, the trajectory line of the host vehicle is controlled to be displayed in a fifth display mode according to the overlapping area.

[0138] In the above example, the track line displayed in the exemplary fourth display mode as shown in FIG18 is obtained to determine whether the track line overlaps with the first obstacle avoidance area 91. If overlap occurs, then the fifth display mode can be formed based on the fourth display mode and combined with other display modes according to the overlapping area, and the track line can be controlled to be displayed according to the fifth display mode.

[0139] For the above example, in combination with the track lines of the two length display modes, in some specific implementations, when the extension length of the track line is a fixed length value, based on the fourth display mode, the track line of the host vehicle is controlled to be displayed in a fifth display mode according to the overlapping area, including:

[0140] When the overlapping area is less than the first area threshold, the track line of the host vehicle is kept displayed in the fourth display mode;

[0141] When the overlapping area is greater than or equal to the first area threshold and less than the second area threshold, first displaying an icon image for indicating deceleration to perform a deceleration driving operation so that the driving speed of the host vehicle is reduced to the obstacle avoidance turning speed, and then displaying the track line of the host vehicle in the fourth display mode;

[0142] When the overlapping area is greater than or equal to the second area threshold, an identification image indicating braking is first displayed to perform a braking driving operation to reduce the vehicle's speed to an obstacle avoidance turning speed, and then the vehicle's track line is displayed in a fourth display mode.

[0143] In the above specific implementation process, the first area threshold and the second area threshold are used to characterize the degree of negative impact of the first obstacle avoidance area on the vehicle's driving state. In the present disclosure, the first area threshold is smaller than the second area threshold.

[0144] When the overlapping area is smaller than the first area threshold, it may indicate that the range of the first obstacle avoidance area 91 does not affect the normal driving of the vehicle, and the driver may control the vehicle according to the instructions of the track line displayed in the fourth display mode.

[0145] When the overlapping area is between the first area threshold and the second area threshold, it indicates that the range of first obstacle avoidance region 91 has a negative impact on the normal driving of the vehicle. Therefore, it is necessary to reduce the range of first obstacle avoidance region 91 by reducing the vehicle's speed so that the reduced range of first obstacle avoidance region 91 does not negatively impact the normal driving of the vehicle. In the present disclosure, an image indicating deceleration is first displayed to prompt the driver to reduce the vehicle's speed to the obstacle avoidance steering speed, and then control the vehicle according to the instructions of the track line displayed in the fourth display mode. It should be noted that the obstacle avoidance steering speed can be the speed at which the range of first obstacle avoidance region 91 does not affect the normal driving of the vehicle, that is, the vehicle's speed when the overlapping area is less than the first area threshold.

[0146] When the overlapping area is greater than or equal to the second area threshold, it indicates that a more rapid speed reduction method is required. In the present disclosure, a braking indicator image is first displayed to brake the vehicle, and then the vehicle's speed is quickly reduced to the obstacle avoidance turning speed. Then, after the vehicle speed is reduced to the obstacle avoidance turning speed, the vehicle is steered according to the track line displayed in the fourth display mode.

[0147] For the above example, in combination with the track lines of the two length display modes, in some specific implementations, when the extended length of the track line is adapted to the driving speed of the host vehicle, the track line of the host vehicle is controlled to be displayed in a fifth display mode based on the fourth display mode and the overlapping area, including:

[0148] When the overlapping area is less than the third area threshold, first displaying an icon image for indicating deceleration to perform a deceleration driving operation so that the driving speed of the host vehicle is reduced to the obstacle avoidance turning speed, and then displaying the track line of the host vehicle in the fourth display mode;

[0149] When the overlapping area is greater than or equal to the third area threshold, an identification image indicating braking is first displayed to perform a braking driving operation to reduce the vehicle's speed to an obstacle avoidance turning speed, and then the vehicle's track line is displayed in a fourth display mode.

[0150] In the above specific implementation, a third area threshold can be used to characterize the degree of negative impact of the first obstacle avoidance area on the vehicle's driving state. When the overlapping area is less than the third area threshold, it indicates that the range of first obstacle avoidance area 91 has a negative impact on the vehicle's normal driving. In this case, the range of first obstacle avoidance area 91 needs to be reduced by reducing the vehicle's driving speed to ensure that the reduced range of first obstacle avoidance area 91 does not negatively impact the vehicle's normal driving.

[0151] When the overlapping area is greater than or equal to the third area threshold, it indicates that a faster method of reducing the driving speed is required. In the present disclosure, the braking identification image is first displayed to brake the vehicle, and then the vehicle's driving speed is quickly reduced to the obstacle avoidance turning speed, so that the range of the first obstacle avoidance area 91 is rapidly reduced, and the negative impact of the range of the first obstacle avoidance area 91 on the normal driving of the vehicle is quickly eliminated.

[0152] It should be noted that the aforementioned technical solution is a solution for display control when the obstacle is in the current lane of the vehicle. In some examples, when the obstacle is in the adjacent lane of the current lane of the vehicle, the method further includes:

[0153] Get the attribute information of the obstacle;

[0154] When other vehicles are detected in adjacent lanes, the driving status data of the other vehicles are detected;

[0155] Determine the third obstacle avoidance area corresponding to the other vehicle based on the attribute information of the obstacle, the driving status data of the other vehicle, and the driving speed of the own vehicle;

[0156] The display mode of the host vehicle's trajectory is controlled based on the third obstacle avoidance area to prompt the driver to avoid other vehicles that use the same lane to bypass obstacles.

[0157] In some examples of the above implementation, determining the third obstacle avoidance zone corresponding to the other vehicle based on the attribute information of the obstacle, the driving status data of the other vehicle, and the driving speed of the own vehicle includes:

[0158] Determine the lane area occupied by the obstacle in the adjacent lane based on the location information and size information of the obstacle;

[0159] Based on the occupied lane area and the speed of other vehicles, predict the location and area of ​​other vehicles borrowing in the lane where the vehicle is currently traveling to bypass obstacles;

[0160] The third obstacle avoidance area corresponding to the other vehicle is determined according to the borrowing position, borrowing area, the driving speed of the other vehicle and the driving speed of the own vehicle.

[0161] Regarding the above implementation and its examples, specifically, when an obstacle is not in front of the vehicle's current lane but in an adjacent lane, the system first determines whether other vehicles traveling in the adjacent lane where the obstacle exists will affect the vehicle if they try to use the lane. Similar to the aforementioned technical solution, a third obstacle avoidance area corresponding to the other vehicles can be determined, and based on the scope of the third obstacle avoidance area, it can be determined whether the vehicle's travel will be affected. Specifically, based on the size and location of the obstacle, as well as the speed of other vehicles in the adjacent lane where the obstacle exists, the minimum required area and direction for other vehicles in the lane where the obstacle exists can be predicted. The minimum area and direction can then be used to determine the third obstacle avoidance area.

[0162] In this third obstacle avoidance zone, the vehicle's trajectory is combined with the possibility of a collision between the vehicle and another vehicle in the same or opposite direction. If a collision is likely, the display control method described in the aforementioned solution can be used to prompt the driver to avoid the other vehicle using the lane to circumvent the obstacle. If a collision is not likely, the other vehicle using the lane will not negatively impact the vehicle's movement, and the vehicle can proceed normally.

[0163] Based on the same inventive concept as the above technical solutions, referring to FIG. 19 , a display control device 190 provided by the present disclosure is shown. The device 190 may be the display control unit shown in FIG. 1 or FIG. 4 . The display control device 190 includes: a detection part 191 , an acquisition part 192 , a determination part 193 , and a control part 194 ; wherein,

[0164] The detection part 191 is configured to detect whether there is an obstacle in front of the vehicle in the direction of travel;

[0165] The acquisition part 192 is configured to acquire attribute information of the obstacle when an obstacle is detected in front of the vehicle's traveling direction;

[0166] The determining portion 193 is configured to determine and display a first obstacle avoidance area corresponding to the obstacle based on the attribute information of the obstacle and the driving state data of the vehicle when the obstacle is in the current driving lane of the vehicle;

[0167] The detection part 191 is further configured to detect whether there are other vehicles in the lane where the vehicle needs to borrow the lane;

[0168] The determining portion 193 is further configured to, when another vehicle is detected in the borrowing lane, determine and display a second obstacle avoidance area corresponding to the other vehicle based on the driving state data of the other vehicle and the driving state data of the own vehicle;

[0169] The control part 194 is configured to control the display mode of the trajectory line of the vehicle based on the first obstacle avoidance area and the second obstacle avoidance area to prompt the driver to perform a driving operation to safely avoid obstacles.

[0170] In some examples, the determining portion 193′ is configured to:

[0171] Determine the lane area occupied by the obstacle on the current driving lane based on the location information and size information of the obstacle;

[0172] Determine a first safe distance between the vehicle and the obstacle boundary based on the occupied lane area and the vehicle's speed; wherein the first safe distance is positively correlated with the vehicle's speed;

[0173] Based on the obstacle boundary, a first obstacle avoidance area is determined and displayed according to a first safety distance.

[0174] In some examples, the determining portion 193′ is configured to:

[0175] Determine whether other vehicles are about to meet your vehicle near an obstacle based on their direction and speed.

[0176] When other vehicles are about to meet this vehicle near an obstacle, obtain the position information of other vehicles in the borrowing lane;

[0177] Obtaining the relative speed between the other vehicle and the own vehicle based on the speed of the other vehicle;

[0178] Determining a second safe distance between the vehicle and the other vehicle when the vehicle and the other vehicle meet based on the position information and relative speed of the other vehicle in the borrowing lane; wherein the second safe distance is positively correlated with the relative speed;

[0179] Based on other vehicles, a second obstacle avoidance area is determined and displayed according to a second safety distance.

[0180] In some examples, the control portion 194′ is configured to:

[0181] Controlling the trajectory of the host vehicle to be displayed in a first display manner in which the trajectory circumvents the obstacle with a curvature of an edge of the first obstacle avoidance area and extends between the first obstacle avoidance area and the second obstacle avoidance area;

[0182] and determining whether the track line displayed in the first display mode overlaps with the first obstacle avoidance area and the second obstacle avoidance area;

[0183] and, when the track line displayed in the first display mode does not overlap with the first obstacle avoidance area and the second obstacle avoidance area, maintaining the display of the track line of the host vehicle in the first display mode;

[0184] and, when the track line displayed in the first display mode overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, determining whether the track line displayed in the first display mode still overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the vehicle's travel speed is reduced;

[0185] Furthermore, if, after the vehicle's speed is reduced, the track line displayed in the first display mode does not overlap with either the first obstacle avoidance area or the second obstacle avoidance area, the first display mode is combined with the display mode for prompting the vehicle to reduce its speed to obtain a second display mode, and the track line of the vehicle is displayed in the second display mode to prompt the driver to perform a driving operation to reduce the vehicle's speed;

[0186] Furthermore, if, after the vehicle's driving speed is reduced, the track line displayed in the first display mode still overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, the second display mode is combined with the display mode for braking to obtain a third display mode, and the track line of the vehicle is displayed according to the third display mode to prompt the driver to perform a driving operation to make the distance between the vehicle and the obstacle greater than the safe distance or to brake the vehicle.

[0187] In some examples, the control portion 194 is further configured to:

[0188] The colors in the first obstacle avoidance area and the second obstacle avoidance area are filled with warning colors for reminding the vehicle to brake.

[0189] In some examples, the control portion 194 is further configured to:

[0190] When the extension length of the track line is a fixed length value, the control display portion displays an icon image for indicating deceleration to prompt the user to perform a driving operation to reduce the travel speed of the vehicle.

[0191] In some examples, the control portion 194 is further configured to:

[0192] When the extension length of the track line is a fixed length value, the control display unit displays an identification image for indicating braking to prompt the user to perform a driving operation of making the distance between the vehicle and the obstacle greater than a safe distance or braking the vehicle.

[0193] In some examples, the control portion 194 is further configured to:

[0194] When the extension length of the track line is adapted to the driving speed of the vehicle, the length of the track line of the vehicle is shortened compared to the first display mode;

[0195] And, the track line of the own vehicle is displayed according to the shortened length.

[0196] In some examples, the control portion 194′ is configured to:

[0197] When the extension length of the track line is adapted to the driving speed of the vehicle, the color of the track line of the vehicle is changed to a warning color for reminding the vehicle to brake, compared with the second display mode;

[0198] Also, the vehicle's track line is displayed in a warning color.

[0199] In some examples, the control portion 194 is further configured to control the display of the vehicle's trajectory line based on the first obstacle avoidance area when no other vehicle is detected in the borrowing lane to prompt driving operations to safely avoid obstacles.

[0200] In some examples, the control portion 194′ is configured to:

[0201] Controlling the trajectory of the host vehicle to be displayed in a fourth display mode of circumventing the obstacle using the curvature of the edge of the first obstacle avoidance area;

[0202] and obtaining an overlapping area between the track line displayed in the fourth display mode and the first obstacle avoidance area;

[0203] And, based on the fourth display mode, the trajectory line of the host vehicle is controlled to be displayed in a fifth display mode according to the overlapping area.

[0204] In some examples, the control portion 194′ is configured to:

[0205] When the extension length of the track line is a fixed length value, if the overlapping area is less than the first area threshold, the track line of the host vehicle is kept displayed in the fourth display mode;

[0206] and, if the overlapping area is greater than the first area threshold and less than the second area threshold, first displaying an icon image for indicating deceleration to perform a deceleration driving operation so that the driving speed of the host vehicle is reduced to the obstacle avoidance turning speed, and then displaying the track line of the host vehicle in a fourth display mode;

[0207] And, if the overlapping area is greater than the second area threshold, the identification image for indicating braking is first displayed to perform the braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance turning speed, and then the trajectory line of the vehicle is displayed in the fourth display mode.

[0208] In some examples, the control portion 194′ is configured to:

[0209] When the extension length of the track line is adapted to the driving speed of the host vehicle, if the overlapping area is less than the third area threshold, an icon image indicating deceleration is first displayed to perform a deceleration driving operation to reduce the driving speed of the host vehicle to the obstacle avoidance turning speed, and then the track line of the host vehicle is displayed in the fourth display mode;

[0210] And, if the overlapping area is greater than the third area threshold, the identification image for indicating braking is first displayed to perform the braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance turning speed, and then the trajectory line of the vehicle is displayed in the fourth display mode.

[0211] In some examples, the acquisition portion 192 is further configured to acquire attribute information of the obstacle when the obstacle is located in an adjacent lane to the current lane of the host vehicle;

[0212] The detection part 191 is further configured to detect the driving state data of other vehicles when detecting that other vehicles are traveling in the adjacent lane;

[0213] The determining portion 193 is further configured to determine a third obstacle avoidance area corresponding to other vehicles based on the attribute information of the obstacle, the driving state data of the other vehicles, and the driving speed of the own vehicle;

[0214] The control part 194 is further configured to control the display mode of the trajectory line of the vehicle based on the third obstacle avoidance area to prompt the driving operation of avoiding other vehicles that use the road to bypass obstacles.

[0215] In some examples, the determining portion 193′ is further configured to:

[0216] Determine the lane area occupied by the obstacle in the adjacent lane based on the location information and size information of the obstacle;

[0217] And, based on the occupied lane area and the driving speed of other vehicles, predict the location and area of ​​other vehicles borrowing in the lane where the vehicle is currently traveling in order to bypass obstacles;

[0218] Furthermore, a third obstacle avoidance area corresponding to the other vehicle is determined according to the borrowing position, the borrowing area, the driving speed of the other vehicle, and the driving speed of the own vehicle.

[0219] Please refer to Figure 20, which shows a block diagram of a display control device 190 according to an exemplary embodiment of the present disclosure. In some examples, the display control device 190 has communication capabilities and can access a wired or wireless network. In some examples, the display control device 190 can receive data based on the accessed wired or wireless network. It is understood that the display control device 190 is responsible for the calculation and processing of the technical solution of the present disclosure, and this disclosure is not limited to this.

[0220] As shown in FIG. 20 , the display control device 190 in the present disclosure may include one or more of the following components: a processor 2010 and a memory 2020 .

[0221] Optionally, the processor 2010 utilizes various interfaces and lines to connect various parts of the entire computing device, and performs various functions of the computing device and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 2020, and calling data stored in the memory 2020. Optionally, the processor 2010 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 2010 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. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content required to be displayed on the touch screen; the NPU is used to implement artificial intelligence (AI) functions; and the baseband chip is used to handle wireless communication. It is understandable that the above-mentioned baseband chip may not be integrated into the processor 2010, but may be implemented by a separate chip.

[0222] The memory 2020 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 2020 includes a non-transitory computer-readable storage medium. The memory 2020 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 2020 may include a program storage area and a data storage area, wherein 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.), instructions for implementing the above various method embodiments, etc.; the data storage area may store data created according to the use of the display control device 190, etc.

[0223] In addition, those skilled in the art will understand that the structure of the display control device 190 shown in the above figures does not constitute a limitation of the display control device 190. The display control device 190 may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components. For example, the display control device 190 also includes 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 detailed here.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] It should be noted that the technical solutions described in this disclosure can be combined arbitrarily without conflict.

[0228] 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

[0229] In this embodiment, when the vehicle is avoiding obstacles, the first obstacle avoidance area corresponding to the obstacle and the second obstacle avoidance area corresponding to other vehicles in the passing lane are combined to provide the driver with driving operation prompts, thereby intuitively and safely guiding the driver to avoid obstacles during driving.

Claims

1. A display control method, characterized in that, The method includes: When an obstacle is detected in front of the driving direction of the vehicle, obtaining the attribute information of the obstacle; When the obstacle is on the current driving lane of the vehicle, determining and displaying a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle; Detecting whether there is another vehicle on the lane to be borrowed for the vehicle to drive; When another vehicle is detected on the lane to be borrowed, determining and displaying a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle; Based on the first obstacle avoidance area and the second obstacle avoidance area, controlling the display mode of the vehicle's track line to prompt the driving operation of safely avoiding the obstacle.

2. The method according to claim 1, wherein The determining and displaying a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle includes: Determining the lane area occupied by the obstacle on the current driving lane according to the position information and size information of the obstacle; Determining a first safety distance between the vehicle and the boundary of the obstacle according to the occupied lane area and the driving speed of the vehicle; wherein, the first safety distance is positively correlated with the driving speed of the vehicle; Taking the boundary of the obstacle as a reference, determining and displaying the first obstacle avoidance area according to the first safety distance.

3. The method according to claim 1, characterized in that, The determining and displaying a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle includes: Judging whether the other vehicle and the vehicle will meet near the obstacle according to the driving direction and driving speed of the other vehicle; When the other vehicle and the vehicle will meet near the obstacle, obtaining the position information of the other vehicle on the lane to be borrowed; Obtaining the relative speed between the other vehicle and the vehicle according to the driving speed of the other vehicle and the driving speed of the vehicle; Determining a second safety distance between the vehicle and the other vehicle when the other vehicle and the vehicle meet according to the position information of the other vehicle on the lane to be borrowed and the relative speed; wherein, the second safety distance is positively correlated with the relative speed; Taking the other vehicle as a reference, determining and displaying the second obstacle avoidance area according to the second safety distance.

4. The method according to claim 1, characterized in that The controlling the display mode of the vehicle's track line based on the first obstacle avoidance area and the second obstacle avoidance area to prompt the driving operation of safely avoiding the obstacle includes: Controlling the vehicle's track line to be displayed in a first display mode that bypasses the obstacle along the curvature of the edge of the first obstacle avoidance area and extends between the first obstacle avoidance area and the second obstacle avoidance area; Judging whether the track line displayed in the first display mode overlaps with the first obstacle avoidance area and the second obstacle avoidance area; When the track line displayed in the first display mode does not overlap with the first obstacle avoidance area and the second obstacle avoidance area, the track line of the vehicle is maintained to be displayed in the first display mode; When the track line displayed in the first display mode overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area, it is determined whether the track line displayed in the first display mode will still overlap with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the driving speed of the vehicle is reduced; If the track line displayed in the first display mode does not overlap with the first obstacle avoidance area and the second obstacle avoidance area after the driving speed of the vehicle is reduced, the first display mode is combined with the display mode for prompting speed reduction to obtain a second display mode, and the track line of the vehicle is displayed according to the second display mode to prompt to perform a driving operation to reduce the driving speed of the vehicle; If the track line displayed in the first display mode still overlaps with at least one of the first obstacle avoidance area and the second obstacle avoidance area after the driving speed of the vehicle is reduced, the second display mode is combined with the display mode for braking to obtain a third display mode, and the track line of the vehicle is displayed according to the third display mode to prompt to perform a driving operation to make the distance between the vehicle and the obstacle greater than the safe distance or to brake the vehicle.

5. The method according to claim 4, wherein When the extension length of the track line is adapted to the driving speed of the vehicle, the displaying the track line of the vehicle according to the second display mode includes: Compared with the first display mode, shortening the length of the track line of the vehicle; Displaying the track line of the vehicle according to the shortened length.

6. The method according to claim 4, characterized in that, When the extension length of the track line is adapted to the driving speed of the vehicle, the displaying the track line of the vehicle according to the third display mode includes: Compared with the second display mode, changing the color of the track line of the vehicle to a warning color for reminding the vehicle to brake; Displaying the track line of the vehicle according to the warning color.

7. The method according to claim 1 or 2, characterized in that, The method further includes: When no other vehicle is detected in the passing lane, controlling the display mode of the track line of the vehicle based on the first obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle.

8. The method according to claim 7, characterized in that, The controlling the display mode of the track line of the vehicle based on the first obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle includes: Controlling the track line of the vehicle to be displayed according to a fourth display mode that bypasses the obstacle along the curvature of the edge of the first obstacle avoidance area; Obtaining the overlapping area between the track line displayed in the fourth display mode and the first obstacle avoidance area; Based on the fourth display mode, controlling the track line of the vehicle to be displayed according to a fifth display mode according to the overlapping area.

9. The method according to claim 8, wherein When the extension length of the track line is a fixed length value, based on the fourth display mode, controlling the track line of the vehicle to be displayed according to the fifth display mode according to the overlapping area includes: When the overlapping area is less than the first area threshold, keep displaying the track line of the vehicle in the fourth display mode; When the overlapping area is greater than the first area threshold and less than the second area threshold, first display an identification image for indicating deceleration to perform a deceleration driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode; When the overlapping area is greater than the second area threshold, first display an identification image for indicating braking to perform a braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode.

10. The method according to claim 8, wherein When the extension length of the track line is adapted to the driving speed of the vehicle, based on the fourth display mode, controlling the track line of the vehicle to be displayed according to the fifth display mode according to the overlapping area includes: When the overlapping area is less than the third area threshold, first display an identification image for indicating deceleration to perform a deceleration driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode; When the overlapping area is greater than the third area threshold, first display an identification image for indicating braking to perform a braking driving operation to reduce the driving speed of the vehicle to the obstacle avoidance steering speed, and then display the track line of the vehicle in the fourth display mode.

11. The method according to claim 1, wherein The method further includes: When the obstacle is in an adjacent lane of the current driving lane of the vehicle, obtain the attribute information of the obstacle; When it is detected that there is another vehicle driving in the adjacent lane, detect the driving state data of the other vehicle; Determine a third obstacle avoidance area corresponding to the other vehicle according to the attribute information of the obstacle, the driving state data of the other vehicle, and the driving speed of the vehicle; Based on the third obstacle avoidance area, control the display mode of the track line of the vehicle to prompt a driving operation for avoiding the other vehicle that borrows a lane to bypass the obstacle.

12. The method according to claim 11, wherein The determining the third obstacle avoidance area corresponding to the other vehicle according to the attribute information of the obstacle, the driving state data of the other vehicle, and the driving speed of the vehicle includes: Determine the lane area occupied by the obstacle in the adjacent lane according to the position information and size information of the obstacle; Predict the lane borrowing position and lane borrowing area of the other vehicle in the current driving lane of the vehicle for bypassing the obstacle according to the occupied lane area and the driving speed of the other vehicle; Determine the third obstacle avoidance area corresponding to the other vehicle according to the lane borrowing position, lane borrowing area, the driving speed of the other vehicle, and the driving speed of the vehicle.

13. A display control device, characterized in that, The device includes: 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 any one of claims 1 to 12.

14. 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 as described in any one of claims 1 to 12.

15. 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 obtain attribute information of an obstacle when it detects that there is an obstacle in front of the driving direction of the vehicle; and, when the obstacle is on the current driving lane of the vehicle, determine a first obstacle avoidance area corresponding to the obstacle according to the attribute information of the obstacle and the driving state data of the vehicle and display it; and, detect whether there is another vehicle on the lane to be borrowed for the vehicle to drive; and, when another vehicle is detected on the lane to be borrowed, determine a second obstacle avoidance area corresponding to the other vehicle according to the driving state data of the other vehicle and the driving state data of the vehicle and display it; control the display mode of the vehicle's track line based on the first obstacle avoidance area and the second obstacle avoidance area to prompt a driving operation for safely avoiding the obstacle; the display unit is configured to project the first obstacle avoidance area, the second obstacle avoidance area and the track line onto the windshield of the vehicle for display based on the control of the display control unit.

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