Traffic accident scene reconstruction method and related apparatus

Abstract

A traffic accident scene reconstruction method and a related apparatus. The method is applied to an intelligent driving vehicle. The method comprises: acquiring traveling state data of a vehicle and state data of an object around the vehicle; on the basis of the traveling state data of the vehicle and the state data of the object, generating a three-dimensional simulation scene video; and displaying the three-dimensional simulation scene video by means of an in-vehicle display apparatus of the vehicle. The state data of the object is obtained by means of performing analysis on the basis of detection data of a sensor in the vehicle, and the sensor comprises a radar. The three-dimensional simulation scene video is used for reconstructing the process in which a traffic accident occurs between the vehicle and the object. By using the method, an accident scene can be better reconstructed, thereby improving the efficiency of accident handling.

Description

Methods and related devices for recreating traffic accident scenes

[0001] This application claims priority to Chinese Patent Application No. 202411032350.6, filed on July 29, 2024, with the China National Intellectual Property Administration, entitled “Method and Related Apparatus for Reproducing Traffic Accident Scenes,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent transportation technology, specifically to a method and related apparatus for reproducing traffic accident scenes. Background Technology

[0003] In traffic safety, dashcams and in-vehicle cameras are the most common accident recording devices. They can record video of the vehicle in motion in real time and save relevant video clips when an accident occurs. However, dashcams and in-vehicle cameras can only record images from a fixed perspective of the vehicle, and in the event of a complex traffic accident, the information provided by the footage is limited. They cannot adequately reconstruct the accident scene. Summary of the Invention

[0004] This application provides a method and related apparatus for reproducing traffic accident scenes, which can better restore the accident scene and improve the efficiency of accident handling.

[0005] Firstly, this application provides a method for reconstructing a traffic accident scene. The method is applied to an intelligent driving vehicle and includes: acquiring driving state data of the vehicle and state data of objects surrounding the vehicle; generating a three-dimensional simulation scene video based on the driving state data of the vehicle and the state data of the objects; and displaying the three-dimensional simulation scene video through an in-vehicle display device. The state data of the objects is obtained based on analysis of detection data from sensors in the vehicle, including radar. The three-dimensional simulation scene video is used to reconstruct the process of a traffic accident between the vehicle and the objects.

[0006] For example, the aforementioned vehicle driving status data includes some or all of the vehicle's speed, acceleration, driving direction, position information, vehicle attitude, steering wheel angle, braking status, and gear status. The aforementioned object's status data includes some or all of the aforementioned object's type, size, speed, direction of movement, and position information.

[0007] In the above solution, the vehicle utilizes the state data of surrounding objects, combined with its own driving status data, to generate a 3D simulated accident scene video, which is then displayed on an in-vehicle display device. This effectively recreates the accident scene and improves accident handling efficiency. Furthermore, in this solution, the state data of objects surrounding the vehicle is obtained through analysis of detection data from sensors such as radar that assist in intelligent driving. This means that the radar detection data can be reused for accident scene reconstruction, improving data utilization. Moreover, the vehicle leverages its high computing power to quickly generate the 3D simulated accident scene video, meeting users' needs for convenient and quick accident scene reconstruction and enhancing user experience.

[0008] In one possible implementation, the aforementioned 3D simulation scene video includes scenes from both a first-viewpoint and a second-viewpoint. The method further includes: when the aforementioned in-vehicle display device displays the aforementioned first-viewpoint scene, receiving a first interactive operation from a user via the aforementioned in-vehicle display device. The aforementioned first interactive operation is used to change the viewpoint of the displayed scene. In response to the aforementioned first interactive operation, the aforementioned second-viewpoint scene is displayed on the aforementioned in-vehicle display device.

[0009] In the above solution, the generated 3D simulation scene video can present the accident scene from different angles. Users can interact with the vehicle according to their needs to present the scene from the perspective they want to see, thereby more comprehensively and meticulously restoring the accident scene.

[0010] In one possible implementation, the aforementioned 3D simulation scene video includes scenes at a first moment and a second moment. The method further includes: while the aforementioned in-vehicle display device displays the scene at the first moment, receiving a second interactive operation from a user via the aforementioned in-vehicle display device. The aforementioned second interactive operation is used to change the time of the displayed scene. In response to the aforementioned second interactive operation, the aforementioned scene at the second moment is displayed on the aforementioned in-vehicle display device.

[0011] In the above solution, the generated 3D simulation scene video can present the accident scene from different moments. Users can interact with the vehicle as needed to present the scene at a specific moment, thereby accurately identifying the cause of the accident.

[0012] In one possible implementation, the method further includes: receiving a third interactive operation from a user via the aforementioned in-vehicle display device. The third interactive operation is used to zoom in on the scene of the aforementioned 3D simulation scene video. In response to the third interactive operation, the zoomed-in scene is displayed on the aforementioned in-vehicle display device.

[0013] In the above scheme, the generated 3D simulation scene can be scaled up and down. Users can interact with the vehicle to present scenes of different sizes as needed, which helps in the identification of details or the overall environment.

[0014] In one possible implementation, before acquiring the vehicle's driving status data and the status data of objects surrounding the vehicle, the method further includes receiving a fourth interactive operation from the user. This fourth interactive operation instructs the in-vehicle display device to display the aforementioned 3D simulation scene video.

[0015] In the above solution, the vehicle can quickly generate a 3D simulation video of the accident scene under the user's instructions and present it to the user so that the user can quickly and intuitively understand the process of the accident.

[0016] In one possible implementation, acquiring the driving status data of the vehicle and the status data of objects surrounding the vehicle includes: reading the driving status data of the vehicle and the status data of the objects from a preset storage area. The driving status data of the vehicle and the status data of the objects are stored in the preset storage area after the vehicle senses or predicts the occurrence of a traffic accident. The preset storage area is used to permanently store the driving status data of the vehicle and the status data of the objects.

[0017] In the above scheme, after a vehicle senses or anticipates an accident, it will store the data before and after the accident in a storage area that can store data for a long time so that it can be used again later and avoid data loss.

[0018] In one possible implementation, the aforementioned method further includes sending the driving state data of the vehicle and the state data of the object to a terminal device. The terminal device is used to generate and display the aforementioned three-dimensional simulation scene video based on the driving state data of the vehicle and the state data of the object.

[0019] In the above scheme, the vehicle can also send data to other terminal devices, which can then generate corresponding 3D simulation scene videos for users to view at any time.

[0020] In one possible implementation, the aforementioned method further includes: generating a real-time 3D simulation scene video based on the acquired real-time driving status data of the vehicle and real-time status data of one or more objects surrounding the vehicle. The real-time 3D simulation scene video is used to reproduce the environmental conditions of the vehicle and the surrounding environment from a perspective different from that of the vehicle and the objects. The real-time 3D simulation scene video is then displayed in real-time via the vehicle's onboard display device.

[0021] In the above solution, the vehicle can display the surrounding environment to the user in real time, allowing the user to adjust their driving behavior accordingly and reduce the probability of accidents. Furthermore, because the 3D simulation video provides a real-time view of the vehicle's surroundings from another perspective, it allows for rapid adjustments to driving behavior to mitigate injury in unavoidable accidents.

[0022] Secondly, embodiments of this application also provide a vehicle, which is an intelligent driving vehicle, the aforementioned vehicle comprising:

[0023] The acquisition unit is used to acquire driving status data of the aforementioned vehicle and status data of objects surrounding the aforementioned vehicle. The status data of the aforementioned objects is obtained based on the analysis of detection data from sensors in the aforementioned vehicle, including radar.

[0024] The processing unit is used to generate a 3D simulation scene video based on the driving status data of the aforementioned vehicle and the status data of the aforementioned object. The aforementioned 3D simulation scene video is used to reproduce the process of the aforementioned vehicle causing a traffic accident.

[0025] The display unit is used to display the aforementioned three-dimensional simulation scene video through the vehicle's onboard display device.

[0026] In one possible implementation, the aforementioned 3D simulation scene video includes scenes from both a first-viewpoint and a second-viewpoint. The vehicle further includes a receiving unit and a display unit. The receiving unit is configured to receive a first interactive operation from a user via the in-vehicle display device when the first-viewpoint scene is displayed. The first interactive operation is used to change the viewpoint of the displayed scene. The display unit is configured to display the second-viewpoint scene on the in-vehicle display device in response to the first interactive operation.

[0027] In one possible implementation, the aforementioned 3D simulation scene video includes scenes at a first moment and a second moment. The aforementioned receiving unit is configured to receive a second interactive operation from a user via the aforementioned in-vehicle display device when the scene at the first moment is displayed on the aforementioned in-vehicle display device. The aforementioned second interactive operation is used to change the time of the displayed scene. The aforementioned display unit is configured to display the scene at the aforementioned second moment on the aforementioned in-vehicle display device in response to the aforementioned second interactive operation.

[0028] In one possible implementation, the aforementioned receiving unit is configured to receive a third interactive operation from a user via the aforementioned in-vehicle display device. The aforementioned third interactive operation is used to zoom in on the scene image of the aforementioned 3D simulation scene video. The aforementioned display unit is configured to, in response to the aforementioned third interactive operation, display the zoomed-in scene image on the aforementioned in-vehicle display device.

[0029] In one possible implementation, the aforementioned receiving unit is configured to receive a fourth interactive operation from the user before acquiring the driving status data of the aforementioned vehicle and the status data of objects surrounding the aforementioned vehicle. The aforementioned fourth interactive operation is used to instruct the aforementioned 3D simulation scene video to be displayed on the aforementioned in-vehicle display device.

[0030] In one possible implementation, the aforementioned acquisition unit is specifically used to: read the driving status data of the aforementioned vehicle and the status data of the aforementioned object from a preset storage area. The driving status data of the aforementioned vehicle and the status data of the aforementioned object are stored in the aforementioned preset storage area after the aforementioned vehicle senses or predicts that a traffic accident has occurred. The aforementioned preset storage area is used to permanently store the driving status data of the aforementioned vehicle and the status data of the aforementioned object.

[0031] In one possible implementation, the vehicle further includes a transmitting unit for transmitting the vehicle's driving status data and the object's status data to a terminal device. The terminal device is used to generate and display the aforementioned 3D simulation scene video based on the vehicle's driving status data and the object's status data.

[0032] In one possible implementation, the aforementioned acquisition unit is further configured to: acquire real-time driving state data of the aforementioned vehicle and real-time state data of one or more objects surrounding the aforementioned vehicle. The aforementioned processing unit is further configured to generate a real-time 3D simulation scene video based on the real-time driving state data and the real-time state data. The aforementioned real-time 3D simulation scene video is used to reproduce the environmental conditions of the aforementioned vehicle and the aforementioned vehicle cycle from a perspective different from that of the vehicle and the objects. The aforementioned display unit is further configured to: display the aforementioned real-time 3D simulation scene video in real time via the vehicle's in-vehicle display device.

[0033] Thirdly, embodiments of this application also provide a vehicle including a processor and a memory. The memory is coupled to the processor, and when the processor executes a computer program or computer instructions stored in the memory, it can implement the methods described in any of the first aspects above. The vehicle may also include a communication interface for communicating with other vehicles. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0034] In one possible implementation, the vehicle may include:

[0035] Memory is used to store computer programs or computer instructions;

[0036] The processor is configured to: acquire driving state data of the aforementioned vehicle and state data of objects surrounding the aforementioned vehicle; generate a 3D simulation scene video based on the driving state data of the aforementioned vehicle and the state data of the aforementioned objects; and display the 3D simulation scene video through the vehicle's onboard display device. The state data of the aforementioned objects is obtained by analyzing detection data from sensors in the aforementioned vehicle, including radar. The aforementioned 3D simulation scene video is used to recreate the process of a traffic accident between the aforementioned vehicle and the aforementioned objects.

[0037] It should be noted that the computer programs or instructions in the memory of this application can be pre-stored or downloaded from the Internet and stored when the vehicle is used. This application does not specifically limit the source of the computer programs or instructions in the memory. The coupling in the embodiments of this application is an indirect coupling or connection between devices, units, or modules, which can be electrical, mechanical, or other forms, for information interaction between devices, units, or modules.

[0038] Fourthly, this application provides a computer-readable storage medium storing a computer program or computer instructions that are executed by a processor to implement the method described in any of the first aspects above.

[0039] Fifthly, this application provides a computer program product that, when executed by a processor, implements the method described in any of the first aspects above.

[0040] The solutions provided in the second to fifth aspects above are used to implement or cooperate with the methods provided in the first aspect above, and therefore can achieve the same or corresponding beneficial effects as the methods in the first aspect, which will not be elaborated here. Attached Figure Description

[0041] Figure 1 is a schematic diagram of the method flow provided in an embodiment of this application;

[0042] Figure 2 is a schematic diagram of the storage module structure provided in an embodiment of this application;

[0043] Figure 3 is a schematic diagram of the driver's view from inside the cockpit provided in an embodiment of this application;

[0044] Figure 4 is a schematic diagram of a traffic accident scene from different perspectives provided in the embodiments of this application;

[0045] Figure 5 is a schematic diagram of the functional module structure of the vehicle provided in the embodiment of this application;

[0046] Figures 6 and 7 are schematic diagrams of the vehicle structure provided in the embodiments of this application. Detailed Implementation

[0047] In this application embodiment, "multiple" refers to two or more. In this application embodiment, "and / or" is used to describe the association relationship of related objects, indicating three relationships that can exist independently. For example, A and / or B can mean: A exists alone, B exists alone, or A and B exist simultaneously. The description methods used in this application embodiment, such as "at least one of a1, a2, ... and an (or at least one of them)," include the case where any one of a1, a2, ... and an exists alone, as well as the case where any combination of any multiple of a1, a2, ... and an exists alone. Each case can exist alone. For example, the description method of "at least one of a, b, and c" includes the cases where a, b, c, a and b combined, a and c combined, b and c combined, or a, b, and c combined.

[0048] In this application, the terms "first," "second," etc., are used to distinguish identical or similar items with substantially the same function. It should be understood that there is no logical or temporal dependency between "first," "second," and "nth," nor does it limit the quantity or order of execution. It should also be understood that although the following description uses the terms "first," "second," etc., to describe various elements, these elements should not be limited by the terms. These terms are merely used to distinguish one element from another.

[0049] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0050] This application embodiment can be applied to vehicles equipped with intelligent driving functions. Exemplarily, the intelligent driving function can utilize various sensors (millimeter-wave radar, lidar, ultrasonic radar, or cameras, etc.) installed on the vehicle to sense the surrounding environment, collect data, and identify or detect static or dynamic objects during vehicle operation. Exemplarily, it can also be combined with a navigation system to perform data processing and analysis, thereby predicting potential hazards and effectively increasing vehicle driving safety. Exemplarily, this intelligent driving function may include driver assistance functions and / or autonomous driving functions.

[0051] Vehicles traveling on roads inherently carry the risk of traffic accidents. To better reconstruct traffic accident scenes, assist in evidence collection, and improve accident handling efficiency, this application provides a method and related apparatus for reconstructing traffic accident scenes. The specific implementation is described below.

[0052] First, the method for reconstructing a traffic accident scene provided by this application will be introduced with reference to Figure 1. This method can be implemented in a vehicle equipped with intelligent driving functions. As shown in Figure 1, the method may include, but is not limited to, the following steps S101 to S103.

[0053] S101. Acquire the vehicle's driving status data and the status data of objects around the vehicle; the status data of the objects is obtained based on the detection data of sensors in the vehicle, including radar.

[0054] For example, the vehicle's driving status data may include some or all of the vehicle's speed, acceleration, driving direction, position information, vehicle attitude, steering wheel angle, braking status, and gear status. The vehicle's attitude may include information such as the vehicle's roll angle, pitch angle, and yaw angle. For example, the vehicle can obtain its driving status data by analyzing its various sensor data or by interacting with a cloud server or other vehicle devices. This application embodiment does not limit the specific method of obtaining the driving status data.

[0055] For example, the state data of the aforementioned object may include the object's type, size, speed, direction of movement, and location information. The object type may be, for example, a vehicle, a person, an animal, or a plant, or a dynamic or static obstacle; this application embodiment does not limit the type of object. For example, in one possible implementation, the vehicle can obtain the object's state data through analysis of data detected by radar. In another possible implementation, the vehicle can combine data detected by radar and data captured by the vehicle's camera to comprehensively analyze the object's state data. This application embodiment does not limit the specific analysis method.

[0056] For example, the objects around the vehicle can be one or more, and this application embodiment does not limit this.

[0057] For example, in one possible implementation, after obtaining the driving status data of the vehicle and the status data of the object, it is possible to calculate whether the object threatens the driving safety of the vehicle based on this data. That is, to calculate whether the vehicle is at risk of a traffic accident. For example, it can be determined whether the object threatens the driving safety of the vehicle by calculating the distance between the two, the intersection point of their trajectories, or the collision time. This application embodiment does not limit the specific implementation method.

[0058] For example, a traffic accident could be caused by a collision between a vehicle and an object around the vehicle, or by an object around the vehicle being startled and falling due to the approaching vehicle, or by an object around the vehicle being startled and crashing into other objects, etc. This application does not list all of these possibilities in its embodiments.

[0059] In one possible implementation, the driving state data of the vehicle and the state data of the object can be obtained by analysis of the intelligent driving system in the vehicle. For example, in one possible implementation, the intelligent driving system can be an advanced driving assistance system (ADAS), a fully-self-driving system (FSD), or other systems capable of implementing assisted driving or autonomous driving functions. This application does not impose any limitations on this.

[0060] In one possible implementation, the acquired vehicle driving status data and object status data include data from time 1 before the traffic accident to time 2 after the traffic accident. A first preset time interval exists between time 1 and the time of the traffic accident. A second preset time interval exists between time 2 and the time of the traffic accident. The values ​​of the first and second preset time intervals can be set according to actual application needs, and this application embodiment does not impose any limitations on them. After acquiring the vehicle driving status data and the aforementioned object status data, the acquired data can be stored in a preset storage area. This preset storage area can be used to permanently store the acquired data so that it can be retrieved and used multiple times. The specific storage process is described below as an example.

[0061] For example, in one possible implementation, the vehicle includes a storage module for storing data, as shown in Figure 2. This storage module may include a cache area, a sequential data storage area, and an accident data storage area. The cache area is used to temporarily store real-time driving status data of the vehicle itself and the status data of objects around the vehicle, acquired during the vehicle's operation. The sequential data storage area is used to periodically store the driving status data of the vehicle itself and the status data of objects around the vehicle, acquired during the vehicle's operation. For example, data stored in the sequential data storage area is only retained for a certain period. After this certain period, the data is deleted from the sequential data storage area to free up storage space for new data. The accident data storage area is the preset storage area mentioned above for permanently storing data. For example, the accident data storage area can be used to store data from time 1 before the traffic accident to time 2 after the traffic accident.

[0062] Based on the above description, exemplarily, during vehicle operation, the vehicle can acquire real-time driving status data of itself and status data of objects surrounding the vehicle, and cache this data in the aforementioned cache area. For example, the acquired data carries the data acquisition time, which can also be cached in the cache area. If the vehicle determines that a traffic accident has occurred or anticipates a risk of a traffic accident, the vehicle can store data from time 1 before the traffic accident to time 2 after the traffic accident, stored in the cache area, in the aforementioned accident data storage area. For cases where a risk of a traffic accident is predicted, the data can be retrieved from the cache area and stored in the accident data storage area based on the predicted time of the traffic accident. Alternatively, in another implementation, starting from the time the risk of a traffic accident is predicted, the vehicle's driving status data and the status data of objects surrounding the vehicle, acquired in real-time up to time 2 after the traffic accident, can be stored in the accident data storage area. If the vehicle has not experienced a traffic accident or there is no risk of a traffic accident, the vehicle can store the data in the cache area in the aforementioned sequential data storage area.

[0063] In one possible implementation, the vehicle determines that a traffic accident has occurred or anticipates a risk of a traffic accident through the aforementioned intelligent driving system. Furthermore, the storage module shown in Figure 2 may also include a controller. After determining that a traffic accident has occurred or the risk of a traffic accident has occurred, the intelligent driving system can send a signal to the controller of the storage module. In response to the signal, the controller stores data from time 1 before the traffic accident to time 2 after the traffic accident in the cache area to the accident data storage area. It is understood that the description herein is merely illustrative and does not constitute a limitation on the embodiments of this application.

[0064] For example, in one possible implementation, based on the above description, the acquisition of vehicle driving status data and the status data of objects around the vehicle in S101 above may be data read by the vehicle from the above-mentioned accident data storage area after the traffic accident occurs.

[0065] S102. Generate a 3D simulation scene video based on the vehicle's driving status data and the object's status data; the 3D simulation scene video is used to reproduce the process of a traffic accident between a vehicle and an object.

[0066] For example, after acquiring the vehicle's driving status data and the status data of objects around the vehicle, the aforementioned vehicle can input this data into a three-dimensional (3D) scene rendering module to render a 3D simulation scene video. For example, this 3D simulation scene video can be an animated video. As described above, this data can be data from time 1 before the traffic accident to time 2 after the traffic accident. Therefore, the 3D simulation scene video rendered based on this data can reproduce the process of a traffic accident between the vehicle and objects. A detailed description of this traffic accident is provided in the aforementioned exemplary description and will not be repeated here.

[0067] For example, in this embodiment of the application, the 3D simulation scene video can be rendered from multiple different perspectives. Therefore, in one possible implementation, the rendered 3D simulation scene video can reproduce the traffic accident from perspectives different from those of vehicles and objects. This allows for a more comprehensive and detailed reconstruction of the accident scene, improving the efficiency of accident handling.

[0068] S103. Display 3D simulation scene video through the vehicle's onboard display device.

[0069] For example, after the vehicle renders the aforementioned 3D simulation scene video, it can be displayed to the user through an in-vehicle display device. For example, this in-vehicle display device can be an in-vehicle display screen, an in-vehicle projection screen, or a head-up display (HUD). For ease of understanding, an in-vehicle display screen will be used as an example. See Figure 3 for an example.

[0070] Figure 3 illustrates an example of the driver's view from inside the cockpit. As shown in Figure 3, the in-vehicle display device can display a 3D simulation video of the scene. This scene is presented from a top-down view of the rear of the vehicle. Figure 3 also shows a person as a threat to vehicle safety. This person has entered the vehicle's blind spot, making it impossible for the driver to notice them in time, and the camera cannot capture them effectively. However, by displaying the 3D simulation video on the in-vehicle display device, the person approaching the vehicle can be clearly seen, thus recreating the accident scene more accurately.

[0071] For example, in another implementation, the vehicle can project the three-dimensional simulation scene video onto a relatively flat area such as the ground or a wall using its own pixel headlights for display and playback.

[0072] For example, in one possible implementation, step S101 may be performed by the vehicle in response to a user's operation. For instance, before acquiring the vehicle's driving status data and the status data of objects around the vehicle, the vehicle first receives an interactive operation from the user. This interactive operation is used to instruct the display device to present the aforementioned 3D simulation scene video.

[0073] In one embodiment, for example, the user interface displayed on the in-vehicle display device includes preset control buttons. These control buttons are used to instruct the generation of the aforementioned 3D simulation scene video. The vehicle can receive a user's click on the control button and, in response to the click, execute steps S101 to S103 as described above.

[0074] In another embodiment, for example, the vehicle is equipped with a physical button. This physical button is used to instruct the generation of the aforementioned 3D simulation scene video. The vehicle can receive a user's press operation on the physical button and, in response to the press operation, perform steps S101 to S103 as described above.

[0075] In another possible implementation, the vehicle can also receive user interaction commands via voice. For example, the vehicle can receive voice information from the user instructing the generation of the aforementioned 3D simulation scene video. Then, in response to the voice information, the vehicle performs the steps S101 to S103 described above.

[0076] In the above solution, the vehicle can quickly generate a 3D simulation video of the accident scene under the user's instructions and present it to the user, so that the user can quickly and intuitively understand the process of the accident. It is understood that the user-vehicle interaction described above is merely an example and does not constitute a limitation on the embodiments of this application.

[0077] For example, in one possible implementation, the generated 3D simulation scene video may include simulation scenes from multiple perspectives. These multiple perspectives may include, for example, a top-down view, a view facing the front of the vehicle, a view facing the rear of the vehicle, a view facing the left door, a view facing the right door, or a view facing any position of the vehicle, etc., and this application embodiment does not limit this. Based on this, the vehicle can interact with the user to display a simulation scene from a user-specified perspective. For example, suppose the 3D simulation scene video includes a first perspective and a second perspective. For ease of understanding, please refer to Figure 4. In Figure 4, the object threatening vehicle safety is exemplified by a vehicle, and a schematic diagram of a traffic accident scene between the vehicle and the object is shown from two perspectives. The perspective shown in Figure 4(a) is the view facing the right door of the vehicle. The perspective shown in Figure 4(b) is the top-down view of the vehicle. Therefore, the first perspective may be, for example, as shown in Figure 4(a), and the second perspective may be, for example, as shown in Figure 4(b). It is understood that the perspectives shown in Figure 4 are merely examples and do not constitute a limitation on the embodiments of this application. For example, when the in-vehicle display device shows the scene from the first perspective, it can receive interactive operations from the user. These interactive operations are used to change the viewing angle of the displayed scene. In response to these interactive operations, the vehicle can display the scene from the second perspective on the in-vehicle display device.

[0078] For example, in one possible implementation, the aforementioned in-vehicle display device can be a touchscreen. The interaction could be, for instance, a single-finger swipe operation by the user on the touchscreen while the first-view scene is displayed. Upon receiving the user's single-finger swipe, the vehicle calculates the relative relationship between the swipe and the viewpoint to determine a second viewpoint. The specific calculation method is not limited in this embodiment. Then, the vehicle renders the corresponding scene based on the second viewpoint and displays the second-view scene on the in-vehicle display device.

[0079] In another possible implementation, exemplarily, the in-vehicle display device can be a projection screen or a head-up display (HUD) in the vehicle. The interactive operation could be, for example, a single-finger swipe gesture by the user in the air while the projection screen or HUD displays the scene from the first perspective. The vehicle can capture this single-finger swipe gesture using an in-vehicle camera. Then, in response to this gesture, the relative relationship between the single-finger swipe gesture and the viewing angle is calculated to determine the second perspective. The specific calculation method is not limited in this embodiment. The vehicle then renders the corresponding scene based on the second perspective and displays the scene from the second perspective on the in-vehicle display device.

[0080] In the above solution, the generated 3D simulation scene video can present the accident scene from different angles. Users can interact with the vehicle to view the scene from the perspective they want, thus enabling a more comprehensive and detailed reconstruction of the accident scene. It is understood that the user-vehicle interaction described above is merely an example and does not constitute a limitation on the embodiments of this application.

[0081] For example, in one possible implementation, the generated 3D simulation scene video may include simulation scenes at multiple times. For instance, as described above, the vehicle generates the 3D simulation scene video based on data from time 1 before the traffic accident to time 2 after the traffic accident. Therefore, the 3D simulation scene video may include simulation scenes of the accident scene between time 1 and time 2. Based on this, the vehicle can interactively display the simulation scene at a user-specified time. For example, suppose the 3D simulation scene video includes scenes at a first time and a second time. When the in-vehicle display device displays the scene at the first time, it can receive interactive operations from the user. These interactive operations are used to change the time of the displayed scene. In response to these interactive operations, the vehicle can display the scene at the second time on the in-vehicle display device.

[0082] For example, in one possible implementation, the aforementioned in-vehicle display device can be a touchscreen. The interactive operation could, for instance, involve a user touching and dragging the timeline of a 3D simulation scene video on the touchscreen while the scene at the first moment is displayed. Upon receiving the user's dragging operation, the vehicle calculates the correspondence between the timeline moment where the dragging operation is paused and the moment of the accident scene, determining the second moment. The specific calculation method is not limited in this embodiment. Then, the vehicle renders the corresponding scene based on the second moment and displays the scene at the second moment on the in-vehicle display device.

[0083] For example, in another possible implementation, the aforementioned in-vehicle display device can be a projection screen or a HUD in the vehicle. The interactive operation could, for instance, be a user dragging the timeline of a 3D simulation scene video in the air while the projection screen or HUD displays the scene at the first moment. The vehicle can capture the user's dragging operation using an in-vehicle camera. Then, in response to this operation, the correspondence between the timeline moment where the dragging operation is paused and the moment of the accident scene is calculated to determine the second moment. The specific calculation method is not limited in this embodiment. The vehicle then renders the corresponding scene based on the second moment and displays the scene at the second moment on the in-vehicle display device.

[0084] In the above scheme, the generated 3D simulation scene video can present the accident scene from different moments. Users can interact with the vehicle as needed to present the scene at a specific moment, thereby accurately identifying the cause of the accident. It is understood that the user-vehicle interaction described above is merely an example and does not constitute a limitation on the embodiments of this application.

[0085] For example, in one possible implementation, the vehicle can interact with the user to zoom in and out of the displayed 3D simulation scene video. For instance, in a specific implementation, while the vehicle is playing the 3D simulation scene video, it can pause the displayed video at a specific scene based on user input. Then, the user can interact with the vehicle to zoom in or out of the scene.

[0086] For example, in one possible implementation, the aforementioned in-vehicle display device can be a touchscreen. When the 3D simulation scene video displayed on the touchscreen is paused at a particular scene, the user can zoom in by swiping outwards with two fingers or zoom out by swiping inwards. Upon receiving the user's two-finger interaction, the vehicle calculates the correspondence between the amplitude of the swipe (opening) or pinch (closing) and the zoom level (or scaling ratio) to determine the specific zoom level (or scaling ratio). This specific calculation method is not limited in this embodiment. Then, the vehicle renders the corresponding scene based on the calculated zoom level (or scaling ratio) and displays the zoomed-out scene on the in-vehicle display device.

[0087] For example, in another possible implementation, the aforementioned in-vehicle display device can be a projection screen or a HUD in the vehicle. When the 3D simulation scene video displayed on the projection screen or HUD is paused at a particular scene, the user can zoom in or zoom out by swiping two fingers outwards or pinching them inwards. The vehicle can capture the user's two-finger interaction using an in-vehicle camera. Then, in response to this operation, the correspondence between the amplitude of the swipe (opening) or pinch (closing) and the zoom level (or zoom ratio) is calculated to determine the specific zoom level (or zoom ratio). This specific calculation method is not limited in this embodiment. The vehicle then renders the corresponding scene based on the calculated zoom level (or zoom ratio) and displays the zoomed-out scene on the in-vehicle display device.

[0088] In the above scheme, the generated 3D simulation scene can be scaled up and down, allowing users to interact with the vehicle to view scenes of different sizes as needed, thus aiding in the identification of details or the overall environment. It is understood that the user-vehicle interaction described above is merely an example and does not constitute a limitation on the embodiments of this application.

[0089] In another possible implementation, the vehicle can generate a real-time 3D simulation scene video based on real-time driving status data of the vehicle itself and real-time status data of one or more objects around the vehicle. Specifically, the acquired data can be sent to the 3D scene rendering module in real time, allowing the module to render and save a real-time 3D simulation scene video of the vehicle and its surrounding environment. Similarly, this real-time 3D simulation scene video is used to reproduce the vehicle and its surrounding environment from a perspective different from that of the vehicle and the one or more objects.

[0090] For example, in one possible implementation, the real-time generated 3D simulation scene video can be stored in the storage module shown in Figure 2, or in other storage modules in the vehicle. This application embodiment does not impose any limitations on this. Taking the real-time generated 3D simulation scene video stored in the storage module shown in Figure 2 as an example, the real-time generated 3D simulation scene video can be cached in the cache area shown in Figure 2. For example, the real-time generated 3D simulation scene video consists of multiple scene frames, each of which can carry a generation time. Alternatively, each scene frame can carry the acquisition time of the data used to generate the frame. The time information carried by each scene frame can be cached together in the cache area. If the vehicle determines that a traffic accident has occurred or anticipates a risk of a traffic accident, the vehicle can store a video segment consisting of scene frames from time 1 before the traffic accident to time 2 after the traffic accident, stored in the cache area, in the accident data storage area shown in Figure 2. In cases where a risk of a traffic accident is anticipated, the video segment can be retrieved from the cache area and stored in the accident data storage area based on the predicted time of the traffic accident. Alternatively, in another implementation, starting from the moment a traffic accident risk is predicted, a video segment consisting of scene frames acquired in real time up to time 2 after the traffic accident occurs can be stored in the accident data storage area. If the vehicle does not experience a traffic accident or there is no risk of a traffic accident, the vehicle can store the 3D simulation scene video in the cache area into the streaming data storage area shown in Figure 2. For example, the video stored in this streaming data storage area is only retained for a certain duration. After this certain duration, the video will be deleted from the streaming data storage area to free up storage space for new video.

[0091] Based on the above description, after a traffic accident occurs, the vehicle can retrieve and display a 3D simulation scene video corresponding to the accident from the accident data storage area. Exemplarily, in one possible implementation, the vehicle can first receive an interactive operation from a user. This interactive operation instructs the display device to show the 3D simulation scene video. In response to this interactive operation, the vehicle can retrieve and display the corresponding 3D simulation scene video from the accident data storage area. Exemplarily, this interactive operation could be, for example, a user clicking a preset control button on the user interface displayed on the vehicle display device, or a user pressing a preset physical button, etc. This application embodiment does not limit this.

[0092] This implementation method allows for the quick retrieval and playback of 3D simulation videos of accident scenes, improving the user experience.

[0093] In one possible implementation, the cache area shown in Figure 2 can be used to simultaneously store real-time driving state data of the vehicle itself, state data of objects around the vehicle, and the aforementioned real-time generated 3D simulation scene video. The pipeline data storage area shown in Figure 2 can be used to simultaneously store driving state data of the vehicle itself, state data of objects around the vehicle, and the aforementioned generated 3D simulation scene video when no traffic accident has occurred. The accident data storage area shown in Figure 2 can be used to simultaneously store driving state data of the vehicle itself before and after an accident, state data of objects around the vehicle, and the aforementioned generated 3D simulation scene video.

[0094] In one possible implementation, after the vehicle generates a 3D simulation scene video of the vehicle and its surrounding environment in real time, it can send the generated 3D simulation scene video to the in-vehicle display device for real-time display. For example, in one possible implementation, the vehicle can first receive an interactive operation from the user. This interactive operation is used to instruct the in-vehicle display device to display the 3D simulation scene video in real time. In response to the interactive operation, the vehicle sends the generated 3D simulation scene video to the in-vehicle display device for real-time display. For example, this interactive operation could be a user clicking a preset control button on the user interface displayed on the in-vehicle display device, or a user pressing a preset physical button, etc., and this application embodiment does not limit this. In this implementation, the user can view the environment around the vehicle from another perspective in real time, thereby adjusting driving behavior according to the surrounding environment and reducing the probability of accidents. Furthermore, since the environment around the vehicle can be observed in real time from another perspective, driving behavior can be quickly adjusted to reduce accident damage when an accident is unavoidable.

[0095] In one possible implementation, the vehicle can send the driving status data of the vehicle and the status data of objects around the vehicle obtained in step S101 to the terminal device. The terminal device can generate and display the aforementioned 3D simulation scene video based on this data. Exemplarily, the terminal device can be a device including a 3D scene rendering module and a display device. For example, the terminal device can be another vehicle, or it can be a mobile phone, computer, tablet computer, PDA, desktop computer, smartwatch, smart bracelet, virtual reality device, or augmented reality device, etc., and this application embodiment does not limit this.

[0096] Alternatively, in another possible implementation, the vehicle can send the generated 3D simulation scene video to the terminal device. The terminal device can then display the 3D simulation scene video.

[0097] In one possible implementation, to facilitate understanding of some possible implementation methods provided in the above embodiments of this application, Figure 5 exemplarily illustrates a functional module structure diagram of a vehicle. As shown in Figure 5, the vehicle may include an intelligent driving system, a 3D scene rendering module, a storage module, and an in-vehicle display device. The storage module may be the storage module shown in Figure 2 above. The intelligent driving system, 3D scene rendering module, and in-vehicle display device can be referred to the foregoing description. Based on the preceding description, the intelligent driving system can analyze and acquire the vehicle's own driving state data and the state data of objects around the vehicle in real time based on data from various sensors in the vehicle (including data detected by radar). Then, on the one hand, the intelligent driving system can send the acquired data to the storage module for storage. On the other hand, the intelligent driving system can send the acquired data to the 3D scene rendering module to render a three-dimensional simulation scene video of the vehicle and its surrounding environment in real time. Then, on the other hand, the 3D scene rendering module can send the real-time generated three-dimensional simulation scene video to the storage module for saving. In another possible implementation, the generated three-dimensional simulation scene video can also be sent to the in-vehicle display device for display and playback in real time.

[0098] In another possible implementation, as shown in Figure 5 above, if the intelligent driving system determines that a traffic accident has occurred or anticipates a risk of another traffic accident, it can send a signal to the storage module, instructing it to store the data before and after the accident and / or the 3D simulation scene video into a preset storage area, such as the accident data storage area shown in Figure 2. Then, in another possible implementation, after the accident, the in-vehicle display device can respond to user interaction by retrieving the data from the preset storage area in the storage module through the 3D scene rendering module and rendering a 3D simulation scene video. The 3D scene rendering module then sends the video to the in-vehicle display device for display and playback. Alternatively, in another possible implementation, after the accident, the in-vehicle display device can respond to user interaction by retrieving the 3D simulation scene video from the preset storage area in the storage module for display and playback.

[0099] The implementation described above in conjunction with Figure 5 can be referred to the relevant introduction above, and will not be repeated here.

[0100] In summary, in this embodiment, the vehicle utilizes the state data of objects threatening vehicle safety, combined with its own driving state data, to generate a third-person perspective 3D simulated accident scene video, which is then displayed on an in-vehicle display device. This effectively recreates the accident scene and improves accident handling efficiency. Furthermore, in this solution, the state data of objects threatening vehicle safety is obtained based on radar detection in the vehicle that assists in achieving intelligent driving. This radar detection data can be reused for accident scene reconstruction, improving data utilization. Moreover, the vehicle utilizes its high computing power to quickly generate this 3D simulated accident scene video, meeting users' needs for convenient and quick accident scene reconstruction and improving user experience.

[0101] The foregoing mainly describes the traffic accident scene reproduction method provided in the embodiments of this application. It is understood that each device, in order to achieve the corresponding functions, includes hardware structures and / or software modules for executing each function. Based on the units and steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0102] This application embodiment can divide the controller or device into functional modules according to the above method examples. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0103] In the case of dividing each functional module according to its corresponding function, embodiments of this application also provide a vehicle for implementing any of the above methods. For example, a vehicle is provided that includes a unit (or means) for implementing the steps performed by a vehicle equipped with intelligent driving function in any of the above methods.

[0104] For example, please refer to Figure 6, which is a schematic diagram of a virtual structure of a vehicle 600 provided in an embodiment of this application. The vehicle 600 shown in Figure 6 can be a vehicle used to implement any embodiment of the above-described method for reproducing traffic accident scenes. The vehicle 600 may include an acquisition unit 601, a processing unit 602, and a display unit 603. Wherein:

[0105] The acquisition unit 601 is used to acquire driving state data of the vehicle 600 and state data of objects around the vehicle 600. The state data of the objects is obtained based on the detection data of sensors in the vehicle 600, including radar. Exemplarily, the acquisition unit 601 can be used to implement the operation performed in step S101 shown in FIG1 above.

[0106] Processing unit 602 is used to generate a three-dimensional simulation scene video based on the driving state data of the vehicle 600 and the state data of the object. This three-dimensional simulation scene video is used to recreate the process of a traffic accident involving the vehicle 600. For example, processing unit 602 can be used to implement the operation performed in step S102 shown in Figure 1 above.

[0107] Display unit 603 is used to display the 3D simulation scene video through the vehicle-mounted display device of the vehicle 600. For example, display unit 603 can be used to implement the operation performed in step S103 shown in FIG1 above.

[0108] In one possible implementation, the 3D simulation scene video includes scenes from a first perspective and a second perspective. The vehicle 600 also includes a receiving unit. This receiving unit is configured to receive a first interactive operation from a user via the in-vehicle display device when the first perspective scene is displayed on the in-vehicle display device. The first interactive operation is used to change the perspective of the displayed scene. The display unit 603 is configured to display the second perspective scene on the in-vehicle display device in response to the first interactive operation.

[0109] In one possible implementation, the 3D simulation scene video includes scenes at a first moment and a second moment. The receiving unit is configured to receive a second interactive operation from a user via the in-vehicle display device when the scene at the first moment is displayed. The second interactive operation is used to change the time of the displayed scene. The display unit 603 is configured to display the scene at the second moment on the in-vehicle display device in response to the second interactive operation.

[0110] In one possible implementation, the receiving unit is configured to receive a third interactive operation from a user via the in-vehicle display device. The third interactive operation is used to zoom in on the scene of the displayed 3D simulation video. The display unit 603 is configured to display the zoomed-in scene on the in-vehicle display device in response to the third interactive operation.

[0111] In one possible implementation, the receiving unit is configured to receive a fourth interactive operation from the user before acquiring the driving status data of the vehicle 600 and the status data of objects surrounding the vehicle 600. This fourth interactive operation is used to instruct the in-vehicle display device to display the 3D simulation scene video.

[0112] In one possible implementation, the acquisition unit 601 is specifically used to: read the driving status data of the vehicle 600 and the status data of the object from a preset storage area. The driving status data of the vehicle 600 and the status data of the object are stored in the preset storage area after the vehicle 600 senses or predicts that a traffic accident has occurred. The preset storage area is used to permanently store the driving status data of the vehicle 600 and the status data of the object.

[0113] In one possible implementation, the vehicle 600 further includes a transmitting unit for transmitting the driving status data of the vehicle 600 and the status data of the object to a terminal device. The terminal device is used to generate and display the 3D simulation scene video based on the driving status data of the vehicle 600 and the status data of the object.

[0114] In one possible implementation, the acquisition unit 601 is further configured to: acquire real-time driving state data of the vehicle 600 and real-time state data of one or more objects surrounding the vehicle 600. The processing unit 602 is further configured to generate a real-time 3D simulation scene video based on the real-time driving state data and the real-time state data. This real-time 3D simulation scene video is used to reproduce the environmental conditions of the vehicle 600 and its surroundings from a perspective different from that of the vehicle 600 and the objects. The display unit 603 is further configured to: display the real-time 3D simulation scene video in real-time via the vehicle's onboard display device.

[0115] The specific operation and beneficial effects of each unit in the vehicle 600 shown in Figure 6 can be found in the descriptions in Figure 4 and its possible embodiments, and will not be repeated here.

[0116] It should be understood that the division of units in vehicle 600 shown in Figure 6 is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in vehicle 600 can be implemented by a processor calling software; for example, vehicle 600 includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in vehicle 600. The processor can be, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory can be internal to vehicle 600 or external to vehicle 600. Alternatively, the units in vehicle 600 can be implemented as hardware circuits. The functionality of some or all units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through a configuration file, thereby achieving the functionality of some or all of the above units. All units in vehicle 600 can be implemented entirely through processor-called software, entirely through hardware circuits, or partially through processor-called software with the remaining portion implemented through hardware circuits.

[0117] In this application embodiment, a processor is a circuit with data processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships of hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a Neural Network Processing Unit (NPU), Tensor Processing Unit (TPU), or Deep Learning Processing Unit (DPU).

[0118] As can be seen, each unit in the above vehicle 600 can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0119] Furthermore, the units in the vehicle 600 described above can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or for implementing the functions of the units in the vehicle 600. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0120] For example, referring to Figure 7, which is a schematic diagram of the structure of a possible physical entity of the vehicle provided in this application. The vehicle 700 shown in Figure 7 can be the vehicle in the method described in the above embodiments. The vehicle 700 includes: a processor 701, a memory 702, and a communication interface 703. The processor 701, the communication interface 703, and the memory 702 can be interconnected or interconnected via a bus 704.

[0121] For example, memory 702 is used to store computer programs and data of vehicle 700. Memory 702 may include, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0122] The software or program code required for all or part of the functions of the aforementioned vehicle 700 is stored in memory 702.

[0123] In one possible implementation, if the software or program code required for some functions is stored in the memory 702, the processor 701 can not only call the program code in the memory 702 to implement some functions, but also cooperate with other components (such as the communication interface 703) to complete other functions described in the method embodiment (such as the function of receiving or sending data).

[0124] There can be multiple communication interfaces 703, which are used to support vehicle 700 in communication, such as receiving or sending data or signals.

[0125] For example, processor 701 may be a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor types, etc. Processor 701 may be used to read programs stored in memory 702 and execute the operations performed by the vehicle in FIG1 and its possible embodiments.

[0126] The specific operation and beneficial effects of each unit in the vehicle 700 shown in Figure 7 can be found in the corresponding descriptions in the method embodiments of Figure 1 and its possible implementations above, and will not be repeated here.

[0127] This application also provides a computer-readable storage medium storing a computer program or computer instructions that are executed by a processor to implement the method implemented by the charger in FIG1 and its possible embodiments.

[0128] Exemplary examples show that the aforementioned computer-readable storage media may include, but are not limited to, various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. It is understood that the description of computer-readable storage media herein is merely illustrative and does not constitute a limitation on the embodiments of this application.

[0129] This application also provides a computer program product, which, when read and executed by a computer, executes the method implemented by the charger in FIG1 and its possible embodiments.

[0130] For example, the computer program product described above includes, but is not limited to, a computer program, code, or electronic (digital) signal used to transmit computer program instruction code when the computer is running. It is understood that the description of the computer program product herein is merely illustrative and does not constitute a limitation on the embodiments of this application.

[0131] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0132] It should also be understood that the term “comprising” (also referred to as “includes”, “including”, “comprises” and / or “comprising”) as used in this specification specifies the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0133] It should also be understood that the phrases "an embodiment," "an embodiment," and "a possible implementation" used throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment or implementation is included in at least one embodiment of this application. Therefore, the phrases "in an embodiment," "an embodiment," or "a possible implementation" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for reconstructing a traffic accident scene, characterized in that, The method is applied to intelligent driving vehicles, and the method includes: The vehicle's driving status data and the status data of objects surrounding the vehicle are acquired; the object status data are obtained based on the detection data of sensors in the vehicle, including radar. A 3D simulation scene video is generated based on the vehicle's driving status data and the object's status data; the 3D simulation scene video is used to reproduce the process of a traffic accident between the vehicle and the object. The 3D simulation scene video is displayed through the vehicle's onboard display device.

2. The method according to claim 1, characterized in that, The 3D simulation scene video includes scenes from both first-view and second-view perspectives; the method further includes: When the in-vehicle display device displays the scene from the first perspective, the in-vehicle display device receives a first interactive operation from the user; the first interactive operation is used to change the perspective of the displayed scene. In response to the first interactive operation, the scene from the second perspective is displayed on the in-vehicle display device.

3. The method according to claim 1 or 2, characterized in that, The 3D simulation scene video includes scenes from the first and second time points; the method further includes: When the in-vehicle display device displays the scene at the first moment, a second interactive operation from the user is received through the in-vehicle display device; the second interactive operation is used to change the moment of the displayed scene. In response to the second interactive operation, the scene at the second moment is displayed on the in-vehicle display device.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: The in-vehicle display device receives a third interactive operation from the user; the third interactive operation is used to zoom in and out of the scene view of the displayed 3D simulation scene video. In response to the third interactive operation, a scaled-down scene image is displayed on the in-vehicle display device.

5. The method according to any one of claims 1-4, characterized in that, Before acquiring the vehicle's driving status data and the status data of objects surrounding the vehicle, the method further includes: Receive a fourth interactive operation from the user; the fourth interactive operation is used to instruct the display device to display the three-dimensional simulation scene video.

6. The method according to any one of claims 1-5, characterized in that, The acquisition of the vehicle's driving status data and the status data of objects surrounding the vehicle includes: The vehicle's driving status data and the object's status data are read from a preset storage area. The vehicle's driving status data and the object's status data are stored in the preset storage area after the vehicle senses or predicts that a traffic accident has occurred. The preset storage area is used to permanently store the vehicle's driving status data and the object's status data.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: The vehicle's driving status data and the object's status data are sent to a terminal device; the terminal device is used to generate and display the three-dimensional simulation scene video based on the vehicle's driving status data and the object's status data.

8. The method according to any one of claims 1-7, characterized in that, The vehicle's driving status data includes some or all of the vehicle's speed, acceleration, driving direction, position information, vehicle attitude, steering wheel angle, braking status, and gear status; the object's status data includes some or all of the object's type, size, speed, direction of movement, and position information.

9. The method according to any one of claims 1-8, characterized in that, The method further includes: Based on the acquired real-time driving status data of the vehicle and the real-time status data of one or more objects around the vehicle, a real-time three-dimensional simulation scene video is generated; the real-time three-dimensional simulation scene video is used to reproduce the environmental conditions of the vehicle and the vehicle cycle from a perspective different from that of the vehicle and the objects. The real-time 3D simulation scene video is displayed in real time through the vehicle's onboard display device.

10. A vehicle, characterized in that, The vehicle is an intelligent driving vehicle, and the vehicle includes: An acquisition unit is used to acquire driving status data of the vehicle and status data of objects around the vehicle; the status data of the objects is obtained based on the detection data of sensors in the vehicle, including radar. The processing unit is used to generate a three-dimensional simulation scene video based on the vehicle's driving status data and the object's status data; the three-dimensional simulation scene video is used to reproduce the process of the vehicle causing a traffic accident. The display unit is used to display the three-dimensional simulation scene video through the vehicle's onboard display device.

11. A vehicle, characterized in that, The vehicle includes a processor and a memory, wherein the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer programs or computer instructions stored in the memory, causing the vehicle to perform the method as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or computer instructions that are executed by a processor to implement the method of any one of claims 1 to 9.

13. A computer program product, characterized in that, When the computer program product is executed by a processor, the method described in any one of claims 1 to 9 will be implemented.

Images