CN113378776A - Display method, display device, electronic apparatus, vehicle, and medium - Google Patents
Display method, display device, electronic apparatus, vehicle, and medium Download PDFInfo
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Abstract
The application discloses a display method, a display device, an electronic apparatus, a vehicle, and a computer-readable storage medium. The display method comprises the following steps: acquiring output information of a vehicle sensor; determining obstacle information in the environment according to the output information; generating a current dot matrix image of the barrier according to the barrier information; and replacing the last dot matrix image of the obstacle with the current dot matrix image of the obstacle for updating and displaying, wherein the dot matrix density of the current dot matrix image of the obstacle is greater than that of the last dot matrix image of the obstacle. Therefore, the barrier information is determined by processing the output information, the current dot matrix image is generated according to the barrier information, the real environment is restored through the dot matrix image, risk judgment and road condition identification are given to the user, the user can subjectively judge through the current dot matrix image, the density of the dot matrix image is increased through updating so as to improve the judgment accuracy of the user, and driving safety is guaranteed.
Description
Technical Field
The present disclosure relates to the field of vehicle display technologies, and in particular, to a display method, a display device, an electronic apparatus, a vehicle, and a computer-readable storage medium.
Background
At present, the capacity of identifying road conditions and roadblocks through sensors in an automatic driving scene is limited, the driving risk cannot be accurately fed back through identification information, and a scene which is mistakenly identified or not identified usually exists. Due to the limited hardware and software capabilities, accurate identification of various objects in the driving process cannot be guaranteed, so that the road driving risk cannot be exposed in advance, and the driving safety cannot be guaranteed.
Disclosure of Invention
Embodiments of the present application provide a display method, a display device, an electronic apparatus, a vehicle, and a computer-readable storage medium.
The display method of the embodiment of the application comprises the following steps: acquiring output information of a vehicle sensor; determining obstacle information in the environment according to the output information; generating a current dot matrix image of the barrier according to the barrier information; and replacing the last dot matrix image of the obstacle with the current dot matrix image of the obstacle for updating and displaying, wherein the dot matrix density of the current dot matrix image of the obstacle is greater than that of the last dot matrix image of the obstacle.
According to the display method, the barrier information is determined by processing the output information, the current dot matrix image is generated according to the barrier information, the real environment is restored through the dot matrix image, risk judgment and road condition identification are given to the user, the user can subjectively judge through the current dot matrix image, the accuracy of judgment of the user is improved by updating and increasing the density of the dot matrix image, and driving safety is guaranteed.
In some embodiments, said determining obstacle information in the environment from said output information comprises: screening the output information by using preset information; and determining the obstacle information according to the screened output information.
In some embodiments, the obstacle information includes at least one of contour information, aspect information, volume information, and area information of the obstacle.
In some embodiments, the display method further comprises: and under the condition that the lattice density of the current lattice image is not more than that of the previous lattice image, continuously displaying the previous lattice image.
In some embodiments, the accuracy of the vehicle sensor is positively correlated with the distance between the vehicle sensor and the obstacle, and the accuracy of the vehicle sensor is positively correlated with the dot density of the current dot-matrix image.
In certain embodiments, the vehicle sensor comprises a vision sensor and/or a lidar sensor.
The display device of the embodiment of the application is used for a vehicle and comprises an obtaining module, a determining module, a generating module and an updating module. The acquisition module is used for acquiring output information of a vehicle sensor; the determining module is used for determining obstacle information in the environment according to the output information; the generating module is used for generating a current dot matrix image of the barrier according to the barrier information; the updating module is used for replacing the previous lattice image of the obstacle with the current lattice image of the obstacle for updating and displaying, wherein the lattice density of the current lattice image of the obstacle is greater than that of the previous lattice image of the obstacle.
The electronic device according to an embodiment of the present application includes one or more processors and a memory, where the memory stores a computer program, and the computer program, when executed by the processors, implements the steps of the display method according to any one of the above embodiments.
The vehicle of the embodiment of the present application includes the display device of the above embodiment.
The computer-readable storage medium of the embodiments of the present application stores thereon a computer program that, when executed by a processor, implements the steps of the display method of any of the embodiments described above.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a display method according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a vehicle according to an embodiment of the present application;
FIG. 3 is a block diagram of a display device according to an embodiment of the present application;
FIG. 4 is a schematic view of a scene of a display device according to an embodiment of the present application;
fig. 5 and 6 are schematic flow charts of a display method according to an embodiment of the present application;
FIG. 7 is a schematic view of an electronic device of an embodiment of the present application;
fig. 8 is a schematic connection diagram of an electronic device and a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
Referring to fig. 1 and fig. 2 together, a display method according to an embodiment of the present application may be applied to a vehicle 100, where the vehicle 100 includes a display device 10 and a vehicle sensor 20, and the display method includes:
step 01: acquiring output information of the vehicle sensor 20;
step 02: determining obstacle information in the environment according to the output information;
step 03: generating a current dot matrix image of the barrier according to the barrier information;
step 04: and replacing the last dot matrix image of the obstacle with the current dot matrix image of the obstacle for updating and displaying, wherein the dot matrix density of the current dot matrix image of the obstacle is greater than that of the last dot matrix image of the obstacle.
Referring to fig. 3, the display device 10 according to the embodiment of the present disclosure includes an obtaining module 12, a determining module 14, a generating module 16, and an updating module 18. The display method according to the embodiment of the present application may be implemented by the display device 10 according to the embodiment of the present application, wherein step 01 may be implemented by the obtaining module 12, step 02 may be implemented by the determining module 14, step 03 may be implemented by the generating module 16, and step 04 may be implemented by the updating module 18, that is, the obtaining module 12 is used to obtain the output information of the vehicle sensor 20. The determination module 14 is configured to determine obstacle information in the environment based on the output information. The generating module 16 is configured to generate a current dot matrix image of the obstacle according to the obstacle information. The updating module 18 is configured to replace the previous dot matrix image of the obstacle with the current dot matrix image of the obstacle for updated display, where the dot matrix density of the current dot matrix image of the obstacle is greater than the dot matrix density of the previous dot matrix image of the obstacle.
According to the display method, the vehicle 100 and the display device 10, the barrier information is determined by processing the output information, the current dot matrix image is generated according to the barrier information, the real environment is restored through the dot matrix image, risk judgment and road condition identification are given to the user, the user can subjectively judge through the current dot matrix image, the density of the dot matrix image is increased through updating so as to improve the judgment accuracy of the user, and driving safety is guaranteed.
Referring to fig. 4, fig. 4 includes a current dot matrix image of an obstacle, where a symbol of the current dot matrix image of the obstacle is 101. And determining the obstacle information in the environment according to the output information, and generating the current dot matrix image of the obstacle according to the obstacle information. It should be noted that the dot matrix image can be understood as an image formed by dot matrix drawing, and the dot matrix image can embody an atomic integral style of the dot matrix. As such, generating a dot matrix image of an obstacle from obstacle information can be understood as an image formed by drawing in a visual form directly using integration such as dot matrix. In some embodiments, other methods may be used to form the dot matrix image of the obstacle, which is not limited herein. In one embodiment, obstacle information may be obtained, and data within the obstacle information may be processed by a dot matrix generator to generate a dot matrix image of the obstacle.
It is worth mentioning that a dot matrix image is also called a raster image, a pixel map, a bitmap, or the like, and the minimum unit constituting the dot matrix image may be a pixel. The dot matrix image is displayed by arranging the pixel array. The dot matrix image of the obstacle may be a contour image of the obstacle or an image of a contour surface of the obstacle, and is not limited herein. The lattice image of the obstacle can reflect the specific form of the obstacle, and a user can recognize the obstacle autonomously.
The method and the device can replace the previous dot matrix image of the obstacle through the current dot matrix image of the obstacle to update and display, wherein the dot matrix density of the current dot matrix image of the obstacle is larger than that of the previous dot matrix image of the obstacle.
Specifically, the larger the lattice density of the lattice image is, the clearer the image display is; the smaller the dot density of the dot image is, the rougher the image display is. In some embodiments, the dot density of the dot matrix image is related to the number of pixels. The more the number of pixels is, the larger the lattice density of the lattice image is, and the clearer the pattern of the barrier is reflected; the smaller the number of pixels, the smaller the dot matrix density of the dot matrix image, and the rougher the pattern of the obstacle is represented. In one embodiment, the pixel value of the last dot matrix image of the obstacle is 20 ten thousand pixels, and the pixel value of the current dot matrix image is 2000 ten thousand pixels, so that the dot matrix density of the current dot matrix image is greater than that of the last dot matrix image, and therefore, the replacement of the last dot matrix image by the current dot matrix image can make the obstacle which is originally rough or is not sufficiently imaged by the dot matrix image clearer.
In some embodiments, the display method is performed cyclically at a preset period, that is, the previous dot matrix image may be replaced with the current dot matrix image at the preset period. The preset period may be set by a user, or may be set before the vehicle 100 leaves a factory, and is not limited herein. The preset period may be 30 milliseconds, 50 milliseconds, 1 second, 2 seconds, 5 seconds, etc. In one embodiment, the preset period is 30 ms, the output information of the vehicle sensor 20 may be acquired every 30 ms, the obstacle information in the environment may be determined according to the output information, the current dot matrix image of the obstacle may be generated according to the obstacle information, and then the current dot matrix image may be used to replace the previous dot matrix image for updated display.
It is worth mentioning that the vehicle 100 includes an automobile capable of automatic driving, and includes, but is not limited to, a fuel automobile, a pure electric automobile, a hybrid automobile, a hydrogen energy automobile, and the like, and is not limited herein. In the embodiment of the present application, the vehicle 100 is a pure electric vehicle for implementing automatic driving as an example, and the pure electric vehicle for implementing automatic driving as an example is for convenience of describing the implementation of the present application, and should not be construed as limiting the scope of the present application.
With the rapid development of vehicle technology and electronic technology, autonomous vehicles are increasingly emerging in people's lives. The automatic driving vehicle generally has a man-machine interaction function, barrier information can be screened out according to the output information through the output information of the vehicle sensor 20, then a current dot matrix image of a barrier is generated, a previous dot matrix image of the barrier is the current dot matrix image, then the user interface of electronic equipment wirelessly connected with an automatic driving pure electric vehicle or a vehicle-mounted large screen of the automatic driving pure electric vehicle is displayed to a user, a real environment is restored through the dot matrix image, risk judgment and road condition identification are given to the user, and risk transfer is achieved. The density of the dot matrix image is increased by updating so as to improve the accuracy of judgment of a user and ensure driving safety.
The output information includes all the environmental information that the vehicle sensor 20 can acquire within the detection range, including other vehicle information around the vehicle 100, traffic lane information on the ground, obstacle information around the vehicle 100, and the like. That is, in the case where there is an obstacle around the vehicle 100, the output information of the vehicle sensor 20 includes obstacle information.
In certain embodiments, the vehicle sensors 20 include vision sensors and/or lidar sensors.
In particular, the vehicle sensor 20 includes a vision sensor including an optical element and an imaging device, and in some embodiments, the vision sensor is capable of acquiring external environment image information using the optical element and the imaging device, and the vision sensor has excellent imaging capability. In some embodiments, the output information may also be obtained using a visual sensor. The output information obtained by the vision sensor includes information of the position, volume, shape, and the like of all objects around the vehicle 100. The output information of the vehicle sensor 20 can thus be acquired using the vision sensor.
The vehicle sensors 20 include lidar sensors that, in some embodiments, include a transmitting system, a receiving system, and an information processing portion. The operating principle of lidar sensors is the detection of objects by the transmission, reflection and reception of visible and near infrared light waves (mostly infrared light in the vicinity of the 950nm band). The laser radar sensor is a sensor capable of accurately obtaining three-dimensional position information, is an active light source, can not be influenced by illumination, and can work normally in the daytime and at night. The lidar sensor may acquire information of positions, sizes, external appearances, even materials, and the like of all objects around the vehicle 100, that is, the output information includes information of positions, sizes, external appearances, even materials, and the like of all objects around the vehicle 100. The output information of the vehicle sensor 20 can thus be acquired using the lidar sensor.
In some embodiments, the vehicle sensors 20 may also use both vision sensors and lidar sensors, which may improve the accuracy of the output information.
In some embodiments, the vehicle 100 may obtain information of a traffic scene where the vehicle 100 is located according to the output information of the vehicle sensor 20, and determine an appropriate automatic driving strategy according to the information of the traffic scene to implement automatic driving of the vehicle 100.
In some embodiments, the display device 10 includes a display module, and a user can visually see the current dot matrix image through the display module, and the user can autonomously judge what the obstacle is according to the current dot matrix image on the display module, thereby ensuring driving safety. In some embodiments, the display device 10 further includes a voice module, and the voice module may be configured to broadcast information of the current dot matrix image during driving, so that a user can determine what the obstacle is from voice, and driving safety is ensured.
In some embodiments, the vehicle 100 includes an onboard large screen for displaying the current dot matrix image. The vehicle 100 may further include an electroacoustic component such as a speaker or a horn, and the electroacoustic component is used to broadcast information of the current dot matrix image.
Referring to fig. 5, in some embodiments, step 02 includes:
step 021: screening output information by using preset information;
step 022: and determining the obstacle information according to the screened output information.
In some embodiments, the determining module 14 includes a processing unit and a determining unit, wherein step 021 can be implemented by the processing unit, and step 022 can be implemented by the determining unit, that is, the processing unit is configured to filter the output information by using the preset information. The determining unit is used for determining the obstacle information according to the screened output information.
Specifically, the vehicle 100 may include a database, and the preset information may be stored in the database, may be set in advance before the vehicle 100 leaves a factory, or may be connected to a server to enable periodic optimization and update, which is not limited herein. The preset information can be common object information such as other vehicles, roadside trees, traffic light signs, traffic lanes on the ground and the like, and the objects can not cause risks to the driving of the vehicle 100 in a normal state. The preset information may be stored in the database by setting a style model, that is, the preset information may include a plurality of style models. When the output information is confirmed to include the preset information, the style model corresponding to the preset information in the database can be used for displaying. That is, the display screen or the vehicle-mounted large screen may display a pattern model corresponding to the preset information and/or a dot matrix image of the obstacle.
Referring again to fig. 4, in one embodiment, the preset information may include a plurality of pattern models, the pattern model of the first preset object may be a bus, the pattern model of the second preset object may be a car, and the pattern model of the third preset object may be a traffic lane on a road. The output information can be screened by using the preset information, and the output information is judged to comprise a style model of a first preset object, a style model of a second preset object and a style model of a third preset object. Obstacle information is determined from the filtered output information, and in this example, a road cone (also referred to as ice cream cone) like dot matrix image is generated from the obstacle information. In this way, the dot matrix image (denoted by reference numeral 101 in fig. 4) of a bus car (denoted by reference numeral 102 in fig. 4), a car model (denoted by reference numeral 103 in fig. 4), a traffic lane model (denoted by reference numeral 104 in fig. 4), and a similar road cone can be correspondingly displayed on the vehicle-mounted large screen. Determining the obstacle information according to the output information after the screening can facilitate judgment of the obstacle information, reduce information processing time of the display device 10, improve display speed, and improve user experience.
In some embodiments, the obstacle information includes at least one of contour information, aspect information, volume information, and area information of the obstacle.
Therefore, the dot matrix image of the obstacle can be correspondingly generated according to the information. In some embodiments, this information may be processed to form a dot matrix image proportional to the other pattern models, making the content of the display of the on-board large screen more aesthetically pleasing.
In some embodiments, the accuracy of the vehicle sensor 20 is positively correlated with the distance between the vehicle sensor 20 and the obstacle, and the accuracy of the vehicle sensor 20 is positively correlated with the dot density of the current dot-matrix image.
Specifically, the closer the distance between the vehicle sensor 20 and the object is, the higher the detection accuracy of the vehicle sensor 20 is, the more accurate the acquired output information is, and the larger the dot matrix density of the formed dot matrix image is; the farther the distance between the vehicle sensor 20 and the object is, the lower the detection accuracy of the vehicle sensor 20 is, the coarser the acquired output information is, and the smaller the dot density of the formed dot matrix image is.
In one embodiment, if the vehicle 100 is in a forward gear, and is traveling normally along a road, the obstacle is located 150 meters ahead of the vehicle 100 during the last sampling period; at the current sampling period, the obstacle is located 140 meters ahead of the vehicle 100, with a sampling period of 30 seconds. The lattice density of the current lattice image in the current sampling period is 200 ten thousand pixels, the lattice density in the last sampling period is 100 ten thousand pixels, and the lattice density of the current lattice image in the current sampling period of the obstacle is greater than that in the last sampling period of the obstacle. As the distance between the vehicle sensor 20 and the object changes, the dot density of the displayed dot image also changes dynamically.
Referring to fig. 6, in some embodiments, the display method further includes:
step 05: and under the condition that the lattice density of the current lattice image is not more than that of the previous lattice image, continuously displaying the previous lattice image.
In some embodiments, the display device 10 further includes a determination module, wherein the step 05 can be implemented by determining, that is, the determination module is configured to continue to display the previous dot matrix image if the dot matrix density of the current dot matrix image is not greater than the dot matrix density of the previous dot matrix image.
In some embodiments, when the lattice density of the current lattice image is the same as the lattice density of the previous lattice image, the previous lattice image is not updated or maintained to be displayed, so that processing resources can be saved and the user experience can be guaranteed.
In some embodiments, in the case that the lattice density of the current lattice image is smaller than that of the previous lattice image, the previous lattice image continues to be displayed. Therefore, the display precision is not reduced, the processing resource is saved, and the accuracy of judgment of a user is not influenced.
In some embodiments, the output information further includes information on a distance between the vehicle and the obstacle, and when the vehicle is far away from the obstacle (for example, 250 meters), the dot matrix image of the obstacle displayed on the on-vehicle large screen may be a green dot matrix image; when the vehicle is close to the obstacle (for example, 50 meters), the dot matrix image of the obstacle displayed on the on-vehicle large screen may be a yellow dot matrix image; when the vehicle is very close to the obstacle (for example, 5 meters), the dot-matrix image of the obstacle displayed on the large on-vehicle screen may be a red dot-matrix image, so that the user may intuitively determine the risk level of the obstacle to the vehicle 100 according to the color.
Referring to fig. 7, in some embodiments, the display method according to the embodiments of the present application may also be implemented by an electronic device 200, where the electronic device 200 includes one or more processors 240 and a memory 220, the memory 220 stores a computer program, and the display method according to any of the above embodiments is implemented when the computer program is executed by the processor 240.
In one embodiment, electronic device 200 may be communicatively coupled with vehicle 100. After successful connection, the electronic device 200 may obtain output information of the vehicle sensor 20, determine obstacle information in the environment according to the output information, generate a current dot matrix image of the obstacle, and replace a previous dot matrix image of the obstacle with the current dot matrix image of the obstacle for update display. Therefore, the real environment is restored through the dot matrix image, risk judgment and road condition identification are given to the user, the user can subjectively judge through the current dot matrix image, and risk transfer is achieved.
It should be noted that the electronic device 200 may be a tablet computer, a smart phone, a smart watch, a vehicle-mounted terminal, and the like, and is not limited herein. The electronic device 200 may be communicatively connected to the vehicle 100 by bluetooth, wireless lan, or the like. The display method can be flexibly applied, meets the requirements of users more intelligently and humanizedly, can improve the lattice density of the lattice image through updating, improves the accuracy of judgment of the users by increasing the density of the lattice image through updating, and ensures the driving safety.
Referring to fig. 8, a computer readable storage medium 300 of the present application is stored with a computer program, and the computer program is executed by the processor 240 to implement the display method of any of the above embodiments.
The computer-readable storage medium 300 according to the embodiment of the application determines the obstacle information by processing the output information, generates the current dot matrix image according to the obstacle information, restores the real environment through the dot matrix image, and gives the risk judgment and road condition identification to the user, so that the user can subjectively judge through the current dot matrix image, the density of the dot matrix image is increased by updating to improve the judgment accuracy of the user, and the driving safety is ensured.
It should be noted that the computer program stored in the computer-readable storage medium 300 of the embodiment of the present application may be executed by the processor 240 of the electronic device 200, and it should be noted that the computer-readable storage medium 300 may be a storage medium built in the electronic device 200 or the vehicle 100, or may be a storage medium that can be plugged into the electronic device 200 or the vehicle 100, so that the computer-readable storage medium 300 of the embodiment of the present application has higher flexibility and reliability.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
The Processor 220 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should be understood that portions of the embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A display method, comprising:
acquiring output information of a vehicle sensor;
determining obstacle information in the environment according to the output information;
generating a current dot matrix image of the barrier according to the barrier information;
and replacing the last dot matrix image of the obstacle with the current dot matrix image of the obstacle for updating and displaying, wherein the dot matrix density of the current dot matrix image of the obstacle is greater than that of the last dot matrix image of the obstacle.
2. The display method according to claim 1, wherein the determining obstacle information in an environment from the output information comprises:
screening the output information by using preset information;
and determining the obstacle information according to the screened output information.
3. The display method according to claim 1, wherein the obstacle information includes at least one of contour information, aspect height information, volume information, and area information of the obstacle.
4. The display method according to claim 1, further comprising:
and under the condition that the lattice density of the current lattice image is not more than that of the previous lattice image, continuously displaying the previous lattice image.
5. The display method according to claim 1, wherein the accuracy of the vehicle sensor is positively correlated with the distance between the vehicle sensor and an obstacle, and the accuracy of the vehicle sensor is positively correlated with the dot density of the current dot-matrix image.
6. The display method according to claim 1, wherein the vehicle sensor comprises a vision sensor and/or a lidar sensor.
7. A display device for a vehicle, characterized in that the display device comprises:
the acquisition module is used for acquiring output information of the vehicle sensor;
the determining module is used for determining obstacle information in the environment according to the output information;
the generating module is used for generating a current dot matrix image of the barrier according to the barrier information;
and the updating module is used for replacing the previous dot matrix image of the obstacle with the current dot matrix image of the obstacle so as to update and display, and the dot matrix density of the current dot matrix image of the obstacle is greater than that of the previous dot matrix image of the obstacle.
8. A vehicle characterized by comprising the display device of claim 7.
9. An electronic device, characterized in that the electronic device comprises one or more processors and a memory, the memory storing a computer program which, when executed by the processors, implements the steps of the display method according to any one of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the display method according to any one of claims 1 to 6.
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