CN115416486A - Vehicle lane change information display method and device, electronic equipment and storage medium - Google Patents
Vehicle lane change information display method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The present disclosure relates to the field of intelligent driving technologies, and in particular, to a method for displaying lane change information of a vehicle, a lane change information device of a vehicle, an electronic apparatus, and a storage medium, where the method for displaying lane change information of a vehicle includes: acquiring state information of a vehicle when the vehicle runs; wherein the state information is used for indicating the internal running state and the external environment state of the vehicle; acquiring the lane change state of the vehicle according to the state information; the lane change state comprises a first state, and the first state is a state that the vehicle can change lanes; when the lane change state of the vehicle is detected to be a first state, displaying lane change information through a display device; wherein the lane change information is used for guiding the vehicle to change lanes. The invention provides a vehicle lane change information display method, and solves the problem that lane change information acquired by an existing vehicle is not visual.
Description
Technical Field
The present disclosure relates to the field of intelligent driving technologies, and in particular, to a method and an apparatus for displaying lane change information of a vehicle, an electronic device, and a storage medium.
Background
With the development of the field of intelligent driving technology, the AR-HUD (Augmented Reality heads UP Display) technology is increasingly applied to various driving scenes, for example, the AR-HUD technology is applied to a lane-level navigation system to provide more intuitive and accurate navigation information for drivers.
In the prior art, an AR-HUD lane-level lane change navigation method is that a route from a current lane change to a target lane is indicated by a thick line by displaying a navigation track line of a vehicle, and lane-level lane change navigation is completed in one step, which is limited by a viewing angle parameter and cannot guide multi-lane change, and meanwhile, the lane change navigation completed in one step cannot be applied to complex road conditions in an actual driving environment, so that information transmission is not intuitive and efficient enough, and assistance for lane change operation of a driver is limited.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
An object of the present disclosure is to provide a vehicle lane change information display method, a vehicle lane change information display apparatus, an electronic device, and a storage medium, which can efficiently and intuitively display vehicle lane change information.
According to an aspect of the present disclosure, there is provided a vehicle lane change information display method including: acquiring a plurality of state information of the vehicle when the vehicle runs; wherein the plurality of state information is used to indicate an internal operation state and an external environment state of the vehicle; acquiring a lane change state of the vehicle according to the plurality of state information; the lane changing state comprises a first state, and the first state is a state that the vehicle can change lanes; when the lane changing state of the vehicle is detected to be a first state, displaying lane changing information through a display device; wherein the lane change information is used for guiding the vehicle to change lanes.
In an exemplary embodiment of the present disclosure, the lane change state of the vehicle is acquired according to a plurality of state information, and the method further includes: and when the numerical value of the state information is within the preset threshold range corresponding to the state information, judging the lane change state as a first state.
In one exemplary embodiment of the present disclosure, a display device includes a first area and a second area, and displays lane change information through the display device when detecting that a lane change state of a vehicle is a first state, including: displaying lane information in a first area; the lane information is used for indicating the position relation of a first lane and at least one second lane, the first lane is a lane in which the vehicle runs, and the second lane is a lane in which the vehicle can perform lane changing operation; confirming a target lane in a second lane according to a plurality of state information; displaying lane change guide information in a second area; the lane change guide information is used for indicating the direction of the vehicle changing from the first lane to the target lane, and the first area and the second area are different areas.
In an exemplary embodiment of the disclosure, the method further comprises: acquiring lane line information; wherein the lane line information is used to indicate relative positions between lane lines; and confirming the first lane and the second lane according to the lane line information and the plurality of state information.
In an exemplary embodiment of the disclosure, the method further comprises: highlighting the first lane and the target lane; wherein the highlighting level of the target lane is higher than the highlighting level of the first lane.
In an exemplary embodiment of the present disclosure, after the second area displays the lane change guide information, the method further includes: canceling the display of the lane change guide information in the second area when it is detected that the vehicle starts to perform the lane change operation; after the completion of the lane change operation of the vehicle is detected, the display of the lane information is cancelled in the first area, and the lane change already-prompted information is displayed in the second area.
In an exemplary embodiment of the present disclosure, it is detected that the vehicle completes a lane change operation, the method further includes: acquiring position information and direction information of a vehicle; the position information is used for indicating the position of the vehicle, and the direction information is used for indicating the driving direction of the vehicle; acquiring lane line information so that a position of a target lane is confirmed; and confirming that the vehicle finishes the lane changing operation when the vehicle is detected to be positioned in the target lane and the driving direction of the vehicle is straight.
According to an aspect of the present disclosure, there is provided a vehicle lane change information display device including: the detection module is used for acquiring a plurality of state information of the vehicle when the vehicle runs; wherein the plurality of state information is used to indicate an internal operation state and an external environment state of the vehicle; the acquisition module is used for acquiring the lane changing state of the vehicle according to the plurality of state information; the lane changing state comprises a first state, and the first state is a state that the vehicle can change lanes; the display module is used for displaying lane change information through display equipment when the lane change state of the vehicle is detected to be a first state; wherein the lane change information is used for guiding the vehicle to change lanes.
According to an aspect of the present disclosure, there is provided an electronic device including:
a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to execute the vehicle lane change information display method of any one of the above embodiments via execution of the executable instructions.
According to an aspect of the present disclosure, there is provided a computer-readable storage medium having instructions stored thereon that, when executed by a processor of an electronic device, enable the electronic device to perform the vehicle lane change information display method of any of the above embodiments.
Exemplary embodiments of the present disclosure may have some or all of the following benefits:
in a vehicle lane change information display method provided in an example embodiment of the present disclosure, a plurality of pieces of state information of a vehicle are acquired while the vehicle is running, a lane change state of the vehicle is acquired based on the plurality of pieces of state information, and the lane change information is displayed through a display device when it is detected that the lane change state of the vehicle is a first state. On the one hand, the lane change state is acquired according to the real-time state information, so that the accuracy of the acquired lane change information is improved, on the other hand, the acquired lane change information is displayed through the display equipment, the lane change information is more visual, the information transmission efficiency is improved, on the other hand, the lane change information is automatically acquired from the acquisition and display process, so that the steps are simplified, and the lane change information acquisition efficiency is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
Fig. 1 schematically shows a schematic diagram of a system architecture of a vehicle lane change information display method according to one embodiment of the present disclosure.
FIG. 2 schematically illustrates a flow chart of a vehicle lane change information display in accordance with one embodiment of the present disclosure.
FIG. 3 schematically shows a flow chart for displaying lane change information according to one embodiment of the present disclosure.
Fig. 4 schematically shows a schematic diagram of displaying lane information according to an embodiment of the present disclosure.
Fig. 5 schematically shows a schematic diagram for displaying lane change guidance information according to an embodiment of the present disclosure.
Fig. 6 schematically illustrates a flow chart for confirming a first lane and a second lane according to an embodiment of the present disclosure.
FIG. 7 schematically illustrates a flow diagram for canceling display of lane change information in accordance with one embodiment of the present disclosure.
FIG. 8 schematically illustrates a diagram showing a changed lane cue in accordance with one embodiment of the present disclosure.
FIG. 9 schematically illustrates a flow chart for detecting completion of a lane change by a vehicle in accordance with one embodiment of the present disclosure.
Fig. 10 schematically shows a block diagram of a vehicle lane change information display apparatus according to one embodiment of the present disclosure.
FIG. 11 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device implementing an embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as being prior to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Fig. 1 is a schematic diagram illustrating a system architecture of an exemplary application environment to which a vehicle lane change information display method and apparatus according to an embodiment of the present disclosure may be applied.
As shown in fig. 1, the system architecture 100 may include one or more of terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 serves as a medium for providing communication links between the terminal devices 101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few. The terminal devices 101, 102, 103 may be various electronic devices having a display screen, including but not limited to desktop computers, portable computers, smart phones, tablet computers, and the like. It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation. For example, server 105 may be a server cluster comprised of multiple servers, or the like.
The method for displaying the lane change information of the vehicle according to the embodiment of the present disclosure may be executed by the server 105, and specifically, when the vehicle is running, the server acquires a plurality of pieces of state information of the vehicle, acquires a lane change state of the vehicle according to the plurality of pieces of state information, and displays the lane change information through the display device when it is detected that the lane change state of the vehicle is the first state. The vehicle lane change information display method provided in the embodiment of the present disclosure may also be executed by the terminal devices 101, 102, and 103, and the vehicle lane change information display method provided in the embodiment of the present disclosure may also be executed by the terminal devices 101, 102, and 103 and the server 105 together, which is not particularly limited in the exemplary embodiment.
The HUD is an onboard optical display system, which is used as a flight aid in an aircraft, and can project aircraft flight information (such as flight parameters, attitude information, navigation information, etc.) onto a perspective mirror directly in front of a pilot's field of view, so that when the pilot maintains a head-up state, instrument parameters and an external visual reference are considered in the same field of view. With the development of technology, HUDs have become more popular and are used in various cabs to allow the driver to look straight up to the virtual image of the instrument panel without having to frequently lower his head.
With the development of the field of intelligent driving technology, the AR-HUD (Augmented Reality Head UP Display) technology is increasingly used in various driving scenes, for example, the AR-HUD technology is applied to a vehicle-level navigation system to provide more intuitive and accurate navigation information for a driver. In the prior art, one way of AR-HUD lane-level navigation is to perform lane-change navigation by displaying the course line of the vehicle, indicating in the form of a thick bar that the current vehicle points to the target lane. The method is limited by visual angle parameters, cannot guide multi-lane changing, is not intuitive and efficient in information transmission, and has limited help for lane changing operation of a driver.
Some embodiments of the present disclosure may employ AR-HUD technology, which is developed from C-HUD (Combiner HUD) and W-HUD (Windshield HUD), wherein the C-HUD device is mounted on a piece of transparent glass, and the optical image is reflected into the piece of glass by three refractions. Form a virtual image in the position of 1.8-2.5 meters from driver's sight, show different information, W-HUD then directly uses windshield as display device, and the display effect is more integrated, and AR-HUD fuses actual road conditions on W-HUD's basis and shows, and is more vivid, represents HUD's development direction.
In an example embodiment of the present disclosure, there is provided a vehicle lane change information display method, as shown with reference to fig. 2, which may include the steps of:
step S210, acquiring a plurality of state information of the vehicle when the vehicle runs; wherein the plurality of state information are used to indicate an internal operating state and an external environmental state of the vehicle;
step S220, acquiring the lane change state of the vehicle according to the plurality of state information;
the lane changing state comprises a first state, and the first state is a state that the vehicle can change lanes;
step S230, when the lane change state of the vehicle is detected to be a first state, displaying lane change information through a display device;
wherein the lane change information is used for guiding the vehicle to change lanes.
In a vehicle lane change information display method provided in an example embodiment of the present disclosure, a plurality of pieces of state information of a vehicle are acquired while the vehicle is running, a lane change state of the vehicle is acquired based on the plurality of pieces of state information, and the lane change information is displayed through a display device when it is detected that the lane change state of the vehicle is a first state. On the one hand, the lane change state is acquired according to the real-time state information, so that the accuracy of the acquired lane change information is improved, on the other hand, the acquired lane change information is displayed through the display equipment, the lane change information is more visual, the information transmission efficiency is improved, on the other hand, the lane change information is automatically acquired from the acquisition and display process, so that the steps are simplified, and the lane change information acquisition efficiency is improved.
The above steps will be described in more detail below.
In an example embodiment of the present disclosure, there is provided a vehicle lane change information display method, as shown with reference to fig. 2, including the following steps S210 to S230:
in step S210, a plurality of pieces of state information of the vehicle are acquired while the vehicle is running.
In one example embodiment of the present disclosure, the plurality of state information is used to indicate an internal operation state of the vehicle, which may be various items of performance information of the vehicle itself when the vehicle is operating, and an external environment state, which may be various items of information indicating an external environment of the vehicle. For example, the state information may be one or more of internal state information such as vehicle speed information, navigation information, position information, a vehicle driving direction, turn signal information, and external environment information such as a distance from a traffic sign information, a lane line information, and surrounding obstacles such as a person or other vehicles.
Specifically, a plurality of pieces of status information are acquired from the in-vehicle device of the vehicle itself while the vehicle is running.
For example, the plurality of state information is vehicle speed information, environment information around the vehicle, lane line information of a current driving road of the vehicle, and road sign information of the current driving road of the vehicle; when a vehicle runs, the rotating speed of wheels is obtained through a sensor, vehicle speed information is calculated according to the rotating speed of the wheels and wheel parameters, the vehicle-mounted radar equipment transmits waves such as ultrasonic signals or laser beams to the periphery, information such as the distance, the direction, the height, the speed, the posture and even the shape of an obstacle reflecting the waves is obtained by comparing received echoes with the transmitted waves, the vehicle-mounted camera equipment obtains an external environment image through shooting, and road marking information of a current running road of the vehicle is obtained by identifying lane lines and marks on the road through an image processing technology.
In step S220, a lane change state of the vehicle is acquired based on the plurality of state information.
In one example embodiment of the present disclosure, the lane change state is a state indicating whether the vehicle can currently change lanes. For example, the lane change state may be a lane change enabled state and a lane change disabled state.
Specifically, the multiple state information is comprehensively processed, and whether the current vehicle can change lanes or not is judged according to different running scenes, so that the lane change state is obtained.
For example, the plurality of status information includes navigation information, position information, vehicle speed information, environment information around the vehicle, lane line information of a current driving road of the vehicle, and road sign information of the current driving road of the vehicle.
The navigation information and the position information are used for judging whether the vehicle has a lane change requirement, for example, the navigation information indicates that the vehicle turns right ahead, and the position information shows that the vehicle is in a straight lane, so that the vehicle has the lane change requirement.
The vehicle speed information, the environment information around the vehicle, the lane line information of the current driving road of the vehicle and the road sign information of the current driving road of the vehicle are used for judging whether the vehicle meets the lane change condition, for example, if the vehicle speed is normal, no lane change prohibition mark exists, the lane line is a dotted line, no other vehicle exists at a fixed distance of Fang Te in front of and behind the vehicle, the lane change condition is met, and the lane change condition and the lane change requirement jointly determine the lane change state.
And comprehensively processing the information to obtain the lane change state according to the current running scene of the vehicle.
In step S230, lane change information is displayed through the display device upon detecting that the lane change state of the vehicle is the first state.
In one example embodiment of the present disclosure, the lane change information is used to guide the vehicle to change lanes, and the lane change state includes a first state that is a state in which the vehicle can change lanes.
For example, the lane change information may include lane line information and lane change guide information, and the display device may be an AR-HUD device. When the lane change state of the vehicle is detected to be the first state, the AR-HUD device displays lane line information and lane change guide information through a windshield of the vehicle.
In an example embodiment of the present disclosure, the lane change state is determined as the first state when the value of the state information is within a preset threshold range corresponding to the state information. For example, the preset threshold range corresponding to the state information may be a safe vehicle speed range corresponding to the vehicle speed information and a safe distance range of the rear vehicle corresponding to the environmental information in front of and behind the vehicle.
Specifically, after acquiring a plurality of pieces of state information of the vehicle, the numerical value of the state information is further acquired, and when the numerical value of the state information is within a preset threshold range corresponding to the state information, the lane change state is determined as the first state.
For example, the plurality of state information are vehicle speed information of the vehicle and environment information behind the vehicle, the preset threshold range is a safe vehicle speed range and a safe distance range of the rear vehicle, when the vehicle runs, the rotation speed of the wheels is obtained through a sensor, the vehicle speed information is calculated according to the rotation speed of the wheels and wheel parameters, ultrasonic waves are sent backwards through a vehicle-mounted radar, the distance between the vehicle and other rear vehicles is obtained by comparing transmitted waves and echoes, the safe vehicle speed range corresponding to the vehicle speed information is 30km/h-60km/h, the numerical value of the obtained vehicle speed information is 45km/h, within the safe vehicle speed range of 30km/h-60km/h, the safe distance range between the vehicle and other rear vehicles is larger than 10m, the distance between the vehicle and other rear vehicles is 20m, within the safe distance range, all the state information meets the corresponding preset threshold range, and the lane change state of the vehicle is determined to be the first state, namely the state allowing lane change.
Further, in an example embodiment of the present disclosure, when the value of any one of the state information is outside the preset threshold range corresponding to the state information, the lane change state is determined as the second state. Wherein the second state is a state in which the vehicle is prohibited from changing lanes. For example, the state information includes vehicle speed information of the vehicle and vehicle rear environment information, the preset threshold range is a safe vehicle speed range and a safe distance range of the rear vehicle, when the vehicle runs, the obtained vehicle speed information is 80km/h, and is out of the safe vehicle speed range of 30km/h-60km/h, and at this time, the lane change state of the vehicle is determined as the second state, namely, the lane change prohibition state no matter whether the vehicle and other vehicles behind are in the safe distance range.
The lane changing state of the vehicle is judged according to the numerical value of the state information of the vehicle, and the accuracy of judging the lane changing state is improved.
In one embodiment of the application, if it is determined that the vehicle needs to change lanes according to the navigation information and the lane change state is not detected as the first state after the vehicle travels for a certain time, the vehicle is prompted to adjust the internal running state according to the state information of the vehicle so that the lane change state can be determined as the first state, and lane change information is displayed to guide the vehicle to start changing lanes. For example, if the navigation information indicates that the vehicle is going to turn right at 800 meters ahead, the vehicle is currently in the leftmost lane of the 4 lanes, and the lane change state is not detected as the first state after 1 minute, the vehicle is prompted to accelerate or decelerate according to the current state information of the vehicle, so as to determine the lane change state as the first state.
In one example embodiment of the present disclosure, lane information is displayed in a first area, a target lane is confirmed in a second lane according to a plurality of state information, and lane change guide information is displayed in the second area. Specifically, referring to fig. 3, displaying the lane change information may include the following steps S310 to S330:
in step S310, lane information is displayed in the first area.
In one example embodiment of the present disclosure, a display apparatus includes a first region and a second region, lane information indicating positions of a first lane and at least one second lane, the first lane being a lane in which a vehicle is currently traveling, the second lane being a lane in which the vehicle can perform a lane change operation. For example, the display device is an AR-HUD device, the AR-HUD device displays information through a windshield of a vehicle, the first area is a non-AR display area, the second area is an AR display area, and the AR display area is an area which is used for fusing and displaying lane change guide information and actual road conditions.
Specifically, when it is detected that the lane change state of the vehicle is the first state, lane information is displayed in the first area by the display device.
For example, the display device is an AR-HUD device, the AR-HUD device displays information through a windshield of a vehicle, a display area on the windshield includes a first area and a second area, the first area is a non-AR display area, the second area is an AR display area, when it is detected that a lane change state of the vehicle is a first state, lane information is displayed in the non-AR display area through the AR-HUD device, the lane information is used for indicating positions of a first lane and at least one second lane, the first lane is a lane where the vehicle is currently traveling, and the second lane is a lane where the vehicle can perform a lane change operation.
Referring to fig. 4, the windshield 410 is an area for displaying information of the AR-HUD device, and includes an AR display area 411 for displaying lane change guide information after confirming a target lane, and the windshield 410 further includes a non-AR display area 412 for displaying lane information.
In step S320, the target lane is confirmed in the second lane according to the plurality of state information.
In one example embodiment of the present disclosure, the target lane is a lane in which the vehicle has made a lane change. For example, the second lane may be a left lane and a right lane adjacent to a current driving lane of the vehicle, and the right lane adjacent to the current driving lane of the vehicle is the target lane when the vehicle performs the right lane change operation.
Specifically, the lane change request is analyzed by the acquired state information, and the target lane is confirmed in the second lane.
For example, the plurality of state information includes position information, navigation information, lane line information and road sign information of the vehicle, when the vehicle runs, the navigation system acquires the navigation information, the positioning system acquires the position information of the vehicle, the camera device acquires the lane line information and the road sign information, after the position information and the lane line information of the vehicle are acquired, lanes determined by two lane lines on two sides of the vehicle are used as a first lane, namely a current running lane, two lanes adjacent to the first lane are used as a second lane, the navigation information indicates that the vehicle needs to turn right, and a right lane adjacent to the first lane in the second lane is determined as a target lane according to the navigation information.
In step S330, the lane change guide information is displayed in the second area.
In one example embodiment of the present disclosure, the lane change guidance information is used to indicate a direction in which the vehicle changes lane from the first lane to the target lane. For example, the lane change guide information may be an arrow indicating a direction.
Specifically, lane change guidance information is displayed in the second area by the display device upon detection of the lane change state of the vehicle being the first state.
For example, the display device is an AR-HUD device, the AR-HUD device displays information through a windshield of a vehicle, a display area on the windshield is divided into a first area and a second area, the first area is a non-AR display area, the second area is an AR display area, lane change guide information is displayed on the AR display area through the AR-HUD device when a lane change state of the vehicle is detected to be the first state, the lane change guide information is used for indicating a direction in which the vehicle changes lanes from the first lane to a target lane, and the lane change guide information may be an arrow or other marks for indicating the direction.
In one embodiment of the present application, if the target lane is separated from the first lane by a plurality of second lanes, in order to avoid the vehicle performing a continuous large-span lane change operation based on lane change guidance information, the lane change guidance information is used to indicate a direction in which the vehicle changes from the first lane to an adjacent lane, and the direction in which the vehicle changes to the adjacent lane is the same as the direction in which the vehicle changes to the target lane, that is, the adjacent lane is located between the first lane and the target lane, and the lane change guidance information is displayed for a plurality of times, so that the vehicle can be guided to safely change to the target lane.
Referring to fig. 5, the windshield 510 is an area for displaying information of the AR-HUD device, and includes an AR display area 511 for displaying lane change guide information 5111, and the windshield 510 further includes a non-AR display area 512 for displaying lane information.
Through the above steps S310 to S330, lane information is displayed in the first area, the target lane is confirmed in the second lane based on the plurality of pieces of state information, and lane change guide information is displayed in the second area. The acquired lane change information is displayed through the display equipment, so that the lane change information is more visual, and the information transmission efficiency is improved.
In an example embodiment of the present disclosure, lane line information is acquired, and a first lane and a second lane are confirmed according to the lane line information and a plurality of state information. Specifically, referring to fig. 6, the step of confirming the first lane and the second lane may include the following steps S610 to S620:
in step S610, lane line information is acquired.
In one example embodiment of the present disclosure, the lane line information is for indicating a relative position between lane lines.
For example, when the vehicle is running, the vehicle-mounted imaging apparatus acquires a lane line image by shooting, and performs image processing on the lane line image to obtain the relative position of each lane line and lane line information of a dotted line and a solid line.
In step S620, the first lane and the second lane are determined according to the lane line information and the plurality of status information.
In an example embodiment of the present disclosure, the plurality of status information is position information, navigation information, lane line information, the navigation system acquires the navigation information when the vehicle is running, the positioning system acquires the position information of the vehicle, the camera device acquires the lane line information, and after the position information and the lane line information of the vehicle are acquired, a lane determined by two lane lines located on both sides of the vehicle is taken as a first lane, i.e., a current driving lane, and two lanes adjacent to the first lane are taken as a second lane.
Through the steps S610 to S620, lane line information is acquired, and the first lane and the second lane are confirmed according to the lane line information and the plurality of status information.
In an example embodiment of the present disclosure, the first lane and the target lane are highlighted. Wherein the highlighting level of the target lane is higher than the highlighting level of the first lane. For example, the highlighting may be one or more of highlighting, thickening, or flashing.
Specifically, after the lane information is displayed by the display device, the first lane and the target lane are highlighted.
For example, the highlighting is brightness, the higher the highlighting level, the higher or greater the brightness; the display device is an AR-HUD device, lane information is displayed in a non-AR display area of the windshield through the AR-HUD device, and then high-brightness processing is carried out on the first lane and the target lane, wherein the brightness of the target lane is larger than that of the first lane.
It is understood that the highlighting is not limited to a display manner, and the highlighting level may also be represented by the number of highlighting, for example, highlighting and line-thickening the target lane, and only line-thickening the first lane, and the highlighting level belonging to the target lane is higher than the highlighting level of the first lane.
Through the steps, the first lane and the target lane are highlighted, so that lane information is more visual, and the information transmission efficiency is improved.
In one example embodiment of the present disclosure, when it is detected that the vehicle starts performing the lane change operation, the lane change guide information is canceled from being displayed in the second area, and after it is detected that the vehicle completes the lane change operation, the lane change information is canceled from being displayed in the first area, and the lane change already prompted information is displayed in the second area. Specifically, referring to fig. 7, canceling the display of the lane change information may include the following steps S710 to S720:
in step S710, when it is detected that the vehicle starts performing the lane change operation, the display of the lane change guide information is cancelled in the second area.
In one example embodiment of the present disclosure, it is determined whether the vehicle starts to perform a lane change operation by detecting whether a turn lamp of a target lane direction is turned on.
Specifically, the display device cancels display of the lane change guide information in the second region in order to prevent blocking of the driving view when it is detected that the vehicle starts to perform the lane change operation.
For example, the display device is an AR-HUD device, the second area is an AR display area, the lane change guide information is an arrow indicating a direction, when it is detected that a turn light in the target lane direction is turned on, it is determined that the vehicle starts to perform a lane change operation, and the AR-HUD device displays the arrow indicating the lane change direction in a curved line in the AR display area.
In step S720, after detecting that the vehicle has completed the lane change operation, the display of the lane information is canceled in the first area and the lane change already prompted information is displayed in the second area.
In one example embodiment of the present disclosure, after it is detected that the vehicle completes a lane change operation, the display of the lane information is canceled in the first area, and the lane-changed guidance information is displayed in the second area. Wherein, the lane change prompting information is used for prompting the completion of lane change. For example, the lane-changed prompt message may be a text message, a pattern message, or other types of prompt messages by detecting whether the turn signal of the target lane direction is turned off, and determining whether the vehicle finishes executing the lane-change operation.
For example, the display device is an AR-HUD device, the first area is a non-AR display area, the second area is an AR display area, the lane-changed guidance information is a highlight that depicts a real lane, and as shown in fig. 8, the windshield 810 is an area for displaying information of the AR-HUD device, and includes an AR display area 811 for displaying the lane-changed guidance information.
Through the above steps S710 to S720, when it is detected that the vehicle starts to perform the lane change operation, the lane change guidance information is canceled from being displayed in the second area, and after it is detected that the vehicle completes the lane change operation, the lane change guidance information is canceled from being displayed in the first area, and the lane change already-prompted information is displayed in the second area.
In one example embodiment of the present disclosure, position information of a vehicle and direction information of the vehicle are acquired, lane line information is acquired such that a position of a target lane is confirmed, and when it is detected that the vehicle is located in the target lane and a traveling direction of the vehicle is a straight traveling, it is confirmed that the vehicle completes a lane change operation. Specifically, referring to fig. 9, detecting that the vehicle has completed the lane change operation may include the following steps S910 to S930:
in step S910, position information of the vehicle and direction information of the vehicle are acquired.
For example, when a vehicle runs, a current position of the vehicle is acquired through a GNSS (Global Navigation Satellite System), the GNSS acquires distances between the current vehicle and at least three surrounding landmark buildings through a sensor, a circle is made by using the distances between the three landmark buildings and the vehicle as radii through a three-circle positioning method, that is, the positions of the three landmark buildings are taken as a circle center, and an intersection point of the three circles is the current position of the vehicle, so that the current position of the vehicle is determined on a high-precision map of the GNSS, a rotation angle of a steering wheel is acquired, and current direction information of the vehicle is acquired in combination with a movement track of the vehicle position.
In step S920, lane line information is acquired so that the position of the target lane is confirmed.
For example, the vehicle-mounted camera device obtains an external environment image by shooting, obtains the gray level of the image by an image processing technology, identifies the lane line on the road according to the gray level difference, and distinguishes a solid line from a dotted line, a yellow line from a white line to obtain the lane line information of the current driving road of the vehicle.
In step S930, when it is detected that the vehicle is located in the target lane and the traveling direction of the vehicle is straight, it is confirmed that the lane change operation of the vehicle is completed.
For example, according to the position information and lane line information of the vehicle, when it is detected that the vehicle is located in the target lane, the current lane is overlapped with the target lane, and the steering wheel of the vehicle is at the initial angle, the turn light is turned off, and the driving direction of the vehicle is straight, it is determined that the vehicle completes the lane change operation.
Through the above steps S910 to S930, the position information of the vehicle and the direction information of the vehicle are acquired, the lane line information is acquired so that the position of the target lane is confirmed, and when it is detected that the vehicle is located in the target lane and the traveling direction of the vehicle is straight, it is confirmed that the lane change operation of the vehicle is completed.
In an example embodiment of the present disclosure, when the target lane is not a lane adjacent to the first lane, and the vehicle needs to perform a lane change operation multiple times to change the lane from the first lane to the target lane, the lane change information may be displayed/canceled to guide the vehicle to complete the lane change operation multiple times by using the method in the above embodiments.
In a vehicle lane change information display method provided in an example embodiment of the present disclosure, a plurality of pieces of state information of a vehicle are acquired while the vehicle is running, a lane change state of the vehicle is acquired based on the plurality of pieces of state information, and the lane change information is displayed through a display device when it is detected that the lane change state of the vehicle is a first state. On the one hand, the lane change state is acquired according to the real-time state information, so that the accuracy of the acquired lane change information is improved, on the other hand, the acquired lane change information is displayed through the display equipment, the lane change information is more visual, the information transmission efficiency is improved, on the other hand, the lane change information is automatically acquired from the acquisition and display process, so that the steps are simplified, and the lane change information acquisition efficiency is improved.
Fig. 10 is a block diagram illustrating a vehicle lane change information display apparatus according to an exemplary embodiment. Referring to fig. 10, the vehicle information lane change display apparatus 1000 includes a detection module 1010, an acquisition module 1020, and a display module 1030. Wherein:
the detecting module 1010 is configured to obtain a plurality of status information of the vehicle when the vehicle is running; wherein the plurality of state information are used to indicate an internal operating state and an external environmental state of the vehicle; the obtaining module 1020 is configured to obtain a lane change state of the vehicle according to the plurality of state information; the lane changing state comprises a first state, and the first state is a state that the vehicle can change lanes; the display module 1030 is configured to display lane change information through a display device when it is detected that the lane change state of the vehicle is the first state; wherein the lane change information is used to guide the vehicle to change lanes.
In an exemplary embodiment of the present disclosure, based on the foregoing, the lane change state includes a first state, and the lane change state of the vehicle is acquired according to a plurality of pieces of state information, and the apparatus further includes: and the lane change state determination unit is used for determining the lane change state as the first state when the numerical value of the state information is within the preset threshold range corresponding to the state information.
In an exemplary embodiment of the present disclosure, based on the foregoing, the display device includes a first area and a second area, and when it is detected that the lane change state of the vehicle is the first state, the display device displays lane change information, and the apparatus further includes: a first display unit for displaying lane information in a first area; the lane information is used for indicating the position relation of a first lane and at least one second lane, the first lane is a lane in which the vehicle runs, and the second lane is a lane in which the vehicle can perform lane changing operation; a target lane confirmation unit for confirming a target lane in the second lane according to the plurality of state information; a second display unit for displaying the lane change guide information in a second area; the lane change guide information is used for indicating the direction of the vehicle changing from the first lane to the target lane, and the first area and the second area are different areas.
In an exemplary embodiment of the present disclosure, based on the foregoing scheme, the apparatus further includes: a lane line acquisition unit for acquiring lane line information; wherein the lane line information is used to indicate relative positions between lane lines; and the lane determining unit is used for determining the first lane and the second lane according to the lane line information and the plurality of state information.
In an exemplary embodiment of the present disclosure, based on the foregoing scheme, the apparatus further includes: the highlighting unit is used for highlighting the first lane and the target lane; wherein the highlighting level of the target lane is higher than the highlighting level of the first lane.
In an exemplary embodiment of the present disclosure, based on the foregoing scheme, after the lane change guidance information is displayed in the second area, the apparatus further includes: a cancellation display unit configured to cancel display of lane change guide information in the second area when it is detected that the vehicle starts performing a lane change operation; and the switching display unit is used for canceling the display of the lane information in the first area and displaying the lane-changed prompting information in the second area after detecting that the vehicle completes the lane-changing operation.
In an exemplary embodiment of the present disclosure, based on the foregoing, it is detected that the vehicle completes a lane change operation, and the apparatus further includes: an information acquisition unit for acquiring position information of a vehicle and direction information of the vehicle; the position information is used for indicating the position of the vehicle, and the direction information is used for indicating the driving direction of the vehicle; a position confirmation unit for acquiring lane line information so that a position of a target lane is confirmed; and a lane change completion determination unit for confirming that the vehicle has completed a lane change operation when it is detected that the vehicle is located in the target lane and the traveling direction of the vehicle is straight.
For details that are not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the above-described patch generation method of the present disclosure for the functional modules of the patch generation apparatus of the exemplary embodiments of the present disclosure correspond to the steps of the above-described patch generation method.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
FIG. 11 illustrates a schematic structural diagram of a computer system suitable for use in implementing an electronic device of an embodiment of the present disclosure.
It should be noted that the computer system 1100 of the electronic device shown in fig. 11 is only an example, and should not bring any limitation to the functions and the application scope of the embodiment of the present disclosure.
As shown in fig. 11, the computer system 1100 includes a Central Processing Unit (CPU) 1101 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 1102 or a program loaded from a storage section 1108 into a Random Access Memory (RAM) 1103. In the RAM1103, various programs and data necessary for system operation are also stored. The CPU1101, ROM1102, and RAM1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.
The following components are connected to the I/O interface 1105: an input portion 1106 including a keyboard, mouse, and the like; an output portion 1107 including a signal output unit such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 1108 including a hard disk and the like; and a communication section 1109 including a network interface card such as a LAN card, a modem, or the like. The communication section 1109 performs communication processing via a network such as the internet. A driver 1110 is also connected to the I/O interface 1105 as necessary. A removable medium 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1110 as necessary, so that a computer program read out therefrom is mounted into the storage section 1108 as necessary.
In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 1109 and/or installed from the removable medium 1111. The computer program, when executed by a Central Processing Unit (CPU) 1101, performs various functions defined in the methods and apparatus of the present application.
In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, various aspects of the disclosure may also be implemented in the form of a program product including program code for causing a terminal device to perform various exemplary embodiments and steps according to the disclosure as described in the above "exemplary methods" section of this specification, when the program product is run on the terminal.
According to the program product for implementing the above method of the embodiments of the present disclosure, it may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not so limited, and a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
The readable medium may contain program code that is transmitted over any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Furthermore, the above-described figures are merely schematic illustrations of processes included in methods according to exemplary embodiments of the present disclosure, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed, for example, synchronously or asynchronously in multiple modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A method of displaying lane change information for a vehicle, the method comprising:
acquiring state information of a vehicle when the vehicle runs; wherein the state information is used to indicate an internal operating state and an external environmental state of the vehicle;
acquiring the lane change state of the vehicle according to the state information; wherein the lane change state comprises a first state, and the first state is a state in which the vehicle can change lanes;
displaying lane change information through a display device when the lane change state of the vehicle is detected to be a first state; wherein the lane change information is used to guide the vehicle to change lanes.
2. The method of claim 1, wherein said obtaining a lane change status of the vehicle based on the status information comprises:
and when the numerical value of the state information is within a preset threshold range corresponding to the state information, determining the lane change state as the first state.
3. The method of claim 1, wherein the display device comprises a first area and a second area, and wherein displaying lane change information via the display device upon detecting that the lane change status of the vehicle is a first status comprises:
displaying lane information in the first area; the lane information is used for indicating the position relation of a first lane and at least one second lane, wherein the first lane is a lane in which the vehicle runs, and the second lane is a lane in which the vehicle can perform lane change operation;
confirming a target lane in the second lane according to the state information;
displaying lane change guide information in the second area; wherein the lane change guidance information is used to indicate a direction in which the vehicle changes lane from the first lane to the target lane, and the first area and the second area are different areas.
4. The method of claim 3, further comprising:
acquiring lane line information; wherein the lane line information is used to indicate relative positions between lane lines;
and confirming the first lane and the second lane according to the lane line information and the state information.
5. The method of claim 3, further comprising:
highlighting the first lane and the target lane; wherein the highlighting level of the target lane is higher than the highlighting level of the first lane.
6. The method of claim 3, wherein after the second area displays the lane change guide information, the method further comprises:
canceling display of the lane change guide information in the second area upon detection of the vehicle starting to perform a lane change operation;
after detecting that the vehicle completes lane changing operation, canceling the display of the lane information in the first area, and displaying lane-changed prompt information in the second area.
7. The method of claim 6, wherein the detecting that the vehicle completes a lane change operation comprises:
acquiring position information of the vehicle and direction information of the vehicle; wherein the position information is used for indicating the position of the vehicle, and the direction information is used for indicating the driving direction of the vehicle;
acquiring lane line information so that a position of the target lane is confirmed;
and confirming that the vehicle completes lane changing operation when the vehicle is detected to be positioned in the target lane and the driving direction of the vehicle is straight.
8. A vehicle lane change information display device, characterized by comprising:
the detection module is used for acquiring the state information of the vehicle when the vehicle runs; wherein the state information is used to indicate an internal operating state and an external environmental state of the vehicle;
the acquisition module is used for acquiring the lane change state of the vehicle according to the state information; wherein the lane change state comprises a first state, and the first state is a state in which the vehicle can change lanes;
the display module is used for displaying lane change information through display equipment when the lane change state of the vehicle is detected to be a first state; wherein the lane change information is used to guide the vehicle to change lanes.
9. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the vehicle lane change information display method of any of claims 1-7 via execution of the executable instructions.
10. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the vehicle lane change information display method of any of claims 1-7.
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