CN116299199A - Radar distance display method and device, electronic equipment and storage medium - Google Patents

Abstract

The invention discloses a radar distance display method, a radar distance display device, electronic equipment and a storage medium. Wherein the method comprises the following steps: and establishing a rendering realization scene based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar, determining a display anchor point of a radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient, and displaying the radar display graph in the rendering realization scene according to the display anchor point. According to the embodiment of the invention, the display anchor points of the radar display graphics are determined according to the detection distance and the preset coefficient of each vehicle-mounted radar, and the corresponding radar display graphics are displayed in the rendering realization scene according to the display anchor points, so that the display definition and the distance display accuracy of the radar display graphics can be improved, the rendering display effect of the radar display graphics is enhanced, and the driving safety and the driving experience of a user are improved.

Description

Radar distance display method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of vehicle radar data processing technologies, and in particular, to a radar distance display method, a device, an electronic apparatus, and a storage medium.

Background

With the continuous development of automobile electronic technology, automobiles gradually become important transportation means for people to travel. However, as the number of vehicles on a road increases, safety issues of the vehicles are becoming more and more of an interest.

At present, obstacle detection systems based on vehicle-mounted radars are gradually integrated into more and more vehicle types, and the system can map distance data detected by each vehicle-mounted radar into corresponding radar display graphics and display the radar display graphics on display equipment of the vehicle, so that a user is prompted to take corresponding measures. However, the existing radar distance display method has the following disadvantages: firstly, most of the existing radar distance display methods are realized by adopting a mapping mode, and the problem that radar display graphics are not clear can occur; secondly, the problems that the distance display of the radar display graph is lost and the rendering display effect is poor can occur in the existing radar distance display method under different view scenes, so that the driving safety and experience of a user are reduced.

Disclosure of Invention

The invention provides a radar distance display method, a device, electronic equipment and a storage medium, which are used for solving the problems of unclear radar display graph display, easy loss of distance display and poor rendering display effect in the existing radar distance display method.

According to an aspect of the present invention, there is provided a radar distance displaying method, the method comprising:

establishing a rendering realization scene based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar;

determining a display anchor point of a radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient;

and displaying the radar display graph of the scene in rendering according to the display anchor point.

According to another aspect of the present invention, there is provided a radar distance displaying apparatus, comprising:

the scene establishing module is used for establishing a rendering realization scene based on a real vehicle scene coordinate system of at least one vehicle-mounted radar;

the anchor point determining module is used for determining a display anchor point of the radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient;

and the radar distance module is used for displaying radar display graphics in the rendering mode according to the display anchor points.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the radar range display method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the radar distance displaying method according to any one of the embodiments of the present invention when executed.

According to the technical scheme, a rendering realization scene is established based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar, a display anchor point of a radar display graph is determined according to the detection distance of each vehicle-mounted radar and a preset coefficient, and the radar display graph is displayed in the rendering realization scene according to the display anchor point. According to the embodiment of the invention, the display anchor points of the radar display graphics are determined according to the detection distance and the preset coefficient of each vehicle-mounted radar, and the corresponding radar display graphics are displayed in the rendering scene according to the display anchor points, so that the distance display precision of the radar display graphics is improved, the rendering display effect of the radar display graphics can be enhanced, and the driving safety and experience of a user are effectively improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a radar distance displaying method according to a first embodiment of the present invention;

fig. 2 is a flowchart of a radar distance displaying method according to a second embodiment of the present invention;

fig. 3 is a flowchart of a radar distance displaying method according to a third embodiment of the present invention;

fig. 4 is a diagram showing an installation example of a vehicle-mounted ultrasonic radar according to a third embodiment of the present invention;

FIG. 5 is an exemplary diagram of a radar shield color display provided in accordance with a third embodiment of the present invention;

FIG. 6 is an exemplary diagram of a two-dimensional radar shield display provided in accordance with a third embodiment of the present invention;

FIG. 7 is an exemplary diagram of a three-dimensional radar shield display provided in accordance with a third embodiment of the present invention;

fig. 8 is a schematic structural diagram of a radar distance display device according to a fourth embodiment of the present invention;

Fig. 9 is a schematic structural diagram of an electronic device implementing a radar distance displaying method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a radar distance displaying method according to an embodiment of the present invention, where the method may be performed by a radar distance displaying device, and the radar distance displaying device may be implemented in hardware and/or software, and the radar distance displaying device may be configured in an electronic device, for example, may include an in-vehicle device, etc. As shown in fig. 1, the method for displaying radar distance provided in the first embodiment specifically includes the following steps:

s110, establishing a rendering realization scene based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar.

In the embodiment of the present invention, the vehicle-mounted radar may be understood as various types of radar sensors mounted on a vehicle, the types of the vehicle-mounted radar may include an ultrasonic radar, a laser radar, a millimeter wave radar, and the like, and the number of the vehicle-mounted radar may be one or more. The real-vehicle scene coordinate system can be understood as a real-vehicle coordinate system respectively established according to the installation positions of the vehicle-mounted radars. The rendering implementation scene may be understood as a vehicle view scene rendered and displayed on a display device of a vehicle, and the rendering implementation scene may include an environment data display of the vehicle, a two-dimensional or three-dimensional contour display of the vehicle, and the like.

Specifically, a corresponding real-vehicle scene coordinate system can be respectively established according to at least one vehicle-mounted radar installed on the vehicle, and then a corresponding rendering realization scene is established based on the real-vehicle scene coordinate system corresponding to each vehicle-mounted radar, wherein the rendering realization scene can comprise, but is not limited to, environment data display of the vehicle, two-dimensional or three-dimensional contour display of the vehicle and the like, and the establishing mode of the rendering realization scene can comprise, but is not limited to, the following: corresponding vehicle environment data can be acquired based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar, corresponding rendering realization scenes in a virtual three-dimensional form are rendered according to the vehicle environment data, and the rendering realization scenes can be displayed on various display devices of a vehicle; the three-dimensional rendering implementation scene may be converted into a corresponding two-dimensional rendering implementation scene and displayed on a display device of a vehicle, and it should be understood that the rendering implementation scene in the embodiment of the present invention may be represented as a virtual implementation scene centered on the vehicle, the specific representation form of the rendering implementation scene may be two-dimensional or three-dimensional, and the rendering implementation scene may be displayed on various display devices of the vehicle, for example, but not limited to: a vehicle-mounted central control screen, a vehicle-mounted auxiliary driving screen and the like.

S120, determining a display anchor point of the radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient.

In the embodiment of the present invention, the detection distance may be understood as a distance between the detection of the vehicle-mounted radar and the obstacle. The preset coefficient may be understood as a preconfigured coefficient related to the detection distance, and may be set to 0.3, 0.5, 0.7, etc. by way of example, in some embodiments, a corresponding preset coefficient may be preset for the detection distances of different vehicle-mounted radars; in other embodiments, the maximum detection distance of the vehicle radar may be divided into a plurality of distance intervals, and a preset coefficient may be preconfigured for each distance interval to correspond to each distance interval. The radar display pattern may be understood as a virtual pattern drawn according to the detection distance of each onboard radar, and may be represented as a radar shield or as a virtual pattern represented in other forms. A display anchor may be understood as an anchor of a radar display graphic, and in some embodiments, may include a model center point or vertex of the radar display graphic, and the like.

Specifically, the display anchor point of the corresponding radar display graph may be determined based on the detection distance of each vehicle-mounted radar and a preset coefficient, where the determination manner of the preset coefficient may include, but is not limited to, the following several manners: a preset coefficient can be pre-configured to correspond to the detection distances of different vehicle-mounted radars; the maximum detection distance of the vehicle-mounted radar can be divided into a plurality of distance intervals, a preset coefficient can be preconfigured for each distance interval to correspond to the distance interval, and the display anchor point determination mode of the radar display graph can comprise, but is not limited to, the following steps: the display anchor points of the corresponding radar display graphs can be searched in a database of the display anchor points of the radar display graphs stored in advance based on the detection distance and the preset coefficient of each vehicle-mounted radar; the method comprises the steps of searching a preset coefficient corresponding to the detection distance of each vehicle-mounted radar from a database which stores the detection distance and the corresponding preset coefficient in advance, determining the display distance of the radar display graph according to the detection distance and the corresponding preset coefficient, selecting a proper position point in the preset detection direction of the corresponding vehicle-mounted radar based on the display distance, and determining the position point as a display anchor point of the radar display graph. Further, the acquisition modes of the detection distance and the preset coefficient of each vehicle-mounted radar may include, but are not limited to, the following: the corresponding detection distance can be acquired based on each vehicle-mounted radar, and the corresponding preset coefficient can be searched based on the preset database, namely, no correlation exists between the detection distance of each vehicle-mounted radar and the preset coefficient; the corresponding relation between the detection distance of each vehicle-mounted radar and the preset coefficient can be utilized to search the preset coefficient corresponding to the detection distance of each vehicle-mounted radar in the preset database, and the embodiment of the invention is not limited to the above.

And S130, displaying radar display graphics in the rendering mode according to the display anchor points.

Specifically, the radar display graphics may be displayed at corresponding positions of the rendering implementation scene according to the display anchor points of the radar display graphics, where the manner in which the radar display graphics are displayed in the rendering implementation scene may include, but is not limited to, the following: the display position of the corresponding radar display graph in the rendering realization scene can be determined according to the display anchor point of each radar display graph, then the respective radar display graph is rendered according to the vehicle environment data acquired by each vehicle-mounted radar, and the radar display graph can be displayed in the rendering realization scene in a two-dimensional or three-dimensional mode; the radar display graph, the radar shield dynamic mapping data and the scene mapping data of the rendering realization scene can be read respectively, the position coordinates of each display anchor point are determined in the field Jing Tietu data, the scene mapping data are rendered to display the rendering realization scene, and the radar shield dynamic mapping is displayed in the rendering realization scene according to the position coordinates of each display anchor point. It should be understood that the radar display graphic rendered may be a two-dimensional display graphic or a three-dimensional display graphic, which is not limited in this embodiment of the present invention. Further, the rendered rendering realization scene containing the radar display graph can be displayed on the display equipment of the vehicle, along with the change of the detection distance of the vehicle-mounted radar, the display distance, the display color, the size and the style of the radar display graph can be correspondingly changed, and a user can judge whether the vehicle is at a safe distance or not according to the display distance, the display color, the size and the style of the radar display graph, so that the driving experience of the user is improved.

According to the technical scheme, a rendering realization scene is established based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar, a display anchor point of a radar display graph is determined according to the detection distance of each vehicle-mounted radar and a preset coefficient, and the radar display graph is displayed in the rendering realization scene according to the display anchor point. According to the embodiment of the invention, the display anchor points of the radar display graphics can be determined according to the detection distance and the preset coefficient of each vehicle-mounted radar, and the corresponding radar display graphics are displayed in the scene according to the display anchor points in the rendering mode, so that the display definition and the distance display accuracy of the radar display graphics can be improved, the rendering display effect of the radar display graphics is enhanced, and the driving safety and the driving experience of a user are improved.

Example two

Fig. 2 is a flowchart of a radar distance display method according to a second embodiment of the present invention, which is further optimized and expanded based on the foregoing embodiments, and may be combined with each of the optional technical solutions in the foregoing embodiments. As shown in fig. 2, the radar distance display method provided in the second embodiment specifically includes the following steps:

s210, respectively establishing a real vehicle scene coordinate system according to the installation positions of the vehicle-mounted radars.

Specifically, a real scene coordinate system of each vehicle-mounted radar can be respectively established according to a specific installation position of each vehicle-mounted radar, wherein the installation position of each vehicle-mounted radar can comprise, but is not limited to: front and rear bumpers of a vehicle, left and right sides of the vehicle, and the like.

S220, acquiring environment data acquired by the vehicle-mounted radar according to the corresponding real-vehicle scene coordinate system.

In the embodiment of the invention, the environmental data can be understood as the data of the surrounding environment of the vehicle collected by the vehicle-mounted radar, and the environmental data can comprise the distance data of the obstacles around the vehicle and the like.

Specifically, the environment data of the vehicle may be collected by using each vehicle-mounted radar under a real scene coordinate system corresponding to each vehicle-mounted radar, where the environment data may include, but is not limited to, distance information of obstacles around the vehicle, and the like. In some embodiments, if the vehicle radar is an ultrasonic radar, the distance information between the ultrasonic radar and the obstacle may be calculated by using the time interval between the transmitted wave and the echo of each ultrasonic radar, and the distance information is used as the environmental data collected by the ultrasonic radar under the corresponding real vehicle scene coordinate system.

S230, converting each environment data into a pixel coordinate system to form a rendering realization scene.

Specifically, the environmental data collected by each vehicle-mounted radar may be respectively subjected to coordinate system conversion operation, and may be converted into a corresponding pixel coordinate system so as to form a rendering implementation scene, where the rendering implementation scene may include, but is not limited to: the environment data of the vehicle is displayed, the two-dimensional outline of the vehicle is displayed, the three-dimensional outline of the vehicle is displayed, and further, the rendering implementation scene can be displayed on a display device of the vehicle, which can include, but is not limited to: a vehicle-mounted central control screen, a vehicle-mounted auxiliary driving screen and the like.

S240, searching detection distances corresponding to the vehicle-mounted radars and preset coefficients.

Specifically, a corresponding detection distance and a preset coefficient may be searched for each vehicle-mounted radar, where a search manner of the detection distance and the preset coefficient may include, but is not limited to, the following several types: the corresponding detection distance can be searched from the collected vehicle environment data of each vehicle-mounted radar, and the corresponding preset coefficient can be searched in a preset database; the detection distance of each vehicle-mounted radar and the corresponding preset coefficient can be searched from a data table which stores the detection distance and the corresponding preset coefficient in advance; the detection distance of each vehicle-mounted radar and the preset coefficient corresponding to the detection distance can be searched from a database which stores the detection distance and the preset coefficient corresponding to the detection distance in advance.

S250, taking the product of each detection distance and a preset coefficient as the display distance of the corresponding vehicle-mounted radar.

In the embodiment of the invention, the display distance can be understood as the distance between the radar display graph and the two-dimensional/three-dimensional contour of the vehicle on the rendering realization scene, and the setting of the display distance is related to the detection distance of each vehicle-mounted radar and the preset coefficient.

Specifically, each detection distance may be multiplied by a preset coefficient, and the multiplied result is used as the display distance of the corresponding vehicle-mounted radar. In some embodiments, a product of the detection distance of each vehicle-mounted radar and a preset coefficient can be used as a display distance of the corresponding vehicle-mounted radar by using a normalization technology, so that the rendering realization effect of the subsequent radar shield is improved.

And S260, taking the position points corresponding to the display distances in the preset detection directions of the vehicle-mounted radars as display anchor points.

In the embodiment of the present invention, the preset detection direction may be understood as a detection direction of each vehicle-mounted radar configured in advance.

Specifically, according to the preset detection direction of each vehicle-mounted radar, the position points corresponding to the respective display distances can be used as radar display graphics display anchor points, wherein the display anchor points can be model center points of the radar display graphics of the respective vehicle-mounted radar, further, according to the display anchor points of the radar display graphics of each vehicle-mounted radar, corresponding proper offset distances can be respectively configured, so that no superposition occurs between the radar display graphics, the display effect of the radar display graphics is further enhanced, and the user experience is improved.

S270, respectively reading radar display graphics, rendering radar shield dynamic mapping data and scene mapping data of an implementation scene.

In the embodiment of the invention, the radar shield dynamic mapping data can be understood as dynamic mapping data related to a radar shield, and the radar shield dynamic mapping data can comprise warning text mapping data, detection distance data of each vehicle-mounted radar and the like. Scene map data may be understood as map data related to rendering an implementation scene, which may include display anchor data of radar display graphics, parking space data around a vehicle, lane line data, image data of obstacles around the vehicle, and the like.

Specifically, the scene may be implemented according to the radar display graphics and the constructed rendering, and the corresponding radar shield dynamic map data and scene map data may be read, where the radar shield dynamic map data may include, but is not limited to: warning text map data, detection distance data of each vehicle-mounted radar and the like, and the reading mode of the radar shield dynamic map data can comprise but is not limited to the following modes: reading from environment data acquired by each vehicle-mounted radar, reading from latest map data of the current position of the vehicle, reading from a database in which radar display graph related model data are stored in advance, and the like; scene map data may include, but is not limited to: the reading mode of the scene map data may include, but is not limited to, the following: reading from environmental data collected by each vehicle-mounted radar, reading from environmental data collected by a camera mounted on the vehicle, and the like.

S280, determining the position coordinates of the display anchor points in the field Jing Tietu data.

Specifically, the corresponding position coordinates of the display anchor point of each radar display graph may be determined based on the read scene map data, and the position coordinates of the display anchor point may be determined by the following manners, but are not limited to: reading display anchor point data from scene map data, and further determining position coordinates of the display anchor point data according to the display anchor point data; the center position of each radar display graph is obtained from the scene map data, and the coordinates of the center position are determined as the position coordinates of the display anchor points.

And S290, rendering the scene map data to display a rendering realization scene, and displaying the radar shield dynamic map on the rendering realization scene according to the position coordinates.

In the embodiment of the invention, the radar shield dynamic map can be understood to be the radar shield map which is rendered according to the radar shield dynamic map data and can be dynamically changed in real time, and the display distance, the display color, the size and the pattern of the radar shield dynamic map can be changed along with the change of the detection distance of the corresponding vehicle-mounted radar.

Specifically, the rendering implementation scene constructed in S230 may be subjected to scene mapping rendering according to the scene mapping data, and each radar shield dynamic mapping is displayed on the rendering implementation scene according to the corresponding position coordinates, where the distance between the vehicle radar and the obstacle may be displayed on each radar shield dynamic mapping, and the specific mapping rendering mode belongs to the prior art, for example, may be implemented by using a two-dimensional mapping rendering method, a three-dimensional mapping rendering method or other related algorithms, which is not limited in the embodiment of the present invention. In some embodiments, scene mapping rendering can be performed on rendering implementation scenes according to scene mapping data, each radar shield dynamic mapping is displayed on the rendering implementation scenes according to corresponding position coordinates, the rendered rendering implementation scenes can be displayed on display equipment of a vehicle, along with the change of detection distance of a vehicle-mounted radar, the display distance, display color, size and style of the radar shield dynamic mapping can be changed correspondingly, whether the vehicle is at a safe distance currently can be judged according to the display distance, display color, size and style of the radar shield dynamic mapping, for example, when the detection distance of the vehicle-mounted radar is in a safe distance range, the display color of the radar shield dynamic mapping can be green; when the detection distance of the vehicle-mounted radar is in a safer distance range, the display color of the radar shield dynamic map can be yellow; when the detection distance of the vehicle-mounted radar is in the dangerous distance range, the display color of the radar shield dynamic map can be red, and warning text maps are further displayed on the radar shield dynamic map, such as a word like "please stop immediately", and a horn or a buzzer of the vehicle can be also adjusted to carry out dangerous alarm prompt, so that a user is prompted to take corresponding countermeasures, and driving safety and user experience are improved.

Further, on the basis of the above embodiment of the present invention, the radar distance display method further includes:

and converting the rendering realization scene into two-dimensional image data according to the preset distance.

In the embodiment of the invention, the preset distance can be understood as distance data which is preconfigured to convert the rendering realization scene into two-dimensional image data, and the preset distance can comprise the distance between the vehicle-mounted radar and the center of the vehicle, the distance between different vehicle-mounted radars and the like.

Specifically, the constructed rendering implementation scene may be converted into corresponding two-dimensional image data based on a preset distance, where the preset distance may include, but is not limited to: the distance between the vehicle-mounted radar and the center of the vehicle, the distance between different vehicle-mounted radars and the like, and the conversion modes can include but are not limited to the following modes: the three-dimensional rendering realization scene can be converted into corresponding two-dimensional image data under the world coordinate system to the camera coordinate system; the three-dimensional rendering realization scene can be converted into corresponding two-dimensional image data by projecting the three-dimensional model into a bird's eye view.

Further, on the basis of the above embodiment of the present invention, the radar distance display method further includes:

And displaying dynamic map warning in the rendering realization scene under the condition that the obstacle detected by the vehicle-mounted radar is smaller than the warning threshold value.

In the embodiment of the present invention, the warning threshold may be understood as a distance threshold configured in advance for judging whether the current vehicle is in a dangerous distance range, and the warning threshold may be set to 50 cm or 30 cm, for example, which is not limited in the embodiment of the present invention.

Specifically, when the vehicle-mounted radar detects that the distance between the vehicle and the obstacle is smaller than the warning threshold, for example, smaller than 30 cm, the dynamic map warning can be displayed in the rendering realization scene, the display information of the dynamic map warning can be set correspondingly according to actual requirements, for example, "please stop immediately", "being at a dangerous distance, please stop at present", and the like, and the display information of the dynamic map warning can be displayed in a corresponding radar shield display area.

According to the technical scheme, a real scene coordinate system is respectively established according to the installation positions of all the vehicle-mounted radars, environment data which are respectively collected according to the corresponding real scene coordinate systems are collected by the vehicle-mounted radars, all the environment data are respectively converted into pixel coordinate systems to form rendering realization scenes, the products of detection distances and preset coefficients corresponding to all the vehicle-mounted radars are searched for, the products of the detection distances and the preset coefficients are used as display distances of the corresponding vehicle-mounted radars, position points corresponding to the display distances in the preset detection directions of all the vehicle-mounted radars are used as display anchor points, radar display graphics and radar shield dynamic map data and scene map data of the rendering realization scenes are respectively read, the position coordinates of the display anchor points are determined in the scene Jing Tietu data, the scene map data are rendered to display the rendering realization scenes, and the radar shield dynamic map is displayed in the rendering realization scenes according to the position coordinates. According to the embodiment of the invention, the environment data can be acquired under the real-vehicle scene coordinate system of each vehicle-mounted radar, and each environment data is respectively converted into the pixel coordinate system to form the rendering realization scene, so that the radar shield and the rendering realization scene can be rendered and displayed in real time based on the radar shield dynamic mapping data and the scene mapping data, the problems of unclear radar display graph display, easy loss of distance display and poor rendering display effect in the conventional radar distance display method are solved, the corresponding radar shield can be rendered according to the real-time detection distance of each vehicle-mounted radar, the rendering display effect of the radar shield is enhanced, and the driving safety and experience of a user are effectively improved.

Example III

Fig. 3 is a flowchart of a radar distance display method according to a third embodiment of the present invention. The embodiment provides an implementation mode of a radar distance display method based on the above embodiment by taking a vehicle-mounted ultrasonic radar as an example, and the distance between the vehicle-mounted ultrasonic radar and an obstacle can be detected and made into a two-dimensional/three-dimensional radar shield which can be displayed on a vehicle-mounted display screen, and a user can judge whether the radar shield is at a safe distance or not according to the radar shield, so that corresponding countermeasures can be taken. Fig. 4 is a diagram illustrating an installation example of a vehicle-mounted ultrasonic radar according to a third embodiment of the present invention. As shown in fig. 4, the vehicle is mounted with 12 in-vehicle ultrasonic radars, including 8 ultrasonic parking assist (Ultrasonic Parking Assistant, UPA) ultrasonic radars mounted in front and rear of the vehicle, and 4 automatic parking assist (Automatic Parking Assistant, APA) ultrasonic radars mounted in both sides of the vehicle. As shown in fig. 3, a radar distance display method provided in a third embodiment of the present invention specifically includes the following steps:

s310, each vehicle-mounted radar detects the distance between the vehicle-mounted radar and the obstacle in real time.

S320, determining whether the detection distance is greater than a first distance threshold.

In the embodiment of the present invention, the first distance threshold may be understood as a maximum displayable distance of the radar shield, and for example, the first distance threshold may be set to 200 cm, and specific values may be set correspondingly according to actual requirements.

Specifically, whether the acquired real-time detection distance between the vehicle radar and the obstacle is greater than the first distance threshold may be determined, if yes, S330 is executed, and if not, S340 to S390 are executed.

S330, the radar shield is not displayed, and the process returns to S310.

Specifically, if it is determined in S320 that the detection distance is greater than the first distance threshold, the corresponding radar shield is not displayed on the in-vehicle display screen of the vehicle, and S310 is executed back.

And S340, mapping a coordinate system according to the detection distance of each vehicle-mounted radar so as to convert the current real-vehicle scene coordinate system into an image pixel coordinate system.

Specifically, the adjacent position relation of each vehicle-mounted radar can be acquired, and the actual vehicle radar is used for acquiring the current actual vehicle scene coordinate system; and then realizing scene based on the rendering of the radar, and mapping a coordinate system according to the detection distance of the vehicle-mounted radar so as to convert the current real scene coordinate system into a corresponding image pixel coordinate system.

S350, constructing a radar shield model.

Specifically, according to the detection distance and normalization technology of each vehicle-mounted radar, the distance between the radar shield and the vehicle can be calculated, namely, the distance between the vehicle and the actual obstacle is reduced according to a certain proportion, and the reduced display distance is used as the distance between the radar shield and the vehicle; the detection distance of each vehicle-mounted radar is used for acquiring a corresponding radar shield model anchor point and setting a display offset position of the radar shield model so as to avoid overlapping among different radar shield models and further reduce user experience; furthermore, the dynamic rotation adjustment can be carried out on the rendering realization scene after the radar shield model is constructed, so that the rendering realization scene can be compatible with different view scene changes.

And S360, performing dynamic map rendering on the corresponding radar shield model according to the detection distance of each vehicle-mounted radar so as to obtain a corresponding radar shield.

Specifically, dynamic mapping conversion can be performed according to real-time detection distances of the vehicle-mounted radars, so that dynamic mapping rendering is performed on corresponding radar shield models, and corresponding radar shields are obtained. In the embodiment of the invention, different radar shield model dynamic map rendering modes can be respectively set according to the real-time detection distances of the vehicle-mounted radars in different distance ranges. Fig. 5 is an exemplary diagram of a radar shield color display according to a third embodiment of the present invention. As shown in fig. 5, when the detection distance of the vehicle-mounted radar falls within the Dist1 distance range, the display color of the radar shield may be set to red, that is, it is indicated that the current vehicle is within the dangerous distance range; when the detection distance of the vehicle-mounted radar is within the distance range of Dist2, the display color of the radar shield can be set to be yellow, namely the current vehicle is shown to be within a safer distance range; when the detection distance of the vehicle-mounted radar is within the Dist3 distance range, the display color of the radar shield can be set to be green, namely, the current vehicle is indicated to be within the safe distance range. Fig. 6 is an exemplary diagram of a two-dimensional radar shield display provided in accordance with a third embodiment of the present invention. Fig. 7 is an exemplary diagram of a three-dimensional radar shield display according to a third embodiment of the present invention. As shown in fig. 6 and 7, when the vehicle is within the dangerous distance range, the two-dimensional/three-dimensional radar shield displayed at this time is very close to the vehicle, and the radar shield is displayed in red; when the vehicle is in a safer distance range, the displayed two-dimensional/three-dimensional radar shield is closer to the vehicle, and the radar shield is yellow; when the vehicle is within the safe distance range, the two-dimensional/three-dimensional radar shield displayed at this time is far from the vehicle, and the radar shield is displayed green.

S370, determining whether the detection distance is larger than a second distance threshold.

In the embodiment of the present invention, the second distance threshold may be understood as a preset minimum safety distance between the vehicle and the obstacle, and, for example, the second distance threshold may be set to 30 cm, and specific values may be set accordingly according to actual requirements.

Specifically, whether the acquired real-time detection distance between the vehicle radar and the obstacle is greater than the second distance threshold may be determined, if yes, S380 is executed, and if not, S390 is executed.

And S380, updating the display distance of the corresponding radar shield in real time according to the detection distance of each vehicle-mounted radar.

Specifically, if it is determined in S370 that the detection distance is greater than the second distance threshold, the display distance of the corresponding radar shield may be updated in real time according to the detection distance of each vehicle-mounted radar.

S390, carrying out dynamic text mapping warning on the radar shields of the corresponding vehicle-mounted radars according to the preset configuration positions.

Specifically, if it is determined in S370 that the detection distance is less than or equal to the second distance threshold, dynamic text mapping warning can be performed on the corresponding radar shield according to the corresponding preset configuration position of the corresponding vehicle-mounted radar, for example, prompt words such as "please stop immediately", "currently in danger distance, please stop" can be displayed at the preset configuration position of the radar shield, and further, at this time, a horn or a buzzer of the vehicle can be adjusted to perform danger warning prompt, so that a user is prompted to take corresponding countermeasures to improve driving safety and user experience.

According to the technical scheme, whether the detection distance is larger than a first distance threshold value is determined through real-time detection of each vehicle-mounted radar and the distance between the vehicle-mounted radar and the obstacle, if yes, no radar shield is displayed, if not, coordinate system mapping is conducted according to the detection distance of each vehicle-mounted radar, so that a current real-vehicle scene coordinate system is converted into an image pixel coordinate system, a corresponding radar shield model is built, dynamic map rendering is conducted on the corresponding radar shield model according to the detection distance of each vehicle-mounted radar, so that a corresponding radar shield is obtained, whether the detection distance at the moment is larger than a second distance threshold value is determined, if yes, real-time updating is conducted on the display distance of the corresponding radar shield according to the detection distance of each vehicle-mounted radar, and if not, dynamic text map warning is conducted on the radar shield of the corresponding vehicle-mounted radar according to a preset configuration position. The embodiment of the invention is different from the traditional map implementation mode in the radar distance display method, can draw the corresponding radar shield according to the real-time detection distance of each vehicle-mounted radar to prompt a user, can increase dynamic text map warning on the basis of displaying the radar shield of the real-time detection distance when the detection distance is smaller than the dangerous distance range, can warn the user to take corresponding countermeasures, and greatly improves the driving safety and experience of the user.

Example IV

Fig. 8 is a schematic structural diagram of a radar distance display device according to a fourth embodiment of the present invention. As shown in fig. 8, the apparatus includes:

the scene establishment module 41 is configured to establish a rendering implementation scene based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar.

The anchor point determining module 42 is configured to determine a display anchor point of the radar display graph according to the detection distance and the preset coefficient of each vehicle-mounted radar.

The radar distance module 43 is configured to display radar display graphics in a rendering implementation scene according to the display anchor point.

According to the technical scheme, a rendering realization scene is established through a scene establishment module based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar, an anchor point determination module determines a display anchor point of a radar display graph according to detection distances and preset coefficients of each vehicle-mounted radar, and a radar distance module displays the radar display graph in the rendering realization scene according to the display anchor point. According to the embodiment of the invention, the display anchor points of the radar display graphics are determined according to the detection distance and the preset coefficient of each vehicle-mounted radar, and the corresponding radar display graphics are displayed in the rendering realization scene according to the display anchor points, so that the display definition and the distance display accuracy of the radar display graphics can be improved, the rendering display effect of the radar display graphics is enhanced, and the driving safety and the driving experience of a user are improved.

Further, on the basis of the above embodiment of the invention, the scene establishment module 41 includes:

the coordinate system establishing unit is used for respectively establishing a real vehicle scene coordinate system according to the installation positions of the vehicle-mounted radars.

The environment data acquisition unit is used for acquiring environment data acquired by the vehicle-mounted radar according to the corresponding real-vehicle scene coordinate system.

And the scene establishment unit is used for respectively converting each environment data into a pixel coordinate system to form a rendering realization scene.

Further, on the basis of the above embodiment of the invention, the anchor point determining module 42 includes:

the data searching unit is used for searching the detection distance and the preset coefficient corresponding to each vehicle-mounted radar.

And the distance display unit is used for taking the product of each detection distance and the preset coefficient as the display distance of the corresponding vehicle-mounted radar.

The anchor point determining unit is used for taking the position points corresponding to the display distances in the preset detection directions of the vehicle-mounted radars as display anchor points.

Further, on the basis of the above embodiment of the invention, the radar distance module 43 includes:

and the mapping data reading unit is used for respectively reading the radar display graph, the radar shield dynamic mapping data for rendering the realization scene and the scene mapping data.

And the position coordinate determining unit is used for determining the position coordinates of the display anchor point in the scene map data.

The scene display unit is used for rendering the scene map data to display rendering realization scenes, and displaying the radar shield dynamic map on the rendering realization scenes according to the position coordinates.

Further, on the basis of the embodiment of the invention, the method further comprises the following steps:

and the scene conversion module is used for converting the rendering realization scene into two-dimensional image data according to the preset distance.

Further, on the basis of the above embodiment of the present invention, the preset distance includes: the distance of the vehicle radar from the center of the vehicle.

Further, on the basis of the embodiment of the invention, the method further comprises the following steps:

the dynamic mapping warning module is used for displaying dynamic mapping warning in the rendering realization scene under the condition that the obstacle detected by the vehicle-mounted radar is smaller than the warning threshold value.

The radar distance display device provided by the embodiment of the invention can execute the radar distance display method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example five

Fig. 9 shows a schematic diagram of an electronic device 50 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 9, the electronic device 50 includes at least one processor 51, and a memory, such as a Read Only Memory (ROM) 52, a Random Access Memory (RAM) 53, etc., communicatively connected to the at least one processor 51, in which the memory stores a computer program executable by the at least one processor, and the processor 51 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 52 or the computer program loaded from the storage unit 58 into the Random Access Memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52 and the RAM 53 are connected to each other via a bus 54. An input/output (I/O) interface 55 is also connected to bus 54.

Various components in the electronic device 50 are connected to the I/O interface 55, including: an input unit 56 such as a keyboard, a mouse, etc.; an output unit 57 such as various types of displays, speakers, and the like; a storage unit 58 such as a magnetic disk, an optical disk, or the like; and a communication unit 59 such as a network card, modem, wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.

The processor 51 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 51 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 51 performs the various methods and processes described above, such as the radar range display method.

In some embodiments, the radar range display method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 58. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 50 via the ROM 52 and/or the communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the radar distance displaying method described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to perform the radar range display method in any other suitable way (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A radar distance displaying method, the method comprising:

establishing a rendering realization scene based on a real-vehicle scene coordinate system of at least one vehicle-mounted radar;

determining a display anchor point of a radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient;

and displaying the radar display graph in the rendering realization scene according to the display anchor point.

2. The method of claim 1, wherein the establishing a rendering implementation scene based on the real scene coordinate system of the at least one vehicle radar comprises:

Respectively establishing the real vehicle scene coordinate system according to the installation positions of the vehicle-mounted radars;

acquiring environment data acquired by the vehicle-mounted radar according to the corresponding real scene coordinate system;

and respectively converting each environmental data into a pixel coordinate system to form the rendering realization scene.

3. The method according to claim 1, wherein the determining the display anchor point of the radar display graph according to the detection distance of each vehicle-mounted radar and the preset coefficient includes:

searching the detection distance corresponding to each vehicle-mounted radar and the preset coefficient;

taking the product of each detection distance and the preset coefficient as the display distance of the corresponding vehicle-mounted radar;

and taking the position point corresponding to the display distance in the preset detection direction of each vehicle-mounted radar as the display anchor point.

4. The method as recited in claim 1, further comprising:

and converting the rendering realization scene into two-dimensional image data according to a preset distance.

5. The method of claim 4, wherein the predetermined distance comprises: and the distance between the vehicle-mounted radar and the center of the vehicle.

6. The method of claim 1, wherein the displaying the radar display graphic at the rendering implementation scene according to the display anchor comprises:

Respectively reading the radar display graph, the radar shield dynamic mapping data of the rendering realization scene and the scene mapping data;

determining position coordinates of the display anchor points in the scene map data;

rendering the scene map data to display the rendering realization scene, and displaying the radar shield dynamic map on the rendering realization scene according to the position coordinates.

7. The method as recited in claim 1, further comprising:

and displaying dynamic map warning in the rendering realization scene under the condition that the obstacle detected by the vehicle-mounted radar is smaller than a warning threshold value.

8. A radar distance display device, the device comprising:

the scene establishing module is used for establishing a rendering realization scene based on a real vehicle scene coordinate system of at least one vehicle-mounted radar;

the anchor point determining module is used for determining a display anchor point of the radar display graph according to the detection distance of each vehicle-mounted radar and a preset coefficient;

and the radar distance module is used for displaying the radar display graph in the rendering realization scene according to the display anchor point.

9. An electronic device, the electronic device comprising:

At least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the radar range display method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to implement the radar range display method of any one of claims 1-7 when executed.

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