CN116381946A - Driving image display method, storage medium, and electronic apparatus - Google Patents

Driving image display method, storage medium, and electronic apparatus Download PDF

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Publication number
CN116381946A
CN116381946A CN202310402829.3A CN202310402829A CN116381946A CN 116381946 A CN116381946 A CN 116381946A CN 202310402829 A CN202310402829 A CN 202310402829A CN 116381946 A CN116381946 A CN 116381946A
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lane
vehicle
speed
current vehicle
distance
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CN202310402829.3A
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CN116381946B (en
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张涛
陈莹
孙孝文
张永波
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Jiangsu Zejing Automobile Electronic Co ltd
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Jiangsu Zejing Automobile Electronic Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Arrangement of adaptations of instruments
    • B60K35/23—
    • B60K35/28—
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • B60K2360/166—
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0183—Adaptation to parameters characterising the motion of the vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

The embodiment of the application provides a driving image display method, a storage medium and electronic equipment, wherein virtual lane lines corresponding to lane lines in a driving environment of a current vehicle and target vehicle model identifiers corresponding to target vehicles are obtained; displaying virtual lane lines and target vehicle model identifications in a projection display area of the head-up display; when the target vehicle model identification is positioned on the lane where the current vehicle model identification is positioned, detecting whether the lane on the left side of the current vehicle model identification meets the lane change condition; when the lane change condition is met, displaying a lane change guide identifier on the left lane of the current vehicle model identifier in the projection display area, wherein the lane change guide identifier comprises a lane change indicator sub-identifier and a lane change vehicle speed sub-identifier; therefore, the display effect of driving guidance is enhanced, and the safe driving visual experience of a user is improved.

Description

Driving image display method, storage medium, and electronic apparatus
Technical Field
The embodiment of the application relates to the technical field of driving assistance, in particular to a driving image display method, a storage medium and electronic equipment.
Background
A Head Up Display (HUD) navigation system is a vehicle navigation system that integrates a Head up display technology and a map navigation technology. By means of the system, route guidance to the destination can be provided for the driver.
In the prior art, during the navigation running of a vehicle, a navigation route recommended by navigation software is usually displayed on a HUD. However, in a complex driving environment facing a plurality of vehicles on multiple lanes, it is often difficult for a driver, particularly a novice driver, to perform a safe and accurate driving operation according to a displayed navigation route, for example, a traffic accident is liable to occur when the vehicle changes lanes or passes.
Therefore, how to provide an intuitive and accurate driving guide for a driver through the HUD becomes a technical problem to be solved in the prior art.
Disclosure of Invention
The embodiment of the application provides a driving image display method, a storage medium and electronic equipment, which enhance the display effect of driving guide and promote the safe driving visual experience of a user.
In a first aspect, an embodiment of the present application provides a running image display method, including:
obtaining a virtual lane line corresponding to a lane line in a running environment of a current vehicle and a target vehicle model identifier corresponding to a target vehicle;
displaying the virtual lane line and the target vehicle model mark in a projection display area of a head-up display;
when the target vehicle model identifier is positioned on a lane where the current vehicle model identifier is positioned, detecting whether a lane on the left side of the current vehicle model identifier meets a lane change condition;
When a lane change condition is satisfied, displaying a lane change guide identifier on a left lane of the current vehicle model identifier in the projection display area, the lane change guide identifier including: lane change indicator sub-identification and lane change speed sub-identification; the lane change speed sub-identifier is used for indicating the speed of the lane change, and the lane change indicator sub-identifier is used for indicating the path of the lane change.
In a second aspect, an embodiment of the present application provides a running image display apparatus including:
the acquisition module is used for acquiring a virtual lane line corresponding to a lane line in a running environment of the current vehicle and a target vehicle model identifier corresponding to a target vehicle;
the display module is used for displaying the virtual lane line and the target vehicle model mark in a projection display area of the head-up display;
the detection module is used for detecting whether a lane on the left side of the current vehicle model mark meets a lane change condition when the target vehicle model mark is positioned on the lane where the current vehicle model mark is positioned;
the display module is further configured to display a lane change guide identifier on a left lane of the current vehicle model identifier in the projection display area when a lane change condition is satisfied, where the lane change guide identifier includes: lane change indicator sub-identification and lane change speed sub-identification; the lane change speed sub-identifier is used for indicating the speed of the lane change, and the lane change indicator sub-identifier is used for indicating the path of the lane change.
In a third aspect, an embodiment of the present application provides an electronic device, including:
a processor; and
a memory for storing executable instructions of the processor; wherein the processor is configured to perform the running image display method according to the first aspect described above via execution of the executable instructions.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the running image display method as described in the first aspect above.
According to the driving image display method, the storage medium and the electronic device, the virtual lane line and the target vehicle model identification in the driving environment of the current vehicle are displayed in the projection display area of the head-up display HUD, and when the target vehicle model identification is located on a lane where the current vehicle model identification is located, whether the lane on the left side of the current vehicle model identification meets the lane change condition is detected; when the lane change condition is met, displaying a lane change guide identifier on the left lane of the current vehicle model identifier in the projection display area, wherein the lane change guide identifier comprises a lane change indicator sub-identifier and a lane change vehicle speed sub-identifier; the lane change speed sub-identifier is used for indicating the speed of the lane change, and the lane change indicator sub-identifier is used for indicating the path of the lane change. According to the method and the device, the running state of the target vehicle model mark is dynamically displayed on the basis that the virtual lane line is displayed in the projection display area of the HUD according to the lane line state of the current vehicle in the running environment and the running state of the target vehicle, the running direction of the current vehicle is displayed according to the running state, the display effect of the running direction is enhanced, and the safe driving visual experience of a user is improved.
It should be understood that the description of this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a driving image display method according to an embodiment of the present application;
fig. 2 is a schematic diagram of displaying a lane change guiding identifier in a projection display area of a HUD according to an embodiment of the present application;
FIG. 3 is a schematic diagram of displaying an overtaking guidance mark in a projection display area of a HUD according to an embodiment of the present application;
fig. 4 is a schematic diagram of displaying a driving guidance identifier in a projection display area of a HUD according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a driving image display device according to an embodiment of the present application;
Fig. 6 is a schematic structural diagram of an electronic device, such as a head-up display, according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," "object," and the like in the description and claims of the present application 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 embodiments of the present application 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.
Based on the technical problems existing in the prior art, the embodiment of the application provides a technical scheme for solving the problem that a driver, especially a novice driver, is difficult to safely and accurately drive according to a displayed navigation route from a visual aspect, dynamically displays the driving state of a target vehicle model mark on the basis that a virtual lane line is displayed in a projection display area of the HUD, displays a driving guide image for a current vehicle according to the driving state, enhances the driving guide display effect, and improves the safe driving visual experience. Therefore, even when facing a complex driving environment of a plurality of vehicles on multiple lanes, it is possible for a driver to make a driving guide mark based on the driving state of the target vehicle displayed in the HUD projection display area, so that the driver can intuitively perform an accurate driving operation according to the driving guide mark.
Fig. 1 is a schematic flow chart of a driving image display method provided in an embodiment of the present application, where the method in the embodiment of the present application may be performed by the driving image display device provided in the embodiment of the present application, and the device may be implemented by software and/or hardware and may be integrated in a head-up display. As shown in fig. 1, the running image display method of the present embodiment includes:
S11, obtaining a virtual lane line corresponding to a lane line in a running environment of the current vehicle and a target vehicle model identifier corresponding to a target vehicle.
Because the driving guidance is carried out on the driver in the mode of displaying the image through the HUD, the driving environment image of the current vehicle, namely the driving vehicle, is required to be displayed in the projection display area of the HUD, and the driving environment image mainly comprises a lane line image and a target vehicle image in the driving environment; when the lane line image and the target vehicle image are displayed in the HUD, the virtual lane line corresponding to the lane line and the target vehicle model identifier corresponding to the target vehicle are displayed, so that the virtual lane line corresponding to the lane line and the target vehicle model identifier corresponding to the target vehicle in the running environment of the current vehicle needs to be acquired based on the running environment information detected by the current vehicle.
And S12, displaying the virtual lane line and the target vehicle model mark in a projection display area of a head-up display.
After the virtual lane line corresponding to the lane line in the running environment of the current vehicle and the target vehicle model identifier corresponding to the target vehicle are obtained, the virtual lane line and the target vehicle model identifier need to be displayed in the projection display area of the HUD. In the embodiment of the present application, the obtained virtual lane line and the target vehicle model identifier may be displayed in the projection display area of the HUD in equal proportion based on the relationship between the real lane lines, the relationship between the real lane lines and the real target vehicle, and the size of the projection display area of the HUD.
And S13, when the target vehicle model identifier is positioned on the lane where the current vehicle model identifier is positioned, detecting whether the left lane of the current vehicle model identifier meets the lane change condition.
In an actual running environment, if a target vehicle exists right ahead of a current vehicle (for example, in front of a lane where the current vehicle is located), from the viewpoint of safe running, the running of the target vehicle following the front for a long time has a potential safety hazard, and lane changing needs to be performed at an appropriate timing, so that long-time following running is avoided.
Therefore, in the process of displaying the target vehicle model identifier corresponding to the target vehicle in the driving environment in the projection display area of the HUD, when the target vehicle model identifier is located in the lane where the current vehicle model identifier corresponding to the current vehicle is located, whether the lane on the left side of the current vehicle model identifier meets the lane change condition needs to be detected, so that whether image display of lane change guidance is performed for the current vehicle is determined based on the detection result.
In the embodiment of the application, the image display of lane changing guidance is performed on the current vehicle by displaying the driving guidance identification of the current vehicle in the projection display area of the HUD, so that the display effect of driving guidance is enhanced, and a driver of the current vehicle performs visual and accurate driving operation according to the driving guidance identification displayed in the HUD.
S14, when the lane change condition is met, displaying a lane change guide identifier on the left lane of the current vehicle model identifier in the projection display area, wherein the lane change guide identifier comprises: a lane indicator sub-identification and a lane change speed sub-identification.
When the left lane of the current vehicle model identifier meets the lane change condition, the current vehicle can execute lane change operation, namely, the current vehicle can run from the lane where the current vehicle is located to enter the left lane, and in order to enable the lane change operation of the current vehicle when entering the left lane to be safer and more accurate, the lane change guide identifier is displayed on the left lane of the current vehicle model identifier in the projection display area of the HUD, and when the lane change guide identifier appears, the lane change guide identifier is used for prompting a driver of the current vehicle to start executing lane change operation at the moment. The lane change guiding mark comprises: a lane change indicator sub-identifier for indicating a vehicle speed at which a lane change is performed, and a lane change vehicle speed sub-identifier for indicating a path at which a lane change is performed.
According to the scheme provided by the embodiment of the application, the running state of the target vehicle model mark can be dynamically displayed on the basis of displaying the virtual lane line in the projection display area of the HUD according to the lane line state in the running environment of the current vehicle and the running state of the target vehicle, and the running guide image aiming at the current vehicle is displayed according to the running state, so that the running guide display effect is enhanced, the safe driving visual experience of a user is improved, and a driver can timely, safely and accurately perform lane change operation.
In one embodiment of the present application, the step S11 of obtaining the virtual lane line corresponding to the lane line in the driving environment of the current vehicle and the target vehicle model identifier corresponding to the target vehicle may be implemented through the following operations S111-S112, including:
s111, collecting lane information and vehicle information in the running environment of the current vehicle.
The lane information comprises the number of lane lines and the type of the lane lines; for example, the number of lane lines, i.e., the number of lane lines, is used to determine how many lanes are in the current driving environment of the vehicle, and the type of lane lines (e.g., dotted lines, solid lines, etc.) is used to determine whether the vehicle can change lanes. The vehicle information includes a number of vehicles and a type of vehicle; for example, the number of vehicle model identifiers to be displayed in the projection display area of the HUD may be determined by the number of vehicles collected, and which type of vehicle model identifier to use for display in the projection display area of the HUD may be determined by the type of vehicle collected (e.g., large vehicles such as trucks, vans, small vehicles such as sedans, SUVs, etc.).
S112, extracting the corresponding number, the corresponding type of virtual lane lines and the target vehicle model identification from a display resource library of the head-up display according to the number, the type, the number and the type of the lane lines.
The HUD display resource library is pre-stored with various virtual lane lines and target vehicle model identifiers; in addition, the stored virtual lane lines and the target vehicle model identification also have different colors to correspond to the lane line colors and the vehicle colors in the actual environment.
In the present embodiment, when the acquisition of the vehicle information in the running environment in which the current vehicle is located is performed S111, the vehicle information of all the external vehicles other than the current vehicle in the running environment may be acquired as the vehicle information of the target vehicle, so that the current vehicle model identification and the vehicle model identifications of all the external vehicles will be displayed in the projection display area of the HUD.
In addition, from the driving perspective, when the speed of the vehicle in front of the current vehicle is higher than that of the current vehicle, and when the speed of the vehicle in rear of the current vehicle is lower than that of the current vehicle, the distances between the current vehicle and the front vehicle and the rear vehicle respectively are gradually increased, so that the probability of occurrence of dangerous events such as collision is reduced; accordingly, when the speed of the vehicle in front of the current vehicle is lower than the current vehicle, and when the speed of the vehicle in rear of the current vehicle is higher than the current vehicle, the distance between the current vehicle and the front vehicle and the rear vehicle respectively gradually decrease, so that the probability of dangerous events such as collision is increased.
Therefore, in one embodiment of the present application, when the S111 collection of the vehicle information in the running environment in which the current vehicle is located is performed, it is also possible to collect, as the target vehicle, a vehicle in the running environment in which the vehicle speed is smaller than the vehicle speed of the current vehicle and located in front of the current vehicle, and a vehicle in which the vehicle speed is greater than the vehicle speed of the current vehicle and located behind the current vehicle, as the target vehicle, so that the current vehicle model identification and the vehicle model identification of a part of the external vehicles satisfying the condition will be displayed in the projection display area of the HUD. According to the embodiment, the display image resources valuable for driving safety can be displayed to the greatest extent on the basis of reducing the display processing resources.
In one embodiment of the present application, the lane information further includes lane line coordinates, the vehicle information further includes vehicle coordinates, the step S12 of displaying the virtual lane line and the target vehicle model identifier in the projection display area of the head-up display may be implemented by the following operations S121-S122, including:
s121, calculating the width of the lane lines according to the lane line coordinates, and displaying virtual lane lines corresponding to the lane lines in the projection display area in equal proportion according to the width of the lane lines and the width of the projection display area of the head-up display.
Because HUDs are affected by parameters such as field angles, the projection display areas of the HUDs are limited in a certain size range, and the sizes of the projection display areas of the HUDs of different models are different. There are also different situations such as the width between the lane lines in the current driving environment of the vehicle, the distance between the target vehicles, the deviation position of the target vehicles in the lane, and the like.
Based on this, in order to enable the virtual lane lines and the target vehicle model identifier displayed in the projection display area of the HUD to be more fit to the situation of the virtual lane lines and the target vehicle model identifier in the actual driving environment, in the embodiment of the present application, lane line coordinates may be included in addition to the number of lane lines and the type of lane lines in acquiring the lane information in the driving environment where the current vehicle is located. Specifically, the width between each two adjacent lane lines (i.e., the width of each lane) can be calculated according to the collected lane line coordinates, and the virtual lane lines corresponding to the lane lines are displayed in the projection display area in equal proportion according to the width between the lane lines and the width of the projection display area of the head-up display.
As an alternative embodiment, the sum W1 of the widths W 'between each two adjacent lanes in the actual driving environment (i.e. the widths of all lanes are added) may be calculated, the width unit is the same as the width W2 of the projection display area of the HUD, the display width w″ of the two adjacent virtual lanes in the projection display area of the HUD is calculated by the formula (W' ×w2)/W1, and then the virtual lane corresponding to the lane is displayed in the projection display area of the HUD in equal proportion according to the width W2 of the projection display area of the HUD and the display width w″ of the two adjacent virtual lanes in the projection display area of the HUD.
S122, calculating the distance between vehicles according to the vehicle coordinates, and displaying the target vehicle model mark in the lane formed by the virtual lane lines in equal proportion according to the distance between vehicles, the width between the virtual lane lines and the length of the projection display area.
For the same reason as described in S121, in the embodiment of the present application, in collecting the vehicle information in the running environment of the current vehicle, the vehicle coordinates may be included in addition to the number of vehicles and the type of vehicles. Specifically, the distance between the vehicles, including the front-rear vertical distance and the left-right vertical distance, may be calculated according to the vehicle coordinates, and the target vehicle model identifier is displayed in the lane formed by the virtual lane lines in equal proportion according to the distance between the vehicles, the width between the virtual lane lines, and the length of the projection display area of the HUD.
As an alternative embodiment, the left-right deviation position of the target vehicle model mark in the lane formed by the virtual lane lines can be determined according to the calculated left-right vertical distance between vehicles and the width between the two adjacent virtual lane lines; the front-back deflection position of the target vehicle model mark in the lane formed by the virtual lane lines can be determined according to the calculated front-back vertical distance between vehicles and the length of the projection display area of the HUD; and according to the determined left-right deflection position and the front-back deflection position, the target vehicle model identification is displayed in the lane formed by the virtual lane lines in equal proportion. The specific calculation method shown in the equal proportion is described in S121, and is not described here again.
In the embodiment of the application, when the target vehicle model identifier is located on the lane where the current vehicle model identifier is located, if the speeds of two vehicles on the same lane are inconsistent, a safety risk exists. For example, when the speed of the current vehicle is greater than the speed of the target vehicle in front of the lane, there is a risk of rear-end collision after traveling for a certain distance, and thus a lane change operation is required; in addition, when the lane changing operation is executed, the distance between the front and rear vehicles cannot be too close, if the distance is too close, if the running state of the front vehicle suddenly changes (such as the same-direction steering or sudden braking, etc.) in the lane changing process, collision can occur; therefore, when performing the lane-change operation, the distance between the two vehicles is also required to be at a safe distance, which is referred to as a preset first safe distance in the embodiment of the present application. The preset first safety distance is not fixed and is in positive correlation with the speed of the current vehicle, and the larger the speed of the current vehicle is, the larger the preset first safety distance is. For example, if the speed of the current vehicle is 50km/h, the threshold corresponding to the preset first safety distance is 10 meters, that is, if the distance between the current vehicle and the front target vehicle on the same lane is greater than or equal to 10 meters, it is indicated that the distance between the two vehicles is the preset first safety distance, and then the current vehicle can execute lane changing operation.
Therefore, in one embodiment of the present application, before performing the detection in step S13 of whether the left lane identified by the current vehicle model satisfies the lane change condition, the following operations may also be performed:
A. acquiring the speed of a target vehicle corresponding to the target vehicle model identifier, and displaying the speed of the target vehicle on the target vehicle model identifier; B. determining a preset first safety distance according to the speed of the current vehicle corresponding to the current vehicle model identifier; C. and when the speed of the target vehicle is smaller than the speed of the current vehicle and the distance between the target vehicle and the current vehicle is at the preset first safety distance, starting to detect whether the left lane marked by the current vehicle model meets the lane changing condition.
In the operation a, the speed of the target vehicle is displayed on the target vehicle model identifier, so that the driver of the current vehicle can more intuitively understand the driving state of the front target vehicle, and a preliminary judgment basis is provided for the subsequent driving operation. In operation B, after the HUD obtains the speed of the current vehicle from the vehicle-to-machine system, the preset first safe distance corresponding to the speed of the current vehicle may be found from the map based on the map of the speed and the safe distance stored in the HUD in advance. In operation C, when it is determined that the speed of the target vehicle in operation a is less than the speed of the current vehicle and it is determined that the distance between the target vehicle and the current vehicle is the preset first safety distance found in operation B, it is started to detect whether the left lane identified by the current vehicle model satisfies the lane change condition.
In one embodiment of the present application, the step S13 of detecting whether the left lane of the current vehicle model identifier meets the lane change condition may be implemented by the following operations S131 to S133, including:
s131, calculating a first distance according to the speed of the rear vehicle on the left lane, the speed of the current vehicle, the preset safe lane change duration and the distance between the rear vehicle and the current vehicle on the left lane.
In the course of executing lane change, lane change operation needs to be completed within a specific time for running safety, so that the lane change time length is preset in the embodiment of the application; in addition, in the process that the current vehicle finishes lane changing according to the preset safe lane changing time length, the current vehicle and the rear vehicle on the left lane can advance forward for a certain distance, and if the distance between the two vehicles is too short after lane changing is finished, the risk of collision can exist. Therefore, in the embodiment of the application, a first distance needs to be calculated by combining the speed of the rear vehicle on the left lane, the speed of the current vehicle, a preset safe lane change duration and the distance between the rear vehicle on the left lane and the current vehicle, wherein the first distance is the distance between the current vehicle and the rear vehicle on the left lane after the current vehicle successfully changes lanes to the left lane.
As an alternative embodiment, the speed V of the current vehicle may be determined 0 Multiplied by a preset safe lane change time T 1 Subtracting the speed V of the rear vehicle on the left lane 1 Multiplied by a preset safe lane change time T 1 Obtaining a distance difference value, wherein the distance difference value can be positive or negative, and the distance difference value is matched with the rear vehicle and the current vehicle on the left lane before lane changingThe distance S' between the vehicles is summed to obtain a first distance S 1 . Namely S 1 ＝(V 0 *T 1 -V 1 *T 1 )+S’。
S132, calculating a second distance according to the speed of the front vehicle on the left lane, the speed of the current vehicle, the preset safe lane change duration and the distance between the front vehicle and the current vehicle on the left lane.
Similarly, in the process that the current vehicle finishes lane changing according to the preset safe lane changing duration, the current vehicle and the front vehicle on the left lane can advance forward for a certain distance, and if the distance between the two vehicles is too short after lane changing is finished, the risk of collision can exist. Therefore, in the embodiment of the application, a second distance needs to be calculated by combining the speed of the front vehicle on the left lane, the speed of the current vehicle, a preset safe lane change duration and the distance between the front vehicle on the left lane and the current vehicle, wherein the second distance is the distance between the current vehicle and the front vehicle on the left lane after the current vehicle successfully changes lanes to the left lane.
As an alternative embodiment, the front vehicle speed V on the left lane may be determined by 2 Multiplied by a preset safe lane change time T 1 Subtracting the speed V of the current vehicle 0 Multiplied by a preset safe lane change time T 1 Obtaining a distance difference value, wherein the distance difference value can be positive or negative, and summing the distance difference value with the distance S' between the front vehicle and the current vehicle on the left lane before lane changing to obtain a second distance S 2 . Namely S 2 ＝(V 2 *T 1 -V 0 *T 1 )+S”。
S133, when the first distance and the second distance are respectively at a preset first safety distance and the type of the virtual lane line corresponding to the left lane is a dotted line, the lane change condition is met.
After the first distance and the second distance are calculated through S131 and S132, it is further determined whether the first distance and the second distance are respectively at the preset first safety distance. And if the first distance and the second distance are both in the preset first safety distance and the type of the virtual lane line corresponding to the left lane is a dotted line, the lane change condition is met. If any one of the following three conditions exists, the lane change condition is not satisfied; these three cases include: 1. the first distance is not a preset first safety distance; 2. the second distance is not within a preset first safety distance; 3. the type of virtual lane line corresponding to the left lane is not a broken line.
As an alternative embodiment, when it is detected that the left lane of the current vehicle model identifier meets the lane change condition, the left lane in the projection display area of the HUD may be rendered with a first indication color, for example, the first indication color may be blue, for indicating that lane change may be performed to the left lane. When it is detected that the left lane of the current vehicle model identification does not meet the lane change condition, the left lane in the projection display area of the HUD may be rendered with a second indicator color, for example, the second indicator color may be red, for indicating that lane change to the left lane is impossible.
After the fact that the left lane marked by the current vehicle model meets the lane changing condition is detected in the mode, the current vehicle can start to execute lane changing operation. Referring to fig. 2, in the embodiment of the present application, in order to provide a safer and more accurate lane change prompt for a current vehicle, a lane change guide identifier may be displayed on a left lane of a current vehicle model identifier in a projection display area of the HUD through step S14, where the lane change guide identifier includes: a lane indicator sub-identification and a lane change speed sub-identification.
The lane change guiding mark can be rendered by taking the position of the current vehicle model mark before the lane change operation starts as a starting point, and the rendering area spans to the left lane of the current vehicle model mark. Specifically, the lane change indicator sub-mark is rendered from the position of the current vehicle to the end of the lane at the left side of the current vehicle, the rendering and displaying time length corresponds to the preset safe lane change time length, and the rendering and displaying path is a path for indicating the current vehicle to execute lane change. The lane change speed sub-mark is used for displaying the speed of the lane change, so that the current vehicle can change the lane according to the speed displayed in the lane change speed sub-mark, and potential safety hazards caused by hesitation and inaccurate lane change speed grasping of a driver, especially a novice driver, when the vehicle changes lanes are avoided.
In the embodiment of the present application, the lane change speed sub-identifier in the lane change guiding identifier may be implemented by the following operations S141 to S144, including:
s141, calculating a first lane change speed threshold according to the speed of the rear vehicle on the left lane, the distance between the rear vehicle and the current vehicle on the left lane, a threshold corresponding to a preset first safety distance and a preset safety lane change duration.
As an alternative implementation manner, the distance between the rear vehicle and the current vehicle on the left lane may be subtracted by a threshold corresponding to the preset first safety distance, the difference value is divided by the preset safety lane change duration, and the quotient value is added to the speed of the rear vehicle on the left lane so as to calculate the first lane change speed threshold.
S142, calculating a second lane change speed threshold according to the speed of the front vehicle on the left lane, the distance between the front vehicle on the left lane and the current vehicle, a threshold corresponding to a preset first safety distance and a preset safety lane change duration.
As an alternative embodiment, the distance between the preceding vehicle and the current vehicle on the left lane may be subtracted by a threshold corresponding to the preset first safety distance, the difference value may be divided by the preset safety lane change duration, and the quotient value may be added to the speed of the preceding vehicle on the left lane to calculate the second lane change speed threshold.
S143, comparing the first lane change speed threshold and the second lane change speed threshold with the speed of the current vehicle, and updating at least one lane change speed threshold to the speed of the current vehicle if at least one lane change speed threshold of the first lane change speed threshold and the second lane change speed threshold is smaller than the speed of the current vehicle.
In the actual running process of the vehicle, a driver is required to finish lane changing rapidly when lane changing, and the slower the lane changing process is, the higher the probability of danger is. Therefore, after the first lane change vehicle speed threshold and the second lane change vehicle speed threshold are calculated in S141 and S142, it is necessary to further determine whether the first lane change vehicle speed threshold and the second lane change vehicle speed threshold are appropriate. According to the method and the device for changing the lane, the first lane changing speed threshold and the second lane changing speed threshold can be compared with the speed of the current vehicle respectively, and when the speed is smaller than the speed of the current vehicle, if lane changing is carried out according to the calculated lane changing speed threshold, the situation that the current vehicle is in a lane changing process, and the lane changing is in a deceleration state is usually at a certain safety risk. Therefore, when any one of the calculated first lane change vehicle speed threshold and second lane change vehicle speed threshold is smaller than the vehicle speed of the current vehicle, the lane change vehicle speed threshold smaller than the current vehicle speed is updated to the vehicle speed of the current vehicle; and when the calculated first lane change speed threshold value and the second lane change speed threshold value are larger than or equal to the speed of the current vehicle, reserving the calculated first lane change speed threshold value and the second lane change speed threshold value.
S144, generating a vehicle speed range indicated by a lane change vehicle speed sub-mark in the lane change guiding mark according to the first lane change vehicle speed threshold and the second lane change vehicle speed threshold.
In the embodiment of the application, when the lane on the left side of the current vehicle model identifier meets the lane change condition, a lane change guiding identifier is displayed on the lane on the left side of the current vehicle model identifier in a projection display area of the HUD, and the lane change guiding identifier is provided with a lane change indicator sub-identifier and a lane change vehicle speed sub-identifier. The lane change speed sub-mark displays a speed range of suggesting the current vehicle to perform safe lane change, and the speed range of the safe lane change is formed by a first lane change speed threshold and a second lane change speed threshold in S143.
In this embodiment of the present application, after the current vehicle completes the lane change operation according to the generated lane change guiding identifier, it may further be further determined whether the current vehicle needs to execute the overtaking operation in the driving environment at this time.
Specifically, this can be achieved by the following operations S15 to S17, including:
s15, determining a third distance between the current vehicle after lane change and the target vehicle in the driving direction.
After the current vehicle completes the lane change operation, the lane change guide mark in the projection display area of the HUD disappears, and at this time, a third distance in the traveling direction between the current vehicle and the target vehicle may be determined.
And S16, when the third distance is at a preset overtaking starting distance, determining a fourth distance between a front vehicle on a lane where the current vehicle is located and the current vehicle.
In an actual running environment, when a vehicle performs overtaking operation, for example, when the current vehicle overtakes the right vehicle, if the current vehicle is far away from the right vehicle, the running environment is relatively safe, and the current vehicle does not need to perform overtaking operation; if the current vehicle is close to the right vehicle, potential safety hazards exist between the two vehicles, and the current vehicle is necessary to execute overtaking operation. Therefore, when the third distance between the current vehicle after lane change and the target vehicle located on the right side of the current vehicle in the running direction is at the preset overtaking start distance, judgment of overtaking operation can be performed.
The threshold corresponding to the preset overtaking starting distance is smaller than the threshold corresponding to the preset first safety distance. For example, the threshold corresponding to the preset overtaking start distance may be 3 meters, and if the third distance in the driving direction between the current vehicle after the lane change and the target vehicle located on the right side of the current vehicle is less than or equal to 3 meters, it is determined that the third distance is at the preset overtaking start distance, that is, it is determined that the current vehicle needs to perform overtaking operation on the target vehicle on the right side of the current vehicle, and at this time, it is required to determine a fourth distance between the preceding vehicle on the lane where the current vehicle is located and the current vehicle.
S17, when the fourth distance is in a preset first safety distance, displaying a overtaking guide identifier on a lane where the current vehicle model identifier is located in a projection display area of the HUD, wherein the overtaking guide identifier comprises: an overtaking indicator sub-identifier and an overtaking speed sub-identifier.
In an actual running environment, if the distance between a vehicle performing overtaking operation and a front vehicle on a lane where the vehicle is located is too short, the vehicle and the front vehicle may have a rear-end collision or other safety risks when performing overtaking operation. Therefore, referring to fig. 3, in the embodiment of the present application, when it is determined that the fourth distance between the preceding vehicle and the current vehicle on the lane where the current vehicle is located is a preset first safety distance, an overtaking guide identifier is displayed on the lane where the current vehicle model identifier is located in the projection display area of the HUD, where the overtaking guide identifier includes: an overtaking indicator sub-identifier and an overtaking speed sub-identifier. The overtaking indicator sub-identifier is used for indicating a path for executing overtaking, and the preset first safety distance is determined by the speed of the current vehicle corresponding to the current vehicle model identifier.
The overtaking guiding mark can be rendered by taking the position of the current vehicle model mark before overtaking operation starts as a starting point, and the rendering area extends to the front of the lane where the current vehicle model mark is positioned. Specifically, the overtaking indicator sub-mark is rendered from the position of the current vehicle to the end of overtaking of the current vehicle, the rendering and displaying time length corresponds to the preset safe overtaking time length, and the rendering and displaying path is a path for indicating the current vehicle to execute overtaking. The overtaking speed sub-mark is used for displaying the speed of executing overtaking so that the current vehicle can overtake according to the speed displayed in the overtaking speed sub-mark, thereby avoiding the potential safety hazard caused by hesitation and inaccurate overtaking speed grasping of a driver, especially a novice driver, when the vehicle overtakes.
In this embodiment of the present application, when the fourth distance is at the preset first safety distance, the lane where the current vehicle model identifier in the projection display area of the HUD is located may be rendered as a third indication color, for example, the third indication color may be green, for indicating that the overtaking operation may be performed. And when the current vehicle finishes the overtaking operation according to the overtaking indicator sub-mark and the overtaking speed sub-mark, namely the current vehicle exceeds the target vehicle on the right lane and the distance between the current vehicle and the target vehicle in the running direction is greater than a threshold value corresponding to the preset overtaking starting distance, the overtaking guiding mark disappears.
As an alternative embodiment, when the fourth distance is not at the preset first safety distance, the current vehicle may be prompted to appropriately decelerate so that the redetermined fourth distance after deceleration is at the preset first safety distance.
In the embodiment of the present application, the overtaking speed sub-identifier in the overtaking guidance identifier may be implemented through the following operations S171 to S174, including:
s171, calculating a first overtaking speed threshold according to the fourth distance, the front vehicle speed of the current vehicle on the lane, the preset safe overtaking duration and the threshold corresponding to the preset first safe distance.
As an alternative embodiment, the distance S between the preceding vehicle and the current vehicle in the lane of the current vehicle may be determined 4 Subtracting a threshold value S corresponding to the preset first safety distance 1 Then adding the speed V of the preceding vehicle 2 And the preset safe overtaking duration T 2 Dividing the added value by the preset safe overtaking time period T 2 A first cut-in speed threshold may be calculated. Specifically, the first cut-in speed threshold= (S 4 S threshold 1 +V 2 *T 2 )/T 2 ＝(S 4 S threshold 1 )/T 2 +V 2 。
S172, calculating a second overtaking speed threshold according to the third distance, the length of the current vehicle, the length of the target vehicle, the speed of the target vehicle and the preset safe overtaking time length.
As an alternative embodiment, the third distance S in the traveling direction between the current vehicle and the target vehicle after the lane change is completed may be determined 3 Adding the length L of the current vehicle 0 Adding the length Ltarget of the target vehicle, adding the speed Vtarget of the target vehicle and the preset safe overtaking duration T 2 Dividing the added value by the preset safe overtaking time period T 2 Can calculate the firstA second overtaking speed threshold. Specifically, the second cut-in speed threshold= (S 3 +L 0 +Ltarget+Vtarget 2 )/T 2 ＝(S 3 +L 0 +L target)/T 2 +v target.
S173, comparing the second overtaking speed threshold with the rear vehicle speed on the lane where the current vehicle is located, and if the second overtaking speed threshold is smaller than the rear vehicle speed, updating the second overtaking speed threshold according to the rear vehicle speed.
After the second overtaking speed threshold is calculated in S172, it is further necessary to determine whether the second overtaking speed threshold is appropriate. The embodiment of the application can combine the second overtaking speed threshold value with the rear vehicle speed V on the lane where the current vehicle is 1 Comparing, when the calculated second overtaking speed threshold is smaller than the rear vehicle speed V 1 When the current vehicle overtakes, the rear vehicle on the lane gradually approaches the current vehicle, and certain safety risk exists during overtaking. Therefore, it is possible to respond to the following vehicle speed V 1 Updating the second overtaking speed threshold. When the calculated second overtaking speed threshold is greater than or equal to the rear vehicle speed V 1 And when the current vehicle overtakes, the current vehicle does not gradually approach the rear vehicle on the lane, and the calculated second overtaking speed threshold value is reserved.
And S174, generating a vehicle speed range indicated by an overtaking speed sub-mark in the overtaking guide mark according to the first overtaking speed threshold and the second overtaking speed threshold.
In the embodiment of the application, after the current vehicle finishes lane change operation, if it is determined that the lane where the current vehicle model identifier is located meets the overtaking condition, an overtaking guide identifier is displayed on the lane where the current vehicle model identifier is located in the projection display area of the HUD, and the overtaking guide identifier is provided with an overtaking indicator sub-identifier and an overtaking speed sub-identifier. The overtaking speed sub-mark displays the speed range of suggesting the current vehicle to make the safe overtaking, and the speed range of the safe overtaking is formed by a first overtaking speed threshold value and a second overtaking speed threshold value.
As an optional implementation manner, in this embodiment of the present application, the speed of the front vehicle on the lane where the current vehicle is located may be correspondingly displayed on a front vehicle model identifier in the projection display area of the HUD, and the speed of the rear vehicle on the lane where the current vehicle is located may be correspondingly displayed on a rear vehicle model identifier in the projection display area of the HUD.
In this embodiment of the present application, after the current vehicle completes the lane change operation according to the lane change guiding identifier, in order to make the current vehicle safely travel on the current lane or safely overtake, as an optional implementation manner, the embodiment of the present application may further determine a fifth distance between the current vehicle and the target vehicle in a direction perpendicular to the traveling direction after lane change; and when the fifth distance is smaller than a preset second safety distance, displaying a driving guide mark on a lane where the current vehicle model mark is located, wherein the driving guide mark is used for indicating the driving position of the current vehicle on the lane so as to be at the preset second safety distance with the target vehicle in the direction perpendicular to the driving direction.
As an alternative embodiment, referring to fig. 4, the driving guide identifier may be a driving guide wire in a lane; the preset second safety distance may be determined according to the widths of two adjacent lanes. For example, a preset second safety distance may be determined according to a distance between center lines of adjacent two lanes; and when the fifth distance is greater than or equal to the preset second safety distance, indicating that the fifth distance is at the preset second safety distance.
Fig. 5 is a schematic structural diagram of a driving image display device according to an embodiment of the present application, where the driving image display device may be implemented in software and/or hardware, and may be integrated into a head-up display. The running image display device in this embodiment includes:
the obtaining module 501 is configured to obtain a virtual lane line corresponding to a lane line in a driving environment where a current vehicle is located and a target vehicle model identifier corresponding to a target vehicle;
the display module 502 is configured to display the virtual lane line and the target vehicle model identifier in a projection display area of a head-up display;
a detection module 503, configured to detect, when the target vehicle model identifier is located in a lane where a current vehicle model identifier is located, whether a lane on the left side of the current vehicle model identifier meets a lane change condition;
the display module 502 is further configured to display a lane change guide identifier on a lane on the left side of the current vehicle model identifier in the projection display area when a lane change condition is satisfied, where the lane change guide identifier includes: lane change indicator sub-identification and lane change speed sub-identification; the lane change speed sub-identifier is used for indicating the speed of the lane change, and the lane change indicator sub-identifier is used for indicating the path of the lane change.
Optionally, the obtaining module 501 is further configured to collect lane information and vehicle information in a driving environment where the current vehicle is located; the lane information comprises the number of lane lines and the type of the lane lines; the vehicle information includes a number of vehicles and a type of vehicle; the obtaining module 501 is further configured to extract, from a display resource library of the head-up display, a corresponding number of virtual lane lines and a corresponding type of a target vehicle model identifier according to the number of lane lines, the type of lane lines, the number of vehicles and the type of vehicles.
Optionally, the lane information further includes lane line coordinates, and the vehicle information further includes vehicle coordinates; the display module 502 is further configured to calculate a width between lane lines according to the lane line coordinates, and display a virtual lane line corresponding to the lane line in equal proportion in the projection display area according to the width between the lane lines and the width of the projection display area of the head-up display; the display module 502 is further configured to calculate a distance between vehicles according to the vehicle coordinates, and display the target vehicle model identifier in a lane formed by the virtual lane lines in equal proportion according to the distance between vehicles, the width between the virtual lane lines, and the length of the projection display area.
Optionally, the obtaining module 501 is further configured to obtain a speed of a target vehicle corresponding to the target vehicle model identifier, and the display module 502 is further configured to display the speed of the target vehicle on the target vehicle model identifier; the detection module 503 is further configured to determine a preset first safety distance according to a speed of the current vehicle corresponding to the current vehicle model identifier; and when the speed of the target vehicle is smaller than the speed of the current vehicle and the distance between the target vehicle and the current vehicle is at the preset first safety distance, starting to detect whether the left lane marked by the current vehicle model meets the lane changing condition.
Optionally, the detection module 503 is further configured to calculate a first distance according to a vehicle speed of a rear vehicle on the left lane, a vehicle speed of a current vehicle, a preset safe lane change duration, and a distance between the rear vehicle on the left lane and the current vehicle; calculating a second distance according to the speed of the front vehicle on the left lane, the speed of the current vehicle, the preset safe lane change time length and the distance between the front vehicle on the left lane and the current vehicle; and when the first distance and the second distance are respectively at the preset first safety distance and the type of the virtual lane line corresponding to the left lane is a dotted line, determining that the lane change condition is met.
Optionally, the running image display device further includes:
the processing module is used for calculating a first lane changing speed threshold according to the speed of the rear vehicle on the left lane, the distance between the rear vehicle on the left lane and the current vehicle, a threshold corresponding to a preset first safety distance and a preset safety lane changing duration; calculating a second lane change speed threshold according to the speed of the front vehicle on the left lane, the distance between the front vehicle on the left lane and the current vehicle, a threshold corresponding to a preset first safety distance and a preset safety lane change duration; comparing the first lane change speed threshold and the second lane change speed threshold with the speed of the current vehicle respectively, and if at least one lane change speed threshold of the first lane change speed threshold and the second lane change speed threshold is smaller than the speed of the current vehicle, updating the at least one lane change speed threshold to the speed of the current vehicle; and generating a vehicle speed range indicated by a lane change vehicle speed sub-mark in the lane change guiding mark according to the first lane change vehicle speed threshold and the second lane change vehicle speed threshold.
Optionally, the detection module 503 is further configured to determine a third distance between the current vehicle and the target vehicle in a driving direction after the current vehicle completes the lane changing operation according to the lane changing guiding identifier, and determine a fourth distance between a preceding vehicle on a lane where the current vehicle is located and the current vehicle when the third distance is at a preset overtaking start distance; the display module 502 is further configured to display, when the fourth distance is at a preset first safe distance, a overtaking guide identifier on a lane where the current vehicle model identifier in the projection display area is located, where the overtaking guide identifier includes: an overtaking indicator sub-identifier and an overtaking speed sub-identifier; the overtaking speed sub-identifier is used for indicating the speed of executing overtaking, the overtaking indicator sub-identifier is used for indicating the path of executing overtaking, and the preset first safety distance is determined by the speed of the current vehicle corresponding to the current vehicle model identifier.
Optionally, the processing module is further configured to calculate a first overtaking speed threshold according to the fourth distance, a front vehicle speed on a lane where the current vehicle is located, a preset safe overtaking duration, and a threshold corresponding to the preset first safe distance; calculating a second overtaking speed threshold according to the third distance, the length of the current vehicle, the length of the target vehicle, the speed of the target vehicle and the preset safe overtaking duration; comparing the second overtaking speed threshold with the rear vehicle speed on the lane where the current vehicle is located, and if the second overtaking speed threshold is smaller than the rear vehicle speed, updating the second overtaking speed threshold according to the rear vehicle speed; and generating a vehicle speed range indicated by an overtaking vehicle speed sub-mark in the overtaking guide mark according to the first overtaking vehicle speed threshold and the second overtaking vehicle speed threshold.
Optionally, the detecting module 503 is further configured to determine a fifth distance between the current vehicle and the target vehicle in a direction perpendicular to the driving direction after the current vehicle completes the lane change operation according to the lane change guiding identifier; the display module 502 is further configured to display a driving guide identifier on a lane where the current vehicle model identifier is located when the fifth distance is smaller than a preset second safety distance, where the driving guide identifier is used for enabling the current vehicle and the target vehicle to be at the preset second safety distance in a direction perpendicular to a driving direction.
The running image display device provided by the embodiment can execute the running image display method provided by the embodiment of the method, and has the corresponding functional modules and beneficial effects of the execution method. The implementation principle and technical effect of the present embodiment are similar to those of the above method embodiment, and are not described here again.
FIG. 6 is a schematic diagram of an electronic device, such as a head-up display, according to an embodiment of the present application, the head-up display including a memory 61, a processor 62, and a computer program stored and executable on the memory; the number of processors 62 may be one or more, one processor 62 being taken as an example in fig. 6; the processor 62, the memory 61 may be connected by a bus or other means, for example in fig. 6.
The memory 61 is a computer-readable storage medium that can be used to store software programs, computer-executable programs, and modules. The processor 62 executes various functional applications of the head-up display and data processing, that is, implements the above-described running image display method, by running software programs, instructions, and modules stored in the memory 61.
The memory 61 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory 61 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 61 may further include memory remotely located relative to processor 62, which may be connected to the heads-up display through a grid. Examples of such grids include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The present embodiments also provide a computer-readable storage medium having stored thereon a computer program for performing related operations in the running image display method provided by any of the embodiments of the present application when executed by a computer processor.
From the above description of embodiments, it will be clear to a person skilled in the art that the present application may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a FLASH memory (FLASH), a hard disk, or an optical disk of a computer, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a grid device, etc.) to perform the method described in the embodiments of the present application.
It should be noted that, in the above embodiment of the marking device for a front vehicle, each unit and module included are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. Those skilled in the art will appreciate that the present application is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, the scope of which is defined by the scope of the appended claims.

Claims (11)

1. A running image display method, characterized by comprising:
obtaining a virtual lane line corresponding to a lane line in a running environment of a current vehicle and a target vehicle model identifier corresponding to a target vehicle;
displaying the virtual lane line and the target vehicle model mark in a projection display area of a head-up display;
when the target vehicle model identifier is positioned on a lane where the current vehicle model identifier is positioned, detecting whether a lane on the left side of the current vehicle model identifier meets a lane change condition;
when a lane change condition is satisfied, displaying a lane change guide identifier on a left lane of the current vehicle model identifier in the projection display area, the lane change guide identifier including: lane change indicator sub-identification and lane change speed sub-identification; the lane change speed sub-identifier is used for indicating the speed of the lane change, and the lane change indicator sub-identifier is used for indicating the path of the lane change.
2. The method of claim 1, wherein the obtaining the virtual lane line corresponding to the lane line in the driving environment of the current vehicle and the target vehicle model identifier corresponding to the target vehicle comprises:
collecting lane information and vehicle information in the current running environment of the vehicle; the lane information comprises the number of lane lines and the type of the lane lines; the vehicle information includes a number of vehicles and a type of vehicle;
and extracting the virtual lane lines and the target vehicle model identifications of the corresponding number and the corresponding type from a display resource library of the head-up display according to the number of lane lines, the type of lane lines, the number of vehicles and the type of vehicles.
3. The method of claim 2, wherein the lane information further comprises lane line coordinates, and the vehicle information further comprises vehicle coordinates; the displaying the virtual lane line and the target vehicle model identifier in the projection display area of the head-up display includes:
calculating the width of the lane lines according to the lane line coordinates, and displaying virtual lane lines corresponding to the lane lines in the projection display area in equal proportion according to the width of the lane lines and the width of the projection display area of the head-up display;
And calculating the distance between vehicles according to the vehicle coordinates, and displaying the target vehicle model mark in the lane formed by the virtual lane lines in equal proportion according to the distance between vehicles, the width between the virtual lane lines and the length of the projection display area.
4. The method of claim 1, wherein prior to said detecting whether the left lane identified by the current vehicle model meets a lane change condition, the method further comprises:
acquiring the speed of a target vehicle corresponding to the target vehicle model identifier, and displaying the speed of the target vehicle on the target vehicle model identifier;
determining a preset first safety distance according to the speed of the current vehicle corresponding to the current vehicle model identifier;
and when the speed of the target vehicle is smaller than the speed of the current vehicle and the distance between the target vehicle and the current vehicle is at the preset first safety distance, starting to detect whether the left lane marked by the current vehicle model meets the lane changing condition.
5. The method of claim 4, wherein the detecting whether the left lane identified by the current vehicle model meets a lane change condition comprises:
Calculating a first distance according to the speed of a rear vehicle on the left lane, the speed of the current vehicle, a preset safe lane change time length and the distance between the rear vehicle on the left lane and the current vehicle;
calculating a second distance according to the speed of the front vehicle on the left lane, the speed of the current vehicle, a preset safe lane change time length and the distance between the front vehicle on the left lane and the current vehicle;
and when the first distance and the second distance are respectively at the preset first safety distance and the type of the virtual lane line corresponding to the left lane is a dotted line, the lane change condition is met.
6. The method of claim 1, 4 or 5, wherein the lane change speed sub-identification in the lane change guide identification is generated by:
calculating a first lane change speed threshold according to the speed of the rear vehicle on the left lane, the distance between the rear vehicle on the left lane and the current vehicle, a threshold corresponding to a preset first safety distance and a preset safety lane change duration;
calculating a second lane change speed threshold according to the speed of the front vehicle on the left lane, the distance between the front vehicle on the left lane and the current vehicle, a threshold corresponding to a preset first safety distance and a preset safety lane change duration;
Comparing the first lane change speed threshold and the second lane change speed threshold with the speed of the current vehicle respectively, and if at least one lane change speed threshold of the first lane change speed threshold and the second lane change speed threshold is smaller than the speed of the current vehicle, updating the at least one lane change speed threshold to the speed of the current vehicle;
and generating a vehicle speed range indicated by a lane change vehicle speed sub-mark in the lane change guiding mark according to the first lane change vehicle speed threshold and the second lane change vehicle speed threshold.
7. The method according to claim 1, wherein the method further comprises:
after the current vehicle finishes lane changing operation according to the lane changing guiding mark, determining a third distance between the current vehicle and the target vehicle in the running direction;
when the third distance is at a preset overtaking starting distance, determining a fourth distance between a front vehicle on a lane where the current vehicle is located and the current vehicle;
when the fourth distance is in a preset first safety distance, displaying an overtaking guide identifier on a lane where the current vehicle model identifier is located in the projection display area, wherein the overtaking guide identifier comprises: an overtaking indicator sub-identifier and an overtaking speed sub-identifier; the overtaking speed sub-identifier is used for indicating the speed of executing overtaking, the overtaking indicator sub-identifier is used for indicating the path of executing overtaking, and the preset first safety distance is determined by the speed of the current vehicle corresponding to the current vehicle model identifier.
8. The method of claim 7, wherein the overtaking speed sub-identifier in the overtaking guidance identifier is generated by:
calculating a first overtaking speed threshold according to the fourth distance, the front vehicle speed of the current vehicle on the lane, the preset safe overtaking duration and the threshold corresponding to the preset first safe distance;
calculating a second overtaking speed threshold according to the third distance, the length of the current vehicle, the length of the target vehicle, the speed of the target vehicle and the preset safe overtaking duration;
comparing the second overtaking speed threshold with the rear vehicle speed on the lane where the current vehicle is located, and if the second overtaking speed threshold is smaller than the rear vehicle speed, updating the second overtaking speed threshold according to the rear vehicle speed;
and generating a vehicle speed range indicated by an overtaking vehicle speed sub-mark in the overtaking guide mark according to the first overtaking vehicle speed threshold and the second overtaking vehicle speed threshold.
9. The method according to claim 1 or 7, characterized in that the method further comprises:
after the current vehicle finishes lane changing operation according to the lane changing guide mark, determining a fifth distance between the current vehicle and the target vehicle in a direction perpendicular to a running direction;
And when the fifth distance is smaller than a preset second safety distance, displaying a driving guide identifier on a lane where the current vehicle model identifier is located, wherein the driving guide identifier is used for enabling the current vehicle and the target vehicle to be at the preset second safety distance in a direction perpendicular to a driving direction.
10. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor; wherein the processor is configured to perform the running image display method of any one of claims 1-9 via execution of the executable instructions.
11. A computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the running image display method according to any one of claims 1 to 9.
CN202310402829.3A 2023-04-14 2023-04-14 Driving image display method, storage medium, and electronic apparatus Active CN116381946B (en)

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