WO2022002055A1 - 一种车位显示的处理方法和车辆 - Google Patents

一种车位显示的处理方法和车辆 Download PDF

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Publication number
WO2022002055A1
WO2022002055A1 PCT/CN2021/103118 CN2021103118W WO2022002055A1 WO 2022002055 A1 WO2022002055 A1 WO 2022002055A1 CN 2021103118 W CN2021103118 W CN 2021103118W WO 2022002055 A1 WO2022002055 A1 WO 2022002055A1
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WIPO (PCT)
Prior art keywords
parking space
target
space
parking
contour
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PCT/CN2021/103118
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English (en)
French (fr)
Inventor
闫祯杰
饶恒
戴观祺
Original Assignee
广州橙行智动汽车科技有限公司
广州小鹏汽车科技有限公司
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Application filed by 广州橙行智动汽车科技有限公司, 广州小鹏汽车科技有限公司 filed Critical 广州橙行智动汽车科技有限公司
Priority to EP21790763.3A priority Critical patent/EP3955163A4/en
Publication of WO2022002055A1 publication Critical patent/WO2022002055A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Definitions

  • the present invention relates to the technical field of intelligent vehicles, in particular to a processing method for parking space display and a vehicle.
  • the display of three-dimensional images can increase the three-dimensional display dimension, and a three-dimensional perspective of objects or scenery can be provided through the three-dimensional perspective view.
  • the vehicle model may cause more occlusions to the parking space frame, resulting in weaker visibility of the occluded plane parking space frame in the 3D space. Based on the above reasons, the user cannot find the available parking spaces displayed on the interface in time, which affects the user's parking experience.
  • the outline of the first plane parking space is displayed for the parking space, and the three-dimensional space occupancy model is displayed for the non-parking space;
  • the current display angle of view determine whether the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour
  • the target first plane parking space contour is a first plane parking space contour in the projection direction of the target three-dimensional space occupancy model, and it is determined whether the target three-dimensional space occupation model blocks the target first space according to the current display viewing angle.
  • the outline of the plane parking space outline including:
  • the target three-dimensional space occupancy model does not block the contour line of the target first plane parking space contour.
  • determining the projection length of the target stereoscopic occupancy model according to the current display viewing angle includes:
  • the projected length of the target three-dimensional space-occupying model is determined.
  • the method further includes:
  • first parking space is a parking space
  • second parking space adjacent to the first parking space in a first preset direction is determined; wherein the first preset direction is a projection of the three-dimensional space occupancy model the opposite direction of the direction;
  • the first plane parking space contour for the first parking space is determined as the target first plane parking space contour
  • the three-dimensional space occupancy model for the second parking space is determined as the target three-dimensional placeholder model.
  • the method further includes:
  • a second parking space adjacent to the first parking space in a second preset direction is determined; wherein the second preset direction is a projection of the three-dimensional space occupancy model direction;
  • the stereoscopic space occupancy model for the first parking space is determined as the target stereoscopic space occupation model, and the first plane parking space outline for the second parking space is the target first plane Parking space outline.
  • the method before the displaying the outline of the first plane parking space for the parking space, the method further includes:
  • the current parking space After determining that there is an obstacle in the current parking space, it is determined that the current parking space is an unparkable parking space.
  • performing display blocking processing including:
  • the target three-dimensional space occupation model is weakened
  • the enhancement processing is performed on the target first plane parking space contour.
  • a parkingable floating UI mark is displayed in the outline of the first plane parking space.
  • the parkingable floating UI mark in the outline of the first plane parking space of other parking spaces is not displayed.
  • a vehicle comprising:
  • the outline model display module is used to display the outline of the first plane parking space for the parking space when the vehicle starts 3D parking, and display the three-dimensional occupancy model for the non-parking space;
  • An occlusion judgment module configured to judge whether the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour according to the current display angle of view; When , call the display occlusion processing module;
  • the display occlusion processing module is used for display occlusion processing.
  • a vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, when the computer program is executed by the processor, the above-mentioned processing method for parking space display is realized .
  • a computer-readable storage medium stores a computer program on the computer-readable storage medium, and when the computer program is executed by a processor, realizes the above-mentioned processing method of parking space display.
  • the outline of the first plane parking space is displayed for the parking space, and the three-dimensional space occupancy model is displayed for the parking space that cannot be parked, and then according to the current display angle of view, It is judged whether the target three-dimensional occupancy model blocks the contour line of the contour of the target first plane parking space, and then when it is determined that the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour, display occlusion processing is performed to realize the three-dimensional parking.
  • the highlighted display of the blocked parking spaces enhances the visibility of the blocked parking spaces frame in three-dimensional space, and improves the user's parking experience.
  • FIG. 1 is a flowchart of steps of a method for processing parking space display provided by an embodiment of the present invention
  • FIG. 2a is a schematic diagram of a three-dimensional parking provided by an embodiment of the present invention.
  • FIG. 2b is a schematic diagram of another three-dimensional parking provided by an embodiment of the present invention.
  • FIG. 3 is a flowchart of steps of another method for processing parking space display provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an example of occlusion judgment provided by an embodiment of the present invention.
  • FIG. 5 is a flow chart of steps of another method for processing parking space display provided by an embodiment of the present invention.
  • FIG. 6 is a flowchart of steps of another method for processing parking space display provided by an embodiment of the present invention.
  • FIG. 7 is a flowchart of steps of another parking space display processing method provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
  • FIG. 1 a flowchart of steps of a method for processing parking space display provided by an embodiment of the present invention is shown, which may specifically include the following steps:
  • Step 101 when the vehicle starts 3D parking, display the outline of a first plane parking space for a parking space that can be parked, and display a three-dimensional space occupancy model for the parking space that cannot be parked;
  • the first plane parking space contour may be the plane contour displayed in the 3D parking interface for the parking space, for example, the parking space frame of the parking space; A diorama of a parking space, for example, a model of a vehicle or a model of an obstacle in a non-parking space.
  • the parking spaces and non-parking spaces can be displayed in the 3D parking interface, and the outline of the first plane parking space can be displayed for the parking spaces. bit model.
  • a 3D parking display interface can be displayed to the user through the in-vehicle screen, and the 3D parking interface can display available parking spaces and unavailable parking spaces.
  • a parking space can be displayed, and the parking space frame of the parking space can be displayed in the parking space, and the vehicle model or obstacle model used for occupying the space can be displayed in the non-parking space.
  • Step 102 determine whether the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour
  • the current display viewing angle may be the viewing angle under the current three-dimensional parking display interface displayed on the in-vehicle screen.
  • the target stereoscopic occupancy model may be the stereoscopic occupancy model displayed on the non-parking parking space adjacent to the parking space in the projection direction of the stereoscopic occupancy model of the current display viewing angle;
  • the contour of the target first plane parking space may be The first plane parking space contour in the projection direction of the target three-dimensional space occupancy model.
  • the target stereoscopic occupancy model displayed on the non-parking parking space adjacent to the parkingable parking space in the projection direction of the stereoscopic occupancy model can be obtained under the current display viewing angle of the 3D parking space, and the target stereoscopic occupancy model displayed on the target The contour of the first plane parking space in the projection direction of the three-dimensional space-occupying model, and then it can be determined whether the target three-dimensional space-occupying model blocks the contour line of the contour of the target first plane parking space.
  • the spatial position, outline and projection of objects can be displayed through lines, so as to obtain a perspective view showing three-dimensional effects.
  • the parking spaces and non-parking spaces under the current viewing angle can be displayed, and the three-dimensional occupancy model under the current viewing angle can be displayed on the non-parking parking spaces, and the three-dimensional occupancy model can be With a projection under a perspective relationship (ie, the projection under the current viewing angle of the stereoscopic placeholder model), the stereoscopic placeholder model may have projections in different directions under different display viewing angles.
  • the picture displayed in the current 3D parking interface on the in-vehicle screen is the 3D parking picture in the current viewing angle, and then in this perspective, the three-dimensional occupancy model on the unparkable parking space in the 3D parking picture may have A projection under the current viewing angle, the direction of the projection may be the projection direction of the stereoscopic occupancy model.
  • Step 103 when it is determined that the target three-dimensional space occupancy model blocks the contour line of the contour of the target first plane parking space, display and block processing is performed.
  • the 3D parking display interface it can be judged whether the vehicle model blocks the parking space frame of the available parking space, and when the vehicle model blocks the parking space frame of the available parking space, it is determined that there is an occlusion relationship, and then the occlusion can be processed by displaying the occlusion process. , to solve the occlusion problem of parking spaces in 3D parking.
  • step 103 may include the following sub-steps:
  • the target three-dimensional space-occupying model blocks the contour of the contour of the target first plane parking space
  • the target three-dimensional space-occupying model is weakened; and/or, when it is determined that the target three-dimensional space-occupying model blocks the contour
  • the enhancement processing is performed on the target first plane parking space contour.
  • display occlusion processing may be performed, that is, the target three-dimensional space occupation model may be weakened, and/or the target first plane parking space contour may be enhanced. processing, and then the 3D parking display interface after the display occlusion processing can be obtained, so as to be displayed to the user.
  • the vehicle model can be displayed normally; if it is determined that there is obstruction between the vehicle model and the parking space frame of the parking space, as shown in Figure 2a
  • the parking space with the P mark displayed on the right in the figure is blocked from the vehicle model below it, that is, the vehicle model below blocks the parking space frame of the parking space with the P mark, resulting in that the outline of the parking space frame is not fully displayed.
  • the transparency of the vehicle model can be reduced to a suitable value, such as 50%, so as to ensure that the outline of the parking space frame of the parking space can be displayed completely.
  • the outline of the parking space frame of the parking space can be enhanced, for example, the lines of the parking space frame can be thickened to ensure The outline of the space frame of the available parking spaces can be highlighted.
  • the method may further include the following steps:
  • a parkingable floating UI mark is displayed in the outline of the first plane parking space.
  • the parkingable floating UI mark may be a floating UI mark displayed on the parking space of the three-dimensional parking interface, for example, a three-dimensional P-shaped buoy may be displayed on the parking space.
  • a display interface of 3D parking can be displayed to the user through the in-vehicle screen, and the parking spaces and non-parking spaces can be displayed in the 3D parking interface.
  • a floating UI mark for parking can be displayed in the parking space frame of the parking spaces to highlight the display for the parking spaces.
  • the enhanced display can be performed for the parking spaces.
  • the 3D parking interface on the in-vehicle screen is in the state of finding a parking space, after a parking space is found, the display will be displayed on the A three-dimensional P-shaped buoy (the P mark in Figure 2a) is displayed in the parking space frame, so that the user's three-dimensional perception of the available parking space can be enhanced.
  • a prompt sound can be generated, and at the same time, a stereoscopic image can be displayed in the parking space frame of the new parking space. P-buoy.
  • the method may further include the following steps:
  • the parkingable floating UI mark in the outline of the first plane parking space of other parking spaces is not displayed.
  • the parking space frame of the parking space can be displayed for other parking spaces in the 3D parking interface. Parkable floating UI signs are no longer displayed inside.
  • the in-vehicle screen When the in-vehicle screen receives the signal that the user has selected the parking space to be parked, in order to facilitate the user to click to switch the parking space, the three-dimensional P-shaped buoy of the selected parking space can be retained, and the three-dimensional P-shaped buoy of other unselected parking spaces will disappear, such as As shown in FIG. 2b , the available parking spaces displayed with the mark P in the figure may be the parking spaces selected by the user, and the available parking spaces displayed with the mark 2 may be the parking spaces not selected by the user. If the user re-enters the state of searching for a parking space, the three-dimensional P-shaped buoys for other unselected parking spaces in the 3D parking interface can be displayed again.
  • the outline of the first plane parking space is displayed for the parking space, and the three-dimensional space occupancy model is displayed for the parking space that cannot be parked, and then according to the current display angle of view, It is judged whether the target three-dimensional occupancy model blocks the contour line of the contour of the target first plane parking space, and then when it is determined that the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour, display occlusion processing is performed to realize the three-dimensional parking.
  • the highlighted display of the blocked parking spaces enhances the visibility of the blocked parking spaces frame in three-dimensional space, and improves the user's parking experience.
  • FIG. 3 a flowchart of steps of a method for processing a parking space display provided by an embodiment of the present invention is shown, which may specifically include the following steps:
  • Step 301 when the vehicle starts 3D parking, display the outline of a first plane parking space for a parking space that can be parked, and display a three-dimensional space occupancy model for the parking space that cannot be parked;
  • the parking spaces and non-parking spaces can be displayed in the 3D parking interface, and the outline of the first plane parking space can be displayed for the parking spaces. bit model.
  • Step 302 Determine the projection length of the target stereoscopic occupancy model according to the current display viewing angle
  • the projection length may be the length between the projection of the target stereoscopic space-occupying model and the parking space contour on the projected side of the parking space where the target stereoscopic space-occupying model is located.
  • the length between the parking space frames (as shown in Figure 4, the "L" segment can be the projected length).
  • the length between the projection of the target stereoscopic space-occupying model and the parking space contour on the projection side of the parking space where the target stereoscopic space-occupying model is located can be obtained under the current display viewing angle of 3D parking, as the target stereoscopic space-occupying model projection length.
  • step 302 may include the following sub-steps:
  • the projected length of the target three-dimensional space-occupying model is determined.
  • the angle between the current display viewing angle and the ground can be obtained for the target stereoscopic occupancy model, and the height of the target stereoscopic occupancy model can be obtained, and then the obtained target stereoscopic occupancy model can be used.
  • the included angle and height of the placeholder model are calculated to obtain the projected length of the target three-dimensional placeholder model.
  • the angle of view may be the angle of view of the 3D virtual camera
  • the 3D virtual camera may be the current 3D view of the in-vehicle screen.
  • the camera corresponding to the viewing angle displayed on the parking interface can use the angle between the viewing angle of the camera and the ground (that is, the angle between the currently displayed viewing angle and the ground), and the height of the occupied vehicle model in the non-parking space (ie. The height of the target stereo occupancy model), calculate the projection length of the occupant vehicle model (that is, the projection length of the target stereo occupancy model), which can be calculated in the following ways:
  • ⁇ can be the angle between the camera angle of view and the ground
  • h can be the height of the occupant vehicle model
  • L can be the projection length of the occupant vehicle model.
  • the projection length of the occupant vehicle model in this overlapping situation can be the minimum safe distance, that is, the projection of the occupant vehicle model. It is not necessary to block the parking space frame.
  • Step 303 determining the relative distance between the target three-dimensional space occupancy model and the target first plane parking space outline
  • the relative distance may be the distance between the contour line of the target three-dimensional space-occupying model and the contour of the target first plane parking space, or the distance between the target three-dimensional space-occupying model and the contour of the target first plane parking space, for example, the space The distance between the contour line of the vehicle model and the parking space frame of the adjacent parking space, or the distance between the occupied vehicle model and the parking space frame of the adjacent parking space.
  • the relative distance between the occupied vehicle model and the parking space frame of the available parking space can be calculated according to the relative coordinates.
  • the relative coordinates of the occupied vehicle model on the non-parking parking space and the relative coordinates of the adjacent parking spaces can be used to calculate the distance between the two adjacent parking spaces.
  • the distance (that is, the relative distance between the target three-dimensional space occupancy model and the target first plane parking space contour) can be denoted as L1.
  • Step 304 when the projected length is greater than the relative distance, determine that the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour;
  • the target three-dimensional space-occupying model blocks the contour line of the target first plane parking space contour.
  • the projected length L of the occupant vehicle model is greater than the distance L1 between two adjacent parking spaces, it can be determined that the occupant vehicle model blocks the parking space frame of the parking space, that is There is occlusion between the vehicle model and the parking space.
  • Step 305 when the projected length is less than or equal to the relative distance, determine that the target three-dimensional space occupancy model does not block the contour line of the target first plane parking space contour;
  • the target three-dimensional space-occupying model When the projected length of the target three-dimensional space-occupying model is less than or equal to the relative distance between the target three-dimensional space-occupying model and the target first plane parking space contour, it can be determined that the target three-dimensional space-occupying model does not block the contour line of the target first plane parking space contour.
  • the projected length L of the occupant vehicle model is less than or equal to the distance L1 between two adjacent parking spaces, it can be determined that the occupant vehicle model does not block the parking space frame of the available parking spaces , that is, the occupant vehicle model and the parking space are unobstructed.
  • Step 306 when it is determined that the target three-dimensional space occupancy model blocks the contour line of the contour of the target first plane parking space, display and block processing is performed.
  • the model and/or the target first plane parking space outline is subjected to display and occlusion processing, so as to show the user the available parking spaces after the display and occlusion processing.
  • the outline of the first plane parking space is displayed for the parking space, and the three-dimensional space occupancy model is displayed for the parking space that cannot be parked, and then according to the current display angle of view, Determine the projection length of the target three-dimensional space-occupying model, and determine the relative distance between the target three-dimensional space-occupying model and the target first plane parking space contour, and when the projected length is greater than the relative distance, determine that the target three-dimensional space-occupying model occludes the target first plane parking space contour.
  • Contour line when the projected length is less than or equal to the relative distance, it is determined that the target three-dimensional space-occupying model does not block the contour line of the contour of the target first plane parking space, and then when it is determined that the target three-dimensional space-occupying model blocks the contour line of the target first plane parking space contour , perform display occlusion processing, and realize the highlighting of occluded parking spaces in 3D parking when judging that there is an occlusion relationship between the projected length of the model and the relative distance between the model and the contour of the parking space, which enhances the occluded parking space.
  • the visibility of the parking space frame in three-dimensional space improves the user's parking experience.
  • FIG. 5 a flowchart of steps of another parking space display processing method provided by an embodiment of the present invention is shown, which may specifically include the following steps:
  • Step 501 when the current parking space is detected when the vehicle starts 3D parking, determine whether there is an obstacle in the current parking space;
  • the current parking space may be a parking space in the current environment obtained when the vehicle starts 3D parking, for example, all parking spaces in the environment where the vehicle is located in the state of searching for a parking space can be detected and displayed for the current parking space type.
  • the current parking space in the current environment of the vehicle can be acquired through detection, and then it can be determined whether there is an obstacle in the current parking space.
  • the intelligent control module of the vehicle can use the side camera to identify the parking space line of the current parking space, and the side ultrasonic radar can be used to confirm the obstacles in the parking space of the current parking space.
  • Step 502 after determining that there is no obstacle in the current parking space, determine that the current parking space is a parking space;
  • the current parking space when it is determined that there is no obstacle in the current parking space, the current parking space may be determined as a parking space, so as to display the parking space in the three-dimensional parking interface.
  • the unparkable signal and the physical coordinates of the parking space relative to the vehicle can be output to the in-vehicle screen rendering module for display on the in-vehicle screen, that is, the in-vehicle screen can be displayed in three dimensions.
  • the parking interface displays an unparkable parking space relative to the self-vehicle model, which may include a parking space frame of the unparkable parking space and an occupant vehicle model in the parking space.
  • Step 503 after determining that there is an obstacle in the current parking space, determine that the current parking space is a non-parking parking space;
  • the current parking space when it is determined that there is an obstacle in the current parking space, can be determined as a non-parking parking space, so as to display the non-parking parking space in the three-dimensional parking interface. In the current parking space, it can be determined that there is an obstacle in the current parking space.
  • the parkingable signal and the physical coordinates of the parking space relative to the vehicle can be output to the in-vehicle screen rendering module for display on the in-vehicle screen, that is, the in-vehicle screen can be displayed.
  • the three-dimensional parking interface displays a parking space relative to the self-vehicle model, and may include a parking space frame of the parking space.
  • Step 504 displaying the outline of the first plane parking space for the parking space, and displaying the three-dimensional space occupancy model for the non-parking parking space;
  • a first plane parking space outline can be displayed for the parking spaces in the three-dimensional parking interface, and a three-dimensional space occupancy model is displayed for the non-parking spaces.
  • Step 505 determine whether the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour
  • the target stereoscopic occupancy model displayed on the non-parking parking space adjacent to the parkingable parking space in the projection direction of the stereoscopic occupancy model can be obtained under the current display viewing angle of the 3D parking space, and the target stereoscopic occupancy model displayed on the target The contour of the first plane parking space in the projection direction of the three-dimensional space-occupying model, and then it can be determined whether the target three-dimensional space-occupying model blocks the contour line of the contour of the target first plane parking space.
  • Step 506 When it is determined that the target three-dimensional space occupancy model blocks the contour line of the contour of the target first plane parking space, display and block processing is performed.
  • the current parking space when the current parking space is detected when the vehicle starts three-dimensional parking, it is determined whether there is an obstacle in the current parking space, and when it is determined that there is no obstacle in the current parking space, it is determined that the current parking space is a parking space. Determine that there is an obstacle in the current parking space, determine that the current parking space is a non-parking parking space, display the outline of the first plane parking space for the parking space, and display the three-dimensional occupancy model for the non-parking parking space, and then judge the target according to the current display angle.
  • the display block processing is performed, so as to detect whether there is an obstacle in the current parking space.
  • the object determines the parking space and the non-parking space, and determines that there is an occlusion relationship between the model and the outline of the parking space, the occluded parking space is highlighted in 3D parking, which enhances the occluded parking space.
  • the visibility of the parking space frame in three-dimensional space improves the user's parking experience.
  • FIG. 6 a flowchart of steps of another parking space display processing method provided by an embodiment of the present invention is shown, which may specifically include the following steps:
  • Step 601 when the vehicle starts 3D parking, display the outline of a first plane parking space for a parking space that can be parked, and display a three-dimensional space occupancy model for the parking space that cannot be parked;
  • the parking spaces and non-parking spaces can be displayed in the 3D parking interface, and the outline of the first plane parking space can be displayed for the parking spaces. bit model.
  • Step 602 when the first parking space is a parking space, determine a second parking space adjacent to the first parking space in a first preset direction;
  • the first parking space may be a parking space determined when the occlusion relationship between the three-dimensional space occupancy model and the outline of the first plane parking space is determined.
  • the parking space determines the occlusion relationship;
  • the first preset direction may be the opposite direction of the projection direction of the three-dimensional space occupancy model.
  • the first parking space is a parkingable parking space
  • a parking space adjacent to the parkingable parking space in the opposite direction of the projection direction of the three-dimensional space occupancy model can be obtained as the second parking space.
  • Step 603 when the second parking space is a non-parking parking space, determine the first plane parking space contour for the first parking space as the target first plane parking space contour, and determine the three-dimensional space occupancy model for the second parking space Stereoscopic occupancy model for the target;
  • the first plane parking space contour of the first parking space may be determined as the target first plane parking space contour
  • the three-dimensional space occupation model of the second parking space may be determined as the target three-dimensional space occupation model
  • the outline of the first plane parking space is displayed for the parking space
  • the three-dimensional occupancy model is displayed for the non-parking parking space.
  • Step 604 determine whether the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour
  • the target stereoscopic occupancy model displayed on the non-parking parking space adjacent to the parkingable parking space in the projection direction of the stereoscopic occupancy model can be obtained under the current display viewing angle of the 3D parking space, and the target stereoscopic occupancy model displayed on the target The contour of the first plane parking space in the projection direction of the three-dimensional space-occupying model, and then it can be determined whether the target three-dimensional space-occupying model blocks the contour line of the contour of the target first plane parking space.
  • Step 605 when it is determined that the target three-dimensional space occupancy model blocks the contour line of the contour of the target first plane parking space, display and block processing is performed.
  • the outline of the first plane parking space is displayed for the parking space, and the three-dimensional space occupancy model is displayed for the parking space that cannot be parked.
  • determine a second parking space adjacent to the first parking space in the first preset direction and when the second parking space is a non-parking parking space, determine the first plane parking space contour for the first parking space as the target first parking space
  • the outline of the plane parking space is determined, and the three-dimensional space occupancy model for the second parking space is determined as the target three-dimensional space-occupying model, and then according to the current display viewing angle, it is determined whether the target three-dimensional space-occupying model obstructs the contour line of the target first plane parking space outline, and then determines the target.
  • the display occlusion processing is performed, which realizes the prominent display of the occluded parking spaces in 3D parking, and enhances the occluded parking spaces.
  • the visibility of the frame in three-dimensional space improves the user's parking experience.
  • FIG. 7 a flowchart of steps of another parking space display processing method provided by an embodiment of the present invention is shown, which may specifically include the following steps:
  • Step 701 when the vehicle starts 3D parking, display the outline of a first plane parking space for a parking space that can be parked, and display a three-dimensional space occupancy model for the parking space that cannot be parked;
  • the parking spaces and non-parking spaces can be displayed in the 3D parking interface, and the outline of the first plane parking space can be displayed for the parking spaces. bit model.
  • Step 702 when the first parking space is a non-parking parking space, determine a second parking space adjacent to the first parking space in a second preset direction;
  • the second preset direction may be the projection direction of the three-dimensional placeholder model.
  • the first parking space is a non-parking parking space
  • a parking space adjacent to the non-parking parking space in the projection direction of the three-dimensional occupancy model can be obtained as the second parking space.
  • Step 703 when the second parking space is a parking space, determine the three-dimensional space occupancy model for the first parking space as the target three-dimensional space occupation model, and the first plane parking space outline for the second parking space as the target The outline of the first plane parking space;
  • the three-dimensional space occupation model of the first parking space can be determined as the target three-dimensional space occupation model, and the first plane parking space contour for the second parking space can be determined as the target first plane parking space contour , so as to display the outline of the first plane parking space for the parking space in the 3D parking interface, and display the three-dimensional space occupancy model for the parking space that cannot be parked.
  • Step 704 determine whether the target three-dimensional space occupancy model blocks the contour line of the contour of the target first plane parking space;
  • the target stereoscopic occupancy model displayed on the non-parking parking space adjacent to the parkingable parking space in the projection direction of the stereoscopic occupancy model can be obtained under the current display viewing angle of the 3D parking space, and the target stereoscopic occupancy model displayed on the target The contour of the first plane parking space in the projection direction of the three-dimensional space-occupying model, and then it can be determined whether the target three-dimensional space-occupying model blocks the contour line of the contour of the target first plane parking space.
  • Step 705 when it is determined that the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour, display and block processing is performed.
  • the outline of the first plane parking space is displayed for the parking space, and the three-dimensional space occupancy model is displayed for the parking space that cannot be parked.
  • the parking space determine a second parking space adjacent to the first parking space in the second preset direction, and when the second parking space is a parking space, determine the three-dimensional space occupation model for the first parking space as the target three-dimensional space occupation
  • the first plane parking space contour of the second parking space is used as the target first plane parking space contour, and then according to the current display angle of view, it is judged whether the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour, and then the target three-dimensional space occupancy model is determined.
  • the display occlusion processing is performed, which realizes the prominent display of the occluded parking space in 3D parking, and enhances the occluded parking space frame.
  • the visibility in three-dimensional space improves the user's parking experience.
  • FIG. 8 a schematic structural diagram of a vehicle provided by an embodiment of the present invention is shown, which may specifically include the following modules:
  • the outline model display module 801 is configured to display the outline of the first plane parking space for the parking spaces that can be parked, and display the three-dimensional space occupancy model for the parking spaces that cannot be parked when the vehicle starts 3D parking;
  • An occlusion determination module 802 is configured to determine, according to the current display viewing angle, whether the target three-dimensional space occupancy model blocks the contour of the contour of the target first plane parking space; When the line is connected, call the display occlusion processing module 803;
  • the display occlusion processing module 803 is configured to perform display occlusion processing.
  • the target first plane parking space contour is the first plane parking space contour in the projection direction of the target three-dimensional space occupancy model
  • the occlusion determination module 802 includes:
  • a projection length determination submodule used for determining the projection length of the target stereoscopic occupancy model according to the current display viewing angle
  • a relative distance determination sub-module for determining the relative distance between the target three-dimensional space occupancy model and the target first plane parking space outline
  • a first occlusion judging submodule configured to judge that the target three-dimensional space occupancy model occludes the contour line of the target first plane parking space contour when the projection length is greater than the relative distance
  • the second occlusion determination sub-module is configured to determine that the target three-dimensional space occupancy model does not block the contour of the target first plane parking space contour when the projected length is less than or equal to the relative distance.
  • the projection length determination submodule includes:
  • the included angle determination unit is used to determine the included angle between the current display viewing angle and the ground;
  • a height determination unit used for determining the height of the target stereoscopic occupancy model
  • the projection length determination unit is configured to determine the projection length of the target three-dimensional space-occupying model in combination with the included angle and the height.
  • the vehicle further includes:
  • a second parking space determination module in the first preset direction configured to determine a second parking space adjacent to the first parking space in the first preset direction when the first parking space is a parking space; wherein the The first preset direction is the opposite direction of the projection direction of the three-dimensional placeholder model;
  • a target three-dimensional space occupancy model determination module is used to determine, when the second parking space is an unparkable parking space, a first plane parking space contour for the first parking space as a target first plane parking space contour, and determine the first plane parking space contour for the first parking space.
  • the three-dimensional occupancy model of the second parking space is the target three-dimensional occupancy model.
  • the vehicle further includes:
  • the second parking space determination module in the second preset direction is configured to determine a second parking space adjacent to the first parking space in the second preset direction when the first parking space is a non-parking parking space; wherein the The second preset direction is the projection direction of the three-dimensional placeholder model;
  • the target first plane parking space contour determination module is used to determine the three-dimensional space occupancy model for the first parking space as the target three-dimensional space occupation model when the second parking space is a parking space, and for the second parking space
  • the first plane parking space contour of is the target first plane parking space contour.
  • the vehicle further includes:
  • an obstacle judging module for judging whether there is an obstacle in the current parking space when the current parking space is detected
  • a parking space determination module configured to determine that the current parking space is a parking space when it is determined that there is no obstacle in the current parking space
  • the non-parking parking space determination module is configured to determine that the current parking space is a non-parking parking space when it is determined that there is an obstacle in the current parking space.
  • the display occlusion processing module 803 includes:
  • a weakening processing sub-module configured to perform weakening processing on the target three-dimensional space-occupying model when it is determined that the target three-dimensional space-occupying model blocks the contour of the contour of the target first plane parking space;
  • an enhancement processing sub-module configured to perform enhancement processing on the contour of the first plane parking space of the target when it is determined that the target three-dimensional space occupancy model blocks the contour of the contour of the contour of the first plane parking space of the target.
  • the vehicle further includes:
  • a parkingable floating UI identification display module is used for displaying a parkingable floating UI identification in the first plane parking space outline for the parkingable parking space.
  • the vehicle further includes:
  • the non-displaying module for the parkingable floating UI mark is used to not display the parkingable floating UI mark in the outline of the first plane parking space of other parking spaces when the selected target parking space is detected.
  • the outline of the first plane parking space is displayed for the parking space, and the three-dimensional space occupancy model is displayed for the parking space that cannot be parked, and then according to the current display angle of view, It is judged whether the target three-dimensional occupancy model blocks the contour line of the contour of the target first plane parking space, and then when it is determined that the target three-dimensional space occupancy model blocks the contour line of the target first plane parking space contour, display occlusion processing is performed to realize the three-dimensional parking.
  • the highlighted display of the blocked parking spaces enhances the visibility of the blocked parking spaces frame in three-dimensional space, and improves the user's parking experience.
  • An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor.
  • a vehicle which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor.
  • the computer program is executed by the processor, the steps of the above parking space display processing method are implemented. .
  • An embodiment of the present invention also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above parking space display processing method are implemented.
  • embodiments of the present invention may be provided as a method, an apparatus, or a computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.
  • Embodiments of the present invention are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal equipment to produce a machine that causes the instructions to be executed by the processor of the computer or other programmable data processing terminal equipment Means are created for implementing the functions specified in the flow or flows of the flowcharts and/or the blocks or blocks of the block diagrams.
  • These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal equipment to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the The instruction means implement the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

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Abstract

一种车位显示的处理方法和车辆，所述方法包括：在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型（101）；根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线（102）；在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理（103）。通过该方法，实现了在三维泊车中对被遮挡的可泊车车位的突出显示，增强了被遮挡后的可泊车车位框在三维空间下的可视性，提升了用户的泊车体验。

Description

一种车位显示的处理方法和车辆
交叉引用
本申请要求2020年6月29日递交的发明名称为“一种车位显示的处理方法和车辆”的申请号为202010605442.4的在先申请优先权，上述在先申请的内容以引入的方式并入本文本中。
技术领域
本发明涉及智能汽车技术领域，特别是涉及一种车位显示的处理方法和车辆。
背景技术
在三维泊车的过程中，三维画面的展示可以增加立体显示维度，通过三维透视图可以提供一种对物体或景色的三维视角。
由于透视关系的作用，在三维泊车的画面中，车辆模型可能造成对可泊车车位框的较多遮挡，导致遮挡后的平面车位框在三维空间下可视性较弱。基于以上原因，导致用户无法及时发现界面显示的可泊车位，影响用户的泊车体验。
发明内容
鉴于上述问题，提出了以便提供克服上述问题或者至少部分地解决上述问题的一种车位显示的处理方法和车辆，包括：
在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；
在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理。
可选地，所述目标第一平面车位轮廓为在所述目标立体占位模型的投影方向上的第一平面车位轮廓，所述根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线，包括：
根据当前显示视角，确定所述目标立体占位模型的投影长度；
确定所述目标立体占位模型与所述目标第一平面车位轮廓的相对距离；
在所述投影长度大于所述相对距离时，判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线；
在所述投影长度小于或等于所述相对距离时，判定所述目标立体占位模型未遮挡所述目标第一平面车位轮廓的轮廓线。
可选地，所述根据当前显示视角，确定所述目标立体占位模型的投影长度，包括：
确定当前显示视角与地面的夹角；
确定所述目标立体占位模型的高度；
结合所述夹角和所述高度，确定所述目标立体占位模型的投影长度。
可选地，在所述根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线之前，还包括：
在第一车位为可泊车车位时，确定在第一预设方向上与所述第一车位相邻的第二车位；其中，所述第一预设方向为所述立体占位模型的投影方向的反方向；
在所述第二车位为不可泊车车位时，确定针对所述第一车位的第一平面车位轮廓为 目标第一平面车位轮廓，并确定针对所述第二车位的立体占位模型为目标立体占位模型。
可选地，在所述根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线之前，还包括：
在第一车位为不可泊车车位时，确定在第二预设方向上与所述第一车位相邻的第二车位；其中，所述第二预设方向为所述立体占位模型的投影方向；
在所述第二车位为可泊车车位时，确定针对所述第一车位的立体占位模型为目标立体占位模型，并针对所述第二车位的第一平面车位轮廓为目标第一平面车位轮廓。
可选地，在所述针对可泊车车位，显示第一平面车位轮廓之前，还包括：
在检测到当前车位时，判断所述当前车位是否存在障碍物；
在判定所述当前车位不存在障碍物，确定所述当前车位为可泊车车位；
在判定所述当前车位存在障碍物，确定所述当前车位为不可泊车车位。
可选地，所述在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，包括：
在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，对所述目标立体占位模型进行弱化处理；
和/或，在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，对所述目标第一平面车位轮廓进行增强处理。
可选地，还包括：
针对所述可泊车车位，在所述第一平面车位轮廓中显示一可泊车浮动UI标识。
可选地，还包括：
在检测到选中目标可泊车车位时，不显示其他可泊车车位的第一平面车位轮廓中可泊车浮动UI标识。
一种车辆，所述车辆包括：
轮廓模型显示模块，用于在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
遮挡判断模块，用于根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，调用显示遮挡处理模块；
显示遮挡处理模块，用于进行显示遮挡处理。
一种车辆，包括处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如上所述的车位显示的处理方法。
一种计算机可读存储介质，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如上所述的车位显示的处理方法。
本发明实施例具有以下优点：
在本发明实施例中，通过在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型，然后根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线，进而在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，实现了在三维泊车中对被遮挡的可泊车车位的突出显示，增强了被遮挡后的可泊车车位框在三维空间下的可视性，提升了用户的泊车体验。
附图说明
为了更清楚地说明本发明的技术方案，下面将对本发明的描述中所需要使用的附图 作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例提供的一种车位显示的处理方法的步骤流程图；
图2a是本发明一实施例提供的一种三维泊车的示意图；
图2b是本发明一实施例提供的另一种三维泊车的示意图；
图3是本发明一实施例提供的另一种车位显示的处理方法的步骤流程图；
图4是本发明一实施例提供的一种遮挡判断实例的示意图；
图5是本发明一实施例提供的另一种车位显示的处理方法的步骤流程图；
图6是本发明一实施例提供的另一种车位显示的处理方法的步骤流程图；
图7是本发明一实施例提供的另一种车位显示的处理方法的步骤流程图；
图8是本发明一实施例提供的一种车辆的结构示意图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参照图1，示出了本发明一实施例提供的一种车位显示的处理方法的步骤流程图，具体可以包括如下步骤：
步骤101，在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
其中，第一平面车位轮廓可以为三维泊车界面中显示的针对可泊车车位的平面轮廓，例如，可泊车车位的车位框；立体占位模型可以为三维泊车界面中显示的针对不可泊车车位的立体模型，例如，不可泊车车位上的车辆模型或障碍物模型。
在车辆启动三维泊车的情况下，可以在三维泊车界面中显示可泊车车位和不可泊车车位，并可以针对可泊车车位显示第一平面车位轮廓，针对不可泊车车位显示立体占位模型。
具体的，在用户泊车的过程中，可以在车辆启动三维泊车后，通过车内屏幕向用户展示一三维泊车的显示界面，在该三维泊车界面中可以显示可泊车车位和不可泊车车位，并可以在可泊车车位上显示该车位的车位框，在不可泊车车位上显示用于占位的车辆模型或障碍物模型。
步骤102，根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；
作为一示例，当前显示视角可以为车内屏幕展示的当前三维泊车显示界面下的视角。
其中，目标立体占位模型可以为当前显示视角的立体占位模型的投影方向上，与可泊车车位相邻的不可泊车车位上显示的立体占位模型；目标第一平面车位轮廓可以为在目标立体占位模型的投影方向上的第一平面车位轮廓。
在确定当前视角后，可以在三维泊车的当前显示视角下，获取立体占位模型的投影方向上与可泊车车位相邻的不可泊车车位上显示的目标立体占位模型，以及在目标立体占位模型的投影方向上的第一平面车位轮廓，进而可以判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线。
由于针对三维泊车的显示画面，可以通过线条来显示物体的空间位置、轮廓和投影， 以得到呈现三维效果的透视图。在三维泊车的显示界面中，可以显示当前视角下的可泊车车位和不可泊车车位，其中，在不可泊车车位上可以显示当前视角下的立体占位模型，该立体占位模型可以具有一透视关系下的投影(即立体占位模型当前视角下的投影)，立体占位模型在不同显示视角下可以具有不同方向上的投影。
例如，在车内屏幕当前三维泊车界面中显示的画面，即为当前视角下的三维泊车画面，进而在该视角下，三维泊车画面中不可泊车车位上的立体占位模型可以具有一当前视角下的投影，该投影的方向可以为立体占位模型的投影方向。
步骤103，在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理。
在具体实现中，可以判断目标立体占位模型与目标第一平面车位轮廓是否存在遮挡关系，进而可以在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，针对目标立体占位模型和/或目标第一平面车位轮廓进行显示遮挡处理，以向用户展示显示遮挡处理后的可泊车车位。
例如，在三维泊车显示界面中，可以针对车辆模型是否遮挡可泊车车位的车位框进行判断，在车辆模型遮挡可泊车车位的车位框时判定其存在遮挡关系，进而可以通过显示遮挡处理，解决三维泊车中针对可泊车车位的遮挡问题。
在本发明一实施例中，步骤103可以包括如下子步骤：
在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，对所述目标立体占位模型进行弱化处理；和/或，在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，对所述目标第一平面车位轮廓进行增强处理。
在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，可以进行显示遮挡处理，即可以对目标立体占位模型采用弱化处理，和/或，对目标第一平面车位轮廓采用增强处理，进而可以得到显示遮挡处理后的三维泊车显示界面，以向用户展示。
在一示例中，若判断车辆模型与可泊车车位的车位框之间无遮挡，则可以正常显示车辆模型；若判断车辆模型与可泊车车位的车位框之间存在遮挡，如图2a所示，图中靠右显示P标识的可泊车车位与其下方的车辆模型存在遮挡，即下方的车辆模型遮挡了显示P标识的可泊车车位的车位框，导致该车位框的轮廓未显示完整，则可以将车辆模型的透明度降低至合适数值，如50％，从而保证可泊车车位的车位框轮廓能够显示完整。
在又一示例中，若判断车辆模型与可泊车车位的车位框之间存在遮挡，则可以将可泊车车位的车位框轮廓进行增强处理，如可以将车位框的线条加粗，从而保证可泊车车位的车位框轮廓能够突出显示。
在本发明一实施例中，该方法还可以包括如下步骤：
针对所述可泊车车位，在所述第一平面车位轮廓中显示一可泊车浮动UI标识。
作为一示例，可泊车浮动UI标识可以为三维泊车界面的可泊车车位上显示的一浮动UI标识，例如，可以在可泊车车位上显示一立体P字浮标。
在用户泊车的过程中，可以在车辆启动三维泊车后，通过车内屏幕向用户展示一三维泊车的显示界面，在该三维泊车界面中可以显示可泊车车位和不可泊车车位，并可以针对可泊车车位，在可泊车车位的车位框内显示一可泊车浮动UI标识，以突出针对可泊车车位的显示。
例如，可以针对可泊车车位进行增强显示，当车内屏幕的三维泊车界面处于找车位状态时，在发现可泊车车位后，将在该可泊车车位上(即可泊车车位的车位框内)显示一立体P字浮标(如图2a中的P标识)，从而能够增强用户对可泊车车位的立体感知度。
在一示例中，当用户处于找车位状态下，在车辆行驶过程中扫描到新的可泊车车位时，可以生成提示音，并同时在该新的可泊车车位的车位框内显示一立体P字浮标。
在本发明一实施例中，该方法还可以包括如下步骤：
在检测到选中目标可泊车车位时，不显示其他可泊车车位的第一平面车位轮廓中可泊车浮动UI标识。
在用户泊车的过程中，当检测到用户选中目标可泊车车位后，即可以确定为用户进入泊入状态，进而可以针对三维泊车界面中其他可泊车车位，在其车位的车位框内不再显示可泊车浮动UI标识。
当车内屏幕接收到用户选定待泊入车位的信号时，为了便于用户点击切换车位，可以保留已选定车位的立体P字浮标，而其他未选中车位的立体P字浮标将消失，如图2b所示，图中显示P标识的可泊车车位可以为用户选中车位，显示数字2标识的可泊车车位可以为用户未选中车位。若用户重新进入找车位状态时，三维泊车界面中针对其他未选中车位的立体P字浮标可以重新显示。
在本发明实施例中，通过在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型，然后根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线，进而在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，实现了在三维泊车中对被遮挡的可泊车车位的突出显示，增强了被遮挡后的可泊车车位框在三维空间下的可视性，提升了用户的泊车体验。
参照图3，示出了本发明一实施例提供的一种车位显示的处理方法的步骤流程图，具体可以包括如下步骤：
步骤301，在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
在车辆启动三维泊车的情况下，可以在三维泊车界面中显示可泊车车位和不可泊车车位，并可以针对可泊车车位显示第一平面车位轮廓，针对不可泊车车位显示立体占位模型。
步骤302，根据当前显示视角，确定目标立体占位模型的投影长度；
作为一示例，投影长度可以为目标立体占位模型的投影与目标立体占位模型所在车位投影侧的车位轮廓之间的长度，例如，不可泊车车位上车辆模型的投影与该模型投影侧的车位框之间的长度(如图4中“L”段可以为投影长度)。
在确定当前视角后，可以在三维泊车的当前显示视角下，获取目标立体占位模型的投影与目标立体占位模型所在车位投影侧的车位轮廓之间的长度，以作为目标立体占位模型的投影长度。
在本发明一实施例中，步骤302可以包括如下子步骤：
确定当前显示视角与地面的夹角；确定所述目标立体占位模型的高度；
结合所述夹角和所述高度，确定所述目标立体占位模型的投影长度。
在确定目标立体占位模型的投影长度的过程中，可以针对目标立体占位模型获取当前显示视角与地面的夹角，并可以获取目标立体占位模型的高度，进而可以采用获取的针对目标立体占位模型的夹角和高度，计算得出目标立体占位模型的投影长度。
具体的，在三维泊车的当前显示视角下显示可泊车车位与投影方向上相邻位置的不可泊车位时，该视角可以为三维虚拟摄像头的视角，三维虚拟摄像头可以为车内屏幕当前三维泊车界面显示的视角所对应的摄像头，如图4所示，可以采用摄像头视角与地面的夹角(即当前显示视角与地面的夹角)，以及不可泊车位上占位车辆模型高度(即目标立体占位模型的高度)，计算针对占位车辆模型的投影长度(即目标立体占位模型的投影长度)，具体可以采用如下方式进行计算：
L＝h/tanθ
其中，θ可以为摄像头视角与地面的夹角，h可以为占位车辆模型高度，L可以为占位车辆模型的投影长度。
在一示例中，若不可泊车位上占位车辆模型的投影与可泊车车位框重合，则该重合情况下的占位车辆模型的投影长度可以为最小安全距离，即占位车辆模型的投影可以不遮挡可泊车车位框。
步骤303，确定所述目标立体占位模型与目标第一平面车位轮廓的相对距离；
作为一示例，相对距离可以为目标立体占位模型的轮廓线与目标第一平面车位轮廓之间的距离，或目标立体占位模型与目标第一平面车位轮廓之间的距离，例如，占位车辆模型的轮廓线与相邻可泊车车位的车位框之间的距离，或占位车辆模型与相邻可泊车车位的车位框之间的距离。
在实际应用中，针对占位车辆模型与可泊车车位的车位框，可以根据相对坐标计算出占位车辆模型与可泊车车位的车位框的相对距离。
例如，如图4所示，可以根据不可泊车车位上占位车辆模型的相对坐标，以及与其相邻的可泊车车位的相对坐标，计算出该相邻的两个泊车车位之间的距离(即目标立体占位模型与目标第一平面车位轮廓的相对距离)，可以将该距离记为L1。
步骤304，在所述投影长度大于所述相对距离时，判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线；
在目标立体占位模型的投影长度大于目标立体占位模型与目标第一平面车位轮廓的相对距离时，可以判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线。
例如，如图4所示，在占位车辆模型的投影长度L大于相邻的两个泊车车位之间的距离L1时，可以判定占位车辆模型遮挡可泊车车位的车位框，即占位车辆模型与可泊车车位存在遮挡。
步骤305，在所述投影长度小于或等于所述相对距离时，判定所述目标立体占位模型未遮挡所述目标第一平面车位轮廓的轮廓线；
在目标立体占位模型的投影长度小于或等于目标立体占位模型与目标第一平面车位轮廓的相对距离时，可以判定目标立体占位模型未遮挡目标第一平面车位轮廓的轮廓线。
例如，如图4所示，在占位车辆模型的投影长度L小于或等于相邻的两个泊车车位之间的距离L1时，可以判定占位车辆模型未遮挡可泊车车位的车位框，即占位车辆模型与可泊车车位无遮挡。
步骤306，在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理。
在具体实现中，可以判断目标立体占位模型与目标第一平面车位轮廓是否存在遮挡关系，进而可以在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，针对目标立体占位模型和/或目标第一平面车位轮廓进行显示遮挡处理，以向用户展示显示遮挡处理后的可泊车车位。
在本发明实施例中，通过在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型，然后根据当前显示视角，确定目标立体占位模型的投影长度，并确定目标立体占位模型与目标第一平面车位轮廓的相对距离，在投影长度大于相对距离时，判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线，在投影长度小于或等于相对距离时，判定目标立体占位模型未遮挡目标第一平面车位轮廓的轮廓线，进而在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，实现了通过判定模型的投影长度与模型和车位轮廓的相对距离存在遮挡关系时，在三维泊车中对被遮挡的可泊车车位的突出显示，增强了 被遮挡后的可泊车车位框在三维空间下的可视性，提升了用户的泊车体验。
参照图5，示出了本发明一实施例提供的另一种车位显示的处理方法的步骤流程图，具体可以包括如下步骤：
步骤501，在车辆启动三维泊车的情况下检测到当前车位时，判断所述当前车位是否存在障碍物；
其中，当前车位可以为车辆启动三维泊车的情况下获取的当前环境中车位，例如，在找车位状态下车辆所处环境中的全部车位，可以针对当前车位进行车位类型的检测与显示。
在车辆启动三维泊车的情况下，可以通过检测获取车辆当前环境中当前车位，进而可以针对当前车位判断是否存在障碍物。
在针对车位类型的检测与显示过程中，可以通过车辆的智能控制模块，利用侧向摄像头针对当前车位识别其车位线，并可以利用侧向超声波雷达对当前车位的车位内障碍物进行确认。
步骤502，在判定所述当前车位不存在障碍物，确定所述当前车位为可泊车车位；
在具体实现中，可以在判定当前车位不存在障碍物时，将当前车位确定为可泊车车位，以在三维泊车界面中显示可泊车车位。
例如，若当前车位的车位内存在障碍物，则可以向车内屏幕渲染模块输出不可泊信号和该车位相对于自车的物理坐标，以在车内屏幕进行展示，即可以在车内屏幕三维泊车界面中显示相对于自车模型的不可泊车车位，可以包括该不可泊车车位的车位框和车位内的占位车辆模型。
步骤503，在判定所述当前车位存在障碍物，确定所述当前车位为不可泊车车位；
在具体实现中，可以在判定当前车位存在障碍物时，将当前车位确定为不可泊车车位，以在三维泊车界面中显示不可泊车车位，例如，当障碍物的部分或障碍物全部位于当前车位内，则可以判定当前车位存在障碍物。
具体的，若当前车位的车位内无障碍物，则可以向车内屏幕渲染模块输出可泊信号和该车位相对于自车的物理坐标，以在车内屏幕进行展示，即可以在车内屏幕三维泊车界面中显示相对于自车模型的可泊车车位，可以包括该可泊车车位的车位框。
步骤504，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
在确定可泊车车位和不可泊车车位后，可以在三维泊车界面中针对可泊车车位显示第一平面车位轮廓，针对不可泊车车位显示立体占位模型。
步骤505，根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；
在确定当前视角后，可以在三维泊车的当前显示视角下，获取立体占位模型的投影方向上与可泊车车位相邻的不可泊车车位上显示的目标立体占位模型，以及在目标立体占位模型的投影方向上的第一平面车位轮廓，进而可以判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线。
步骤506，在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理。
在具体实现中，可以判断目标立体占位模型与目标第一平面车位轮廓是否存在遮挡关系，进而可以在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，针对目标立体占位模型和/或目标第一平面车位轮廓进行显示遮挡处理，以向用户展示显示遮挡处理后的可泊车车位。
在本发明实施例中，通过在车辆启动三维泊车的情况下检测到当前车位时，判断当前车位是否存在障碍物，在判定当前车位不存在障碍物，确定当前车位为可泊车车位，在判定当前车位存在障碍物，确定当前车位为不可泊车车位，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型，然后根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线，进而在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，实现了通过检测当前车位是否存在障碍物确定可泊车车位和不可泊车车位，并判定模型和车位轮廓线存在遮挡关系时，在三维泊车中对被遮挡的可泊车车位的突出显示，增强了被遮挡后的可泊车车位框在三维空间下的可视性，提升了用户的泊车体验。
参照图6，示出了本发明一实施例提供的另一种车位显示的处理方法的步骤流程图，具体可以包括如下步骤：
步骤601，在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
在车辆启动三维泊车的情况下，可以在三维泊车界面中显示可泊车车位和不可泊车车位，并可以针对可泊车车位显示第一平面车位轮廓，针对不可泊车车位显示立体占位模型。
步骤602，在第一车位为可泊车车位时，确定在第一预设方向上与所述第一车位相邻的第二车位；
作为一示例，第一车位可以为判定立体占位模型与第一平面车位轮廓的遮挡关系时确定的一车位，例如，可以将三维泊车界面中显示的一车位作为第一车位，以针对该车位判定遮挡关系；第一预设方向可以为立体占位模型的投影方向的反方向。
在第一车位为可泊车车位时，可以获取立体占位模型的投影方向的反方向上与该可泊车车位相邻的车位，作为第二车位。
步骤603，在所述第二车位为不可泊车车位时，确定针对所述第一车位的第一平面车位轮廓为目标第一平面车位轮廓，并确定针对所述第二车位的立体占位模型为目标立体占位模型；
在第二车位为不可泊车车位时，可以将第一车位的第一平面车位轮廓确定为目标第一平面车位轮廓，并可以将第二车位的立体占位模型确定为目标立体占位模型，以在三维泊车界面中针对可泊车车位显示第一平面车位轮廓，针对不可泊车车位显示立体占位模型。
步骤604，根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；
在确定当前视角后，可以在三维泊车的当前显示视角下，获取立体占位模型的投影方向上与可泊车车位相邻的不可泊车车位上显示的目标立体占位模型，以及在目标立体占位模型的投影方向上的第一平面车位轮廓，进而可以判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线。
步骤605，在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理。
在具体实现中，可以判断目标立体占位模型与目标第一平面车位轮廓是否存在遮挡关系，进而可以在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，针对目标立体占位模型和/或目标第一平面车位轮廓进行显示遮挡处理，以向用户展示显示遮挡处理后的可泊车车位。
在本发明实施例中，通过在车辆启动三维泊车的情况下，针对可泊车车位，显示第 一平面车位轮廓，并针对不可泊车车位，显示立体占位模型，在第一车位为可泊车车位时，确定在第一预设方向上与第一车位相邻的第二车位，在第二车位为不可泊车车位时，确定针对第一车位的第一平面车位轮廓为目标第一平面车位轮廓，并确定针对第二车位的立体占位模型为目标立体占位模型，然后根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线，进而在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，实现了在三维泊车中对被遮挡的可泊车车位的突出显示，增强了被遮挡后的可泊车车位框在三维空间下的可视性，提升了用户的泊车体验。
参照图7，示出了本发明一实施例提供的另一种车位显示的处理方法的步骤流程图，具体可以包括如下步骤：
步骤701，在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
在车辆启动三维泊车的情况下，可以在三维泊车界面中显示可泊车车位和不可泊车车位，并可以针对可泊车车位显示第一平面车位轮廓，针对不可泊车车位显示立体占位模型。
步骤702，在第一车位为不可泊车车位时，确定在第二预设方向上与所述第一车位相邻的第二车位；
作为一示例，第二预设方向可以为立体占位模型的投影方向。
在第一车位为不可泊车车位时，可以获取立体占位模型的投影方向上与该不可泊车车位相邻的车位，作为第二车位。
步骤703，在所述第二车位为可泊车车位时，确定针对所述第一车位的立体占位模型为目标立体占位模型，并针对所述第二车位的第一平面车位轮廓为目标第一平面车位轮廓；
在第二车位为可泊车车位时，可以将第一车位的立体占位模型确定为目标立体占位模型，并可以将针对第二车位的第一平面车位轮廓确定为目标第一平面车位轮廓，以在三维泊车界面中针对可泊车车位显示第一平面车位轮廓，针对不可泊车车位显示立体占位模型。
步骤704，根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；
在确定当前视角后，可以在三维泊车的当前显示视角下，获取立体占位模型的投影方向上与可泊车车位相邻的不可泊车车位上显示的目标立体占位模型，以及在目标立体占位模型的投影方向上的第一平面车位轮廓，进而可以判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线。
步骤705，在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理。
在具体实现中，可以判断目标立体占位模型与目标第一平面车位轮廓是否存在遮挡关系，进而可以在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，针对目标立体占位模型和/或目标第一平面车位轮廓进行显示遮挡处理，以向用户展示显示遮挡处理后的可泊车车位。
在本发明实施例中，通过在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型，在第一车位为不可泊车车位时，确定在第二预设方向上与第一车位相邻的第二车位，在第二车位为可泊车车位时，确定针对第一车位的立体占位模型为目标立体占位模型，并针对第二车位的第一平面车 位轮廓为目标第一平面车位轮廓，然后根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线，进而在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，实现了在三维泊车中对被遮挡的可泊车车位的突出显示，增强了被遮挡后的可泊车车位框在三维空间下的可视性，提升了用户的泊车体验。
需要说明的是，对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明实施例并不受所描述的动作顺序的限制，因为依据本发明实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本发明实施例所必须的。
参照图8，示出了本发明一实施例提供的一种车辆的结构示意图，具体可以包括如下模块：
轮廓模型显示模块801，用于在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
遮挡判断模块802，用于根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，调用显示遮挡处理模块803；
显示遮挡处理模块803，用于进行显示遮挡处理。
在本发明一实施例中，所述目标第一平面车位轮廓为在所述目标立体占位模型的投影方向上的第一平面车位轮廓，所述遮挡判断模块802包括：
投影长度确定子模块，用于根据当前显示视角，确定所述目标立体占位模型的投影长度；
相对距离确定子模块，用于确定所述目标立体占位模型与所述目标第一平面车位轮廓的相对距离；
第一遮挡判断子模块，用于在所述投影长度大于所述相对距离时，判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线；
第二遮挡判断子模块，用于在所述投影长度小于或等于所述相对距离时，判定所述目标立体占位模型未遮挡所述目标第一平面车位轮廓的轮廓线。
在本发明一实施例中，所述投影长度确定子模块包括：
夹角确定单元，用于确定当前显示视角与地面的夹角；
高度确定单元，用于确定所述目标立体占位模型的高度；
投影长度确定单元，用于结合所述夹角和所述高度，确定所述目标立体占位模型的投影长度。
在本发明一实施例中，所述车辆还包括：
第一预设方向上第二车位确定模块，用于在第一车位为可泊车车位时，确定在第一预设方向上与所述第一车位相邻的第二车位；其中，所述第一预设方向为所述立体占位模型的投影方向的反方向；
目标立体占位模型确定模块，用于在所述第二车位为不可泊车车位时，确定针对所述第一车位的第一平面车位轮廓为目标第一平面车位轮廓，并确定针对所述第二车位的立体占位模型为目标立体占位模型。
在本发明一实施例中，所述车辆还包括：
第二预设方向上第二车位确定模块，用于在第一车位为不可泊车车位时，确定在第 二预设方向上与所述第一车位相邻的第二车位；其中，所述第二预设方向为所述立体占位模型的投影方向；
目标第一平面车位轮廓确定模块，用于在所述第二车位为可泊车车位时，确定针对所述第一车位的立体占位模型为目标立体占位模型，并针对所述第二车位的第一平面车位轮廓为目标第一平面车位轮廓。
在本发明一实施例中，所述车辆还包括：
障碍物判断模块，用于在检测到当前车位时，判断所述当前车位是否存在障碍物；
可泊车车位确定模块，用于在判定所述当前车位不存在障碍物，确定所述当前车位为可泊车车位；
不可泊车车位确定模块，用于在判定所述当前车位存在障碍物，确定所述当前车位为不可泊车车位。
在本发明一实施例中，所述显示遮挡处理模块803包括：
弱化处理子模块，用于在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，对所述目标立体占位模型进行弱化处理；
和/或，增强处理子模块，用于在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，对所述目标第一平面车位轮廓进行增强处理。
在本发明一实施例中，所述车辆还包括：
可泊车浮动UI标识显示模块，用于针对所述可泊车车位，在所述第一平面车位轮廓中显示一可泊车浮动UI标识。
在本发明一实施例中，所述车辆还包括：
可泊车浮动UI标识不显示模块，用于在检测到选中目标可泊车车位时，不显示其他可泊车车位的第一平面车位轮廓中可泊车浮动UI标识。
在本发明实施例中，通过在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型，然后根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线，进而在判定目标立体占位模型遮挡目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，实现了在三维泊车中对被遮挡的可泊车车位的突出显示，增强了被遮挡后的可泊车车位框在三维空间下的可视性，提升了用户的泊车体验。
本发明一实施例还提供了一种车辆，可以包括处理器、存储器及存储在存储器上并能够在处理器上运行的计算机程序，计算机程序被处理器执行时实现如上车位显示的处理方法的步骤。
本发明一实施例还提供了一种计算机可读存储介质，计算机可读存储介质上存储计算机程序，计算机程序被处理器执行时实现如上车位显示的处理方法的步骤。
对于装置实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本发明实施例可提供为方法、装置、或计算机程序产品。因此，本发明实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用 程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明实施例是参照根据本发明实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对所提供的一种车位显示的处理方法和车辆，进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (12)

  1. 一种车位显示的处理方法，其特征在于，所述方法包括：
    在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
    根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；
    在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理。
  2. 根据权利要求1所述的方法，其特征在于，所述目标第一平面车位轮廓为在所述目标立体占位模型的投影方向上的第一平面车位轮廓，所述根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线，包括：
    根据当前显示视角，确定所述目标立体占位模型的投影长度；
    确定所述目标立体占位模型与所述目标第一平面车位轮廓的相对距离；
    在所述投影长度大于所述相对距离时，判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线；
    在所述投影长度小于或等于所述相对距离时，判定所述目标立体占位模型未遮挡所述目标第一平面车位轮廓的轮廓线。
  3. 根据权利要求2所述的方法，其特征在于，所述根据当前显示视角，确定所述目标立体占位模型的投影长度，包括：
    确定当前显示视角与地面的夹角；
    确定所述目标立体占位模型的高度；
    结合所述夹角和所述高度，确定所述目标立体占位模型的投影长度。
  4. 根据权利要求1或2或3所述的方法，其特征在于，在所述根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线之前，还包括：
    在第一车位为可泊车车位时，确定在第一预设方向上与所述第一车位相邻的第二车位；其中，所述第一预设方向为所述立体占位模型的投影方向的反方向；
    在所述第二车位为不可泊车车位时，确定针对所述第一车位的第一平面车位轮廓为目标第一平面车位轮廓，并确定针对所述第二车位的立体占位模型为目标立体占位模型。
  5. 根据权利要求1或2或3所述的方法，其特征在于，在所述根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线之前，还包括：
    在第一车位为不可泊车车位时，确定在第二预设方向上与所述第一车位相邻的第二车位；其中，所述第二预设方向为所述立体占位模型的投影方向；
    在所述第二车位为可泊车车位时，确定针对所述第一车位的立体占位模型为目标立体占位模型，并针对所述第二车位的第一平面车位轮廓为目标第一平面车位轮廓。
  6. 根据权利要求1所述的方法，其特征在于，在所述针对可泊车车位，显示第一平面车位轮廓之前，还包括：
    在检测到当前车位时，判断所述当前车位是否存在障碍物；
    在判定所述当前车位不存在障碍物，确定所述当前车位为可泊车车位；
    在判定所述当前车位存在障碍物，确定所述当前车位为不可泊车车位。
  7. 根据权利要求1所述的方法，其特征在于，所述在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，进行显示遮挡处理，包括：
    在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，对所述目标立体占位模型进行弱化处理；
    和/或，在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时， 对所述目标第一平面车位轮廓进行增强处理。
  8. 根据权利要求1所述的方法，其特征在于，还包括：
    针对所述可泊车车位，在所述第一平面车位轮廓中显示一可泊车浮动UI标识。
  9. 根据权利要求8所述的方法，其特征在于，还包括：
    在检测到选中目标可泊车车位时，不显示其他可泊车车位的第一平面车位轮廓中可泊车浮动UI标识。
  10. 一种车辆，其特征在于，所述车辆包括：
    轮廓模型显示模块，用于在车辆启动三维泊车的情况下，针对可泊车车位，显示第一平面车位轮廓，并针对不可泊车车位，显示立体占位模型；
    遮挡判断模块，用于根据当前显示视角，判断目标立体占位模型是否遮挡目标第一平面车位轮廓的轮廓线；在判定所述目标立体占位模型遮挡所述目标第一平面车位轮廓的轮廓线时，调用显示遮挡处理模块；
    显示遮挡处理模块，用于进行显示遮挡处理。
  11. 一种车辆，其特征在于，包括处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求1至9中任一项所述的车位显示的处理方法。
  12. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如权利要求1至9中任一项所述的车位显示的处理方法。
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