WO2023231307A1

WO2023231307A1 - Following icon display method and apparatus, head-up display, and storage medium

Info

Publication number: WO2023231307A1
Application number: PCT/CN2022/131629
Authority: WO
Inventors: 孙孝文; 陈莹; 郑聪; 吕涛; 张宁波
Original assignee: 江苏泽景汽车电子股份有限公司
Priority date: 2022-06-01
Filing date: 2022-11-14
Publication date: 2023-12-07
Also published as: CN114690989A; CN114690989B

Abstract

The present disclosure provides a following icon display method and apparatus, a head-up display, and a storage medium. The following icon display method comprises: during a traveling process of the current vehicle, determining, according to display parameters of a head-up display and the real-time reference distance of a target following vehicle relative to the current vehicle, whether the current position of the target following vehicle exceeds a display range of the head-up display; when it is determined that the current position of the target following vehicle does not exceed the display range, determining an icon display position on the basis of the real-time reference distance, and dynamically displaying a following icon of the target following vehicle at the icon display position in a first preset mode; and when it is determined that the current position of the target following vehicle exceeds the display range, displaying the following icon at the preset display position in a second preset mode.

Description

Display method, device, head-up display and storage medium of following icon

This application claims priority to the Chinese patent application with application number 202210611420.8, which was submitted to the China Patent Office on June 1, 2022. The entire content of this application is incorporated into this application by reference.

Technical field

The present disclosure relates to the field of intelligent driving technology, for example, to a display method, device, head-up display and storage medium for following icons.

Background technique

With the integration of augmented reality (AR) technology and head-up display (HUD) technology, head-up displays are increasingly used in smart driving vehicles. A head-up display based on AR technology can use the vehicle windshield as a display screen, and use the internal optical system to form a long-distance virtual image of the real-time speed information of the vehicle as well as the information of the vehicle ahead, and combine the virtual image with the actual traffic. Road conditions are combined and presented.

However, the content displayed by the head-up display has limited auxiliary functions for the driver during driving, resulting in a poor visual experience for the driver when using the head-up display.

Contents of the invention

The present disclosure provides a display method, device, head-up display and storage medium for following icons. This solution can improve the auxiliary function of the head-up display for the driver, thereby improving the driver's visual experience when using the head-up display.

In a first aspect, the present disclosure provides a method for displaying a follow icon, which includes: during the current driving process of the vehicle, determining the current position of the target following vehicle based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle relative to the current vehicle. Whether it exceeds the display range of the head-up display; when it is determined that the current position of the target following vehicle does not exceed the display range, determine the icon display position based on the real-time reference distance, and dynamically display the target following vehicle at the icon display position in a first preset manner Follow icon; when it is determined that the current position of the target following vehicle exceeds the display range, the follow icon is displayed in a second preset manner at the preset display position.

In a second aspect, the present disclosure provides a display device for following icons, including: a determination module and a display module;

The determination module is configured to determine whether the current position of the target following vehicle exceeds the display range of the head-up display based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle relative to the current vehicle during the current vehicle driving process;

The display module is configured to determine the icon display position based on the real-time reference distance when the determination module determines that the current position of the target following vehicle does not exceed the display range, and dynamically display the following of the target following vehicle in a first preset manner at the icon display position. icon;

The display module is also configured to display the following icon in a second preset manner at the preset display position when the determination module determines that the current position of the target following vehicle exceeds the display range.

In a third aspect, the present disclosure provides a head-up display, including a memory, a processor, a bus and a communication interface; the memory is configured to store computer execution instructions, and the processor and the memory are connected through a bus; when the head-up display is running, the processor executes the memory storage The computer executes instructions to cause the head-up display to perform the following icon display method as provided in the above-mentioned first aspect.

In an implementation manner, the head-up display may further include a transceiver, the transceiver is configured to perform the steps of sending and receiving data, signaling or information under the control of the processor of the head-up display, for example, sending the acquired data to the adaptive cruise control device. instruction.

In a fourth aspect, the present disclosure provides a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the computer executes the instructions, the computer executes the following icon display method as provided in the first aspect.

In a fifth aspect, the present disclosure provides a computer program product. The computer program product includes computer instructions. When the computer instructions are run on a computer, the computer executes the following icon display method as provided in the first aspect.

The above computer instructions may be stored in whole or in part on a computer readable storage medium. The computer-readable storage medium may be packaged together with the processor of the head-up display, or may be packaged separately from the processor of the head-up display. This disclosure does not limit this.

For descriptions of the second, third, fourth and fifth aspects of this disclosure, reference may be made to the description of the first aspect; and, the effects of the descriptions of the second, third, fourth and fifth aspects , you can refer to the effect analysis of the first aspect and will not go into details here.

In this disclosure, the names of the above-mentioned devices or functional modules do not constitute a limitation. In actual implementation, these devices or functional modules may appear under other names. As long as the functions of multiple devices or functional modules are similar to the present disclosure, they all fall within the scope of the claims of the present disclosure and its equivalent technology.

Description of the drawings

Figure 1 is a schematic flowchart of a display method for following icons provided by an embodiment of the present disclosure;

Figure 2 is a schematic diagram of a driving scene provided by an embodiment of the present disclosure;

Figure 3 is a schematic flowchart of another method for displaying follow icons provided by an embodiment of the present disclosure;

Figure 4 is a schematic flowchart of yet another display method of following icons provided by an embodiment of the present disclosure;

Figure 5 is a schematic structural diagram of an icon-following display device provided by an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a head-up display provided by an embodiment of the present disclosure.

Detailed ways

The display method, device, head-up display, and storage medium for following icons provided by embodiments of the present disclosure are described below with reference to the accompanying drawings.

The term "and/or" in this article is just an association relationship that describes related objects, indicating that three relationships can exist. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and they exist alone. B these three situations.

The terms "first", "second", etc. in the description of the present disclosure and the drawings are used to distinguish different objects, or to distinguish different processes on the same object, rather than to describe a specific order of objects.

Furthermore, references to the terms "including" and "having" and any variations thereof in the description of the present disclosure are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes other unlisted steps or units, or optionally also includes Includes other steps or units that are inherent to such processes, methods, products, or devices.

In the embodiments of this disclosure, words such as “exemplary” or “for example” are used to represent examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "such as" in the present disclosure is not intended to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the words "exemplary" or "such as" is intended to present the concept in a concrete manner.

In the description of the present disclosure, unless otherwise stated, the meaning of "plurality" means two or more.

In addition, the acquisition, storage, use, and processing of data in this disclosed technical solution all comply with the relevant provisions of national laws and regulations.

A head-up display based on AR technology can use the vehicle windshield as a display screen, and use the internal optical system to form a long-distance virtual image of the real-time speed information of the vehicle during driving and the information of surrounding vehicles, and combine the virtual image with the actual traffic. Road conditions are combined and presented. However, the content displayed by the head-up display has limited auxiliary functions for the driver during driving, resulting in a poor visual experience for the driver when using the head-up display.

In response to the problems existing in the above related technologies, embodiments of the present disclosure provide a method for displaying a follow icon. This method can display the icon in different display modes (including the first preset mode) according to the real-time reference distance of the target following vehicle relative to the current vehicle. and the second preset mode) to display the following icon of the target following vehicle, which improves the auxiliary function of the head-up display for the driver, thereby improving the driver's visual experience when using the head-up display.

The display method for following icons provided by the embodiments of the present disclosure can be applied to a display device for following icons. The display device for following icons may be a head-up display, or a chip processing system in a head-up display, etc.

The display method of the following icon provided by the embodiment of the present disclosure will be described below with reference to the accompanying drawings.

Referring to Figure 1, the display method of following icons provided by the embodiment of the present disclosure includes S101-S102:

S101. During the current driving process of the vehicle, determine whether the current position of the target following vehicle exceeds the display range of the head-up display based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle relative to the current vehicle.

The target following vehicle may be the vehicle in front of the current vehicle tracked by the adaptive cruise control device (Adaptive Cruise Control, ACC) while the current vehicle is driving. The display parameters of the head-up display may include the field of view (Field of View, FOV) of the head-up display. The larger the field of view of the head-up display, the larger the display range of the head-up display.

In the embodiment of the present disclosure, in order to improve the auxiliary function of the head-up display for the driver, a function of displaying the following icon of the target following vehicle may be added to the head-up display. Since the display parameters of the head-up display are fixed, the display range of the head-up display is also certain. When the target following vehicle is far away from the real-time reference distance of the current vehicle, the target following vehicle may exceed the display range of the head-up display. In this case, the following icon of the target following vehicle cannot be displayed at the corresponding position of the target following vehicle in the head-up display. Therefore, in the embodiment of the present disclosure, before displaying the follow icon of the target following vehicle, the current status of the target following vehicle can be determined first. Whether the position exceeds the display range of the head-up display.

The real-time reference distance may include a real-time lateral reference distance and a real-time longitudinal reference distance. Embodiments of the present disclosure may determine whether the current position of the target following vehicle exceeds the display range of the head-up display in the following manner: determine the target following according to the display parameters and the real-time longitudinal reference distance. The real-time lateral distance range of the vehicle within the display range of the head-up display; determine whether the real-time lateral reference distance belongs to the real-time lateral distance range, and determine whether the real-time longitudinal reference distance belongs to the longitudinal display range of the head-up display, and obtain a determination result; determine the target based on the determination result Whether the current position of the following vehicle exceeds the display range of the head-up display.

For example, if the traveling direction of the current vehicle is used as the first direction, and the traveling direction perpendicular to the current vehicle is used as the second direction, then the real-time longitudinal reference distance can be the distance between the target following vehicle and the current vehicle in the first direction, The real-time lateral reference distance may be the distance between the target following vehicle and the current vehicle in the second direction. When it is determined that the real-time lateral reference distance belongs to the real-time lateral distance range, and the real-time longitudinal reference distance belongs to the vertical display range of the head-up display, it can be determined that the current position of the target following vehicle does not exceed the display range of the head-up display. When it is determined that the real-time lateral reference distance does not belong to the real-time lateral distance range, or the real-time longitudinal reference distance does not belong to the vertical display range of the head-up display, it can be determined that the current position of the target following vehicle exceeds the display range of the head-up display.

The vertical display range of the head-up display can be determined according to the device parameters of the head-up display.

For example, referring to Figure 2, a schematic diagram of a driving scene is provided. As shown in Figure 2, point A can represent the current position of the vehicle, point B can represent the current position of the target following vehicle, and the first direction and the second direction are shown as the directions marked by arrows in Figure 2. In Figure 2, OB can represent the real-time longitudinal reference distance, and AO can represent the real-time horizontal reference distance. If the FOV of the head-up display is ∠θ in Figure 2, the length of DC (or the length of DE) can be determined based on ∠θ and the length of AD (equal to the length of OB). Based on the length of DC, the real-time lateral distance range of the target following vehicle within the display range of the head-up display can be determined, and the length of DC can be determined as the maximum value of the real-time lateral distance range. For example, in Figure 2, the length of the real-time lateral reference distance DB of the target following vehicle (equal to the length of AO) is less than the length of DC, then it can be determined that the real-time lateral reference distance of the target following vehicle belongs to the real-time lateral distance range.

In practical applications, the road on which the current vehicle is traveling may include multiple lanes, and the current vehicle and the target following vehicle may be traveling on different lanes. That is to say, the target following vehicle may not be directly in front of the current vehicle, but located in front of the left or right of the current vehicle. In this case, the current position of the target following vehicle may not only exceed the display range of the head-up display vertically, but may also exceed the display range of the head-up display laterally. Therefore, in the embodiment of the present disclosure, in order to more accurately determine whether the current position of the target following vehicle exceeds the display range of the head-up display, the display parameters of the head-up display, the real-time lateral reference distance of the target following vehicle relative to the current vehicle, and Real-time longitudinal reference distance to determine whether the current position of the target following vehicle exceeds the display range of the head-up display. In this way, the following icon of the target following vehicle can be displayed more accurately, thereby improving the driver's visual experience when using the head-up display.

When determining that the current position of the target following vehicle exceeds the display range of the head-up display, it may also include: determining the exceeding type.

Overrun types can include vertical overrun, right lateral overrun, and left lateral overrun.

Exemplarily, in the embodiment of the present disclosure, when it is determined that the real-time longitudinal reference distance does not belong to the longitudinal display range of the head-up display, regardless of whether the real-time lateral reference distance belongs to the real-time lateral distance range, it can be determined that the current position of the target following vehicle exceeds the head-up display longitudinally. The display range of the monitor. When it is determined that the real-time longitudinal reference distance belongs to the vertical display range of the head-up display, but the real-time lateral reference distance does not belong to the real-time lateral distance range, it can be determined that the current position of the target following vehicle laterally exceeds the display range of the head-up display.

In one implementation, as shown in Figure 2, if the second direction is the lateral positive direction, the opposite direction of the second direction is the lateral negative direction, and the current position A of the vehicle is the origin of the coordinates, then when the real-time lateral When the coordinate value of the reference distance is a positive value, the overrun type can be determined to be the right lateral overrun; when the coordinate value of the real-time lateral reference distance is a negative value, the overrun type can be determined to be the left lateral overrun.

In order to achieve a more accurate display of the vehicle status of the target following vehicle outside the display range when the display range of the head-up display is limited, embodiments of the present disclosure can display the current position of the target following vehicle beyond the display range of the head-up display. Types are further divided into categories. In this way, the auxiliary function of the head-up display for the driver can be improved, thereby improving the driver's visual experience when using the head-up display.

S102. When it is determined that the current position of the target following vehicle does not exceed the display range, determine the icon display position based on the real-time reference distance, and dynamically display the following icon of the target following vehicle at the icon display position in a first preset manner; after determining the target When the current position of the following vehicle exceeds the display range, the following icon is displayed in a second preset manner at the preset display position.

In order to improve the auxiliary function of the head-up display for the driver, the embodiment of the present disclosure can not only display the following icon of the target following vehicle, but also display the following icon of the target following vehicle in different ways under different vehicle conditions.

The first preset mode and the second preset mode may be two different display modes determined in advance.

Dynamically displaying the following icon of the target following vehicle at the icon display position in a first preset manner may include: determining the current size of the following icon based on the real-time reference distance, and displaying the following icon corresponding to the current size at the icon display position.

In one implementation, the head-up display can store a standard reference distance, a standard size of the following icon, and a size calculation rule. The size calculation rule can be near, large, and far (that is, the greater the real-time reference distance, the larger the current size of the following icon. small) rules. During the current driving process of the vehicle, the gap between the current size of the following icon and the standard size of the following icon can be determined based on the difference between the real-time reference distance and the standard reference distance, combined with the size calculation rules, and then the current size of the following icon can be determined .

In another implementation, the head-up display may store a correspondence table between sizes and real-time reference distance ranges. In the correspondence table, one real-time reference distance range may correspond to one size. During the current driving process of the vehicle, the real-time reference distance range to which it belongs in the correspondence table can be found based on the real-time reference distance, and the size corresponding to the real-time reference distance range is determined, and the size is determined as the current size of the following icon.

For example, the icon display position may be the position corresponding to the rear of the target following vehicle on the display screen of the head-up display. The icon display position is a position that dynamically changes based on the real-time reference distance of the target following vehicle relative to the current vehicle. It is not Fixed display position.

In the embodiment of the present disclosure, when the current position of the target following vehicle does not exceed the display range, the following icon of the target following vehicle can be dynamically displayed based on the real-time reference distance of the target following vehicle relative to the current vehicle. During the display process, the current size of the following icon can be adjusted according to the real-time reference distance. The greater the real-time reference distance, the smaller the current size of the following icon. The smaller the real-time reference distance, the larger the current size of the following icon. In this way, the driver can understand the real-time distance between the current vehicle and the target following vehicle based on the current size of the following icon, and thereby adjust the vehicle speed according to the real-time distance to ensure that the real-time distance between the current vehicle and the target following vehicle is within a safe distance. It can be seen that the embodiments of the present disclosure can more clearly display the vehicle condition information around the current vehicle to the driver, improving the driver's visual experience when using the head-up display.

Displaying the follow icon in the second preset manner at the preset display position may include: displaying the follow icon corresponding to the preset size at the preset display position.

The preset display position may be a predetermined display position, and the preset size may be a predetermined size.

When the current position of the target following vehicle exceeds the display range, the following icon of the target following vehicle cannot be displayed on the head-up display at the corresponding position of the target following vehicle. In order to display the vehicle status of the target following vehicle outside the display range when the display range of the head-up display is limited, in the embodiment of the present disclosure, the following icon can be displayed at a preset display position. In this way, the driver's visual experience when using the head-up display can be improved.

Displaying the follow icon in the second preset manner at the preset display position may include: determining the preset display position from the candidate boundary positions according to the exceeding type; and displaying the follow icon in the second preset manner at the preset display position.

By way of example, in one implementation, the candidate border positions may include the center position of the upper border, the center position of the left border, and the center position of the right border of the head-up display. When the overrun type is vertical overrun, the center position of the upper border can be determined as the preset display position; when the overrun type is right horizontal overrun, the center position of the right border can be determined as the preset display position; In the case where the overflow type is left horizontal overflow, the center position of the left border may be determined as the preset display position. In practical applications, the candidate boundary positions may also include other positions in the head-up display, which is not limited in this embodiment of the disclosure.

In order to more accurately display the vehicle status of the target following vehicle outside the display range, in the embodiment of the present disclosure, the preset display position can be determined based on the type of excess of the current position of the target following vehicle beyond the display range of the head-up display. In this way, during the driving process of the current vehicle, when the current position of the target following vehicle exceeds the display range, the driver can know the direction of the target following vehicle relative to the current vehicle based on the display position of the following icon, so that he can decelerate or change direction in advance. , improving the driver’s visual experience when using the head-up display.

The following icon display method provided by the embodiment of the present disclosure may further include: when a start instruction is detected, sending an acquisition instruction to the adaptive cruise control device; receiving the target following vehicle relative to the current vehicle transmitted by the adaptive cruise control device. Real-time driving data.

In one implementation, a switch button is provided on the head-up display. After the vehicle is started, when the user presses the switch button, the start command can be detected. In another implementation, a vehicle-mounted control terminal is provided on the vehicle, and the vehicle-mounted control terminal can be connected to the head-up display. The display screen of the vehicle control terminal can be provided with a switch control of the head-up display, and the user can trigger the start command by clicking, long-pressing or sliding the switch control. In practical applications, the startup command can also be triggered in other ways, for example, the startup command can be triggered through a preset voice password, which is not limited in the embodiments of the present disclosure.

Obtain instructions for instructing the adaptive cruise control device to determine the target following vehicle from the candidate vehicles based on the real-time driving data of the candidate vehicle relative to the current vehicle, and transmit the real-time driving data of the target following vehicle relative to the current vehicle to the head-up display. The real-time driving data of the target following vehicle relative to the current vehicle at least includes a real-time reference distance. Candidate vehicles may be multiple vehicles in front of the current vehicle in the traveling direction.

The real-time driving data of the candidate vehicle relative to the current vehicle may include: the real-time lateral reference distance, real-time longitudinal reference distance, and real-time reference speed of the candidate vehicle relative to the current vehicle, as well as the current vehicle's driving direction, lane position, and candidate vehicle's lane position, etc. Various driving data. The adaptive cruise control device can determine the target following vehicle from the candidate vehicles based on the above-mentioned multiple driving data.

For example, in one application scenario, the current vehicle is driving on multiple lanes. There is a vehicle in front of the lane where the current vehicle is located, the left adjacent lane, and the right adjacent lane, and the speeds of these vehicles are different. , not driving side by side, these three vehicles can be determined as candidate vehicles. At this time, the adaptive cruise control device may determine the vehicle with the smallest real-time longitudinal reference distance relative to the current vehicle as the target following vehicle; or, it may determine the vehicle with the smallest vehicle speed relative to the current vehicle as the target following vehicle; or, it may The vehicle with the smallest real-time longitudinal reference distance relative to the current vehicle and the smallest vehicle speed relative to the current vehicle is determined as the target following vehicle.

For example, in another application scenario, the current vehicle is traveling on multiple lanes. There is a vehicle in front of the lane where the current vehicle is located, the left adjacent lane, and the right adjacent lane, and the speeds of these vehicles are If they are the same and drive side by side, these three vehicles can be determined as candidate vehicles. At this time, since the real-time longitudinal reference distances of the three candidate vehicles relative to the current vehicle are the same, the vehicle with the smallest real-time lateral reference distance relative to the current vehicle can be determined as the target following vehicle, and when one of the candidate vehicles slows down , the decelerating vehicle can be re-determined as the target following vehicle.

In practical applications, the road the current vehicle is traveling on may include multiple lanes, and there may be vehicles on each lane in front of the current vehicle's traveling direction. If the head-up display displays the follow icons of multiple vehicles at the same time, the follow icons may overlap when multiple vehicles are close to each other, which will also affect the driver's visual experience when using the head-up display. Therefore, in the embodiment of the present disclosure, when the head-up display is activated, an acquisition instruction can be sent to the adaptive cruise control device, instructing the adaptive cruise control device to filter out a target following vehicle based on the real-time driving data of multiple candidate vehicles relative to the current vehicle. , and then the head-up display only displays the follow icon of the target following vehicle.

Moreover, the adaptive cruise control device can also adjust the target following vehicle based on the real-time driving data of multiple candidate vehicles relative to the current vehicle, and send an adjustment instruction to the head-up display to instruct the head-up display to re-display another target according to the adjustment instruction. Follow the vehicle. It can be seen that in the embodiment of the present disclosure, the head-up display can display the following icon of a target following vehicle determined by the adaptive cruise control device. In this way, the following icons will not overlap when the vehicle is displayed, and therefore driving can be improved. The visual experience of the operator when using the head-up display.

After the current vehicle is started, if the head-up display does not detect the start command, the acquisition command may not be sent to the adaptive cruise control device, that is, the follow icon will not be displayed. Moreover, after the head-up display sends the acquisition instruction to the adaptive cruise control device, if a closing instruction is detected (it can be triggered by the user's key operation on the switch button on the head-up display, or it can be triggered by the user's trigger operation on the switch control of the head-up display) , you can stop receiving real-time driving data transmitted by the adaptive cruise control device and stop displaying the follow icon. In addition, after the head-up display sends an acquisition instruction to the adaptive cruise control device, if the adaptive cruise control device does not detect the target following vehicle, feedback information can be sent to the head-up display to instruct the head-up display not to display the following icon. It can be seen that in the embodiment of the present disclosure, the head-up display can display the following icon according to the user's needs and the real-time vehicle conditions around the current vehicle, which can improve the driver's visual experience.

Based on the above description, in the following icon display method provided by the embodiment of the present disclosure, during the current driving process of the vehicle, it can be determined according to the real-time reference distance of the target following vehicle relative to the current vehicle whether the target following vehicle exceeds the display range of the head-up display. When the display range is not exceeded, the icon display position can be determined based on the real-time reference distance and the following icon of the target following vehicle can be dynamically displayed at the position in a first preset manner. In this way, the driver can clearly understand the real-time vehicle conditions of the target following vehicle based on the dynamically displayed following icon during driving, which facilitates the driver to make driving decisions such as avoidance or deceleration. In addition, when it is determined that the current position of the target following vehicle exceeds the display range, the following icon may be displayed in a second preset manner at the preset display position. In this way, when the display range of the head-up display is limited, the vehicle status of the target following vehicle outside the display range can be displayed to the driver, making it easier for the driver to make driving decisions such as avoidance or deceleration in advance. It can be seen that the technical solution provided by the embodiment of the present disclosure can display the target following vehicle in different display modes (including the first preset mode and the second preset mode) according to the real-time reference distance of the target following vehicle relative to the current vehicle. The following icon display improves the driver's auxiliary function of the head-up display, thereby improving the driver's visual experience when using the head-up display.

As shown in Figure 3, the embodiment of the present disclosure also provides a display method for following icons, including S301-S308:

S301. During the current driving process of the vehicle, determine the real-time lateral distance range of the target following vehicle within the display range of the head-up display based on the display parameters of the head-up display and the real-time longitudinal reference distance of the target following vehicle relative to the current vehicle.

S302. Determine whether the real-time longitudinal reference distance belongs to the vertical display range of the head-up display.

If it is determined that the real-time longitudinal reference distance does not belong to the vertical display range of the head-up display, step S303 is executed; if it is determined that the real-time longitudinal reference distance belongs to the vertical display range of the head-up display, step S304 is executed.

S303. Determine the type of excess when the current position of the target following vehicle exceeds the display range is longitudinal excess, and display the following icon in a second preset manner at a preset display position corresponding to the longitudinal excess.

S304. Determine whether the real-time lateral reference distance belongs to the real-time lateral distance range.

If it is determined that the real-time lateral reference distance belongs to the real-time lateral distance range, step S305 is executed; if it is determined that the real-time lateral reference distance does not belong to the real-time lateral distance range, step S306 is executed.

S305. Determine that the current position of the target following vehicle does not exceed the display range of the head-up display, determine the icon display position based on the real-time reference distance, and dynamically display the following icon of the target following vehicle at the icon display position in a first preset manner.

S306. Determine whether the overrun type is right side lateral overrun.

When it is determined that the overrun type is right lateral overrun, step S307 is executed; when it is determined that the overrun type is left lateral overrun, step S308 is executed.

S307. Display the follow icon in a second preset manner at a preset display position corresponding to the right side lateral excess.

S308. Display the follow icon in a second preset manner at a preset display position corresponding to the left lateral excess.

As shown in Figure 4, the embodiment of the present disclosure also provides a display method for following icons, including S401-S406:

S401. During the current driving process of the vehicle, detect the start command.

S402. When a start command is detected, send an acquisition command to the adaptive cruise control device.

S403. Receive real-time driving data of the target following vehicle relative to the current vehicle transmitted by the adaptive cruise control device.

S404. Determine whether the current position of the target following vehicle exceeds the display range of the head-up display based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle relative to the current vehicle.

S405. When it is determined that the current position of the target following vehicle does not exceed the display range, determine the icon display position based on the real-time reference distance, and dynamically display the following icon of the target following vehicle at the icon display position in a first preset manner; after determining the target When the current position of the following vehicle exceeds the display range, the following icon is displayed in a second preset manner at the preset display position.

S406. When the closing instruction is detected, close the display of the follow icon.

As shown in FIG. 5 , an embodiment of the present disclosure also provides a display device for following icons. The device may include: a determination module 11 and a display module 21 .

The determination module 11 executes S101 in the above method embodiment, and the display module 21 executes S102 in the above method embodiment.

The determination module 11 is configured to determine whether the current position of the target following vehicle exceeds the display range of the head-up display based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle relative to the current vehicle during the current vehicle driving process; the display module 21 , is configured to determine the icon display position based on the real-time reference distance when the determination module 11 determines that the current position of the target following vehicle does not exceed the display range, and dynamically display the following icon of the target following vehicle at the icon display position in a first preset manner. ; The display module 21 is also configured to display the following icon in a second preset manner at the preset display position when the determination module 11 determines that the current position of the target following vehicle exceeds the display range.

In one implementation, the real-time reference distance includes a real-time lateral reference distance and a real-time longitudinal reference distance, and the determination module 11 is set to:

According to the display parameters and the real-time longitudinal reference distance, determine the real-time lateral distance range of the target following vehicle within the display range of the head-up display; determine whether the real-time lateral reference distance belongs to the real-time lateral distance range, and determine whether the real-time longitudinal reference distance belongs to the longitudinal direction of the head-up display Display the range and obtain a determination result; determine whether the current position of the target following vehicle exceeds the display range of the head-up display based on the determination result.

In another implementation, the determining module 11 is further configured to:

When it is determined that the current position of the target following vehicle exceeds the display range of the head-up display, the exceeding type is determined; the exceeding type includes longitudinal exceeding, right lateral exceeding and left lateral exceeding.

In another implementation, the display module 21 is configured to:

Determine a preset display position from the candidate boundary positions according to the exceeding type; display the follow icon in a second preset manner at the preset display position.

In another implementation, the display module 21 is configured to:

The current size of the follow icon is determined based on the real-time reference distance, and the follow icon corresponding to the current size is displayed at the icon display position.

In another implementation, the display module 21 is configured to:

Display a follow icon corresponding to the preset size at the preset display position.

In another implementation, the following icon display device provided by the present disclosure may also include a sending module and a receiving module; the sending module is configured to send an acquisition instruction to the adaptive cruise control device when a startup instruction is detected; The acquisition instruction is used to instruct the adaptive cruise control device to determine the target following vehicle from the candidate vehicles based on the real-time driving data of the candidate vehicle relative to the current vehicle, and transmit the real-time driving data of the target following vehicle relative to the current vehicle to the head-up display; target following The real-time driving data of the vehicle relative to the current vehicle at least includes a real-time reference distance; the receiving module is configured to receive the real-time driving data of the target following vehicle relative to the current vehicle transmitted by the adaptive cruise control device.

The display device that follows the icon may further include a storage module, and the storage module is configured to store the program code of the display device that follows the icon, etc.

As shown in Figure 6, the embodiment of the present disclosure also provides a head-up display, including a memory 41, a processor 42 (42-1 and 42-2), a bus 43 and a communication interface 44; the memory 41 is configured to store computer execution instructions, The processor 42 is connected to the memory 41 through the bus 43; when the head-up display is running, the processor 42 executes the computer execution instructions stored in the memory 41, so that the head-up display performs the following icon display method as provided in the above embodiment.

In implementation, as an embodiment, the processor 42 may include one or more central processing units (Central Processing Units, CPUs), such as CPU0 and CPU1 shown in FIG. 6 . And as an embodiment, the head-up display may include multiple processors 42, such as the processor 42-1 and the processor 42-2 shown in FIG. 6 . Each CPU among these processors 42 may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Processor 42 here may refer to one or more devices, circuits, and/or processing cores configured to process data (eg, computer program instructions).

The memory 41 may be a read-only memory 41 (Read-Only Memory, ROM) or other types of static storage devices that can store static information and instructions, a random access memory (Random Access Memory, RAM) or other types that can store information and instructions. Type of dynamic storage device, it can also be Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, optical disc Storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), disk storage media or other magnetic storage devices, or can be configured to carry or store the desired program code in the form of instructions or data structures and can be Any other media accessible by a computer, but not limited to this. The memory 41 may exist independently and be connected to the processor 42 through a bus 43 . The memory 41 may also be integrated with the processor 42.

In implementation, the memory 41 is configured to store data in the present disclosure and computer execution instructions corresponding to the software program executing the present disclosure. The processor 42 can perform various functions of the head-up display by running or executing software programs stored in the memory 41 and calling data stored in the memory 41 .

Communication interface 44, using any transceiver-like device, is configured to communicate with other devices or communication networks, such as control systems, wireless access networks (Radio Access Network, RAN), wireless local area networks (Wireless Local Area Networks, WLAN), etc. . The communication interface 44 may include a receiving unit to implement the receiving function, and a sending unit to implement the transmitting function.

The bus 43 may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 43 can be divided into an address bus, a data bus, a control bus, etc. For ease of presentation, only one thick line is used in Figure 6, but it does not mean that there is only one bus or one type of bus.

As an example, with reference to FIG. 5 , the display module in the display device following the icon implements the same function as the processor 42 in FIG. 6 . When the display device following the icon includes a sending module, the function implemented by the sending module in the display device following the icon is the same as the function implemented by the sending unit in FIG. 6 . When the display device following the icon includes a receiving module, the function implemented by the receiving module in the display device following the icon is the same as the function implemented by the receiving unit in FIG. 6 . When the display device following the icon includes a storage module, the storage module implements the same function as the memory 41 in FIG. 6 .

For explanation of the relevant content in this embodiment, reference may be made to the above method embodiments and will not be described again here.

Through the above description of the embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above multiple functional modules is used as an example. In practical applications, the above functions can be divided as needed. Allocation is completed by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. For the working processes of the systems, devices and units described above, reference can be made to the corresponding processes in the foregoing method embodiments, which will not be described again here.

Embodiments of the present disclosure also provide a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the computer executes the instructions, the computer is caused to execute the following icon display method provided by the above embodiments.

The computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. Examples of computer-readable storage media (a non-exhaustive list) include: electrical connections having one or more conductors, portable computer disks, hard drives, RAM, ROM, Erasable Programmable Read Only Memory , EPROM), register, hard disk, optical fiber, CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above, or any other form of computer-readable storage medium well known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage medium may be located in an Application Specific Integrated Circuit (ASIC). In embodiments of the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device.

Claims

A method of displaying follow icons, including:

During the current driving process of the vehicle, determine whether the current position of the target following vehicle exceeds the display range of the head-up display based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle relative to the current vehicle;

When it is determined that the current position of the target following vehicle does not exceed the display range, the icon display position is determined based on the real-time reference distance, and the target following is dynamically displayed at the icon display position in a first preset manner. The vehicle’s follow icon;

If it is determined that the current position of the target following vehicle exceeds the display range, the following icon is displayed in a second preset manner at a preset display position.
The method according to claim 1, wherein the real-time reference distance includes a real-time lateral reference distance and a real-time longitudinal reference distance, and the real-time reference distance of the target following vehicle relative to the current vehicle is based on the display parameters of the head-up display and the target following vehicle, Determining whether the current position of the target following vehicle exceeds the display range of the head-up display includes:

Determine the real-time lateral distance range of the target following vehicle within the display range of the head-up display according to the display parameters and the real-time longitudinal reference distance;

Determine whether the real-time lateral reference distance belongs to the real-time lateral distance range, and determine whether the real-time longitudinal reference distance belongs to the longitudinal display range of the head-up display, and obtain a determination result;

It is determined according to the determination result whether the current position of the target following vehicle exceeds the display range of the head-up display.
The method according to claim 2, wherein in the case where it is determined that the current position of the target following vehicle exceeds the display range of the head-up display, the method further includes:

Determine the overrun type; wherein, the overrun type includes longitudinal overrun, right lateral overrun, and left lateral overrun.
The method of claim 3, wherein displaying the follow icon in a second preset manner at a preset display position includes:

Determine the preset display position from candidate boundary positions according to the exceeding type;

The follow icon is displayed in the second preset manner at the preset display position.
The method according to claim 1, wherein said dynamically displaying the following icon of the target following vehicle at the icon display position in a first preset manner includes:

The current size of the following icon is determined according to the real-time reference distance, and the following icon corresponding to the current size is displayed at the icon display position.
The method according to claim 1, wherein displaying the follow icon in a second preset manner at a preset display position includes:

The follow icon corresponding to the preset size is displayed at the preset display position.
The method according to any one of claims 1-6, further comprising:

When a start instruction is detected, an acquisition instruction is sent to the adaptive cruise control device; wherein the acquisition instruction is used to instruct the adaptive cruise control device to obtain the information from the candidate vehicle based on the real-time driving data of the candidate vehicle relative to the current vehicle. Determine a target following vehicle among the candidate vehicles, and transmit the real-time driving data of the target following vehicle relative to the current vehicle to the head-up display; the real-time driving data of the target following vehicle relative to the current vehicle at least include The real-time reference distance;

Real-time driving data of the target following vehicle relative to the current vehicle transmitted by the adaptive cruise control device is received.
A display device that follows icons, including:

A determination module configured to determine whether the current position of the target following vehicle exceeds the display of the head-up display according to the display parameters of the head-up display and the real-time reference distance of the target following vehicle relative to the current vehicle during the current vehicle driving process. scope;

The display module is configured to determine the icon display position based on the real-time reference distance when the determination module determines that the current position of the target following vehicle does not exceed the display range, and use the first preset value at the icon display position. The method dynamically displays the following icon of the target following vehicle;

The display module is also configured to display the following icon in a second preset manner at a preset display position when the determination module determines that the current position of the target following vehicle exceeds the display range.
A head-up display, including a memory, a processor, a bus and a communication interface; the memory is configured to store computer execution instructions, and the processor and the memory are connected through the bus;

When the head-up display is running, the processor is configured to execute the computer execution instructions stored in the memory, so that the head-up display performs the following icon display method according to any one of claims 1-7. .
A computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When a computer executes the instructions, the computer is caused to execute the following icon display method as described in any one of claims 1-7. .