WO2024255003A1 - 一种智能驾驶辅助系统的前方车辆显示方法、装置及计算机系统 - Google Patents

一种智能驾驶辅助系统的前方车辆显示方法、装置及计算机系统 Download PDF

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Publication number
WO2024255003A1
WO2024255003A1 PCT/CN2023/118296 CN2023118296W WO2024255003A1 WO 2024255003 A1 WO2024255003 A1 WO 2024255003A1 CN 2023118296 W CN2023118296 W CN 2023118296W WO 2024255003 A1 WO2024255003 A1 WO 2024255003A1
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Prior art keywords
vehicle
lane
display
ahead
lane line
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Ceased
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PCT/CN2023/118296
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English (en)
French (fr)
Inventor
丁晨
余琛
刘义军
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Dongfeng Motor Group Co Ltd
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Dongfeng Motor Group Co Ltd
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Priority to EP23941228.1A priority Critical patent/EP4714710A1/en
Publication of WO2024255003A1 publication Critical patent/WO2024255003A1/zh
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/80—Arrangements for controlling instruments
    • B60K35/81—Arrangements for controlling instruments for controlling displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/166—Navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/167—Vehicle dynamics information
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/171—Vehicle or relevant part thereof displayed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/175—Autonomous driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/177—Augmented reality
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/178—Warnings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/179—Distances to obstacles or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/18—Information management
    • B60K2360/186—Displaying information according to relevancy
    • B60K2360/1868—Displaying information according to relevancy according to driving situations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Definitions

  • the present invention relates to intelligent driving technology, and in particular to a method, device and computer system for displaying a vehicle ahead of an intelligent driving assistance system.
  • ADAS/AD intelligent driving functions
  • HMI human-machine interaction module
  • the instrument display of the car is an important part of the car cockpit HMI module.
  • the instrument of traditional models often only displays conventional vehicle status information such as speed and speed, while vehicles equipped with ADAS functions tend to map the actual road conditions to the instrument on this basis to show customers more ADAS-related functional schematic information.
  • the vehicle is an important part of the driving road conditions, and its display on the instrument is an important part of the HMI.
  • the instrument display of some models on the market currently has problems such as inaccurate position of the vehicle in front or inconsistent size ratio, resulting in a poor user experience.
  • the processing unit 14 transmits the acquired road user, road surface information, and road sign information to the instrument unit 16 for real-time display.
  • the processing unit 14 only plays the role of sending the actual road conditions to the instrument for display as realistically and accurately as possible, but does not separate the display module and does not take into account the functional requirements of the instrument display (comfort, etc.).
  • the purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a method, device and computer system for displaying the vehicle ahead of an intelligent driving assistance system, so that it can solve the following technical problems:
  • This method can reduce the computing power problem of the instrument itself
  • This patent can effectively improve the human-computer interaction experience of low-cost vehicle models that are limited by hardware such as sensors and instruments.
  • the present invention provides a method for displaying a vehicle ahead of an intelligent driving assistance system, which utilizes an intelligent driving assistance system and includes the following steps: extracting parameters: during the driving process of the own vehicle, based on the information collected in real time by the vehicle sensor and in combination with an algorithm, outputting the lateral vector distance and longitudinal vector distance of the vehicle ahead relative to the own vehicle, and outputting parameter information of the left and right lane lines of the lane where the own vehicle is driving; the information collected in real time by the vehicle sensor includes the position, speed, vehicle head direction and lane line information of the vehicle ahead; determining the screen display position: based on the parameter information, respectively calculating from the lateral position of the vehicle ahead, the relative position relationship between the vehicle ahead and the lane line, and the longitudinal position relationship between each vehicle ahead, respectively obtaining the lateral position display and longitudinal position display of the vehicle ahead on the display screen, and then transmitting the parameter signals of the lateral position display and the longitudinal position display to the display screen for display, wherein it is assumed that the lane widths of the same-
  • the specific process of the screen position determination step is as follows: Display the lateral position of the front vehicle: calculate the lane to which the front vehicle belongs, obtain the ratio of the lateral distance parameter of the front vehicle to the lane width of the vehicle, and compare the lane to which the front vehicle belongs with the obtained ratio. Transmitted to the display screen to display the lateral position of the vehicle in front; display of the longitudinal position of the vehicle in front: a segmented longitudinal vehicle position display method is used to divide the longitudinal position of the screen into two areas, area 1 displays nearby vehicles, and area 2 displays distant vehicles. The size of the vehicle model in the area is set linearly according to the distance from the vehicle.
  • the specific process of the step of displaying the lateral position of the vehicle in front is as follows: lane judgment: according to the parameter information, the lateral vector distance between the own vehicle and the vehicle in front is first combined with the lane line algorithm to judge the lane to which the vehicle in front belongs; left and right lane line position ratio calculation: after judging the lane to which the vehicle in front belongs, the vector distance from the front vehicle to the left lane line or the right lane line of the own vehicle lane in each lane is calculated, and then the percentage of the vector distance to the lane width at the vehicle is obtained; screen lateral position display: the calculated percentage signal of the vector distance of each vehicle in front from the left lane line or the right lane line of the own vehicle lane to the lane width at the vehicle is transmitted to the display screen together with the lane signal to which the vehicle in front belongs, so that the screen display module can display the lateral position of the vehicle in front.
  • the specific process of the step of displaying the longitudinal position of the front vehicle is as follows: Area partitioning: the longitudinal display area of the instrument is divided into two parts, area one and area two, area one accounts for X% of the longitudinal display area, and area two accounts for 1-X% of the longitudinal display area; the position relationship of each area: area one displays the end position Lgt_Lim of the near vehicle display, and area two is used to display the vehicle between the end position Lgt_Lim of the near vehicle display and the farthest position Lgt_Max of the far vehicle display; static model of the front vehicle in area one: only one front vehicle model is displayed on each lane of the instrument in area one, which is the front vehicle closest to the vehicle in each lane, and the model size Size_min of the front vehicle is ( 1-X%)*L, L is the longitudinal size of the instrument display area, and the longitudinal position of the front vehicle is always maintained at the X% position of the instrument; dynamic model of the front vehicle in area 1: when the front vehicle is running in area 1, its
  • the coordinate system used by the ADAS visualization module takes the ground corresponding to the intersection of the vehicle's central axis and the camera's horizontal line as the origin of the vehicle coordinate system, with the forward direction as X, forward as positive, and the side as Y, left as positive; wherein the collected position information and lane line parameters are as follows: Py: the vector distance between the center of the rear axle of the self-vehicle and the center of the rear axle of the front vehicle in the Y direction; Px: the vector distance between the center of the front guardrail of the self-vehicle and the center of the rear guardrail of the front vehicle in the X direction; C0_L0: the left lane line distance from the self-vehicle The lateral vector distance from the center of the rear axle of the vehicle; C0_RO: The lateral vector distance from the right lane line to the center of the rear axle of the vehicle; C1_L0: The angle between the tangent line of the left lane line at
  • the present invention further provides a front vehicle display device of an intelligent driving assistance system, including an intelligent driving assistance system, wherein the intelligent driving assistance system includes the following parts: a perception fusion module: during the driving process of the self-vehicle, based on the information collected in real time by the vehicle sensor and combined with the algorithm, the lateral vector distance and longitudinal vector distance of the front vehicle relative to the self-vehicle are output, and the parameter information of the left and right lane lines of the lane where the self-vehicle is driving is output at the same time; the information collected in real time by the vehicle sensor includes the position, speed, front direction and lane line information of the front vehicle; an ADAS visualization module: based on the parameter information, calculations are performed respectively from the lateral position of the front vehicle, the relative position relationship between the front vehicle and the lane line, and the longitudinal position relationship between each front vehicle, and the lateral position display and longitudinal position display of the front vehicle on the display screen are obtained respectively, and then the parameter signals of the lateral position display and the longitudinal position display are transmitted
  • the present invention also provides a computer system, which includes a front vehicle display device of an intelligent driving assistance system.
  • This solution introduces the lane line function method. By comparing the lateral position of the front vehicle and the lane line, it can provide the screen with the lane of the front vehicle and its lateral position parameter information in the lane, thereby solving the problem of inaccurate lateral display of the vehicle or even displaying the wrong lane.
  • This solution uses a segmented vehicle longitudinal position display method to optimize vehicle overlap, vehicle models that are too small, or the limited display of the number of vehicles in front, so as to restore the actual road conditions as much as possible and provide customers with a better visual experience.
  • FIG1 is a hardware logic block diagram of a solution provided by a related manufacturer in the prior art
  • FIG2 is a schematic diagram of a real road condition targeted by a solution provided by a relevant manufacturer in the prior art
  • FIG3 is a schematic diagram of the overall process of a method for displaying a vehicle ahead of an intelligent driving assistance system according to the present invention
  • FIG. 4 is a flow chart of the lateral position display of the vehicle ahead in the screen display position determination step in the method for displaying the vehicle ahead in the intelligent driving assistance system of the present invention
  • FIG. 5 is a schematic diagram of a road surface real scene of a lane determination step belonging to a front vehicle lateral position display step belonging to a screen display position determination step in a front vehicle display method of an intelligent driving assistance system of the present invention
  • FIG6 is a schematic diagram of a real-life example of a road surface of a vector distance DL from a front vehicle to a left lane line or a right lane line of a lane of a self-vehicle in each lane in a left and right lane line position ratio calculation step belonging to a front vehicle lateral position display step belonging to a screen display position determination step in a front vehicle display method of an intelligent driving assistance system of the present invention (taking the front vehicle being located in the left lane of the self-vehicle as an example);
  • FIG. 7 is a diagram showing the screen display position in the method for displaying a vehicle ahead of the intelligent driving assistance system of the present invention.
  • a flowchart showing the longitudinal position of the vehicle ahead in the step of determining the position;
  • FIG. 8 is a schematic diagram of a real-scene display of a display screen showing the longitudinal position of a vehicle ahead in the step of determining the screen position in the method for displaying a vehicle ahead in an intelligent driving assistance system of the present invention
  • FIG. 9 is a schematic diagram showing the relationship between the size of the front vehicle model and its longitudinal proportion in the instrument panel, which embodies a specific technical effect in the front vehicle longitudinal position display step belonging to the screen display position determination step in the front vehicle display method of the intelligent driving assistance system of the present invention
  • FIG10 is a schematic diagram of the structure of a front vehicle display device of an intelligent driving assistance system according to the present invention.
  • FIG. 11 is a schematic diagram of the structure of the computer system of the present invention.
  • FIG. 1 to FIG. 2 The technical contents disclosed in FIG. 1 to FIG. 2 have been described in detail in the background technology and will not be repeated here.
  • the method for displaying a vehicle ahead of the intelligent driving assistance system of the present invention comprises the following steps:
  • the vehicle sensors collect information such as the position, speed, vehicle head direction and lane lines of the vehicle in front in real time, and transmit this information to the ADAS perception fusion module;
  • the perception fusion module Based on this information and combined with the algorithm, the perception fusion module outputs the lateral vector distance (Py) and longitudinal vector distance (Px) of the vehicle in front relative to the vehicle, and also outputs the parameter information of the left and right lane lines of the vehicle's driving lane.
  • the coordinate system used by the ADAS visualization module uses the ground corresponding to the intersection of the vehicle's central axis and the camera's horizontal line as the origin of the vehicle coordinate system, with the forward direction as X, the forward direction as positive, and the side direction as Y, the left direction as positive;
  • Px The vector distance in the X direction from the front protection center of the vehicle to the rear protection center of the vehicle in front
  • C0_L0 The lateral vector distance from the left lane line to the center of the rear axle of the vehicle
  • C0_RO The lateral vector distance from the right lane line to the center of the rear axle of the vehicle
  • C1_L0 The angle between the tangent line of the left lane line at the turn and the straight line of the left lane line
  • C1_R0 The angle between the tangent line of the right lane line at the turn and the straight line of the right lane line
  • the ADAS visualization module Based on the information provided by the perception fusion module, the ADAS visualization module optimizes the lateral position of the front vehicle, the relative position relationship between the front vehicle and the lane line, and the longitudinal position, and obtains the lateral position display and longitudinal position display of the front vehicle on the display screen, and then outputs the parameter signals of the lateral position display and the longitudinal position display to the screen for display.
  • the ADAS visualization module assumes that the lane width of the same-direction lane as the ego vehicle is the same and the lane width of the ego vehicle is W.
  • the specific process of the screen display position determination step is as follows:
  • lane determination Based on the information output by the perception fusion, the ADAS visualization module first compares the lateral vector distance between the vehicle and the vehicle ahead with the lane line algorithm to determine the lane to which the vehicle ahead belongs;
  • the determination method is specifically as follows:
  • the distance between the vehicle and the left and right lane lines is solved by substituting the longitudinal position Px of the vehicle in front into the lane line function of the left and right lane lines of the vehicle.
  • Lane determination Compare the lateral vector distance Py between the vehicle and the vehicle in front with YL and YR according to Table 1 below to determine the left, middle, and right lanes where the vehicle in front is located (the above situations assume that the vehicle is driving in the middle lane):
  • the ADAS visualization module transmits the calculated vector distance DL of each front vehicle from the left lane line or the right lane line of the own vehicle's lane to the lane percentage signal DL_Pct of the lane width W at the own vehicle, as well as the lane signal to which the front vehicle belongs to the screen display module for it to display the lateral position of the front vehicle.
  • the vehicle ahead is displayed according to the actual distance that can be displayed, which can restore the real-time road conditions to the greatest extent.
  • the display of distant vehicles may be inaccurate or jittery.
  • the vehicle displayed on the instrument may be The problem is that the vehicle model is smaller.
  • ADAS function may be activated but the corresponding vehicle is not displayed on the instrument panel, causing discomfort to customers.
  • the present invention proposes a segmented method for displaying the longitudinal position of the vehicle, so as to provide customers with a better visual experience while restoring the actual road conditions as much as possible.
  • the specific process of the step of displaying the longitudinal position of the vehicle ahead of the vehicle is as follows:
  • Area partitioning The instrument's vertical display area is divided into two parts: Area 1 and Area 2. Area 1 occupies X% of the vertical display area (which can be calibrated to occupy the vast majority of the screen, such as 90%), and Area 2 occupies 1-X% of the vertical display area, generally set to 50 ⁇ X ⁇ 100;
  • Area 1 is used to display the end position Lgt_Lim of the nearby vehicle display (calibrated according to the display effect), and Area 2 is used to display the vehicles between the end position Lgt_Lim of the nearby vehicle display and the farthest position Lgt_Max (calibrable) of the distant vehicle display;
  • Size_zone1 -(Size_base-Size_min)/X%*P X _Pct+Size_base,
  • Figure 9 shows the relationship between the size of the front vehicle model and its longitudinal proportion in the instrument panel.
  • the front vehicle display device of the intelligent driving assistance system of the present invention includes an intelligent driving assistance system, and the intelligent driving assistance system includes the following parts:
  • Perception fusion module During the driving process of the vehicle, based on the information collected in real time by the vehicle sensors and combined with the algorithm, the lateral vector distance and longitudinal vector distance of the vehicle in front relative to the vehicle are output, and the parameter information of the left and right lane lines of the lane where the vehicle is driving is output; the information collected in real time by the vehicle sensors includes the position, speed, vehicle head direction and lane line information of the vehicle in front;
  • ADAS visualization module Based on the parameter information, calculations are performed respectively from the lateral position of the front vehicle, the relative position relationship between the front vehicle and the lane line, and the longitudinal position relationship between each front vehicle, to obtain the lateral position display and longitudinal position display of the front vehicle on the display screen, and then the parameter signals of the lateral position display and the longitudinal position display are transmitted to the display screen for display, wherein it is assumed that the lane widths of the lanes in the same direction as the vehicle are the same.
  • the computer system of the present invention includes a front vehicle display device of an intelligent driving assistance system.
  • the sensor accuracy can be improved and laser radar can be introduced, while the screen computing power can be upgraded and the screen display area can be increased, which will provide better display effects when displaying real-time road conditions information.
  • the lane line equation is introduced as a reference benchmark.
  • the percentage of the vehicle in front of the vehicle in the lane is obtained, so that the screen can display the lane horizontally according to the percentage of each lane, instead of directly using the lateral distance of the vehicle in front relative to the vehicle as is commonly done.
  • HMI Human Machine Interface
  • ADAS visualization module used to display the front vehicles and lane lines on the road conditions of the ADAS vehicle in real time to provide users with a good interactive experience
  • Front vehicle In addition to the vehicle itself, the vehicle ahead that needs to be displayed on the instrument

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Abstract

一种智能驾驶辅助系统的前方车辆显示方法，利用智能驾驶辅助系统，步骤如下：提取参数：基于实时信息并结合算法输出前方车辆相对于自车的横向矢量距离和纵向矢量距离，同时输出自车行驶车道左右车道线的参数信息；屏显位置确定：计算前方车辆的横向位置、前方车辆与车道线的相对位置关系以及各个前方车辆之间的纵向位置关系，分别得到前方车辆在显示屏幕中的横向位置显示和纵向位置显示，再将横向位置显示和纵向位置显示的参数信号输送给显示屏。还公开了智能驾驶辅助系统的前方车辆显示装置和计算机系统。将处理后的前车位置信息完整输出给屏显端供其显示，能够提升顾客的视觉体验感，可广泛应用于智能驾驶领域。

Description

一种智能驾驶辅助系统的前方车辆显示方法、装置及计算机系统 技术领域
本发明涉及智能驾驶技术，特别是涉及一种智能驾驶辅助系统的前方车辆显示方法、装置及计算机系统。
背景技术
随着汽车智能化、电气化的推进，智能驾驶功能(ADAS/AD)已逐渐成为主流厂商的重点研发及技术投入领域。ADAS功能在给客户带来驾驶安全舒适性的同时，汽车座舱人机交互模块(HMI)同样给顾客带来升级的科技体验感。汽车的仪表显示是汽车座舱HMI模块的重要组成部分。传统车型的仪表往往仅显示车速，转速等常规的车辆状态信息，而配备ADAS功能的车辆在此基础上更倾向将实际路况映射到仪表上，以展示给客户更多的ADAS相关的功能示意信息。车辆是驾驶路况中重要的组成部分，其在仪表上的显示是HMI中重要的一环。但目前市面上部分车型的仪表显示存在前车车辆位置不准或大小比例不协调的问题，导致用户体验感较差。
有鉴于此，部分厂家提出了如下方案：参见图1至图2，通过传感器单元12，处理单元14将获得的道路使用者、路面信息、及道路标志信息传递给仪表单元16，供其实时显示。
然而，整个方案中处理单元14只是起到将实际路况尽量真实准确的发给仪表供其显示的作用，而没用将显示模块独立出来，并没有考虑到仪表显示的功能需求(舒适性等)。
发明内容
本发明的目的是为了克服上述背景技术的不足，提供一种智能驾驶辅助系统的前方车辆显示方法、装置及计算机系统，使其能够解决如下技术问题：
1.可以解决车辆横向显示不准甚至显示错道的问题；
2.可以解决车辆重叠以及车辆模型过小或者前方车辆数量显示受限的问题；
3.通过该方法可以减少仪表自身的算力问题；
4.通过直观的数据可以快速的查找仪表显示问题的原因；
5.该专利能有有效提升因传感器、仪表等硬件受限的较低成本车型的人机交互体验。
本发明提供的一种智能驾驶辅助系统的前方车辆显示方法，利用智能驾驶辅助系统，包括如下步骤：提取参数：在自车行驶过程中，基于车辆传感器实时采集的信息并结合算法输出前方车辆相对于自车的横向矢量距离和纵向矢量距离，同时输出自车行驶车道左右车道线的参数信息；所述车辆传感器实时采集的信息包括前方车辆的位置、速度、车头朝向及车道线信息；屏显位置确定：基于所述参数信息，分别从前方车辆的横向位置、前方车辆与车道线的相对位置关系以及各个前方车辆之间纵向位置关系进行计算，分别得到前方车辆在显示屏幕中的横向位置显示和纵向位置显示，再将横向位置显示和纵向位置显示的参数信号输送给显示屏供其显示，其中，默认自车行驶的同向车道车道宽相同。
在上述技术方案中，所述屏显位置确定步骤的具体过程如下：前方车辆横向位置显示：计算前方车辆所属车道，求取前方车辆横向距离参数与自车处车道宽的比值，并将前方车辆所属车道与求得的比值 传送给显示屏，以便显示前方车辆横向位置；前方车辆纵向位置显示：采用分段式纵向车辆位置显示方法，将屏幕纵向位置分成两块，区域一显示近处车辆，区域二显示远处车辆，区域内车辆模型大小按离自车距离远近线性设置。
在上述技术方案中，所述前方车辆横向位置显示步骤的具体过程如下：判断车道：根据所述参数信息，先将自车和前方车辆的横向矢量距离与车道线算法结合起来判断前方车辆所属车道；左右车道线位置占比计算：判断出前方车辆所属车道后，计算各个车道中前方车辆距离自车车道左车道线或右车道线的矢量距离，进而求得矢量距离占自车处车道宽的百分比；屏显横向位置显示：将计算得出的各前方车辆距离自车车道左车道线或右车道线的矢量距离占自车处车道宽的百分比信号与前方车辆所属车道信号传输给显示屏，供屏显模块对前方车辆的横向位置进行显示。
在上述技术方案中，所述判断车道步骤中，判断前方车辆所属车道的具体过程如下：自车距左右车道线距离求解：通过将前方车辆的纵向矢量距离Px代入自车左右车道线的车道线函数中，分别求出自车距离自车左右车道线的横向矢量距离值YL与YR，其中，车道线函数为Y＝C0+C1*x+C2*x2+C3*x3；车道判定：再将自车与前方车辆的横向矢量距离Py与分别YL和YR对比，判断前方车辆所在的左中右车道情况：1)当Py＞YL时，前方车辆位于左车道；2)当YL≥Py≥YR时，前方车辆位于自车所在的中间车道；3)当YR＞Py时，前方车辆位于右车道；以上三种情况均默认自车行驶在中间车道。
在上述技术方案中，所述左右车道线位置占比计算步骤中，各个车道中前方车辆距离自车车道左车道线或右车道线的矢量距离DL的计算过程如下：1)当前方车辆位于左车道时，DL＝Py－YL；2)当前 方车辆位于自车所在的中间车道时，DL＝YL－Py；3)当前方车辆位于右车道时，DL＝YR－Py。
在上述技术方案中，所述左右车道线位置占比计算步骤中，前方车辆距离自车车道左车道线或右车道线的矢量距离DL占自车处车道宽W的百分比DL_Pct的计算过程如下：1)自车处车道宽W＝YL－YR；2)当前方车辆位于左车道时，DL_Pct＝(Py－YL)/(YL－YR)；3)当前方车辆位于自车所在的中间车道时，DL_Pct＝(YL－Py)/(YL－YR)；4)当前方车辆位于右车道时，DL_Pct＝(YR－Py)/(YL－YR)。
在上述技术方案中，所述前方车辆纵向位置显示步骤的具体过程如下：区域分区：将仪表纵向显示区域分为区域一和区域二两个部分，区域一占纵向显示区域的X％，区域二占纵向显示区域的1-X％；各区域位置关系：区域一显示近处车辆显示终点位置Lgt_Lim，区域二用于显示近处车辆显示终点位置Lgt_Lim与远处车辆显示最远位置Lgt_Max之间的车辆；区域一前方车辆静态模型：区域一内仪表每个车道上只显示一个前方车辆模型，为每车道离自车最近的前方车辆，该前方车辆的模型大小Size_min＝(1-X％)*L,L为仪表显示区域的纵向尺寸，该前方车辆的纵向位置一直保持在仪表的X％位置处；区域一前方车辆动态模型：当前方车辆在区域一内运行时，其模型大小及纵向位置根据纵向位置Px按线性比例Px_Pct调节，其中Px_Pct计算逻辑如下所示：Px_Pct＝(Px*X％)/Lgt_Lim；各个前方车辆位置排布：前方车辆在屏显上的纵向显示位置为屏显显示区域自下而上的Px_Pct处，前方车辆的模型大小为：Size_zone1＝-(Size_base-Size_min)/X％*PX_Pct+Size_base,其中，Size_base为基准模型大小，为前方车辆在Px＝0处的模型大小。
在上述技术方案中，所述提取参数步骤中，ADAS可视化模块所用坐标系以车辆中轴线与相机水平线交点所对应的地面为车辆坐标系原点，前向为X，向前为正，侧向为Y，向左为正；其中，采集的位置信息及车道线参数如下：Py:自车后轴中心与前方车辆后轴中心在Y方向的矢量距离；Px:自车前保中心到前方车辆后保中心的在X方向的矢量距离；C0_L0：左车道线距离自车后轴中心的横向矢量距离；C0_RO：右车道线距离自车后轴中心的横向矢量距离；C1_L0：左车道线转弯处的切线与左车道线直道直线的夹角；C1_R0：右车道线转弯处的切线与右车道线直道直线的夹角；C2_L0：左车道线转弯处的曲率；C2_R0：右车道线转弯处的曲率；C3_L0：左车道线转弯处的曲率变化率；C3_R0：右车道线转弯处的曲率变化率。
本发明又提供了一种智能驾驶辅助系统的前方车辆显示装置，包括智能驾驶辅助系统，所述智能驾驶辅助系统包括如下部分：感知融合模块：在自车行驶过程中，基于车辆传感器实时采集的信息并结合算法输出前方车辆相对于自车的横向矢量距离和纵向矢量距离，同时输出自车行驶车道左右车道线的参数信息；所述车辆传感器实时采集的信息包括前方车辆的位置、速度、车头朝向及车道线信息；ADAS可视化模块：基于所述参数信息，分别从前方车辆的横向位置、前方车辆与车道线的相对位置关系以及各个前方车辆之间纵向位置关系进行计算，分别得到前方车辆在显示屏幕中的横向位置显示和纵向位置显示，再将横向位置显示和纵向位置显示的参数信号输送给显示屏供其显示，其中，默认自车行驶的同向车道车道宽相同。
本发明还提供了一种计算机系统，该计算机系统包括智能驾驶辅助系统的前方车辆显示装置。
本发明智能驾驶辅助系统的前方车辆显示方法、装置及计算机系 统，具有以下有益效果：
1、该方案通过引入车道线函数的方法，通过对前方车辆与车道线横向位置对比，可以给屏显提供前方车辆车道及其在车道中的横向位置参数信息，从而解决了车辆横向显示不准甚至显示错道的问题。
2、该方案通过分段式车辆纵向位置显示方法，可以优化车辆重叠以及车辆模型过小或者前方车辆数量显示受限的问题，做到尽可能还原实际真实路况，为顾客提供更好的视觉体验感。
3、由于ADAS可视化系统独立于汽车屏显系统，通过该方法可以减少屏显自身的算力负荷问题。
附图说明
图1为现有技术中相关厂家解决方案的硬件逻辑框图；
图2为现有技术中相关厂家解决方案所针对的路况实景示意图；
图3为本发明智能驾驶辅助系统的前方车辆显示方法的整体流程示意图；
图4为本发明智能驾驶辅助系统的前方车辆显示方法中屏显位置确定步骤的前方车辆横向位置显示的流程图；
图5为本发明智能驾驶辅助系统的前方车辆显示方法中屏显位置确定步骤所属的前方车辆横向位置显示步骤所属的判断车道步骤的路面实景示意图；
图6为本发明智能驾驶辅助系统的前方车辆显示方法中屏显位置确定步骤所属的前方车辆横向位置显示步骤所属的左右车道线位置占比计算步骤中各个车道中前方车辆距离自车车道左车道线或右车道线的矢量距离DL的路面实景实例示意图(以前方车辆位于自车左车道为例)；
图7为本发明智能驾驶辅助系统的前方车辆显示方法中屏显位 置确定步骤的前方车辆纵向位置显示的流程图；
图8为本发明智能驾驶辅助系统的前方车辆显示方法中屏显位置确定步骤的前方车辆纵向位置显示的显示屏实景显示示意图；
图9为本发明智能驾驶辅助系统的前方车辆显示方法中屏显位置确定步骤所属的前方车辆纵向位置显示步骤中体现具体技术效果的前方车辆模型大小与其在仪表纵向占比的关系示意图；
图10为本发明智能驾驶辅助系统的前方车辆显示装置的结构示意图；
图11为本发明计算机系统的结构示意图。
具体实施方式
下面结合附图及实施例对本发明作进一步的详细描述，但该实施例不应理解为对本发明的限制。
图1至图2所披露的技术内容在背景技术中已有详细描述，在此不再赘述。
参见图3，本发明智能驾驶辅助系统的前方车辆显示方法，包括如下步骤：
信号采集：在自车行驶过程中，车辆传感器实时采集前方车辆的位置，速度，车头朝向及车道线等信息，并将这些信息传递给ADAS的感知融合模块；
提取参数：感知融合模块基于这些信息并结合算法输出前方车辆相对于自车的横向矢量距离(Py)和纵向矢量距离(Px)，同时输出自车行驶车道左右车道线的参数信息，其中，ADAS可视化模块所用坐标系以车辆中轴线与相机水平线交点所对应的地面为车辆坐标系原点，前向为X，向前为正，侧向为Y，向左为正；
如下是位置信息及车道线参数的说明：
Py:自车后轴中心与前方车辆后轴中心在Y方向的矢量距离
Px:自车前保中心到前方车辆后保中心的在X方向的矢量距离
C0_L0：左车道线距离自车后轴中心的横向矢量距离
C0_RO：右车道线距离自车后轴中心的横向矢量距离
C1_L0：左车道线转弯处的切线与左车道线直道直线的夹角
C1_R0：右车道线转弯处的切线与右车道线直道直线的夹角
C2_L0：左车道线转弯处的曲率
C2_R0：右车道线转弯处的曲率
C3_L0：左车道线转弯处的曲率变化率
C3_R0：右车道线转弯处的曲率变化率
屏显位置确定：基于感知融合模块提供的信息，ADAS可视化模块分别从前方车辆的横向位置、前方车辆与车道线的相对位置关系以及纵向位置方面进行优化处理，分别得到前方车辆在显示屏幕中的横向位置显示和纵向位置显示，再将横向位置显示和纵向位置显示的参数信号输出给屏显供其显示，其中，ADAS可视化模块默认自车行驶的同向车道车道宽相同且自车行驶的车道宽度都为W。
其中，作为本发明中最为重要的步骤，所述屏显位置确定步骤的具体过程如下：
1、前方车辆的横向位置显示
参见图4，判断车道：根据感知融合输出的信息，ADAS可视化模块先将自车和前方车辆的横向矢量距离与车道线算法结合比照，判断前方车辆所属车道；
如图5所示，在本实施例中，判断方法具体如下：
自车距左右车道线距离求解：通过将前方车辆的纵向位置Px代入自车左右车道线的车道线函数中，其中，该车道线函数公式为 Y＝C0+C1*x+C2*x2+C3*x3，分别求出自车距离自车左右车道线的横向矢量距离值YL与YR；
车道判定：再将自车与前方车辆的横向矢量距离Py分别与YL、YR按照下表1对比，判断前方车辆所在的左中右车道情况(以上各情况均默认自车行驶在中间车道)：
表1
左右车道线位置占比计算：判断出前方车辆所属车道后，参见图6，可计算出不同车道中前方车辆距离自车车道左车道线或右车道线的矢量距离DL(图6实施例以前方车辆位于自车左车道为例)，进而按照图5求得DL占自车处车道宽W的百分比DL_Pct,具体计算过程详见表1。
屏显横向位置显示：最后ADAS可视化模块将计算得出的各前方车辆距离自车车道左车道线或右车道线的矢量距离DL占自车处车道宽W的车道百分比信号DL_Pct、以及前方车辆所属车道信号传输给屏显模块，供其对前方车辆的横向位置进行显示。
2、前方车辆的纵向位置显示
目前市场上对前方车辆的纵向显示常见有两种做法：
按照实际能显示的距离来显示前方车辆，这样可以最大限度还原实时路况。但是由于传感器误差，可能会出现远处车辆显示不准或者抖动的问题，同时由于仪表纵向尺寸受限，还会带来仪表上显示的车 辆模型较小的问题。
只显示较近的前方车辆(如50米以内)，这样可以优化视觉体验规避远方车辆抖动或显示不准的问题，但会出现ADAS功能动作但是相应车辆并未在仪表显示而造成顾客不适感的问题
由于前述两种方法在显示前方车辆纵向排列时存在很大的不足，所以，针对车辆的纵向位置显示问题，本发明提出了一种分段式显示纵向车辆位置方法，做到尽可能还原实际路况的情况下提供顾客较好的视觉体验感。
如图7至图8所示，本发明智能驾驶辅助系统的前方车辆显示方法中，前方车辆纵向位置显示步骤的具体过程如下：
区域分区：将仪表纵向显示区域分为区域1和区域2两个部分，区域1占纵向显示区域的X％(可标定，占屏幕的绝大部分，譬如90％)，区域2占纵向显示区域的1-X％，一般设定50≤X≤100；
各区域位置关系：区域1用来显示近处车辆显示终点位置Lgt_Lim(按照显示效果标定)，区域2用于显示近处车辆显示终点位置Lgt_Lim与远处车辆显示最远位置Lgt_Max(可标定)之间的车辆；
区域一前方车辆静态模型：区域一内仪表每个车道上只显示一个前方车辆模型，为每车道离自车最近的一台前方车辆，其模型大小Size_min＝(1-X％)*L,L为仪表显示区域的纵向尺寸，其纵向位置一直保持在仪表的X％位置处；
区域一前方车辆动态模型：当前方车辆在区域1内运行时，其模型大小及纵向位置根据纵向位置Px按线性比例Px_Pct调节，其中Px_Pct计算逻辑如下所示：
Px_Pct＝(Px*X％)/Lgt_Lim；
各个前方车辆位置排布：前方车辆在屏显上的纵向显示位置为屏 显显示区域自下而上的Px_Pct处，前方车辆的模型大小为：
Size_zone1＝-(Size_base-Size_min)/X％*PX_Pct+Size_base,
其中，Size_base为基准模型大小，为前方车辆在Px＝0处的模型大小。
具体效果参见图9，图9显示了前方车辆模型大小与其在仪表纵向占比的关系。
以上即为本发明智能驾驶辅助系统的前方车辆显示方法的完整流程。
参见图10，本发明智能驾驶辅助系统的前方车辆显示装置，包括智能驾驶辅助系统，所述智能驾驶辅助系统包括如下部分：
感知融合模块：在自车行驶过程中，基于车辆传感器实时采集的信息并结合算法输出前方车辆相对于自车的横向矢量距离和纵向矢量距离，同时输出自车行驶车道左右车道线的参数信息；所述车辆传感器实时采集的信息包括前方车辆的位置、速度、车头朝向及车道线信息；
ADAS可视化模块：基于所述参数信息，分别从前方车辆的横向位置、前方车辆与车道线的相对位置关系以及各个前方车辆之间纵向位置关系进行计算，分别得到前方车辆在显示屏幕中的横向位置显示和纵向位置显示，再将横向位置显示和纵向位置显示的参数信号输送给显示屏供其显示，其中，默认自车行驶的同向车道车道宽相同。
参见图11，本发明计算机系统，该计算机系统包括智能驾驶辅助系统的前方车辆显示装置。
当然，作为本发明的优选实施例，为提升仪表人机交互体验，可以通过提升传感器精度并引入激光雷达，同时升级屏显运算能力及增大屏显显示区域，显示实时路况信息时将提供更好的显示效果。
本发明的技术关键点和技术原理在于：
1.对于前方车辆的横向显示，引入了车道线方程作为参考基准，通过计算前方车辆与车道线的相对位置得出其占自车车道的百分比，让屏显按照各车道百分比的方式来横向显示车道，而不是常见的直接用前方车辆相对自车的横向距离来显示。
2.对于前方车辆的纵向显示，采用了分段式显示方法，定义了该方法下最小车辆模型的计算方法。在区域1中定义了前方车辆纵向距离Px与屏显上显示的纵向百分比及车辆模型大小的关系。
缩略语和关键术语定义
ADAS(Advanced Driver Assistance Systems):高级驾驶辅助系统
AD(Autonomous Driving):自动驾驶
HMI(Human Machine Interface)：人机交互
ADAS可视化模块：用来实时显示ADAS车辆所处路况上的前方车辆及车道线情况，以提供给用户良好的交互体验
前方车辆：除自车外，需要在仪表上显示的前方车辆
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。
本说明书中未作详细描述的内容属于本领域专业技术人员公知的现有技术。

Claims (10)

  1. 一种智能驾驶辅助系统的前方车辆显示方法，其特征在于：利用智能驾驶辅助系统，包括如下步骤：
    提取参数：在自车行驶过程中，基于车辆传感器实时采集的信息并结合算法输出前方车辆相对于自车的横向矢量距离和纵向矢量距离，同时输出自车行驶车道左右车道线的参数信息；所述车辆传感器实时采集的信息包括前方车辆的位置、速度、车头朝向及车道线信息；
    屏显位置确定：基于所述参数信息，分别从前方车辆的横向位置、前方车辆与车道线的相对位置关系以及各个前方车辆之间纵向位置关系进行计算，分别得到前方车辆在显示屏幕中的横向位置显示和纵向位置显示，再将横向位置显示和纵向位置显示的参数信号输送给显示屏供其显示，其中，默认自车行驶的同向车道车道宽相同。
  2. 根据权利要求1所述的智能驾驶辅助系统的前方车辆显示方法，其特征在于：所述屏显位置确定步骤的具体过程如下：
    前方车辆横向位置显示：计算前方车辆所属车道，求取前方车辆横向距离参数与自车处车道宽的比值，并将前方车辆所属车道与求得的比值传送给显示屏，以便显示前方车辆横向位置；
    前方车辆纵向位置显示：采用分段式纵向车辆位置显示方法，将屏幕纵向位置分成两块，区域一显示近处车辆，区域二显示远处车辆，区域内车辆模型大小按离自车距离远近线性设置。
  3. 根据权利要求2所述的智能驾驶辅助系统的前方车辆显示方法，其特征在于：所述前方车辆横向位置显示步骤的具体过程如下：
    判断车道：根据所述参数信息，先将自车和前方车辆的横向矢量距离与车道线算法结合起来判断前方车辆所属车道；
    左右车道线位置占比计算：判断出前方车辆所属车道后，计算各 个车道中前方车辆距离自车车道左车道线或右车道线的矢量距离，进而求得矢量距离占自车处车道宽的百分比；
    屏显横向位置显示：将计算得出的各前方车辆距离自车车道左车道线或右车道线的矢量距离占自车处车道宽的百分比信号与前方车辆所属车道信号传输给显示屏，供屏显模块对前方车辆的横向位置进行显示。
  4. 根据权利要求3所述的智能驾驶辅助系统的前方车辆显示方法，其特征在于：所述判断车道步骤中，判断前方车辆所属车道的具体过程如下：
    自车距左右车道线距离求解：通过将前方车辆的纵向矢量距离Px代入自车左右车道线的车道线函数中，分别求出自车距离自车左右车道线的横向矢量距离值YL与YR，其中，车道线函数为Y＝C0+C1*x+C2*x2+C3*x3；
    车道判定：再将自车与前方车辆的横向矢量距离Py与分别YL和YR对比，判断前方车辆所在的左中右车道情况：
    1)当Py＞YL时，前方车辆位于左车道；
    2)当YL≥Py≥YR时，前方车辆位于自车所在的中间车道；
    3)当YR＞Py时，前方车辆位于右车道；
    以上三种情况均默认自车行驶在中间车道。
  5. 根据权利要求4所述的智能驾驶辅助系统的前方车辆显示方法，其特征在于：所述左右车道线位置占比计算步骤中，各个车道中前方车辆距离自车车道左车道线或右车道线的矢量距离DL的计算过程如下：
    1)当前方车辆位于左车道时，DL＝Py－YL；
    2)当前方车辆位于自车所在的中间车道时，DL＝YL－Py；
    3)当前方车辆位于右车道时，DL＝YR－Py。
  6. 根据权利要求5所述的智能驾驶辅助系统的前方车辆显示方法，其特征在于：所述左右车道线位置占比计算步骤中，前方车辆距离自车车道左车道线或右车道线的矢量距离DL占自车处车道宽W的百分比DL_Pct的计算过程如下：
    1)自车处车道宽W＝YL－YR；
    2)当前方车辆位于左车道时，DL_Pct＝(Py－YL)/(YL－YR)；
    3)当前方车辆位于自车所在的中间车道时，DL_Pct＝(YL－Py)/(YL－YR)；
    4)当前方车辆位于右车道时，DL_Pct＝(YR－Py)/(YL－YR)。
  7. 根据权利要求6所述的智能驾驶辅助系统的前方车辆显示方法，其特征在于：所述前方车辆纵向位置显示步骤的具体过程如下：
    区域分区：将仪表纵向显示区域分为区域一和区域二两个部分，区域一占纵向显示区域的X％，区域二占纵向显示区域的1-X％；
    各区域位置关系：区域一显示近处车辆显示终点位置Lgt_Lim，区域二用于显示近处车辆显示终点位置Lgt_Lim与远处车辆显示最远位置Lgt_Max之间的车辆；
    区域一前方车辆静态模型：区域一内仪表每个车道上只显示一个前方车辆模型，为每车道离自车最近的前方车辆，该前方车辆的模型大小Size_min＝(1-X％)*L,L为仪表显示区域的纵向尺寸，该前方车辆的纵向位置一直保持在仪表的X％位置处；
    区域一前方车辆动态模型：当前方车辆在区域一内运行时，其模型大小及纵向位置根据纵向位置Px按线性比例Px_Pct调节，其中Px_Pct计算逻辑如下所示：
    Px_Pct＝(Px*X％)/Lgt_Lim；
    各个前方车辆位置排布：前方车辆在屏显上的纵向显示位置为屏显显示区域自下而上的Px_Pct处，前方车辆的模型大小为：
    Size_zone1＝-(Size_base-Size_min)/X％*PX_Pct+Size_base,
    其中，Size_base为基准模型大小，为前方车辆在Px＝0处的模型大小。
  8. 根据权利要求7所述的智能驾驶辅助系统的前方车辆显示方法，其特征在于：所述提取参数步骤中，ADAS可视化模块所用坐标系以车辆中轴线与相机水平线交点所对应的地面为车辆坐标系原点，前向为X，向前为正，侧向为Y，向左为正；
    其中，采集的位置信息及车道线参数如下：
    Py:自车后轴中心与前方车辆后轴中心在Y方向的矢量距离；
    Px:自车前保中心到前方车辆后保中心的在X方向的矢量距离；
    C0_L0：左车道线距离自车后轴中心的横向矢量距离；
    C0_RO：右车道线距离自车后轴中心的横向矢量距离；
    C1_L0：左车道线转弯处的切线与左车道线直道直线的夹角；
    C1_R0：右车道线转弯处的切线与右车道线直道直线的夹角；
    C2_L0：左车道线转弯处的曲率；
    C2_R0：右车道线转弯处的曲率；
    C3_L0：左车道线转弯处的曲率变化率；
    C3_R0：右车道线转弯处的曲率变化率。
  9. 一种智能驾驶辅助系统的前方车辆显示装置，包括智能驾驶辅助系统，其特征在于：所述智能驾驶辅助系统包括如下部分：
    感知融合模块：在自车行驶过程中，基于车辆传感器实时采集的信息并结合算法输出前方车辆相对于自车的横向矢量距离和纵向矢量距离，同时输出自车行驶车道左右车道线的参数信息；所述车辆传 感器实时采集的信息包括前方车辆的位置、速度、车头朝向及车道线信息；
    ADAS可视化模块：基于所述参数信息，分别从前方车辆的横向位置、前方车辆与车道线的相对位置关系以及各个前方车辆之间纵向位置关系进行计算，分别得到前方车辆在显示屏幕中的横向位置显示和纵向位置显示，再将横向位置显示和纵向位置显示的参数信号输送给显示屏供其显示，其中，默认自车行驶的同向车道车道宽相同。
  10. 一种计算机系统，其特征在于：该计算机系统包括如权利要求9所述的智能驾驶辅助系统的前方车辆显示装置。
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