CN-121994265-A - Navigation information rendering method and electronic equipment

CN121994265ACN 121994265 ACN121994265 ACN 121994265ACN-121994265-A

Abstract

The application provides a navigation information rendering method and electronic equipment, wherein the method comprises the steps of determining a target identifier of navigation information rendering of a vehicle according to configuration information of the vehicle, wherein the target identifier comprises a paving line identifier or an AR arrow identifier; the method comprises the steps of acquiring running data of a vehicle in real time, determining an initial path point set of the vehicle according to the running data and configuration information, correcting the initial path point set according to the running data to obtain a target path point set of the vehicle, generating a target curve according to the target path point set, rendering the target curve into a path visualization picture in real time according to a target mark, and displaying the path visualization picture in real time through a vehicle-mounted display terminal so as to improve the intuitiveness and accuracy of navigation information rendering.

Inventors

YUAN YILEI
LI DONG
LING ZHEN

Assignees

浙江水晶光电科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260318

Claims (10)

1. A navigation information rendering method, characterized by comprising: Determining a target identifier rendered by navigation information of a vehicle according to configuration information of the vehicle, wherein the target identifier comprises a paving line identifier or an AR arrow identifier; acquiring running data of a vehicle in real time, and determining an initial path point set of the vehicle according to the running data and the configuration information; correcting the initial path point set according to the driving data to obtain a target path point set of the vehicle; generating a target curve according to the target path point set, rendering the target curve into a path visual picture in real time according to the target mark, and displaying the path visual picture in real time through a vehicle-mounted display terminal.
2. The method of claim 1, wherein the configuration information includes at least one of a vehicle VIN code, bus parameters; the determining the target identifier of the navigation information rendering of the vehicle according to the configuration information of the vehicle comprises the following steps: Determining whether the vehicle is provided with an intelligent driving system according to the VIN code of the vehicle or the bus parameter; If yes, determining a target mark rendered by navigation information of the vehicle as the paving line mark; otherwise, determining the target mark rendered by the navigation information of the vehicle as the AR arrow mark.
3. The method of claim 1, wherein the determining the initial set of path points for the vehicle based on the travel data and the configuration information comprises: Determining a current driving scene of the vehicle according to the driving data, wherein the current driving scene comprises a straight driving scene or a turning scene; And determining an initial path point set of the vehicle according to the current running scene and the configuration information.
4. A method according to claim 3, wherein said determining an initial set of path points for the vehicle based on the current driving scenario and the configuration information comprises: if the current driving scene is the straight driving scene and the intelligent driving system is determined to be carried on the vehicle according to the configuration information, taking a lane line point set planned by the intelligent driving system as an initial path point set of the vehicle; If the current driving scene is the turning scene and the intelligent driving system is carried by the vehicle according to the configuration information, invoking a track point set of the intelligent driving system as an initial path point set of the vehicle; If the intelligent driving system is not mounted on the vehicle according to the configuration information, determining a path point set of a preset distance in front of the vehicle according to a current longitude and latitude matching map of the vehicle, and taking the path point set of the preset distance in front of the vehicle as an initial path point set of the vehicle.
5. The method of claim 1, wherein the modifying the initial set of path points based on the travel data to obtain the set of target path points for the vehicle comprises: If the initial path point set is a lane line point set or a track point set, performing IMU delay compensation on the initial path point set according to the driving data to obtain a compensated initial path point set, performing coordinate conversion on each path point in the compensated initial path point set to obtain a first converted path point set, and taking the first converted path point set as a target path point set of the vehicle; If the initial path point set is a path point set with a preset distance in front of the vehicle, performing coordinate conversion on each path point in the initial path point set to obtain a second converted path point set, and taking the second converted path point set as a target path point set of the vehicle.
6. The method of claim 5, wherein performing IMU delay compensation on the initial set of path points according to the driving data to obtain a compensated initial set of path points, comprising: Determining the delay of the initial path point set according to the acquisition time stamp and the current time of the initial path point set; according to the time delay and the current angular velocity of the vehicle in the running data, determining a course angle change amount corresponding to the time delay and a displacement change amount of the vehicle running along the current course; And determining the compensated coordinates of each path point to be compensated according to the current course angle of the vehicle in the driving data and the coordinates of each path point to be compensated in the initial path point set, the course angle variation and the displacement variation, and obtaining the initial path point set after compensation according to the compensated coordinates of each path point to be compensated.
7. The method of claim 5, wherein the transforming the coordinates of each of the set of initial waypoints to obtain a second set of transformed waypoints comprises: determining a direction vector from the current coordinate to the coordinate of each path point to be converted and a direction angle of each direction vector according to the current coordinate of the vehicle and the coordinate of each path point to be converted in the initial path point set; Determining an included angle between the current course angle and the direction angle of each direction vector according to the current course angle of the vehicle in the running data and the direction angle of each direction vector; And determining each two-dimensional rotation matrix according to each included angle, the current coordinates of the vehicle and the coordinates of each path point to be converted, determining the converted coordinates of each path point to be converted according to each two-dimensional rotation matrix, and obtaining the second path point set after conversion according to the converted coordinates of each path point to be converted.
8. The method of claim 1, wherein generating a target curve from the set of target path points comprises: fitting to generate a cubic Bezier curve according to the target path point set; And correcting the control point parameters of the cubic Bezier curve by adopting a least square method according to the target path point set to obtain the target curve.
9. The method of claim 1, wherein the rendering the target curve in real time as a path visualization based on the target identification comprises: If the target mark is a paving line mark, generating a path visual picture according to the paving line rendering of the whole lane width of the target curve fitting; if the target mark is an AR arrow mark, determining an arrow flight path according to the target curve, determining a tangent line and curvature of the target curve, determining a target course angle according to the tangent line of the target curve, determining a target rolling angle according to the curvature of the target curve, and performing AR arrow rendering according to the arrow flight path, the target course angle and the target rolling angle to generate a path visualization picture.
10. An electronic device comprising a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor in communication with the memory via the bus when the electronic device is in operation, the processor executing the machine-readable instructions to perform the steps of the navigation information rendering method of any of claims 1 to 9.

Description

Navigation information rendering method and electronic equipment Technical Field The application relates to the technical field of vehicle navigation, in particular to a navigation information rendering method and electronic equipment. Background In the vehicle navigation process, an Augmented reality head-Up Display (AR-HUD) projects navigation information such as a guiding arrow to a front windshield, and virtual-real combined driving guidance is realized through path visual rendering. Currently, track points or map path points (WayPoint) output by an advanced driving assistance system (ADVANCED DRIVER ASSISTANCE SYSTEMS, abbreviated as ADAS) are generally directly adopted for rendering, but serious defects exist. On one hand, the ADAS point set has time delay of 100-300ms, the uncompensated rendering can cause the arrow to be obviously deviated from the real vehicle position and have delay dislocation, and on the other hand, the ADAS point set is directly rendered based on the map WayPoint and is easy to have direction deviation with the vehicle course. Therefore, the path navigation information rendering method in the prior art has a certain limitation. Disclosure of Invention The application aims to provide a navigation information rendering method and electronic equipment aiming at the defects in the prior art, so as to solve the problem of the actual need that the path navigation information rendering method in the prior art has certain limitation. In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows: In a first aspect, an embodiment of the present application provides a navigation information rendering method, where the method includes: Determining a target identifier rendered by navigation information of a vehicle according to configuration information of the vehicle, wherein the target identifier comprises a paving line identifier or an AR arrow identifier; acquiring running data of a vehicle in real time, and determining an initial path point set of the vehicle according to the running data and the configuration information; correcting the initial path point set according to the driving data to obtain a target path point set of the vehicle; generating a target curve according to the target path point set, rendering the target curve into a path visual picture in real time according to the target mark, and displaying the path visual picture in real time through a vehicle-mounted display terminal. As an optional implementation manner, the configuration information includes at least one of a vehicle VIN code and a bus parameter; the determining the target identifier of the navigation information rendering of the vehicle according to the configuration information of the vehicle comprises the following steps: Determining whether the vehicle is provided with an intelligent driving system according to the VIN code of the vehicle or the bus parameter; If yes, determining a target mark rendered by navigation information of the vehicle as the paving line mark; otherwise, determining the target mark rendered by the navigation information of the vehicle as the AR arrow mark. As an optional implementation manner, the determining the initial set of path points of the vehicle according to the driving data and the configuration information includes: Determining a current driving scene of the vehicle according to the driving data, wherein the current driving scene comprises a straight driving scene or a turning scene; And determining an initial path point set of the vehicle according to the current running scene and the configuration information. As an optional implementation manner, the determining the initial set of path points of the vehicle according to the current driving scene and the configuration information includes: if the current driving scene is the straight driving scene and the intelligent driving system is determined to be carried on the vehicle according to the configuration information, taking a lane line point set planned by the intelligent driving system as an initial path point set of the vehicle; If the current driving scene is the turning scene and the intelligent driving system is carried by the vehicle according to the configuration information, invoking a track point set of the intelligent driving system as an initial path point set of the vehicle; If the intelligent driving system is not mounted on the vehicle according to the configuration information, determining a path point set of a preset distance in front of the vehicle according to a current longitude and latitude matching map of the vehicle, and taking the path point set of the preset distance in front of the vehicle as an initial path point set of the vehicle. As an optional implementation manner, the correcting the initial path point set according to the driving data to obtain a target path point set of the vehicle includes: If the initial path point set is a lane