WO2024032149A1 - 一种显示方法、控制装置和车辆 - Google Patents

一种显示方法、控制装置和车辆 Download PDF

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Publication number
WO2024032149A1
WO2024032149A1 PCT/CN2023/100502 CN2023100502W WO2024032149A1 WO 2024032149 A1 WO2024032149 A1 WO 2024032149A1 CN 2023100502 W CN2023100502 W CN 2023100502W WO 2024032149 A1 WO2024032149 A1 WO 2024032149A1
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WO
WIPO (PCT)
Prior art keywords
lane
vehicle
display area
display
task
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/100502
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English (en)
French (fr)
Inventor
王君霞
胡文潇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP23851376.6A priority Critical patent/EP4563434A4/en
Publication of WO2024032149A1 publication Critical patent/WO2024032149A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60K2360/176—Camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Definitions

  • Embodiments of the present application relate to the field of intelligent driving, and more specifically, to a display method, a control device and a vehicle.
  • a virtual scene can be displayed on the display screen in the vehicle cockpit to prompt the vehicle's automatic lane changing intention and surrounding environment information. Due to the limited field of view of the virtual scene and the possibility of displaying other vehicles or unstable environments, this may cause driver anxiety and lead to poor user experience.
  • Embodiments of the present application provide a display method, a control device and a vehicle, which help to improve the user's driving experience during automatic lane changing.
  • the mobile carrier in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc.
  • the mobile carrier can be a vehicle, which is a vehicle in a broad sense, and can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.) etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawn mowers, harvesters, etc.), amusement equipment, toy vehicles, etc.
  • the embodiments of this application do not specifically limit the types of vehicles.
  • the mobile carrier can be a vehicle such as an airplane or a ship.
  • a display method which method includes: obtaining an automatic lane change task, which is used to instruct the vehicle to automatically change from the first lane to the second lane; before executing the automatic lane change task, The blind spot image of the second lane is displayed through the first display area, and the blind spot image of the second lane is acquired by a camera device outside the vehicle cabin.
  • the blind spot image can be displayed through the first display area. In this way, it helps to avoid the process of the driver's eyes switching back and forth between the on-board display and the rearview mirror, and also helps to avoid the driver's anxiety when confirming the execution status of the automatic lane change task and the blind spot image of the target lane. This helps improve the user’s driving experience.
  • the above display of the blind spot image of the second lane also helps to avoid the process of the user's sight switching back and forth between the vehicle's driving direction and the rearview mirror, further reducing the driver's anxiety during automatic lane changing.
  • obtaining the automatic lane changing task includes: when the vehicle is in the automatic lane changing state, generating the automatic lane changing task and prompting the user to confirm the automatic lane changing task. ;
  • displaying the blind spot image of the second lane through the first display area includes: displaying the blind spot image of the second lane through the first display area when detecting the user's operation to confirm the automatic lane change task.
  • the vehicle when the vehicle plans an automatic lane change task, it can prompt the user to confirm the automatic lane change task.
  • the blind spot image of the second lane may be displayed. In this way, it helps to avoid the process of the driver's eyes switching back and forth between the on-board display and the rearview mirror, and also helps to avoid the driver's anxiety when confirming the execution status of the automatic lane change task and the blind spot image of the target lane. This helps improve the user's driving experience.
  • the vehicle being in the automatic lane change state includes the vehicle detecting that the user has activated the automatic lane change assist function.
  • the automatic lane change assist function includes, but is not limited to, a navigation assist (navigation cruise assist, NCA) function or an intelligent cruise assist (integrated cruise assist, ICA) function.
  • obtaining an automatic lane change task includes: generating an automatic lane change task when the vehicle is not in an automatic lane change state and a user's preset operation is detected;
  • displaying the blind spot image of the second lane through the first display area includes: displaying the blind spot image of the second lane through the first display area when the preset operation is detected.
  • the automatic lane changing task when the vehicle is not in the automatic lane changing state and the user's preset operation is detected, the automatic lane changing task can be generated. service.
  • the blind spot image of the second lane may be displayed. In this way, it helps to avoid the process of the driver's eyes switching back and forth between the on-board display and the rearview mirror, and also helps to avoid the driver's anxiety when confirming the execution status of the automatic lane change task and the blind spot image of the target lane. This helps improve the user's driving experience.
  • obtaining the automatic lane changing task includes: generating the automatic lane changing task when the vehicle is in an automatic lane changing state; wherein, passing through the first display area Displaying the blind spot image of the second lane includes: displaying the blind spot image of the second lane through the first display area when generating the automatic lane change task.
  • the vehicle when the vehicle generates an automatic lane change task and does not require the user to confirm the automatic lane change task, the vehicle can display the blind spot image of the second lane. In this way, it helps to avoid the process of the driver's eyes switching back and forth between the on-board display and the rearview mirror, and also helps to avoid the driver's anxiety when confirming the execution status of the automatic lane change task and the blind spot image of the target lane. This helps improve the user's driving experience.
  • the method before displaying the blind spot image of the second lane through the first display area, the method further includes: based on the relative positions of the first lane and the second lane relationship to determine the first display area.
  • the first display area is determined based on the relative position relationship between the current lane and the target lane.
  • the display position of such blind spot images is more in line with the driver's habits and helps improve the user's driving experience.
  • the first display area is a display area in the instrument screen.
  • the blind spot image of the second lane can be displayed on the left area of the instrument screen.
  • the blind spot image of the second lane can be displayed on the right area of the instrument screen.
  • the vehicle includes an instrument screen and a central control screen
  • the method further includes: displaying a virtual scene through a second display area, the virtual scene including the vehicle and the surroundings of the vehicle information of the environment; wherein, the first display area and the second display area are display areas in the instrument screen; or, the first display area is a display area in the central control screen, and the second display area is The display area in this instrument screen.
  • the blind spot image can make up for the shortcomings of the virtual scene's small observation range and short observation distance of the blind spots on the side and rear of the vehicle. It can also make up for the shortcomings of inaccurate detection or unstable display of the virtual scene, helping to improve the automatic lane changing process. vehicle safety.
  • the method further includes: displaying prompt information through the first display area during execution of the automatic lane changing task, the prompt information being used to prompt the third Traffic safety status of two lanes.
  • prompt information for prompting the traffic safety status of the second lane can also be displayed through the first display area, which facilitates the user to timely determine the second lane through the prompt information. Whether the lane is safe; at the same time, the driver can combine the prompt information and the execution status of the automatic lane change task to determine whether the current vehicle is making a safe lane change, which helps to improve the user's driving experience.
  • the traffic safety status of the second lane includes information indicating that the second lane is safe, that there is an oncoming vehicle in the second lane, that the second lane is dangerous, or that there is a solid line between the first lane and the second lane. information.
  • the method further includes: hiding the blind spot image when completing the automatic lane changing task.
  • the vehicle can hide the blind spot image when completing the automatic lane change task. This can avoid the interference of the blind spot image to the user and help improve the user's driving experience; at the same time, it also helps to avoid the waste of vehicle power consumption.
  • a control device in a second aspect, includes: an acquisition unit, used to acquire an automatic lane change task, which is used to instruct the vehicle to automatically change from the first lane to the second lane; the control unit, For controlling the first display area to display the blind spot image of the second lane before executing the automatic lane changing task, and the blind spot image of the second lane is acquired by a camera device outside the vehicle cabin.
  • the device further includes a detection unit, and the acquisition unit is configured to: when the vehicle is in an automatic lane change state, generate the automatic lane change task and prompt the user for confirmation.
  • the automatic lane changing task; the control unit is configured to control the first display area to display the blind spot image of the second lane when the detection unit detects the user's operation to confirm the automatic lane changing task.
  • the device further includes a detection unit, the acquisition unit is configured to: when the vehicle is not in an automatic lane changing state and a user's preset operation is detected, generate Automatic lane changing task; the control unit is configured to: when the detection unit detects the preset operation, control the first display area to display the blind spot image of the second lane.
  • the acquisition unit is used to: when the vehicle is in an automatic lane changing state when the automatic lane change task is generated; the control unit is configured to: when the acquisition unit generates the automatic lane change task, control the first display area to display the blind spot image of the second lane.
  • the device further includes a determining unit configured to determine the blind spot image of the second lane according to the control unit before the control unit controls the first display area to display the blind spot image of the second lane.
  • the relative positional relationship between the first lane and the second lane determines the first display area.
  • the vehicle includes an instrument screen and a central control screen
  • the control unit is also used to: control the second display area to display a virtual scene, where the virtual scene includes the vehicle and Information about the environment around the vehicle; wherein, the first display area and the second display area are display areas in the instrument screen; or, the first display area is a display area in the central control screen, and the second display area The display area is the display area in the instrument screen.
  • control unit is also used to control the first display area to display prompt information during the execution of the automatic lane changing task, and the prompt information is used to prompt The traffic safety status of the second lane.
  • control unit is also used to hide the blind spot image when completing the automatic lane changing task.
  • a control device in a third aspect, includes at least one processor and an interface circuit.
  • the processor communicates with the display device through the interface circuit; the at least one processor is used to perform any one of the above first aspects.
  • the method controls the display interface of the display device.
  • the display device is a vehicle-mounted display screen.
  • a control device in a fourth aspect, includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit, so that the device executes any one of the first aspects. Possible ways.
  • the above-mentioned processing unit may include at least one processor, and the above-mentioned storage unit may be a memory, where the memory may be a storage unit within the chip (for example, a register, cache, etc.), or it may be a storage unit outside the chip in the vehicle. (For example, read-only memory, random access memory, etc.).
  • a display system in a fifth aspect, includes a computing platform and a display device.
  • the computing platform includes the device described in any one of the above second, third or fourth aspects.
  • the display device is a vehicle-mounted display screen.
  • a sixth aspect provides a mobile carrier, which includes the device described in any one of the second, third or fourth aspects, or the mobile carrier includes the display described in the fifth aspect. system.
  • the mobile carrier is a vehicle.
  • a computer program product includes: computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to perform any of the possible methods in the first aspect.
  • the above computer program code can be stored in whole or in part on the first storage medium, where the first storage medium can be packaged together with the processor, or can be packaged separately from the processor. This is not the case in the embodiments of this application. Specific limitations.
  • a computer-readable medium stores program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to perform any of the possible methods in the first aspect. .
  • inventions of the present application provide a chip system.
  • the chip system includes a processor for calling a computer program or computer instructions stored in a memory, so that the processor executes any of the possible methods of the first aspect. method.
  • the processor is coupled with the memory through an interface.
  • the chip system further includes a memory, and a computer program or computer instructions are stored in the memory.
  • Figure 1 is a schematic functional block diagram of a vehicle provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of the distribution of display screens in an exemplary vehicle cabin provided by an embodiment of the present application.
  • Figure 3 is a set of graphical user interface GUI provided by an embodiment of the present application.
  • Figure 4 is another GUI provided by an embodiment of the present application.
  • Figure 5 is another set of GUI provided by the embodiment of the present application.
  • Figure 6 is another set of GUI provided by the embodiment of the present application.
  • Figure 7 is a schematic flow chart of the automatic lane changing method provided by the embodiment of the present application.
  • Figure 8 is another schematic flow chart of the display method provided by the embodiment of the present application.
  • Figure 9 is a schematic block diagram of a control device provided by an embodiment of the present application.
  • Prefixes such as “first” and “second” are used in the embodiments of this application only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects.
  • the use of ordinal words and other prefixes used to distinguish the described objects does not limit the described objects.
  • Words constitute redundant restrictions.
  • plural means two or more.
  • FIG. 1 is a functional block diagram of a vehicle 100 provided by an embodiment of the present application.
  • Vehicle 100 may include a perception system 120 , a display device 130 , and a computing platform 150 , where perception system 120 may include one or more sensors that sense information about the environment surrounding vehicle 100 .
  • the sensing system 120 may include a positioning system.
  • the positioning system may be a global positioning system (GPS), a Beidou system or other positioning systems, an inertial measurement unit (IMU), a lidar, a millimeter One or more of wave radar, ultrasonic radar and camera device.
  • GPS global positioning system
  • IMU inertial measurement unit
  • lidar a millimeter One or more of wave radar, ultrasonic radar and camera device.
  • the computing platform 150 may include one or more processors, such as processors 151 to 15n (n is a positive integer).
  • the processor is a circuit with signal processing capabilities.
  • the processor may be a circuit with instructions. Circuits with read and run capabilities, such as central processing unit (CPU), microprocessor, graphics processing unit (GPU) (can be understood as a microprocessor), or digital signal processor (digital signal processor, DSP), etc.; in another implementation, the processor can achieve certain functions through the logical relationship of the hardware circuit. The logical relationship of the hardware circuit is fixed or can be reconstructed.
  • the processor is a dedicated integrated Hardware circuits implemented by application-specific integrated circuit (ASIC) or programmable logic device (PLD), such as field programmable gate array (FPGA).
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field programmable gate array
  • the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units.
  • it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing Unit (deep learning processing unit, DPU), etc.
  • the computing platform 150 may also include a memory, which is used to store instructions. Some or all of the processors 151 to 15n may call instructions in the memory and execute the instructions to implement corresponding functions.
  • the display device 130 in the cockpit is mainly divided into two categories.
  • the first category is a vehicle-mounted display screen;
  • the second category is a projection display screen, such as a head-up display (HUD).
  • the vehicle display screen is a physical display screen and an important part of the vehicle infotainment system.
  • There can be multiple displays in the cockpit such as digital instrument display, central control screen, passenger in the co-pilot seat (also known as The display in front of the front passenger), the display in front of the left rear passenger, the display in front of the right rear passenger, and even the car window can be used as a display.
  • Head-up display also known as head-up display system. It is mainly used to display driving information such as speed and navigation on the display device in front of the driver (such as the windshield).
  • HUD includes, for example, combined head-up display (combiner-HUD, C-HUD) system, windshield-type head-up display (windshield-HUD, W-HUD) system, and augmented reality head-up display system (augmented reality HUD, AR-HUD). It should be understood that HUD may also include other types of systems as technology evolves, and this application does not limit this.
  • FIG. 2 shows a schematic diagram of the distribution of display screens in an exemplary vehicle cabin provided by an embodiment of the present application.
  • the vehicle's cockpit may include an instrument screen 201, a display screen 202 (or it can also be called a central control screen), a display screen 203 (or it can also be called a passenger entertainment screen), a display screen 204 ( Alternatively, it can also be called the entertainment screen in the left area of the second row) and the display screen 205 (or it can also be called the entertainment screen in the right area of the second row).
  • GUI graphical user interface
  • the cockpit may include a central control screen, a passenger entertainment screen, an entertainment screen in the left area of the second row, an entertainment screen in the right area of the second row, and an entertainment screen in the third row.
  • the cockpit may include a front row entertainment screen and a rear row entertainment screen; or, the cockpit may include a display screen in the driving area and an entertainment screen in the passenger area.
  • the entertainment screen in the passenger area can also be placed on the top of the cabin.
  • Automatic lane changing state 1 The vehicle changes lanes completely automatically. The driver is not required to participate in the operation and decision-making. The vehicle only prompts the driver that automatic lane change is about to occur, and the driver only acts as a supervisor for the vehicle to perform automatic lane change tasks. For example, before fully automatically changing lanes, a period of pop-up windows and sound effects will be used to remind the driver that the driver is about to change lanes automatically, so as to prepare the driver mentally for the lane change.
  • Automatic lane change state 2 The vehicle has planned an automatic lane change task, but needs to request confirmation from the driver before executing the automatic lane change task.
  • the vehicle detects the driver's preset actions (for example, turning a lever, lightly turning the steering wheel, manually clicking an operation button, etc.), the vehicle will automatically change lanes.
  • the driver is the executor of lane change confirmation.
  • Automatic lane change state three The vehicle has not planned to automatically change lanes, but the driver wants to actively change lanes at the moment. At this time, the driver can issue a lane change command to the vehicle through preset actions (for example, turning a lever, lightly turning the steering wheel, manually clicking an operation button, etc.). After receiving the instruction, the vehicle begins to plan and execute the automatic lane change task. In this case, the driver is the one who issues the lane change command.
  • the above vehicle being in the automatic lane changing state may include the vehicle detecting that the user has activated the NCA function or the ICA function.
  • the display changes of the vehicle display screen provided by the embodiment of the present application when the vehicle automatically changes lanes are introduced below in conjunction with several sets of graphical user interfaces (GUI) shown in Figures 3 to 6.
  • GUI graphical user interfaces
  • FIG. 3 shows a set of GUIs provided by the embodiment of the present application.
  • vehicle 1 is currently in the automatic lane changing state and is located in lane 1 .
  • the vehicle's display screen 202 includes a content display area 301 and a function bar 302.
  • the navigation interface of the vehicle map application is displayed in the current content display area 301.
  • the navigation interface includes avatar information 3011 of the user account logged in on the vehicle, Bluetooth function icon 3012, Wi-Fi function icon 3013, cellular network signal icon 3014 and vehicle map application search box 3015.
  • the vehicle map application search box 3015 may include a home control 30151 and a go to work control 30152 set by the user.
  • the function bar 302 includes an icon 3021 for switching to the display desktop, a vehicle internal circulation icon 3022, a main driver seat heating function icon 3023, a main driver area air conditioning temperature display icon 3024, a passenger area air conditioning temperature display icon 3025, and a passenger seat heating function icon. icon 3026 and volume setting icon 3027.
  • the instrument screen 201 of the vehicle includes a display area 303, a display area 304, and a display area 305.
  • the display area 303 can display vehicle navigation information (for example, prompting the user to turn right 2 kilometers ahead and the estimated driving time).
  • the display area 304 can display a virtual scene generated by data collected by sensors.
  • the virtual scene includes the own vehicle (for example, vehicle 1) and environmental information around the own vehicle (for example, information about other vehicles, lane line information, etc.). This virtual scene can assist the driver in automatically changing lanes.
  • the display area 305 can display the current speed of the vehicle (for example, 64 kilometers/hour), gear information (for example, the current vehicle 1 is in D gear), road speed limit value (for example, 100 kilometers/hour), and the minimum road speed. (for example, 70 kilometers/hour), remaining power (for example, 80%), and cruising range (for example, 460 kilometers), etc.
  • the display area 304 shown in (a) of Figure 3 above is explained using a two-dimensional (2D) virtual scene as an example, and the embodiments of the present application are not limited thereto. What is displayed in the display area 304 may also be a three-dimensional (3D) virtual scene.
  • the display area 304 displays the prompt message "Please turn the steering lever to confirm the lane change and enter the recommended lane"; at the same time, when the lever operation is detected, an image 306 can also be displayed through the display 202, and the image 306 is collected by a camera device outside the vehicle cockpit. Image of the blind spot in lane 2.
  • the driver can determine whether there is a risk in the process of changing vehicle 1 from lane 1 to lane 2 after seeing the image 306 displayed on the display screen 202 .
  • the driver confirms through image 306 that there is no safety risk when vehicle 1 changes from lane 1 to lane 2 or the driver determines that vehicle 1 currently needs to automatically change lanes, he can instruct vehicle 1 to perform an automatic lane change task by performing a lever operation.
  • vehicle 1 detects the user's lever operation, it can determine that the user has confirmed the automatic lane changing task, and thus can execute the automatic lane changing task.
  • prompt information for example, text prompts and/or color changes
  • the prompt information may be used to indicate the traffic safety of the target lane. state. For example, when the target lane is safe, the prompt information "Target lane is safe" may be displayed in a certain area of the image 306 , and/or green may be displayed in a certain area of the image 306 .
  • the above target lane safety can include vehicle 1 and any vehicle located behind and behind vehicle 1 and in lane 2 within the preset functional safety range, where the preset functional safety range includes targeting any one of vehicle 1 and lane 2 Judgment of distance information and relative speed judgment, etc.
  • the prompt message 307 "Automatic lane change has been completed" can be displayed on the instrument screen 201 of the vehicle; at the same time, vehicle 1 can also control the display screen 202 to hide The image 306.
  • the virtual scene when the vehicle plans an automatic lane change task, the virtual scene can be displayed on the instrument screen and the blind spot image of the target lane (for example, the above-mentioned lane 2) can be displayed on the central control screen.
  • the blind spot image makes up for the shortcomings of the virtual scene's small observation range and short observation distance of the blind spots on the side and rear of the vehicle. It also makes up for the shortcomings of inaccurate detection or unstable display of the virtual scene, helping to improve the safety of vehicles during automatic lane changes.
  • the automatic lane changing process avoids the driver's line of sight switching back and forth between the on-board display and the rearview mirror, and also avoids the driver having to confirm the execution status of the automatic lane changing task and the blind spot image of the target lane.
  • the anxiety generated during driving can help improve the user’s driving experience.
  • FIG. 4 shows another GUI provided by the embodiment of the present application.
  • the image 306 can be displayed in the display area 303 of the instrument screen 201 .
  • the prompt message "Please turn the steering wheel to confirm” can be displayed through the display area 304 Change lanes and enter the recommended lane"; at the same time, the image 306 can also be displayed through the display area 303 in the instrument screen 201. In this way, the driver can determine whether there is a risk in the process of changing vehicle 1 from lane 1 to lane 2 through the image 306 displayed on the instrument screen 201 .
  • prompt information may also be displayed on the image 306 .
  • the prompt information "Target lane is safe” may be displayed in a certain area of the image 306 , and/or green may be displayed in a certain area of the image 306 .
  • the virtual scene and the blind spot image of the target lane (for example, the above-mentioned lane 2) can be displayed on the instrument screen.
  • the driver can see the virtual scene and the blind spot image of the target lane through the instrument screen, further avoiding the driver's anxiety when confirming the execution status of the automatic lane change task and the blind spot image of the target lane. Helps improve users’ driving experience.
  • Figure 5 shows another set of GUIs provided by an embodiment of the present application. This set of GUIs plans the automatic lane changing task for the vehicle and does not require the driver to confirm the display process of the on-board display when the automatic lane changing task is performed.
  • vehicle 1 when vehicle 1 plans an automatic lane change task (for example, changing from lane 1 to position 1 in lane 2) and does not require the driver to confirm the lane change task, the display area 304 The prompt message "Automatic lane change is about to occur, please pay attention to driving safety" is displayed. At this time, vehicle 1 can also display the blind spot image of lane 2 through display area 303 . In this way, the driver can determine whether there is a risk in the process of changing vehicle 1 from lane 1 to lane 2 through the blind spot image displayed on the instrument screen 201 .
  • vehicle 1 when vehicle 1 determines that there is an oncoming vehicle in lane 2, the driver can be prompted through blind spot images and text to supervise the safety of the vehicle during automatic lane changing. If there is a safety risk in the target lane during the automatic lane change process, vehicle 1 can wait for an opportunity before changing lanes. At the same time, it can prompt the driver about the traffic safety status of the target lane and the execution status of the automatic lane change task. For example, vehicle 1 can display the prompt message "There is an oncoming vehicle in the target lane" on the image 306 and the prompt message "Waiting for lane change, please pay attention to driving safety" in the display area 304 .
  • vehicle 1 determines that there is an oncoming vehicle in lane 2, including: vehicle 1 determines that the distance between vehicle 1 and a vehicle located to the side and rear of vehicle 1 and in lane 2 is less than a preset distance.
  • vehicle 1 when vehicle 1 waits for a lane change timeout, vehicle 1 can exit the automatic lane change task.
  • prompt information may be displayed on the blind spot image of lane 2.
  • the prompt information “Target Lane Danger” may be displayed in a certain area of the blind spot image of Lane 2, and/or red may be displayed in a certain area of the image 306.
  • the prompt information "lane change timeout, countdown to exit automatic lane change” may be displayed in the prompt box in the display area 304, and/or the prompt box may be rendered red.
  • vehicle 1 may display the prompt information "Target lane is dangerous” on the blind spot image of lane 2 and display the prompt information "Lane change timeout, countdown to exit automatic lane change” in the display area 304.
  • the vehicle 1 may exit the automatic lane change task and hide the image 306 displayed in the display area 303 .
  • the virtual scene and the blind spot image of the target lane (for example, the above-mentioned lane 2) can be displayed on the instrument screen.
  • the driver can monitor the execution status of the automatic lane change task and the blind spot image of the target lane through the instrument screen.
  • the blind spot image makes up for the shortcomings of the virtual scene's small observation range and short observation distance of the blind spots on the side and rear of the vehicle. It also makes up for the shortcomings of inaccurate detection or unstable display of the virtual scene, helping to improve the safety of vehicles during automatic lane changes.
  • the driver supervises the vehicle's automatic lane change, it avoids the driver's line of sight switching back and forth between the on-board display and the rearview mirror, and also avoids the driver having to confirm the automatic lane change task execution status and
  • the anxiety generated by the blind spot image of the target lane can help improve the user's driving experience.
  • the following describes the display process of triggering vehicle generation and executing the automatic lane change task by detecting the driver's preset operation in conjunction with another set of GUI shown in Figure 6 .
  • the display area 303 in the instrument screen 201 can display the navigation information of the vehicle (for example, prompting the user to turn right 2 kilometers ahead and the estimated driving time).
  • the display area 304 may display a virtual scene generated by data collected by sensors.
  • the virtual scene includes the vehicle (for example, vehicle 1) and environmental information surrounding the vehicle.
  • the display area 305 can display the current speed of the vehicle (for example, 64 kilometers/hour), gear information (for example, the current vehicle 1 is in D gear), road speed limit value (for example, 100 kilometers/hour), and the minimum road speed. (for example, 70 kilometers/hour), remaining power (for example, 80%), and cruising range (for example, 460 kilometers), etc.
  • the vehicle 1 when detecting the user's lever operation, the vehicle 1 can determine that the driver wants the vehicle to perform an automatic lane change task, so that the automatic lane change task can be generated and executed. For example, vehicle 1 can determine that the user wants to change from lane 3 to lane 4 based on the direction of the user's lever. The vehicle 1 can display the prompt message "lever operation detected, automatic lane change is about to occur, please pay attention to driving safety" through the display area 304; at the same time, the vehicle 1 can also display an image 307 through the display area 305 in the instrument screen 201, and the image 307 is the vehicle cockpit. The image of the blind spot in lane 4 collected by the external camera device. In this way, the driver can determine whether there is a risk in the process of changing vehicle 1 from lane 3 to lane 4 through the image 307 displayed on the instrument screen 201 .
  • the vehicle 1 when the vehicle 1 detects the user's lever operation, it can determine whether the current surrounding environment of the vehicle meets the conditions for automatic lane change based on the operational design domain (ODD). For example, when the vehicle detects a solid line between lane 3 and lane 4, it can determine that the surrounding environment of the current vehicle does not meet the conditions for automatic lane change, so that the prompt message "Automatic lane change failed, the target lane is solid” can be displayed through the display area 304. line” and the prompt information "a solid line between the current lane and the target lane” can be displayed on the image 307.
  • ODD operational design domain
  • the blind spot image when the vehicle changes lanes to the left, the blind spot image can be displayed in the display area 303 on the left side of the instrument screen; when the vehicle changes lanes to the right, the blind spot image can be displayed on the right side of the instrument screen. in the display area 305.
  • the display position of such blind spot images is more in line with the driver's habits and helps improve the user's driving experience.
  • Figure 7 shows a schematic flow chart of the automatic lane changing method 700 provided by the embodiment of the present application. As shown in Figure 7, the method 700 includes:
  • the vehicle is in an automatic lane changing state, and an automatic lane changing task can be generated when an obstacle is detected in front of the vehicle in the current lane.
  • the method before generating the automatic lane changing task, the method further includes: determining that the vehicle is in an automatic lane changing state. For example, the vehicle detects that the user has activated the NCA or ICA function.
  • generating an automatic lane changing task includes: generating an automatic lane changing task when a user's preset operation is detected.
  • the above task of generating automatic lane change can also be understood as generating an active lane change intention.
  • the active lane change task can be handled by the user in two ways: (1) After the vehicle generates the active lane change task, it changes lanes completely automatically without user confirmation; (2) After the vehicle generates the active lane change task, it requires user confirmation Only then can the automatic lane changing task be performed.
  • the vehicle may actively plan an automatic lane change task, or the vehicle may plan an automatic lane change task when detecting the driver's preset operation.
  • the triggering conditions for a vehicle to actively plan a lane change task include but are not limited to one or more of the following: (1) the vehicle needs to change lanes according to the path that has been planned by the navigation; (2) there are other vehicles in the current lane, and the vehicle determination can be made Change lanes to overtake; (3) There are obstacles in the current lane, and the vehicle determines that it can change lanes.
  • S702 Determine whether the automatic lane changing task complies with the ODD range of lane changing.
  • the ODD range includes but is not limited to: there is a dotted line between the current lane and the target lane, the target lane is a non-bus-only lane, the driver is not in a hands-off state, and one of the minimum and maximum speeds that meet the automatic lane change Or more than one.
  • S703 can be executed; otherwise, S705 can be executed.
  • whether the current vehicle meets the traffic safety state may be determined based on the driving parameters of other objects around the vehicle (for example, the traffic flow status of other vehicles around the vehicle). For example, when the automatic lane change task is for the vehicle to change from lane 1 to lane 2 and the vehicle detects that another vehicle in lane 2 that is close to the current vehicle is about to merge into lane 1, the vehicle can determine that the current vehicle does not comply with the traffic requirements. safe status.
  • the driving parameters of other objects around the vehicle for example, the traffic flow status of other vehicles around the vehicle. For example, when the automatic lane change task is for the vehicle to change from lane 1 to lane 2 and the vehicle detects that another vehicle in lane 2 that is close to the current vehicle is about to merge into lane 1, the vehicle can determine that the current vehicle does not comply with the traffic requirements. safe status.
  • the shortest lane change preparation time may be 2 seconds.
  • S705 Determine whether the time from the time when the vehicle planned the automatic lane change task to the current time reaches the maximum lane change attempt time.
  • the longest lane change attempt time is 5 seconds.
  • the driver may be prompted to confirm the automatic lane change task.
  • prompt information can be displayed on the instrument screen to prompt the driver to confirm the automatic lane change task.
  • the prompt information can be displayed on the instrument screen and the voice prompt information can be sent through the speaker to prompt the driver to confirm the automatic lane change task, thereby prompting the driver to confirm the automatic lane change task.
  • the operation of the driver's lever or the voice command issued by the driver for example, "confirm lane change"
  • the blind spot image of the target lane can be displayed on the vehicle display screen.
  • the vehicle display screen may be an instrument screen or a central control screen.
  • the vehicle-mounted display screen is an instrument screen
  • displaying the blind spot image of the target lane through the vehicle-mounted display screen includes: displaying the blind spot image on the instrument screen according to the positional relationship between the target lane and the current lane.
  • the automatic lane change task can be canceled.
  • the automatic lane change task can be canceled.
  • operations to confirm the automatic lane change task include but are not limited to turning a lever, lightly turning the steering wheel, manually clicking an operation button, etc.
  • the traffic safety status can be divided into four levels: safe, generally unsafe, unsafe and severely unsafe.
  • the distance between another vehicle located in the target lane and behind the vehicle and the vehicle is greater than or equal to the preset threshold, and the other vehicle accelerates rapidly.
  • the vehicle's traffic status can be considered to be generally unsafe.
  • the vehicle's traffic can be considered The status is unsafe.
  • the vehicle changes lanes to the target lane on the left side of the current lane.
  • the left front wheel and left rear wheel have crossed the road dotted line and the right front wheel and right rear wheel have not crossed the road dotted line, it is detected that the vehicle is located in the target lane.
  • Another vehicle to the side and rear of the vehicle and located in the target lane suddenly accelerates If the speed and the distance to the vehicle is less than or equal to the preset value, the vehicle's traffic status can be considered to be seriously unsafe.
  • the lane change action can be performed until the lane change is completed.
  • the automatic lane change can also be completed by reducing the vehicle speed.
  • vehicle 1 finds that the distance between another vehicle in lane 2 and vehicle 1 is greater than or equal to the preset threshold, but the other vehicle is in In the acceleration state, the prompt message "Waiting for lane change, please pay attention to driving safety" can be displayed through the display area 304.
  • vehicle 1 can continue to perform the automatic lane changing task.
  • FIG. 8 shows a schematic flowchart of the display method 800 provided by the embodiment of the present application.
  • the method 800 may be executed by a vehicle, or the method 800 may be executed by the above-mentioned computing platform, or the method 800 may be executed by a display system composed of a computing platform and a display device (for example, a vehicle-mounted display screen), or the method 800
  • the method 800 may be executed by a system-on-a-chip (SOC) in the above computing platform, or the method 800 may be executed by a processor in the computing platform.
  • SOC system-on-a-chip
  • the method 800 includes:
  • S801 Obtain an automatic lane change task, which is used to instruct the vehicle to automatically change from the first lane to the second lane.
  • obtaining the automatic lane change task includes: when the vehicle is in the automatic lane change state, generating the automatic lane change task and prompting the user to confirm the automatic lane change task.
  • the vehicle being in the automatic lane changing state includes the vehicle detecting that the user activates the automatic lane changing function.
  • the automatic lane changing function includes but is not limited to NCA function or ICA function.
  • obtaining the automatic lane change task includes: generating an automatic lane change task when the vehicle is not in an automatic lane change state and a user's preset operation is detected.
  • the vehicle When the vehicle is not in the automatic lane change state, it can be determined that the user wants the vehicle to automatically change lanes by detecting the user's preset operation, so that the automatic lane change task can be generated.
  • obtaining the automatic lane changing task includes: obtaining the automatic lane changing task sent by the server.
  • the vehicle can send information about the surrounding environment detected by sensors to the server.
  • the server can determine whether the vehicle meets the conditions for automatic lane change based on information about the surrounding environment. If satisfied, the server can send the automatic lane change task to the vehicle.
  • obtaining the automatic lane change task includes: when the vehicle is in the automatic lane change state, generating the automatic lane change task and prompting the user to confirm the automatic lane change task.
  • displaying the blind spot image of the second lane through the first display area includes: displaying the blind spot image of the second lane through the first display area when detecting a user's operation to confirm the automatic lane change task.
  • vehicle 1 is in an automatic lane change state and requires the driver to confirm the automatic lane change task.
  • Vehicle 1 can generate the automatic lane change task and can display the prompt message "Please turn the steering lever to confirm the lane change into the recommended lane.”
  • the blind spot image of lane 2 can be displayed on the display screen 202 .
  • the obtaining an automatic lane changing task includes: generating an automatic lane changing task when the vehicle is not in an automatic lane changing state and a user's preset operation is detected; wherein the second display area is displayed through the first display area.
  • the blind spot image of the lane includes: displaying the blind spot image of the second lane through the first display area when the preset operation is detected.
  • the vehicle 1 when the vehicle 1 detects the user's lever operation, it can generate an automatic lane change task and display the prompt message "The lever operation is detected, and the vehicle 1 will automatically change lanes when the lever operation is detected.” Please pay attention to driving safety when changing lanes.”
  • the lever operation when the lever operation is detected, the blind spot image of lane 4 can be displayed through the display area 305 in the instrument screen 201 .
  • the obtaining the automatic lane changing task includes: generating the automatic lane changing task when the vehicle is in the automatic lane changing state; wherein the displaying the blind spot image of the second lane through the first display area includes: When generating the automatic lane change task, the first The display area displays the blind spot image of the second lane.
  • vehicle 1 is in an automatic lane change state and does not require the driver to confirm the automatic lane change task.
  • the prompt message "Please pay attention to driving safety when automatic lane change is about to happen" may be displayed and the blind spot image of lane 2 may be displayed through the display area 303 of the instrument screen 201 .
  • the method before displaying the blind spot image of the second lane through the first display area, the method further includes: determining the first display area based on the relative positional relationship between the first lane and the second lane.
  • the blind spot image of the target lane (for example, lane 2) may be displayed in the left area (for example, area 303) of the instrument screen 201
  • the blind spot image of the target lane (eg, lane 4) may be displayed in the left area (eg, area 305) of the instrument screen 201.
  • the vehicle includes an instrument screen and a central control screen
  • the method further includes: displaying a virtual scene through a second display area, the virtual scene including information about the vehicle and the environment around the vehicle; wherein, the first display area and the second display area is a display area in the instrument screen; or, the first display area is a display area in the central control screen, and the second display area is a display area in the instrument screen.
  • the instrument screen may be the instrument screen 201 in FIG. 2
  • the central control screen may be the display screen 202 in FIG. 2 .
  • the vehicle can display the virtual scene through the display area 304 in the instrument screen, and display the blind spot image of lane 2 through the display area in the central control screen.
  • the vehicle can display the virtual scene through the display area 304 in the instrument screen, and display the blind spot image of lane 2 through the display area 303 in the instrument screen.
  • the method further includes: displaying prompt information through the first display area during execution of the automatic lane change task, the prompt information being used to prompt the traffic safety status of the second lane.
  • the display area 303 may also display prompt information "There is an oncoming vehicle in the target lane".
  • the display area 303 may also display prompt information "target lane danger”.
  • the above prompt information displayed through the first display area may be determined by the vehicle based on data collected by sensors (for example, one or more of a surround-view camera, lidar, millimeter wave radar, ultrasonic radar, etc.). For example, it is determined through data collected by a surround-view camera or lidar that vehicle 2 in lane 2 is located behind and to the left of vehicle 1, and data collected through lidar determines that the distance between vehicle 2 and vehicle 1 is less than a preset safe distance (for example, , 5 meters), vehicle 1 can prompt the user that lane 2 is dangerous through display area 303.
  • sensors for example, one or more of a surround-view camera, lidar, millimeter wave radar, ultrasonic radar, etc.
  • the method further includes: hiding the blind spot image when completing the automatic lane changing task.
  • the blind spot image of lane 2 displayed on the display screen 202 may be hidden.
  • Embodiments of the present application also provide a device for implementing any of the above methods.
  • a device is provided that includes a unit (or means) for implementing each step performed by a vehicle or a display system in any of the above methods.
  • FIG 9 shows a schematic block diagram of a control device 900 provided by an embodiment of the present application.
  • the control device 900 includes: an acquisition unit 910, used to acquire an automatic lane change task, which is used to instruct the vehicle to automatically change from the first lane to the second lane; a control unit 920, used to Before executing the automatic lane changing task, the first display area is controlled to display a blind spot image of the second lane, and the blind spot image of the second lane is acquired by a camera device outside the vehicle cabin.
  • the device also includes a detection unit, the acquisition unit 910, configured to: when the vehicle is in an automatic lane change state, generate the automatic lane change task and prompt the user to confirm the automatic lane change task; the control unit 920, For controlling the first display area to display the blind spot image of the second lane when the detection unit detects the user's operation to confirm the automatic lane change task.
  • a detection unit configured to: when the vehicle is in an automatic lane change state, generate the automatic lane change task and prompt the user to confirm the automatic lane change task
  • the control unit 920 For controlling the first display area to display the blind spot image of the second lane when the detection unit detects the user's operation to confirm the automatic lane change task.
  • the device also includes a detection unit, the acquisition unit 910, configured to: generate an automatic lane change task when the vehicle is not in an automatic lane change state and a user's preset operation is detected; the control unit 920, In: when the detection unit detects the preset operation, the first display area is controlled to display the blind spot image of the second lane.
  • a detection unit configured to: generate an automatic lane change task when the vehicle is not in an automatic lane change state and a user's preset operation is detected; the control unit 920, In: when the detection unit detects the preset operation, the first display area is controlled to display the blind spot image of the second lane.
  • the acquisition unit 910 is used to: generate the automatic lane change task when the vehicle is in the automatic lane change state; the control unit 920 is used to: when the acquisition unit generates the automatic lane change task, control The first display area displays the blind spot image of the second lane.
  • the device further includes a determining unit configured to control the first display area to display the third image in the control unit.
  • the first display area is determined based on the relative positional relationship between the first lane and the second lane.
  • the vehicle includes an instrument screen and a central control screen
  • the control unit 920 is also used to: control the second display area to display a virtual scene, where the virtual scene includes information about the vehicle and the environment around the vehicle; wherein, the The first display area and the second display area are display areas in the instrument screen; or, the first display area is a display area in the central control screen, and the second display area is a display area in the instrument screen.
  • control unit 920 is also configured to control the first display area to display prompt information during the execution of the automatic lane change task, and the prompt information is used to prompt the traffic safety status of the second lane.
  • control unit 920 is also configured to hide the blind spot image when completing the automatic lane changing task.
  • the acquisition unit 910 may be the computing platform in FIG. 1 or a processing circuit, processor or controller in the computing platform. Taking the acquisition unit 910 as the processor 151 in the computing platform as an example, when the vehicle is in an automatic lane change state, the processor 151 can generate an automatic lane change task when it is determined that there is an obstacle in front of the vehicle in the current lane.
  • the processor 151 may generate an automatic lane change task when it is determined that the user issues an instruction for automatic lane change.
  • control unit 920 may be the computing platform in FIG. 1 or a processing circuit, processor or controller in the computing platform. Taking the control unit 920 as the processor 152 in the computing platform as an example, the processor 152 can be used to control the display of the display device. When the processor 151 generates an automatic lane change task and the automatic lane change task does not require user confirmation, the processor 152 may control the first display area to display the blind spot image of the second lane.
  • the processor 152 may control the prompt device to prompt the user to confirm the automatic lane change task.
  • the processor 152 can control the sound-generating device (for example, a speaker) to emit voice information to prompt the user to confirm the automatic lane change task, or the processor 152 can control the display device (for example, the instrument screen 201 or the display screen 202) to display prompt information. , thereby prompting the user to confirm the automatic lane change task.
  • the above functions implemented by the acquisition unit 910 and the functions implemented by the control unit 920 may be implemented by different processors, or may be implemented by the same processor, which is not limited in the embodiments of the present application.
  • each unit in the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or it can also be physically separated.
  • the unit in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor calls the instructions stored in the memory to implement any of the above methods.
  • the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor
  • the memory is a memory within the device or a memory outside the device.
  • the units in the device can be implemented in the form of hardware circuits, and some or all of the functions of the units can be implemented through the design of the hardware circuits, which can be understood as one or more processors; for example, in one implementation,
  • the hardware circuit is an ASIC, which realizes the functions of some or all of the above units through the design of the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented through PLD, taking FPGA as an example. It can include a large number of logic gate circuits, and the connection relationships between the logic gate circuits can be configured through configuration files to realize the functions of some or all of the above units. All units of the above device may be fully realized by the processor calling software, or may be fully realized by hardware circuits, or part of the units may be realized by the processor calling software, and the remaining part may be realized by hardware circuits.
  • the processor is a circuit with signal processing capabilities.
  • the processor may be a circuit with instruction reading and execution capabilities, such as a CPU, a microprocessor, a GPU, or DSP, etc.; in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit. The logical relationship of the hardware circuit is fixed or can be reconstructed.
  • the processor is a hardware circuit implemented by ASIC or PLD. For example, FPGA.
  • the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units.
  • it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as NPU, TPU, DPU, etc.
  • each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA , or a combination of at least two of these processor forms.
  • processors or processing circuits
  • each unit in the above device may be integrated together in whole or in part, or may be implemented independently. In one implementation, these units are integrated together and implemented as a SOC.
  • the SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device.
  • the at least one processor may be of different types, such as a CPU and an FPGA, or a CPU and an artificial intelligence processor. CPU and GPU etc.
  • An embodiment of the present application also provides a display system, which includes a computing platform and a display device.
  • the computing platform may include the above-mentioned control device 900 .
  • the display device may include a vehicle-mounted display screen, such as the display device 130 in Figure 1; or, such as the instrument screen 201 or the display screen 202 in Figure 2.
  • Embodiments of the present application also provide a device, which includes a processing unit and a storage unit, where the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit, so that the device performs the method performed in the above embodiments or step.
  • the above-mentioned processing unit may be the processor 151-15n shown in Figure 1.
  • An embodiment of the present application also provides a mobile carrier, which may include the above-mentioned control device 900 or the above-mentioned display system.
  • the mobile carrier may be a vehicle.
  • Embodiments of the present application also provide a computer program product.
  • the computer program product includes: computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to execute the above method.
  • Embodiments of the present application also provide a computer-readable medium.
  • the computer-readable medium stores program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to perform the above method.
  • each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor.
  • the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware processor for execution, or can be executed by a combination of hardware and software modules in the processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or power-on erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
  • the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.
  • the size of the sequence numbers of the above-mentioned processes does not mean the order of execution.
  • the execution order of each process should be determined by its functions and internal logic, and should not be implemented in this application.
  • the implementation of the examples does not constitute any limitations.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program code. .

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Abstract

提供了一种显示方法、控制装置和车辆(1,100)，方法包括：获取自动变道任务，自动变道任务用于指示车辆(1,100)从第一车道自动变更至第二车道；在执行自动变道任务之前，通过第一显示区域显示第二车道的盲区图像，第二车道的盲区图像由车辆(1,100)座舱外的摄像装置获取。可以应用于智能汽车或者电动汽车中，有助于提升自动变道过程中用户的驾驶体验。

Description

一种显示方法、控制装置和车辆
本申请要求于2022年8月11日提交中国专利局、申请号为202210962537.0、申请名称为“一种显示方法、控制装置和车辆”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及智能驾驶领域，并且更具体地，涉及一种显示方法、控制装置和车辆。
背景技术
当前车辆在自动变道的过程中，可以通过车辆座舱内的显示屏显示虚拟场景来提示车辆的自动变道意图以及周围环境信息。由于虚拟场景视野范围具有局限性且可能会出现显示其他车辆或者环境不稳定的问题，这可能会引起驾驶员的焦虑，导致用户体验欠佳。
发明内容
本申请实施例提供一种显示方法、控制装置和车辆，有助于提升自动变道过程中用户的驾驶体验。
本申请中的移动载体可以包括路上交通工具、水上交通工具、空中交通工具、工业设备、农业设备、或娱乐设备等。例如移动载体可以为车辆，该车辆为广义概念上的车辆，可以是交通工具(如商用车、乘用车、摩托车、飞行车、火车等)，工业车辆(如：叉车、挂车、牵引车等)，工程车辆(如挖掘机、推土车、吊车等)，农用设备(如割草机、收割机等)，游乐设备，玩具车辆等，本申请实施例对车辆的类型不作具体限定。再如，移动载体可以为飞机、或轮船等交通工具。
第一方面，提供了一种显示方法，该方法包括：获取自动变道任务，该自动变道任务用于指示车辆从第一车道自动变更至第二车道；在执行该自动变道任务之前，通过第一显示区域显示该第二车道的盲区图像，该第二车道的盲区图像由该车辆座舱外的摄像装置获取。
本申请实施例中，车辆在执行自动变道任务之前，可以通过第一显示区域显示盲区图像。这样，有助于避免驾驶员的视线在车载显示屏和后视镜之间来回切换的过程，也有助于避免驾驶员在确认自动变道任务执行状态和目标车道的盲区图像时产生的焦虑，从而有助于提升用户的驾驶体验。
以上通过显示第二车道的盲区图像，也有助于避免用户的视线在车辆行驶方向与后视镜之间来回切换的过程，进一步降低了自动变道过程中驾驶员的焦虑。
结合第一方面，在第一方面的某些实现方式中，该获取自动变道任务，包括：在该车辆处于自动变道状态时，生成该自动变道任务且提示用户确认该自动变道任务；其中，该通过第一显示区域显示该第二车道的盲区图像，包括：在检测到用户确认该自动变道任务的操作时，通过该第一显示区域显示该第二车道的盲区图像。
本申请实施例中，车辆在规划了自动变道任务时可以提示用户确认该自动变道任务。在检测到用户确认该自动变道任务的操作时，可以显示第二车道的盲区图像。这样，有助于避免驾驶员的视线在车载显示屏和后视镜之间来回切换的过程，也有助于避免驾驶员在确认自动变道任务执行状态和目标车道的盲区图像时产生的焦虑，从而给有助于提升用户的驾驶体验。
在一些可能的实现方式中，车辆处于自动变道状态包括车辆检测到用户启动了自动变道辅助功能。示例性的，该自动变道辅助功能包括但不限于智驾导航辅助(navigation cruise assistant，NCA)功能或者智能巡航辅助(integrated cruise assistant，ICA)功能。
结合第一方面，在第一方面的某些实现方式中，该获取自动变道任务，包括：在该车辆未处于自动变道状态且检测到用户的预设操作时，生成自动变道任务；其中，该通过第一显示区域显示该第二车道的盲区图像，包括：在检测到该预设操作时，通过该第一显示区域显示该第二车道的盲区图像。
本申请实施例中，在车辆未处于自动变道状态且检测到用户的预设操作时，可以生成自动变道任 务。在生成该自动变道任务时，可以显示该第二车道的盲区图像。这样，有助于避免驾驶员的视线在车载显示屏和后视镜之间来回切换的过程，也有助于避免驾驶员在确认自动变道任务执行状态和目标车道的盲区图像时产生的焦虑，从而给有助于提升用户的驾驶体验。
结合第一方面，在第一方面的某些实现方式中，该获取自动变道任务，包括：在该车辆处于自动变道状态时，生成该自动变道任务；其中，该通过第一显示区域显示该第二车道的盲区图像，包括：在生成该自动变道任务时，通过该第一显示区域显示该第二车道的盲区图像。
本申请实施例中，车辆在生成了自动变道任务且无需用户确认该自动变道任务时，可以显示第二车道的盲区图像。这样，有助于避免驾驶员的视线在车载显示屏和后视镜之间来回切换的过程，也有助于避免驾驶员在确认自动变道任务执行状态和目标车道的盲区图像时产生的焦虑，从而给有助于提升用户的驾驶体验。
结合第一方面，在第一方面的某些实现方式中，该通过第一显示区域显示该第二车道的盲区图像之前，该方法还包括：根据该第一车道和该第二车道的相对位置关系，确定该第一显示区域。
本申请实施例中，通过当前车道和目标车道之间的相对位置关系，来确定第一显示区域。这样的盲区图像的显示位置更符合驾驶员的习惯，有助于提升用户的驾驶体验。
在一些可能的实现方式中，该第一显示区域为仪表屏中的显示区域。例如，当车辆向左侧车道自动变道时，可以在仪表屏的左侧区域显示该第二车道的盲区图像。又例如，在车辆向右侧自动变道时，可以在仪表屏的右侧区域显示该第二车道的盲区图像。
结合第一方面，在第一方面的某些实现方式中，该车辆包括仪表屏和中控屏，该方法还包括：通过第二显示区域显示虚拟场景，该虚拟场景包括该车辆以及该车辆周围的环境的信息；其中，该第一显示区域和该第二显示区域为该仪表屏中的显示区域；或者，该第一显示区域为该中控屏中的显示区域，该第二显示区域为该仪表屏中的显示区域。
本申请实施例中，盲区图像可以弥补虚拟场景对车辆侧后方盲区观察范围小且观察距离短的缺点，也可以弥补虚拟场景检测不准确或者显示不稳定的缺点，有助于提升自动变道过程中的车辆的安全性。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在执行该自动变道任务的过程中，通过该第一显示区域显示提示信息，该提示信息用于提示该第二车道的交通安全状态。
本申请实施例中，在执行自动变道任务的过程中，还可以通过第一显示区域显示用于提示该第二车道的交通安全状态的提示信息，这样方便用户通过该提示信息及时确定第二车道是否安全；同时，驾驶员可以结合提示信息以及自动变道任务执行状态判断当前车辆是否正在进行安全变道，有助于提升用户的驾驶体验。
在一些可能的实现方式中，该第二车道的交通安全状态包括用于提示第二车道安全、第二车道有来车、第二车道危险或者第一车道和第二车道之间为实线的信息。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在完成该自动变道任务时，隐藏该盲区图像。
本申请实施例中，车辆在完成自动变道任务时可以隐藏盲区图像，这样可以避免盲区图像对用户的干扰，有助于提升用户的驾驶体验；同时，也有助于避免车辆功耗的浪费。
第二方面，提供了一种控制装置，该控制装置包括：获取单元，用于获取自动变道任务，该自动变道任务用于指示车辆从第一车道自动变更至第二车道；控制单元，用于在执行该自动变道任务之前，控制第一显示区域显示该第二车道的盲区图像，该第二车道的盲区图像由该车辆座舱外的摄像装置获取。
结合第二方面，在第二方面的某些实现方式中，该装置还包括检测单元，该获取单元，用于：在该车辆处于自动变道状态时，生成该自动变道任务且提示用户确认该自动变道任务；该控制单元，用于在该检测单元检测到用户确认该自动变道任务的操作时，控制该第一显示区域显示该第二车道的盲区图像。
结合第二方面，在第二方面的某些实现方式中，该装置还包括检测单元，该获取单元，用于：在该车辆未处于自动变道状态且检测到用户的预设操作时，生成自动变道任务；该控制单元，用于：在该检测单元检测到该预设操作时，控制该第一显示区域显示该第二车道的盲区图像。
结合第二方面，在第二方面的某些实现方式中，该获取单元，用于：在该车辆处于自动变道状态 时，生成该自动变道任务；该控制单元，用于：在该获取单元生成该自动变道任务时，控制该第一显示区域显示该第二车道的盲区图像。
结合第二方面，在第二方面的某些实现方式中，该装置还包括确定单元，该确定单元，用于在该控制单元控制该第一显示区域显示该第二车道的盲区图像之前，根据该第一车道和该第二车道的相对位置关系，确定该第一显示区域。
结合第二方面，在第二方面的某些实现方式中，该车辆包括仪表屏和中控屏，该控制单元，还用于：控制第二显示区域显示虚拟场景，该虚拟场景包括该车辆以及该车辆周围的环境的信息；其中，该第一显示区域和该第二显示区域为该仪表屏中的显示区域；或者，该第一显示区域为该中控屏中的显示区域，该第二显示区域为该仪表屏中的显示区域。
结合第二方面，在第二方面的某些实现方式中，该控制单元，还用于在执行该自动变道任务的过程中，控制该第一显示区域显示提示信息，该提示信息用于提示该第二车道的交通安全状态。
结合第二方面，在第二方面的某些实现方式中，该控制单元，还用于在完成该自动变道任务时，隐藏该盲区图像。
第三方面，提供了一种控制装置，该装置包括至少一个处理器和接口电路，该处理器通过接口电路与显示装置通信；该至少一个处理器用于执行上述第一方面中任一项所述的方法，控制该显示装置的显示界面。
在一些可能的实现方式中，该显示装置为车载显示屏。
第四方面，提供了一种控制装置，该装置包括处理单元和存储单元，其中存储单元用于存储指令，处理单元执行存储单元所存储的指令，以使该装置执行第一方面中任一种可能的方法。
可选地，上述处理单元可以包括至少一个处理器，上述存储单元可以是存储器，其中存储器可以是芯片内的存储单元(例如，寄存器、缓存等)，也可以是车辆内位于芯片外部的存储单元(例如，只读存储器、随机存取存储器等)。
第五方面，提供了一种显示系统，该显示系统包括计算平台和显示装置，该计算平台包括上述第二方面、第三方面或者第四方面任一方面所述的装置。
在一些可能的实现方式中，该显示装置为车载显示屏。
第六方面，提供了一种移动载体，该移动载体包括上述第二方面、第三方面或者第四方面中任一方面所述的装置，或者，该移动载体包括上述第五方面所述的显示系统。
结合第六方面，在第六方面的某些实现方式中，该移动载体为车辆。
第七方面，提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述第一方面中任一种可能的方法。
需要说明的是，上述计算机程序代码可以全部或者部分存储在第一存储介质上，其中第一存储介质可以与处理器封装在一起的，也可以与处理器单独封装，本申请实施例对此不作具体限定。
第八方面，提供了一种计算机可读介质，所述计算机可读介质存储有程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述第一方面中任一种可能的方法。
第九方面，本申请实施例提供了一种芯片系统，该芯片系统包括处理器，用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述第一方面任一种可能的方法。
结合第九方面，在一种可能的实现方式中，该处理器通过接口与存储器耦合。
结合第九方面，在一种可能的实现方式中，该芯片系统还包括存储器，该存储器中存储有计算机程序或计算机指令。
附图说明
图1是本申请实施例提供的车辆的一个功能框图示意。
图2是本申请实施例提供的一种示例性车辆座舱内显示屏分布的示意图。
图3是本申请实施例提供的一组图形用户界面GUI。
图4是本申请实施例提供的另一GUI。
图5是本申请实施例提供的另一组GUI。
图6是本申请实施例提供的另一组GUI。
图7是本申请实施例提供的自动变道方法的示意性流程图。
图8是本申请实施例提供的显示方法的另一示意性流程图。
图9是本申请实施例提供的控制装置的示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。其中，在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。
本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有限定作用。本申请实施例中对序数词等用于区分描述对象的前缀词的使用不对所描述对象构成限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。此外，在本实施例的描述中，除非另有说明，“多个”的含义是两个或两个以上。
图1是本申请实施例提供的车辆100的一个功能框图示意。车辆100可以包括感知系统120、显示装置130和计算平台150，其中，感知系统120可以包括感测关于车辆100周边的环境的信息的一种或多种传感器。例如，感知系统120可以包括定位系统，定位系统可以是全球定位系统(global positioning system，GPS)，也可以是北斗系统或者其他定位系统、惯性测量单元(inertial measurement unit，IMU)、激光雷达、毫米波雷达、超声雷达以及摄像装置中的一种或者多种。
车辆100的部分或所有功能可以由计算平台150控制。计算平台150可包括一个或多个处理器，例如处理器151至15n(n为正整数)，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如中央处理单元(central processing unit，CPU)、微处理器、图形处理器(graphics processing unit，GPU)(可以理解为一种微处理器)、或数字信号处理器(digital signal processor，DSP)等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为专用集成电路(application-specific integrated circuit，ASIC)或可编程逻辑器件(programmable logic device，PLD)实现的硬件电路，例如现场可编程门阵列(field programmable gate array，FPGA)。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如神经网络处理单元(neural network processing unit，NPU)、张量处理单元(tensor processing unit，TPU)、深度学习处理单元(deep learning processing unit，DPU)等。此外，计算平台150还可以包括存储器，存储器用于存储指令，处理器151至15n中的部分或全部处理器可以调用存储器中的指令，执行指令，以实现相应的功能。
座舱内的显示装置130主要分为两类，第一类是车载显示屏；第二类是投影显示屏，例如抬头显示装置(head up display，HUD)。车载显示屏是一种物理显示屏，是车载信息娱乐系统的重要组成部分，座舱内可以设置有多块显示屏，如数字仪表显示屏，中控屏，副驾驶位上的乘客(也称为前排乘客)面前的显示屏，左侧后排乘客面前的显示屏以及右侧后排乘客面前的显示屏，甚至是车窗也可以作为显示屏进行显示。抬头显示，也称平视显示系统。主要用于在驾驶员前方的显示设备(例如挡风玻璃)上显示例如时速、导航等驾驶信息。以降低驾驶员视线转移时间，避免因驾驶员视线转移而导致的瞳孔变化，提升行驶安全性和舒适性。HUD例如包括组合型抬头显示(combiner-HUD，C-HUD)系统、风挡型抬头显示(windshield-HUD，W-HUD)系统、增强现实型抬头显示系统(augmented reality HUD，AR-HUD)。应理解，HUD也可以随着技术演进出现其他类型的系统，本申请对此不作限定。
图2示出了本申请实施例提供的一种示例性车辆座舱内显示屏分布的示意图。如图2所示，车辆的座舱内可以包括仪表屏201、显示屏202(或者，也可以称为中控屏)、显示屏203(或者，也可以称为副驾娱乐屏)、显示屏204(或者，也可以称为二排左侧区域的娱乐屏)以及显示屏205(或者，也可以称为二排右侧区域的娱乐屏)。
应理解，以下实施例中的图形用户界面(graphical user interface，GUI)是以图2所示的5座车辆 为例进行说明的，本申请实施例并不限于此。例如，对于7座运动型多用途汽车(sport utility vehicle，SUV)，座舱内可以包括中控屏、副驾娱乐屏、二排左侧区域的娱乐屏、二排右侧区域的娱乐屏、三排左侧区域的娱乐屏以及三排右侧区域的娱乐屏。又例如，对于客车而言，座舱内可以包括前排娱乐屏和后排娱乐屏；或者，座舱内可以包括驾驶区域的显示屏和乘客区域的娱乐屏。在一种实现中，乘客区域的娱乐屏也可以设置在座舱顶部。
在介绍本申请实施例的技术方案之前，首先介绍自动变道状态。
自动变道状态一：自车完全自动变道方式。不需要驾驶员参与操作和决策，车辆只提示驾驶员即将进行自动变道，驾驶员仅仅作为车辆执行自动变道任务的监督者。例如，完全自动变道前，通过一段时间的弹窗和音效提示驾驶员即将自动变道，给驾驶员建立变道心里准备。
自动变道状态二：车辆规划了自动变道任务，但需要向驾驶员请求确认后才执行自动变道任务。当车辆检测到驾驶员的预设动作(例如，拨动拨杆、轻转方向盘、手动点击某个操作按钮等)后，车辆会进行自动变道。这种情况下驾驶员是变道确认的执行者。
自动变道状态三：车辆未规划自动变道，但是驾驶员在当下想要主动变道。此时驾驶员可以通过预设动作(例如，拨动拨杆、轻转方向盘、手动点击某个操作按钮等)对车辆下发变道指令。车辆在接收到指令后就开始规划并执行自动变道任务。这种情况下，驾驶员是变道命令的下发者。
以上车辆处于自动变道状态可以包括车辆检测到用户启动了NCA功能或者ICA功能。
下面结合图3至图6所示的几组图形用户界面(graphical user interface，GUI)介绍本申请实施例提供的车辆在自动变道时车载显示屏的显示变化。
示例性的，图3示出了本申请实施例提供的一组GUI。
如图3中的(a)所示，车辆1当前处于自动变道状态中且位于车道1。车辆的显示屏202中包括内容显示区域301和功能栏302。当前内容显示区域301中显示车载地图应用的导航界面。该导航界面上包括车辆上登录的用户账号的头像信息3011、蓝牙功能图标3012、Wi-Fi功能图标3013、蜂窝网络信号图标3014和车载地图应用搜索框3015。其中，车载地图应用搜索框3015中可以包括用户设置的回家控件30151和去公司控件30152。功能栏302中包括切换至显示桌面的图标3021、车辆内循环图标3022、主驾座椅加热功能图标3023，主驾区域空调温度显示图标3024、副驾区域空调温度显示图标3025、副驾座椅加热功能图标3026以及音量设置图标3027。
车辆的仪表屏201包括显示区域303、显示区域304和显示区域305，其中，显示区域303中可以显示车辆的导航信息(例如，提示用户在前方2公里处右转以及预计行驶时长)。显示区域304可以显示通过传感器采集的数据生成的虚拟场景，该虚拟场景中包括自车(例如车辆1)以及自车周围的环境信息(例如，其他车辆的信息、车道线的信息等)。通过该虚拟场景可以辅助驾驶员自动变道。显示区域305可以显示车辆当前的速度(例如，64千米/小时)、挡位信息(例如，当前车辆1处于D挡)、道路限速值(例如，100公里/小时)、道路最低行驶速度(例如，70公里/小时)、剩余电量(例如，80％)以及续航里程(例如，460公里)等。
以上图3中的(a)中所示的显示区域304是以二维(two dimensional，2D)虚拟场景为例说明的，本申请实施例并不限于此。显示区域304中显示的也可以是三维(three dimensional，3D)虚拟场景。
如图3中的(b)所示，在车辆1规划了自动变道任务(例如，从车道1变更到车道2中位置1)且需要驾驶员确认该自动变道任务时，可以通过显示区域304显示提示信息“请拨转向拨杆确认变道进入推荐车道”；同时，在检测到该拨杆操作时，也可以通过显示屏202显示图像306，该图像306为车辆座舱外的摄像装置采集的车道2中的盲区图像。
这样，驾驶员在看到显示屏202显示的图像306后可以确定车辆1在从车道1变更到车道2的过程中是否存在风险。驾驶员在通过图像306确认车辆1从车道1变更到车道2无安全风险或者驾驶员在确定车辆1当前需要自动变道时，可以通过执行拨杆操作指示车辆1执行自动变道任务。车辆1在检测到用户的拨杆操作时，可以确定用户已经确认了该自动变道任务，从而可以执行该自动变道任务。
一个实施例中，若目标车道(例如，车道2)安全，则还可以在图像306上显示提示信息(例如，文字提示和/或颜色变化)，该提示信息可以用于指示目标车道的交通安全状态。例如，在目标车道安全时，可以在图像306中的某个区域显示提示信息“目标车道安全”，和/或，在图像306中的某个区域显示绿色。
以上目标车道安全可以包括车辆1与处于车辆1的侧后方且处于车道2的中任意一个车辆在预设功能安全范围内，其中，预设功能安全范围包括对车辆1与车道2中任意一个车辆之间距离信息的判断以及相对速度判断等。
如图3中的(c)所示，在车辆1完成自动变道时，车辆的仪表屏201上可以显示提示信息307“自动变道已完成”；同时，车辆1还可以控制显示屏202隐藏该图像306。
本申请实施例中，车辆在规划了自动变道任务时可以通过仪表屏显示虚拟场景以及通过中控屏显示目标车道(例如，上述车道2)的盲区图像。盲区图像弥补了虚拟场景对车辆侧后方盲区观察范围小且观察距离短的缺点，也弥补了虚拟场景检测不准确或者显示不稳定的缺点，有助于提升自动变道过程中的车辆的安全性；同时，在自动变道过程中，避免了驾驶员的视线在车载显示屏和后视镜之间来回切换的过程，也避免了驾驶员在确认自动变道任务执行状态和目标车道的盲区图像时产生的焦虑，有助于提升用户的驾驶体验。
示例性的，图4示出了本申请实施例提供的另一GUI。与上述图3中的(b)不同的是，该图像306可以显示在仪表屏201中的显示区域303中。当车辆1规划了自动变道任务(例如，从车道1变更到车道2中位置1)且需要驾驶员确认该自动变道任务时，可以通过显示区域304显示提示信息“请拨转向拨杆确认变道进入推荐车道”；同时，也可以通过仪表屏201中的显示区域303显示图像306。这样，驾驶员通过仪表屏201显示的图像306可以确定车辆1在从车道1变更到车道2的过程中是否存在风险。
一个实施例中，若目标车道安全，则还可以在图像306上显示提示信息。例如，在目标车道安全时，可以在图像306中的某个区域显示提示信息“目标车道安全”，和/或，在图像306中的某个区域显示绿色。
本申请实施例中，车辆在规划了自动变道任务时可以通过仪表屏显示虚拟场景以及目标车道(例如，上述车道2)的盲区图像。这样，在自动变道过程中，驾驶员可以通过仪表屏看到虚拟场景以及目标车道的盲区图像，进一步避免了驾驶员在确认自动变道任务执行状态和目标车道的盲区图像时产生的焦虑，有助于提升用户的驾驶体验。
以上结合图3和图4中的GUI介绍了车辆在规划了自动变道任务且需要驾驶员确认该自动变道任务时车载显示屏的显示过程。图5示出了本申请实施例提供的另一组GUI。这一组GUI为车辆规划了自动变道任务且无需驾驶员确认该自动变道任务时车载显示屏的显示过程。
如图5中的(a)所示，当车辆1规划了自动变道任务(例如，从车道1变更到车道2中位置1)且无需驾驶员确认该变道任务时，可以通过显示区域304显示提示信息“即将自动变道，请注意行车安全”。此时，车辆1还可以通过显示区域303显示车道2的盲区图像。这样，驾驶员通过仪表屏201显示的盲区图像可以确定车辆1在从车道1变更到车道2的过程中是否存在风险。
如图5中的(b)所示，在车辆1确定车道2中有来车时，可以通过盲区图像和文字提示驾驶员监督自动变道过程中车辆的安全。若自动变道过程中目标车道有安全风险，车辆1可以等待时机再进行变道，同时可以提示驾驶员目标车道的交通安全状态以及自动变道任务执行状态。例如，车辆1可以在该图像306上显示提示信息“目标车道有来车”且在显示区域304中显示提示信息“变道等待中，请注意行车安全”。
示例性的，车辆1确定车道2中有来车包括：车辆1确定车辆1与处于车辆1的侧后方且处于车道2的中某个车辆之间的距离小于预设距离。
如图5中的(c)所示，在车辆1变道等待超时时，车辆1可以退出自动变道任务。
一个实施例中，若变道等待超时，可以在车道2的盲区图像上显示提示信息。例如，可以在车道2的盲区图像中的某个区域显示提示信息“目标车道危险”，和/或，在图像306中的某个区域显示红色。可以在显示区域304中的提示框中显示提示信息“变道超时，倒计时退出自动变道”，和/或，将该提示框呈现红色。
例如，车辆1可以在该车道2的盲区图像上显示提示信息“目标车道危险”且在显示区域304中显示提示信息“变道超时，倒计时退出自动变道”。
一个实施例中，在显示区域304中显示的倒计时(例如，5秒倒计时)结束时，车辆1可以退出自动变道任务且隐藏显示区域303中显示的图像306。
本申请实施例中，在车辆规划了自动变道任务且无需驾驶员确认时，可以通过仪表屏显示虚拟场景以及目标车道(例如，上述车道2)的盲区图像。这样，在自动变道过程中，驾驶员可以通过仪表屏监督自动变道任务执行状态和目标车道的盲区图像。盲区图像弥补了虚拟场景对车辆侧后方盲区观察范围小且观察距离短的缺点，也弥补了虚拟场景检测不准确或者显示不稳定的缺点，有助于提升自动变道过程中的车辆的安全性；同时，在驾驶员监督车辆自动变道的过程中，避免了驾驶员的视线在车载显示屏和后视镜之间来回切换的过程，也避免了驾驶员在确认自动变道任务执行状态和目标车道的盲区图像时产生的焦虑，有助于提升用户的驾驶体验。
下面结合图6所示的另一组GUI介绍通过检测到驾驶员的预设操作时触发车辆生成且执行自动变道任务的显示过程。
如图6中的(a)所示，仪表屏201中显示区域303可以显示车辆的导航信息(例如，提示用户在前方2公里处右转以及预计行驶时长)。显示区域304可以显示通过传感器采集的数据生成的虚拟场景，该虚拟场景中包括自车(例如车辆1)以及自车周围的环境信息等。显示区域305可以显示车辆当前的速度(例如，64千米/小时)、挡位信息(例如，当前车辆1处于D挡)、道路限速值(例如，100公里/小时)、道路最低行驶速度(例如，70公里/小时)、剩余电量(例如，80％)以及续航里程(例如，460公里)等。
如图6中的(b)所示，在检测到用户的拨杆操作时，车辆1可以确定驾驶员希望车辆执行自动变道任务，从而可以生成并执行自动变道任务。例如，车辆1可以根据用户拨杆的方向，确定用户希望从当前所处的车道3变更到车道4。车辆1可以通过显示区域304显示提示信息“检测到拨杆操作，即将自动变道请注意行车安全”；同时，也可以通过仪表屏201中的显示区域305显示图像307，该图像307为车辆座舱外的摄像装置采集的车道4中的盲区图像。这样，驾驶员通过仪表屏201显示的图像307可以确定车辆1在从车道3变更到车道4的过程中是否存在风险。
一个实施例中，在车辆1在检测到用户的拨杆操作时，可以根据设计运行域(operational design domain，ODD)进行判断当前车辆的周围环境是否满足自动变道条件。例如，车辆检测到车道3和车道4之间为实线时，可以确定当前车辆的周围环境不满足自动变道条件，从而可以通过显示区域304显示提示信息“自动变道失败，目标车道为实线”且可以在该图像307上显示提示信息“当前车道和目标车道之间为实线”。
本申请实施例中，在车辆向左侧变更车道时，盲区图像可以显示在处于仪表屏左侧的显示区域303中；在车辆向右侧变更车道时，盲区图像可以显示在处于仪表屏右侧的显示区域305中。这样的盲区图像的显示位置更符合驾驶员的习惯，有助于提升用户的驾驶体验。
图7示出了本申请实施例提供的自动变道方法700的示意性流程图。如图7所示，该方法700包括：
S701，生成自动变道任务。
示例性的，车辆处于自动变道状态，在检测到当前所处车道中车辆前方有障碍物时可以生成自动变道任务。
一个实施例中，在生成自动变道任务之前，该方法还包括：确定车辆处于自动变道状态。例如，车辆检测到用户启动了NCA或者ICA功能。
一个实施例中，生成自动变道任务，包括：在检测到用户的预设操作时，生成自动变道任务。
以上生成自动变道任务还可以理解为生成主动变道意图。主动变道任务对用户来说可以有两种处理方式：(1)车辆生成主动变道任务后，无需用户确认，自行完全自动变道；(2)车辆生成主动变道任务后，需要用户确认后才能执行自动变道任务。
以上S701中可以是车辆主动规划了自动变道任务，或者，也可以是车辆在检测到驾驶员的预设操作时规划了自动变道任务。例如，车辆主动规划了变道任务的触发条件包括但不限于以下一种或者多种：(1)车辆根据导航已经规划的路径需要变换车道；(2)当前车道有其他车辆，车辆判定可以进行变道超车；(3)当前车道有障碍物，车辆判定可以换道行驶。
S702，判断自动变道任务是否符合变道的ODD范围。
一个实施例中，该ODD范围包括但不限于：当前车道和目标车道之间为虚线、目标车道为非公交专用车道、驾驶员未处于脱手状态、满足自动变道的最低和最高速度中的一个或者多个。
一个实施例中，若自动变道任务符合变道的ODD范围，那么可以执行S703；否则，执行S705。
S703，在该自动变道任务符合变道的ODD范围，判断当前车辆是否符合交通安全状态。
一个实施例中，可以根据车辆周围其他物体的行驶参数(例如，车辆周围其他车辆的车流状态)确定当前车辆是否符合交通安全状态。例如，在该自动变道任务为车辆从车道1变更到车道2且车辆检测到车道2中与当前车辆并行距离较近的另一车辆即将并入车道1时，车辆可以确定当前车辆不符合交通安全状态。
一个实施例中，若当前车辆符合交通安全状态，则执行S704；否则，执行S705。
S704，在当前车辆符合交通安全状态时，判断从车辆规划了自动变道任务的时刻到当前时刻的时长是否达到最短变道准备时长。
一个实施例中，若达到了最短准备时长，则执行S706；否则，返回执行S702。
示例性的，最短变道准备时长可以为2秒。
S705，判断从车辆规划了自动变道任务的时刻到当前时刻的时长是否达到最大变道尝试时长。
一个实施例中，若达到了最大变道尝试时长，则执行S707；否则，返回执行S702。
示例性的，最长变道尝试时长为5秒。
S706，在达到最短变道准备时长时，检测驾驶员是否确认了自动变道任务。
一个实施例中，在从车辆规划了自动变道任务的时刻到当前时刻的时长达到最短变道准备时长时，可以提示驾驶员确认该自动变道任务。例如，可以通过仪表屏显示提示信息，从而提示驾驶员确认该自动变道任务。在检测到驾驶员拨杆的操作时，可以确定驾驶员确认了该自动变道任务。
又例如，可以结合仪表屏显示提示信息以及通过扬声器发出提示驾驶员确认该自动变道任务的语音提示信息，从而提示驾驶员确认该自动变道任务。在检测到驾驶员拨杆的操作或者检测到驾驶员发出的语音指令(例如，“确认变道”)时，可以确定驾驶员确认了该自动变道任务。
一个实施例中，在车辆提示用户确认自动变道任务时，可以通过车载显示屏显示目标车道的盲区图像。
一个实施例中，该车载显示屏可以为仪表屏或者中控屏。
一个实施例中，该车载显示屏为仪表屏，该通过车载显示屏显示目标车道的盲区图像，包括：根据目标车道与当前车道之间的位置关系，在所述仪表屏上显示该盲区图像。
以上S706是以车辆规划了自动变道任务且需要驾驶员确认后才能执行该自动变道任务为例进行说明的。对于车辆规划了自动变道任务且无需驾驶员确认的场景，则在达到最短变道准备时长时，可以直接执行该自动变道任务。
S707，取消该自动变道任务。
一个实施例中，在提示驾驶员确认该自动变道任务起的预设时长内未检测到驾驶员确认该自动变道任务的操作，可以取消该自动变道任务。或者，在检测到驾驶员拒绝该自动变道任务的操作(例如，检测到用户发出的语音指令“拒绝自动变道”)时，可以取消该自动变道任务。
S708，在检测到用户确认了该自动变道任务的操作时，开始执行该自动变道任务。
示例性的，确认该自动变道任务的操作包括但不限于拨动拨杆、轻转方向盘、手动点击某个操作按钮等。
S709，在执行自动变道任务的过程中，持续检测车辆的交通安全状态。
示例性的，可以将交通安全状态分为安全、一般不安全、不安全和严重不安全四个等级。
例如，在执行自动变道任务的过程中，位于目标车道且处于车辆侧后方的另一车辆与车辆之间的距离大于或者等于预设阈值，且该另一车辆并未进行急加速，则可以认为车辆的交通安全状态为安全。
又例如，在执行自动变道任务的过程中，位于目标车道且处于车辆侧后方的另一车辆与车辆之间的距离大于或者等于预设阈值，且该另一车辆进行急加速。在通过降低车速或者在当前车道等待的方式可以让行该另一车辆且在让行后可以完成变道时，可以认为车辆的交通状态为一般不安全。
又例如，在执行自动变道任务的过程中，位于目标车道且处于车辆侧后方的另一车辆与车辆之间的距离小于预设阈值的持续时长大于或者等于预设时长，可以认为车辆的交通状态为不安全。
又例如，车辆向当前车道左侧的目标车道变道，在左侧前轮和左侧后轮已经越过道路虚线且右侧前轮和右侧后轮还未越过道路虚线的时，检测到位于车辆的侧后方且位于目标车道的另一车辆突然加 速且与车辆之间的距离小于或者等于预设值，则可以认为车辆的交通状态为严重不安全。
S710，在执行自动变道任务的过程中，检测到车辆的交通安全状态为安全时，可以执行变道动作，直至变道结束。
S711，在执行自动变道任务的过程中，检测到车辆的交通安全状态为一般不安全，则可以提示驾驶员车辆处于等待变道中。
一个实施例中，在执行自动变道任务的过程中，检测到车辆的交通安全状态为一般不安全，还可以通过降低车速的方式完成自动变道。
S712，在执行自动变道任务的过程中，检测到车辆的交通安全状态为不安全，则提示驾驶员当前车辆的交通安全状态为不安全。
示例性的，如图5中的(b)所示，车辆1在变道过程中发现车道2中的另一车辆与车辆1之间的距离大于或者等于预设阈值，但是该另一车辆处于加速状态，则可以通过显示区域304显示提示信息“变道等待中，请注意行车安全”。在该另一车辆行驶至车辆1的左前方且与车辆1之间的距离大于或者等于预设阈值时，车辆1可以继续执行自动变道任务。
S713，在执行自动变道任务的过程中，检测到车辆的交通安全状态为严重不安全，则取消该自动变道任务。
图8示出了本申请实施例提供的显示方法800的示意性流程图。该方法800可以由车辆执行，或者，该方法800可以由上述计算平台执行，或者，该方法800可以由计算平台和显示装置(例如，车载显示屏)组成的显示系统执行，或者，该方法800可以由上述计算平台中的片上系统(system-on-a-chip，SOC)执行，或者，该方法800可以由计算平台中的处理器执行。如图8所示，该方法800包括：
S801，获取自动变道任务，该自动变道任务用于指示车辆从第一车道自动变更至第二车道。
可选地，该获取自动变道任务，包括：在该车辆处于自动变道状态时，生成该自动变道任务且提示用户确认该自动变道任务。
可选地，该车辆处于自动变道状态包括车辆检测到用户启动自动变道功能。例如，该自动变道功能包括但不限于NCA功能或者ICA功能。
可选地，该获取自动变道任务，包括：在该车辆未处于自动变道状态且检测到用户的预设操作时，生成自动变道任务。
车辆未处于自动变道状态时，通过检测到用户的预设操作可以确定用户希望车辆进行自动变道，从而可以生成该自动变道任务。
可选地，该获取自动变道任务，包括：获取服务器发送的该自动变道任务。
例如，车辆可以将传感器检测的周围环境的信息发送给服务器。服务器可以根据周围环境的信息确定车辆是否满足自动变道的条件。若满足，则服务器可以向车辆发送该自动变道任务。
S802，在执行该自动变道任务之前，通过第一显示区域显示该第二车道的盲区图像，该第二车道的盲区图像由该车辆座舱外的摄像装置获取。
可选地，该获取自动变道任务，包括：在该车辆处于自动变道状态时，生成该自动变道任务且提示用户确认该自动变道任务。其中，该通过第一显示区域显示该第二车道的盲区图像，包括：在检测到用户确认该自动变道任务的操作时，通过该第一显示区域显示该第二车道的盲区图像。
示例性的，如图3中的(b)所示，车辆1处于自动变道状态且需要驾驶员确认自动变道任务。车辆1可以生成该自动变道任务且可以显示提示信息“请拨转向拨杆确认变道进入推荐车道”。在检测到用户拨转向拨杆的操作时，可以通过显示屏202显示车道2的盲区图像。
可选地，该获取自动变道任务，包括：在该车辆未处于自动变道状态且检测到用户的预设操作时，生成自动变道任务；其中，该通过第一显示区域显示该第二车道的盲区图像，包括：在检测到该预设操作时，通过该第一显示区域显示该第二车道的盲区图像。
示例性的，如图6中的(b)所示，车辆1在检测到用户的拨杆操作时，可以生成自动变道任务且通过仪表屏201显示提示信息“检测到拨杆操作，即将自动变道请注意行车安全”。同时，在检测到该拨杆操作时，可以通过仪表屏201中的显示区域305显示车道4的盲区图像。
可选地，该获取自动变道任务，包括：在该车辆处于自动变道状态时，生成该自动变道任务；其中，该通过第一显示区域显示该第二车道的盲区图像，包括：在生成该自动变道任务时，通过该第一 显示区域显示该第二车道的盲区图像。
示例性的，如图5中的(a)所示，车辆1处于自动变道状态且无需驾驶员确认自动变道任务。在车辆1生成自动变道任务时，可以显示提示信息“即将自动变道请注意行车安全”且通过仪表屏201的显示区域303显示车道2的盲区图像。
可选地，该通过第一显示区域显示该第二车道的盲区图像之前，该方法还包括：根据该第一车道和该第二车道的相对位置关系，确定该第一显示区域。
示例性的，如图5中的(b)所示，在车辆向左变更车道时，目标车道(例如，车道2)的盲区图像可以显示在仪表屏201的左侧区域(例如，区域303)；如图6中的(b)所示，在车辆向右变更车道时，目标车道(例如，车道4)的盲区图像可以显示在仪表屏201的左侧区域(例如，区域305)。
可选地，该车辆包括仪表屏和中控屏，该方法还包括：通过第二显示区域显示虚拟场景，该虚拟场景包括该车辆以及该车辆周围的环境的信息；其中，该第一显示区域和该第二显示区域为该仪表屏中的显示区域；或者，该第一显示区域为该中控屏中的显示区域，该第二显示区域为该仪表屏中的显示区域。
示例性的，该仪表屏可以为图2中的仪表屏201，该中控屏可以为图2中的显示屏202。
示例性的，如图3中的(b)所示，车辆可以通过仪表屏中的显示区域304显示虚拟场景，通过中控屏中的显示区域显示车道2的盲区图像。
示例性的，如图4所示，车辆可以通过仪表屏中的显示区域304显示虚拟场景，通过仪表屏中的显示区域303显示车道2的盲区图像。
可选地，该方法还包括：在执行该自动变道任务的过程中，通过该第一显示区域显示提示信息，该提示信息用于提示该第二车道的交通安全状态。
示例性的，如图5中的(b)所示，显示区域303中除了显示车道2的盲区图像以外，还可以显示提示信息“目标车道有来车”。
示例性的，如图5中的(c)所示，显示区域303中除了显示车道2的盲区图像以外，还可以显示提示信息“目标车道危险”。
以上通过第一显示区域显示的提示信息可以是车辆根据传感器(例如，环视摄像头、激光雷达、毫米波雷达、超声波雷达等中的一个或者多个)采集的数据确定的。例如，通过环视摄像头或者激光雷达采集的数据确定车道2中的车辆2位于车辆1的左后方，且通过激光雷达采集的数据确定该车辆2与车辆1之间的距离小于预设安全距离(例如，5米)时，车辆1可以通过显示区域303提示用户车道2危险。
可选地，该方法还包括：在完成该自动变道任务时，隐藏该盲区图像。
示例性的，如图3中的(c)所示，在车辆完成自动变道任务时，可以隐藏显示屏202上显示的车道2的盲区图像。
本申请实施例还提供用于实现以上任一种方法的装置，例如，提供一种装置包括用以实现以上任一种方法中车辆或者显示系统所执行的各步骤的单元(或手段)。
图9示出了本申请实施例提供的控制装置900的示意性框图。如图9所示，该控制装置900包括：获取单元910，用于获取自动变道任务，该自动变道任务用于指示车辆从第一车道自动变更至第二车道；控制单元920，用于在执行该自动变道任务之前，控制第一显示区域显示该第二车道的盲区图像，该第二车道的盲区图像由该车辆座舱外的摄像装置获取。
可选地，该装置还包括检测单元，该获取单元910，用于：在该车辆处于自动变道状态时，生成该自动变道任务且提示用户确认该自动变道任务；该控制单元920，用于在该检测单元检测到用户确认该自动变道任务的操作时，控制该第一显示区域显示该第二车道的盲区图像。
可选地，该装置还包括检测单元，该获取单元910，用于：在该车辆未处于自动变道状态且检测到用户的预设操作时，生成自动变道任务；该控制单元920，用于：在该检测单元检测到该预设操作时，控制该第一显示区域显示该第二车道的盲区图像。
可选地，该获取单元910，用于：在该车辆处于自动变道状态时，生成该自动变道任务；该控制单元920，用于：在该获取单元生成该自动变道任务时，控制该第一显示区域显示该第二车道的盲区图像。
可选地，该装置还包括确定单元，该确定单元，用于在该控制单元控制该第一显示区域显示该第 二车道的盲区图像之前，根据该第一车道和该第二车道的相对位置关系，确定该第一显示区域。
可选地，该车辆包括仪表屏和中控屏，该控制单元920，还用于：控制第二显示区域显示虚拟场景，该虚拟场景包括该车辆以及该车辆周围的环境的信息；其中，该第一显示区域和该第二显示区域为该仪表屏中的显示区域；或者，该第一显示区域为该中控屏中的显示区域，该第二显示区域为该仪表屏中的显示区域。
可选地，该控制单元920，还用于在执行该自动变道任务的过程中，控制该第一显示区域显示提示信息，该提示信息用于提示该第二车道的交通安全状态。
可选地，该控制单元920，还用于在完成该自动变道任务时，隐藏该盲区图像。
示例性的，该获取单元910可以是图1中的计算平台或者计算平台中的处理电路、处理器或者控制器。以获取单元910为计算平台中的处理器151为例，在车辆处于自动变道状态时，处理器151可以在确定当前所处车道中车辆前方有障碍物时可以生成自动变道任务。
或者，在车辆处于非自动变道状态时，处理器151可以在确定用户发出自动变道的指令时生成自动变道任务。
示例性的，该控制单元920可以是图1中的计算平台或者计算平台中的处理电路、处理器或者控制器。以控制单元920为计算平台中的处理器152为例，处理器152可以用于控制显示装置的显示。在处理器151生成自动变道任务且该自动变道任务无需用户确认时，处理器152可以控制第一显示区域显示第二车道的盲区图像。
或者，在处理器151生成自动变道任务且该自动变道任务需要用户确认时，处理器152可以控制提示装置提示用户确认该自动变道任务。如处理器152可以控制发声装置(例如，扬声器)发出语音信息，从而提示用户确认该自动变道任务，或者，处理器152可以控制显示装置(例如，仪表屏201或者显示屏202)显示提示信息，从而提示用户确认该自动变道任务。
以上获取单元910所实现的功能和控制单元920所实现的功能可以分别由不同的处理器实现，或者，也可以由相同的处理器实现，本申请实施例对此不作限定。
应理解以上装置中各单元的划分仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。此外，装置中的单元可以以处理器调用软件的形式实现；例如装置包括处理器，处理器与存储器连接，存储器中存储有指令，处理器调用存储器中存储的指令，以实现以上任一种方法或实现该装置各单元的功能，其中处理器例如为通用处理器，例如CPU或微处理器，存储器为装置内的存储器或装置外的存储器。或者，装置中的单元可以以硬件电路的形式实现，可以通过对硬件电路的设计实现部分或全部单元的功能，该硬件电路可以理解为一个或多个处理器；例如，在一种实现中，该硬件电路为ASIC，通过对电路内元件逻辑关系的设计，实现以上部分或全部单元的功能；再如，在另一种实现中，该硬件电路为可以通过PLD实现，以FPGA为例，其可以包括大量逻辑门电路，通过配置文件来配置逻辑门电路之间的连接关系，从而实现以上部分或全部单元的功能。以上装置的所有单元可以全部通过处理器调用软件的形式实现，或全部通过硬件电路的形式实现，或部分通过处理器调用软件的形式实现，剩余部分通过硬件电路的形式实现。
在本申请实施例中，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如CPU、微处理器、GPU、或DSP等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为ASIC或PLD实现的硬件电路，例如FPGA。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如NPU、TPU、DPU等。
可见，以上装置中的各单元可以是被配置成实施以上方法的一个或多个处理器(或处理电路)，例如：CPU、GPU、NPU、TPU、DPU、微处理器、DSP、ASIC、FPGA，或这些处理器形式中至少两种的组合。
此外，以上装置中的各单元可以全部或部分可以集成在一起，或者可以独立实现。在一种实现中，这些单元集成在一起，以SOC的形式实现。该SOC中可以包括至少一个处理器，用于实现以上任一种方法或实现该装置各单元的功能，该至少一个处理器的种类可以不同，例如包括CPU和FPGA，CPU和人工智能处理器，CPU和GPU等。
本申请实施例还提供了一种显示系统，该显示系统包括计算平台和显示装置，该计算平台可以包括上述控制装置900。
示例性的，该显示装置可以包括车载显示屏，如图1中的显示装置130；或者，如图2中的仪表屏201或者显示屏202。
本申请实施例还提供了一种装置，该装置包括处理单元和存储单元，其中存储单元用于存储指令，处理单元执行存储单元所存储的指令，以使该装置执行上述实施例执行的方法或者步骤。
可选地，若该装置位于车辆中，上述处理单元可以是图1所示的处理器151-15n。
本申请实施例还提供了一种移动载体，该移动载体可以包括上述控制装置900，或者，包括上述显示系统。
可选地，该移动载体可以为车辆。
本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述方法。
本申请实施例还提供了一种计算机可读介质，所述计算机可读介质存储有程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述方法。
在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。结合本申请实施例所公开的方法可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者上电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
应理解，本申请实施例中，该存储器可以包括只读存储器和随机存取存储器，并向处理器提供指令和数据。
还应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领 域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖。在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (21)

  1. 一种显示方法，其特征在于，包括：
    获取自动变道任务，所述自动变道任务用于指示车辆从第一车道自动变更至第二车道；
    在执行所述自动变道任务之前，通过第一显示区域显示所述第二车道的盲区图像，所述第二车道的盲区图像由所述车辆座舱外的摄像装置获取。
  2. 根据权利要求1所述的方法，其特征在于，所述获取自动变道任务，包括：
    在所述车辆处于自动变道状态时，生成所述自动变道任务且提示用户确认所述自动变道任务；
    其中，所述通过第一显示区域显示所述第二车道的盲区图像，包括：
    在检测到用户确认所述自动变道任务的操作时，通过所述第一显示区域显示所述第二车道的盲区图像。
  3. 根据权利要求1所述的方法，其特征在于，所述获取自动变道任务，包括：
    在所述车辆未处于自动变道状态且检测到用户的预设操作时，生成所述自动变道任务；
    其中，所述通过第一显示区域显示所述第二车道的盲区图像，包括：
    在检测到所述预设操作时，通过所述第一显示区域显示所述第二车道的盲区图像。
  4. 根据权利要求1所述的方法，其特征在于，所述获取自动变道任务，包括：
    在所述车辆处于自动变道状态时，生成所述自动变道任务；
    其中，所述通过第一显示区域显示所述第二车道的盲区图像，包括：
    在生成所述自动变道任务时，通过所述第一显示区域显示所述第二车道的盲区图像。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述通过第一显示区域显示所述第二车道的盲区图像之前，所述方法还包括：
    根据所述第一车道和所述第二车道的相对位置关系，确定所述第一显示区域。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述车辆包括仪表屏和中控屏，所述方法还包括：
    通过第二显示区域显示虚拟场景，所述虚拟场景包括所述车辆以及所述车辆周围的环境的信息；
    其中，所述第一显示区域和所述第二显示区域为所述仪表屏中的显示区域；或者，
    所述第一显示区域为所述中控屏中的显示区域，所述第二显示区域为所述仪表屏中的显示区域。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述方法还包括：
    在执行所述自动变道任务的过程中，通过所述第一显示区域显示提示信息，所述提示信息用于提示所述第二车道的交通安全状态。
  8. 根据权利要求1至7中任一项所述的方法，其特征在于，所述方法还包括：
    在完成所述自动变道任务时，隐藏所述盲区图像。
  9. 一种控制装置，其特征在于，包括：
    获取单元，用于获取自动变道任务，所述自动变道任务用于指示车辆从第一车道自动变更至第二车道；
    控制单元，用于在执行所述自动变道任务之前，控制第一显示区域显示所述第二车道的盲区图像，所述第二车道的盲区图像由所述车辆座舱外的摄像装置获取。
  10. 根据权利要求9所述的装置，其特征在于，所述装置还包括检测单元，
    所述获取单元，用于：在所述车辆处于自动变道状态时，生成所述自动变道任务且提示用户确认所述自动变道任务；
    所述控制单元，用于在所述检测单元检测到用户确认所述自动变道任务的操作时，控制所述第一显示区域显示所述第二车道的盲区图像。
  11. 根据权利要求9所述的装置，其特征在于，所述装置还包括检测单元，
    所述获取单元，用于：在所述车辆未处于自动变道状态且检测到用户的预设操作时，生成所述自动变道任务；
    所述控制单元，用于：在所述检测单元检测到所述预设操作时，控制所述第一显示区域显示所述 第二车道的盲区图像。
  12. 根据权利要求9所述的装置，其特征在于，
    所述获取单元，用于：在所述车辆处于自动变道状态时，生成所述自动变道任务；
    所述控制单元，用于：在所述获取单元生成所述自动变道任务时，控制所述第一显示区域显示所述第二车道的盲区图像。
  13. 根据权利要求9至12中任一项所述的装置，其特征在于，所述装置还包括确定单元，
    所述确定单元，用于根据所述第一车道和所述第二车道的相对位置关系，确定所述第一显示区域。
  14. 根据权利要求9至13中任一项所述的装置，其特征在于，所述车辆包括仪表屏和中控屏，
    所述控制单元，还用于：控制第二显示区域显示虚拟场景，所述虚拟场景包括所述车辆以及所述车辆周围的环境的信息；
    其中，所述第一显示区域和所述第二显示区域为所述仪表屏中的显示区域；或者，
    所述第一显示区域为所述中控屏中的显示区域，所述第二显示区域为所述仪表屏中的显示区域。
  15. 根据权利要求9至14中任一项所述的装置，其特征在于，
    所述控制单元，还用于在执行所述自动变道任务的过程中，控制所述第一显示区域显示提示信息，所述提示信息用于提示所述第二车道的交通安全状态。
  16. 根据权利要求9至15中任一项所述的装置，其特征在于，
    所述控制单元，还用于在完成所述自动变道任务时，隐藏所述盲区图像。
  17. 一种控制装置，其特征在于，所述装置包括至少一个处理器和接口电路，所述处理器通过接口电路与显示装置通信；
    所述至少一个处理器用于执行如权利要求1至8中任一项所述的方法，控制所述显示装置的显示界面。
  18. 一种显示系统，其特征在于，所述显示系统包括计算平台和显示装置，其中，所述计算平台包括如权利要求9至17中任一项所述的控制装置。
  19. 一种车辆，其特征在于，包括权利要求9至17中任一项所述的控制装置，或者，包括如权利要求18所述的显示系统。
  20. 一种计算机可读存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被计算机执行时，以使得实现如权利要求1至8中任一项所述的方法。
  21. 一种芯片，其特征在于，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，以执行如权利要求1至8中任一项所述的方法。
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