CN111169381A - Vehicle image display method and device, vehicle and storage medium - Google Patents
Vehicle image display method and device, vehicle and storage medium Download PDFInfo
- Publication number
- CN111169381A CN111169381A CN201910960417.5A CN201910960417A CN111169381A CN 111169381 A CN111169381 A CN 111169381A CN 201910960417 A CN201910960417 A CN 201910960417A CN 111169381 A CN111169381 A CN 111169381A
- Authority
- CN
- China
- Prior art keywords
- image
- vehicle
- visual angle
- camera
- panoramic
- 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.)
- Pending
Links
Images
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
-
- 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
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored 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
- B60R2300/8073—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 vehicle security, e.g. parked vehicle surveillance, burglar detection
-
- 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
- B60R2300/8093—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 obstacle warning
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Closed-Circuit Television Systems (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle image display method and device, a vehicle and a storage medium. The method comprises the following steps: obtaining obstacle information in a preset range of a vehicle, which is measured by a sensor group, wherein the sensor group comprises a panoramic camera, a one-way camera and a radar; determining a target visual angle of an image to be displayed according to the barrier information; and displaying the image under the target visual angle and a panoramic image generated according to the image collected by the panoramic camera. Through the technical scheme, the panoramic image is displayed, and meanwhile, the image under the target visual angle is displayed, so that dangers can be found conveniently and timely, and the driving safety is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle display, in particular to a vehicle image display method, a vehicle image display device, a vehicle and a storage medium.
Background
With the continuous development of vehicle control technology, the holding quantity of vehicles is increasing, and the traffic environment faced by drivers is also more and more complex. The driving process involves different situations such as speed change, backing a car, turning, and the like, and images in different directions need to be displayed to a driver under different situations, so that the driver can conveniently observe road conditions around the vehicle. For example, a rear image should be displayed to facilitate the driver's observation of a rear obstacle when backing a car, and a left image should be displayed to facilitate the driver's observation of a left obstacle when turning left.
The existing display method generally displays images in a driving direction or a direction to be driven according to a control instruction, a gear, a steering wheel, a steering lamp and the like of a user, and the images in other directions are temporarily ignored, so that a driver is not facilitated to observe the surrounding environment, find obstacles in time, avoid dangers and have low driving safety.
Disclosure of Invention
The invention provides a vehicle image display method and device, a vehicle and a storage medium, which are used for improving the driving safety.
In a first aspect, an embodiment of the present invention provides a vehicle image display method, including:
obtaining obstacle information in a preset range of a vehicle, which is measured by a sensor group, wherein the sensor group comprises a panoramic camera, a one-way camera and a radar;
determining a target visual angle of an image to be displayed according to the barrier information;
and displaying the image under the target visual angle and a panoramic image generated according to the image collected by the panoramic camera.
Further, the determining a target view angle of the image to be displayed according to the obstacle information includes:
estimating the time length required by collision between the vehicle and the obstacle according to the obstacle information;
and if the time length required by collision is less than or equal to the preset time length, taking the visual angle of the obstacle as a target visual angle.
Further, the determining a target view angle of the image to be displayed according to the obstacle information further includes:
and under the condition that a plurality of obstacles exist in the preset range, taking the view angle of the obstacle with the shortest collision time as the target view angle.
Further, before the displaying the image at the target viewing angle and the panoramic image generated according to the image collected by the panoramic camera, the method further includes:
determining calibration parameters of the panoramic camera according to the current height of the air suspension;
and splicing the images of the plurality of view fields collected by the panoramic camera according to the calibration parameters to obtain the panoramic image.
Further, after determining a target view angle of the image to be displayed according to the obstacle information, the method further includes:
if the target visual angle is a front visual angle or a rear visual angle, extracting an image collected by a one-way camera corresponding to the target visual angle as an image under the target visual angle;
and if the target visual angle is a left visual angle or a right visual angle, extracting an image collected by the panoramic camera corresponding to the target visual angle as an image under the target visual angle.
Furthermore, the one-way camera comprises a front-view camera and a rear-view camera, the coverage angles of the front-view camera and the rear-view camera are both smaller than the coverage angle of the panoramic camera, and the coverage distances of the front-view camera and the rear-view camera are both larger than the coverage distance of the panoramic camera.
Further, the radar comprises a parking radar and a millimeter wave radar, and the detection distance of the millimeter wave radar is greater than that of the parking radar.
In a second aspect, an embodiment of the present invention provides a vehicle image display device, including:
the detection module is used for acquiring barrier information in a preset range of the vehicle through a sensor group, and the sensor group comprises a panoramic camera, a one-way camera and a radar;
the visual angle determining module is used for determining a target visual angle of the image to be displayed according to the barrier information;
and the display module is used for displaying the image under the target visual angle and the panoramic image generated according to the image collected by the panoramic camera.
In a third aspect, an embodiment of the present invention provides a vehicle, including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle image display method according to the first aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the vehicle image display method according to the first aspect.
The embodiment of the invention provides a vehicle image display method and device, a vehicle and a storage medium. The method comprises the following steps: obtaining obstacle information in a preset range of a vehicle, which is measured by a sensor group, wherein the sensor group comprises a panoramic camera, a one-way camera and a radar; determining a target visual angle of an image to be displayed according to the barrier information; and displaying the image under the target visual angle and a panoramic image generated according to the image collected by the panoramic camera. Through the technical scheme, the panoramic image is displayed, and meanwhile, the image under the target visual angle is displayed, so that dangers can be found conveniently and timely, and the driving safety is improved.
Drawings
Fig. 1 is a flowchart of a vehicle image display method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a vehicle image according to an embodiment of the present invention;
fig. 3 is a flowchart of a vehicle image display method according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle image display device according to a third embodiment of the present invention;
fig. 5 is a schematic hardware structure diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle image display method according to an embodiment of the present invention. The embodiment can be applied to displaying images at a target viewing angle so that a user can view the surrounding environment of the vehicle. Specifically, the vehicle image display method may be executed by a vehicle image display device, which may be implemented in software and/or hardware and integrated in a vehicle. As shown in fig. 1, the method specifically includes the following steps:
s110, obtaining obstacle information in a preset range of the vehicle, which is measured by a sensor group, wherein the sensor group comprises a panoramic camera, a one-way camera and a radar.
Specifically, the sensor group is used for detecting obstacles in a targeted manner within a preset range around the vehicle, and does not detect obstacles which are far away and do not influence the normal running of the vehicle. The preset range is related to performance parameters of the sensor, and can also be a range set according to actual requirements. The size of the preset range influences the frequency of determining or switching the target view angle, for example, the preset range is within 20m around the vehicle, if an obstacle is detected within 20m around the vehicle, the sensor group can identify the image of the obstacle, the distance between the vehicle and the obstacle, the movement speed, the position (coordinate), the type (such as a pedestrian, a vehicle, a building, or a stationary obstacle, a moving obstacle, etc.) and the like of the obstacle, and send the obstacle information to a processor in the vehicle through a bus as the basis for the processor to determine the target view angle; if the preset range is within 10m around the vehicle, the detection range is relatively small, the visual angle switching is not frequent, but the time for the user to react is relatively short due to the fact that the distance between the vehicle and the obstacle is relatively short when the obstacle is detected, and the user needs to make a decision quickly to ensure safety.
In this embodiment, the processor acquires the obstacle information within the preset range of the vehicle, which is measured by the sensor group, determines the target view angle of the image to be displayed, and identifies the obstacle in the displayed image, so as to remind the user of the obstacle within the preset range, and the user can quickly perceive the information of the surrounding obstacle.
And S120, determining a target view angle of the image to be displayed according to the obstacle information.
Specifically, the direction of the obstacle closest to the vehicle may be used as the target view angle; according to the driving direction and speed of the vehicle, the direction of the obstacle which is the fastest to approach the vehicle and is possible to collide with the vehicle earliest can be taken as a target view angle; or, under the condition that the obstacle is still a certain distance away from the vehicle and is safe, the image at the default viewing angle (the default viewing angle is the target viewing angle) is displayed, and the default viewing angle can be the vehicle driving direction or the direction to be driven determined according to the steering wheel, the steering lamp, the gear and the like.
And S130, displaying the image under the target visual angle and a panoramic image generated according to the image collected by the panoramic camera.
Specifically, the images at the target viewing angle are collected by corresponding one-way cameras or panoramic cameras, the panoramic images are obtained by receiving barrier information detected by each sensor from a bus by a processor, fusing the barrier information and splicing the images collected by each panoramic camera, the images at the target viewing angle and the panoramic images are output through a display screen, and the display screen can be a vehicle screen or an external screen, such as a mobile phone or a flat panel screen.
Fig. 2 is a schematic diagram illustrating a vehicle image according to an embodiment of the invention. As shown in fig. 2, when the panoramic image is displayed, the image at the corresponding target view angle is displayed according to the detected obstacle information, so that the user can find the danger in time, and the driving safety is improved.
Furthermore, the one-way camera comprises a front-view camera and a rear-view camera, the coverage angles of the front-view camera and the rear-view camera are both smaller than that of the panoramic camera, and the coverage distances of the front-view camera and the rear-view camera are both larger than that of the panoramic camera.
Specifically, the front-view camera and the rear-view camera are respectively arranged right in front of and right behind the vehicle body, the coverage angle is small, the coverage distance is relatively large, and a farther obstacle can be detected in the driving process of the vehicle; the panoramic camera is a plurality of, sets up around the vehicle for gather vehicle surrounding image, and the coverage angle is great, the coverage distance is short, for example fish-eye camera, is used for providing the panoramic image around the vehicle.
Further, the radar comprises a parking radar and a millimeter wave radar, and the detection distance of the millimeter wave radar is greater than that of the parking radar.
Specifically, the parking radar has a relatively short detection range, and is used for detecting an obstacle in front of the vehicle during parking or slow (e.g., less than 15 km/h) running of the vehicle, providing information about the distance, direction, area, and the like of the obstacle, and giving an alarm when the distance approaches a certain degree, but the detection performance of the parking radar is affected under the conditions of environmental adverse factors such as rainy days and foggy days; the millimeter wave radar has high spatial resolution and strong penetration capability, can detect smaller obstacles, and improves the detection accuracy.
According to the vehicle image display method provided by the embodiment of the invention, the sensor group is used for comprehensively detecting the obstacles to obtain more comprehensive obstacle information, and the panoramic image is displayed while the image at the corresponding target view angle is displayed according to the detected obstacle information, so that the danger can be conveniently found in time, and the driving safety is improved.
Example two
Fig. 3 is a flowchart of a vehicle image display method according to a second embodiment of the present invention, which is optimized based on the second embodiment, and specifically describes a process of determining a target viewing angle and obtaining a panoramic image. It should be noted that technical details that are not described in detail in the present embodiment may be referred to any of the above embodiments.
Specifically, as shown in fig. 3, the method specifically includes the following steps:
s210, obtaining obstacle information in a preset range of the vehicle, which is measured by a sensor group, wherein the sensor group comprises a panoramic camera, a one-way camera and a radar.
And S220, estimating the time length required by collision between the vehicle and the obstacle according to the obstacle information.
Specifically, the time period required for collision of the vehicle with the obstacle is estimated in conjunction with the current traveling direction, traveling speed, and obstacle information of the vehicle.
And S230, judging whether the time length required by collision is less than or equal to the preset time length, if so, executing S240, otherwise, returning to S210, and continuously acquiring the obstacle information.
Specifically, whether the time length required by collision of the vehicle with the detected obstacle in the preset range around the vehicle is within the preset time length or not is judged, if the time length required by collision is less than or equal to the preset time length, the fact that the vehicle is close to the obstacle is proved, and danger is caused, and under the condition, the view angle of the obstacle is used as the target view angle. For example, the information of the obstacle within 20m from the vehicle detected by the sensor group is processed, and if the time required by the collision between the vehicle and the obstacle is less than or equal to 2 seconds, the target view angle is determined according to the position of the obstacle; if the time length required by collision is longer than the preset time length, which indicates that the distance between the vehicle and the obstacle is still within the safety range, the obstacle information is continuously acquired, and the image of the default visual angle is displayed, for example, the image of the driving direction, the direction to be driven determined according to a steering wheel, a steering lamp, a gear and the like, or the image of the visual angle after the last switching is kept displayed, and meanwhile, the panoramic image is displayed.
In the embodiment, the sensor group can detect comprehensive barrier information aiming at different environments, the time required by collision between the vehicle and the barrier is estimated on the basis, the visual angle switching can be avoided when the time required by collision is longer, the frequent switching of the visual angle can be prevented, and a user can watch the vehicle more comfortably and practically; and for the obstacle with shorter time required by collision, the image under the target visual angle is timely switched to ensure the driving safety.
And S240, taking the view angle of the obstacle as a target view angle.
And S250, extracting the image collected by the unidirectional camera or the panoramic camera corresponding to the target visual angle as an image under the target visual angle.
Further, if the target view angle is a front view angle or a rear view angle, extracting an image acquired by the unidirectional camera corresponding to the target view angle as an image under the target view angle; and if the target visual angle is a left visual angle or a right visual angle, extracting an image collected by the panoramic camera corresponding to the target visual angle as an image under the target visual angle.
Specifically, the information of the obstacles detected by the sensor group is subjected to fusion processing, the time required by collision between the vehicle and the obstacles is calculated, so that a target visual angle is determined, and an image acquired by a camera corresponding to the target visual angle is output to a display screen for displaying.
Furthermore, under the condition that a plurality of obstacles are arranged in the preset range, the visual angle of the obstacle with the shortest time required by collision is used as the target visual angle, so that the user can find and eliminate dangers in time.
And S260, determining the calibration parameters of the panoramic camera according to the current height of the air suspension.
S270, splicing the images of the plurality of view fields collected by the panoramic camera according to the calibration parameters to obtain the panoramic image.
Specifically, to the vehicle that is provided with air suspension, at the in-process that the vehicle went in different road conditions, for guaranteeing that the automobile body gesture is stable, air suspension can automatically regulated makes the automobile body height constantly change, lead to panoramic camera discernment barrier or marker positional deviation can appear, the image of gathering even takes place distortion or distortion, under this kind of condition, the default calibration parameter that panoramic camera dispatched from the factory has become invalid, it can influence panoramic image's quality to continue to adopt original calibration parameter collection image, finally influence the accuracy and the authenticity of barrier information.
In this embodiment, calibration parameters of the panoramic camera are determined according to the current height of the air suspension, for example, the heights of different air suspensions can be calibrated, the calibration parameters and corresponding heights are stored in an associated manner, and before the panoramic image is displayed, the corresponding calibration parameters are read according to the current height of the air suspension, so that images of multiple fields acquired by the panoramic camera are spliced according to the corresponding calibration parameters to obtain the panoramic image; the method can also be used for dynamically calibrating in the driving process of the vehicle, and the calibration parameters are adjusted when the height of the air suspension is detected to change, so that the distortion or the deformity of the image acquired by the panoramic camera is eliminated, and the adjusted calibration parameters can be used for splicing the panoramic image.
Further, if the calibration parameter corresponding to the current height fails to be obtained (for example, the calibration parameter at the height is not calibrated), the air suspension can be adjusted to the preset height of the known calibration parameter, so that an accurate panoramic image can be obtained based on the known calibration parameter.
It should be noted that, the present embodiment does not limit the execution sequence of step 260 and steps 210 to 250, and the stitching and displaying of the panoramic image are preferably performed synchronously with the image at the display target viewing angle.
And S280, displaying the image under the target visual angle and a panoramic image generated according to the image collected by the panoramic camera.
The vehicle image display method provided by the second embodiment of the invention is optimized on the basis of the above embodiment, comprehensive barrier information is obtained through the sensor group, the time required by collision between the vehicle and the barrier is estimated on the basis, a reasonable target visual angle is determined, and a display mode of simultaneously outputting a single visual angle view and a bird's-eye view panoramic view is adopted, wherein the target visual angle can be updated and automatically switched in real time, so that a user can observe the surrounding environment to find danger in time, and the driving safety is improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a vehicle image display device according to a third embodiment of the present invention. The present embodiment provides a vehicle image display device including:
the detection module 310 is configured to obtain obstacle information within a preset range of a vehicle through a sensor group, where the sensor group includes a panoramic camera, a unidirectional camera, and a radar;
a view angle determining module 320, configured to determine a target view angle of the image to be displayed according to the obstacle information;
and the display module 330 is configured to display the image at the target viewing angle and a panoramic image generated according to the image acquired by the panoramic camera.
According to the vehicle image display device provided by the third embodiment of the invention, the detection module is used for acquiring the barrier information in the preset range of the vehicle, the visual angle is used for determining the target visual angle of the image to be displayed according to the barrier information, and the display module is used for displaying the image and the panoramic image under the target visual angle, so that the image of the barrier can be displayed in time, the danger can be found in time, and the driving safety is improved.
On the basis of the above embodiment, the viewing angle determining module 320 includes:
a time length estimation unit for estimating a time length required for collision of the vehicle with the obstacle according to the obstacle information;
and the visual angle determining unit is used for taking the visual angle of the obstacle as a target visual angle if the time length required by collision is less than or equal to the preset time length.
On the basis of the foregoing embodiment, the viewing angle determining unit is further configured to:
and under the condition that a plurality of obstacles exist in the preset range, taking the view angle of the obstacle with the shortest collision time as the target view angle.
Further, the method also comprises the following steps: an extraction module to:
after the target visual angle of the image to be displayed is determined according to the barrier information, if the target visual angle is a front visual angle or a rear visual angle, extracting an image collected by a one-way camera corresponding to the target visual angle as the image under the target visual angle;
and if the target visual angle is a left visual angle or a right visual angle, extracting an image collected by the panoramic camera corresponding to the target visual angle as an image under the target visual angle.
Furthermore, the one-way camera comprises a front-view camera and a rear-view camera, the coverage angles of the front-view camera and the rear-view camera are both smaller than the coverage angle of the panoramic camera, and the coverage distances of the front-view camera and the rear-view camera are both larger than the coverage distance of the panoramic camera.
Further, the radar comprises a parking radar and a millimeter wave radar, and the detection distance of the millimeter wave radar is greater than that of the parking radar.
The vehicle image display device provided by the third embodiment of the invention can be used for executing the vehicle image display method provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 5 is a schematic hardware structure diagram of a vehicle according to a fourth embodiment of the present invention. As shown in fig. 5, the present embodiment provides a vehicle including: sensor group 410, display screen 420, processor 430 and storage 440; sensor group 410 is used for detecting the barrier information of vehicle within the scope of predetermineeing around, sensor group includes panoramic camera, one-way camera and ultrasonic sensor, and display screen 420 is used for showing panoramic image and the image under the target visual angle. The number of the processors 430 in the vehicle may be one or more, and fig. 5 illustrates one processor 430, and the processor 430 and the storage device 440 in the vehicle may be connected by a bus or other means, and fig. 5 illustrates the connection by the bus.
The one or more programs are executed by the one or more processors 430, so that the one or more processors implement the vehicle image display method described in any of the above embodiments.
The storage device 440 in the vehicle, as a computer-readable storage medium, may be used to store one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle image display method in the embodiment of the present invention (for example, the modules in the vehicle image display device shown in fig. 4, including the detection module 310, the viewing angle determination module 320, and the display module 330). The processor 430 executes various functional applications and data processing of the vehicle device by running software programs, instructions and modules stored in the storage device 440, so as to implement the vehicle image display method in the above-described method embodiment.
The storage device 440 mainly includes a storage program area and a storage data area, wherein the storage program area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the vehicle, etc. (obstacle information, panoramic images, etc. as in the above-described embodiments). Further, the storage 440 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device 440 may further include memory located remotely from the processor 430, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
And, when the one or more programs included in the vehicle are executed by the one or more processors 430, perform the following operations: obtaining obstacle information in a preset range of a vehicle, which is measured by a sensor group, wherein the sensor group comprises a panoramic camera, a one-way camera and a radar; determining a target visual angle of an image to be displayed according to the barrier information; and displaying the image under the target visual angle and a panoramic image generated according to the image collected by the panoramic camera.
The vehicle proposed by the present embodiment and the vehicle image display method proposed by the above embodiment belong to the same inventive concept, and technical details that are not described in detail in the present embodiment can be referred to any of the above embodiments, and the present embodiment has the same beneficial effects as the vehicle image display method.
On the basis of the above-described embodiments, the present embodiment also provides a computer-readable storage medium having stored thereon a computer program that, when executed by a vehicle image display apparatus, implements a vehicle image display method in any of the above-described embodiments of the present invention, the method including: obtaining obstacle information in a preset range of a vehicle, which is measured by a sensor group, wherein the sensor group comprises a panoramic camera, a one-way camera and a radar; determining a target visual angle of an image to be displayed according to the barrier information; and displaying the image under the target visual angle and a panoramic image generated according to the image collected by the panoramic camera.
Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the operations of the vehicle image display method described above, and may also perform related operations in the vehicle image display method provided by any embodiment of the present invention, and have corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the vehicle image display method according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle image display method is characterized by comprising the following steps:
obtaining obstacle information in a preset range of a vehicle, which is measured by a sensor group, wherein the sensor group comprises a panoramic camera, a one-way camera and a radar;
determining a target visual angle of an image to be displayed according to the barrier information;
and displaying the image under the target visual angle and a panoramic image generated according to the image collected by the panoramic camera.
2. The method of claim 1, wherein determining a target viewing angle of an image to be displayed according to the obstacle information comprises:
estimating the time length required by collision between the vehicle and the obstacle according to the obstacle information;
and if the time length required by collision is less than or equal to the preset time length, taking the visual angle of the obstacle as a target visual angle.
3. The method of claim 2, wherein determining a target viewing angle of an image to be displayed based on the obstacle information further comprises:
and under the condition that a plurality of obstacles exist in the preset range, taking the view angle of the obstacle with the shortest collision time as the target view angle.
4. The method of claim 1, further comprising, prior to the displaying the imagery at the target viewing angle and the panoramic imagery generated from the images captured by the panoramic camera:
determining calibration parameters of the panoramic camera according to the current height of the air suspension;
and splicing the images of the plurality of view fields collected by the panoramic camera according to the calibration parameters to obtain the panoramic image.
5. The method according to claim 1, further comprising, after said determining a target viewing angle of an image to be displayed according to the obstacle information:
if the target visual angle is a front visual angle or a rear visual angle, extracting an image collected by a one-way camera corresponding to the target visual angle as an image under the target visual angle;
and if the target visual angle is a left visual angle or a right visual angle, extracting an image collected by the panoramic camera corresponding to the target visual angle as an image under the target visual angle.
6. The method according to any one of claims 1 to 5,
the one-way camera comprises a front-view camera and a rear-view camera, the coverage angle of the front-view camera and the coverage angle of the rear-view camera are both smaller than that of the panoramic camera, and the coverage distance of the front-view camera and the rear-view camera is both larger than that of the panoramic camera.
7. The method according to any one of claims 1 to 5,
the radar comprises a parking radar and a millimeter wave radar, and the detection distance of the millimeter wave radar is greater than that of the parking radar.
8. A vehicle image display device, comprising:
the detection module is used for acquiring barrier information in a preset range of the vehicle through a sensor group, and the sensor group comprises a panoramic camera, a one-way camera and a radar;
the visual angle determining module is used for determining a target visual angle of the image to be displayed according to the barrier information;
and the display module is used for displaying the image under the target visual angle and the panoramic image generated according to the image collected by the panoramic camera.
9. A vehicle, characterized by comprising:
the sensor group is used for detecting barrier information in a preset range around a vehicle and comprises a panoramic camera, a one-way camera and an ultrasonic sensor;
the display screen is used for displaying the panoramic image and the image under the target visual angle;
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle image display method of any one of claims 1-7.
10. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the vehicle image display method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910960417.5A CN111169381A (en) | 2019-10-10 | 2019-10-10 | Vehicle image display method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910960417.5A CN111169381A (en) | 2019-10-10 | 2019-10-10 | Vehicle image display method and device, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111169381A true CN111169381A (en) | 2020-05-19 |
Family
ID=70650078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910960417.5A Pending CN111169381A (en) | 2019-10-10 | 2019-10-10 | Vehicle image display method and device, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111169381A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113071511A (en) * | 2021-04-21 | 2021-07-06 | 中国第一汽车股份有限公司 | Method and device for displaying reverse image, electronic equipment and storage medium |
| CN113990103A (en) * | 2021-09-24 | 2022-01-28 | 北京车和家信息技术有限公司 | Method, equipment and device for processing vehicle environment image and storage medium |
| CN114407928A (en) * | 2022-01-24 | 2022-04-29 | 中国第一汽车股份有限公司 | Vehicle avoidance control method and vehicle avoidance control device |
| CN114488047A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle sensor calibration system |
| CN114633694A (en) * | 2022-03-24 | 2022-06-17 | 岚图汽车科技有限公司 | Obstacle display control method, device and equipment and readable storage medium |
| CN114648504A (en) * | 2022-03-17 | 2022-06-21 | 小米汽车科技有限公司 | Automatic driving method, device, electronic equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0314642A1 (en) * | 1987-10-26 | 1989-05-03 | SAME S.p.A. | Comprehensive monitoring system for the drivers' cabs of tractors |
| CN204055564U (en) * | 2014-08-28 | 2014-12-31 | 中山市高朗电子有限公司 | A kind of 360 degree of panoramic parking assist systems |
| CN106515725A (en) * | 2016-10-20 | 2017-03-22 | 深圳市元征科技股份有限公司 | Method and terminal for preventing vehicle collision |
| CN108583435A (en) * | 2018-04-25 | 2018-09-28 | 北京新能源汽车股份有限公司 | Display control method, device based on vehicle and vehicle |
| CN108765490A (en) * | 2018-04-04 | 2018-11-06 | 科大讯飞股份有限公司 | The visual field method of adjustment and device of panorama sketch, storage medium, electronic equipment |
| CN109624866A (en) * | 2017-10-06 | 2019-04-16 | 镇江润德节能科技有限公司 | A kind of security detection equipment that pilotless automobile uses |
| CN208789584U (en) * | 2018-06-28 | 2019-04-26 | 深圳奥尼电子股份有限公司 | Drive assistance device |
| CN111169463A (en) * | 2019-10-10 | 2020-05-19 | 中国第一汽车股份有限公司 | Parking control system and method |
-
2019
- 2019-10-10 CN CN201910960417.5A patent/CN111169381A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0314642A1 (en) * | 1987-10-26 | 1989-05-03 | SAME S.p.A. | Comprehensive monitoring system for the drivers' cabs of tractors |
| CN204055564U (en) * | 2014-08-28 | 2014-12-31 | 中山市高朗电子有限公司 | A kind of 360 degree of panoramic parking assist systems |
| CN106515725A (en) * | 2016-10-20 | 2017-03-22 | 深圳市元征科技股份有限公司 | Method and terminal for preventing vehicle collision |
| CN109624866A (en) * | 2017-10-06 | 2019-04-16 | 镇江润德节能科技有限公司 | A kind of security detection equipment that pilotless automobile uses |
| CN108765490A (en) * | 2018-04-04 | 2018-11-06 | 科大讯飞股份有限公司 | The visual field method of adjustment and device of panorama sketch, storage medium, electronic equipment |
| CN108583435A (en) * | 2018-04-25 | 2018-09-28 | 北京新能源汽车股份有限公司 | Display control method, device based on vehicle and vehicle |
| CN208789584U (en) * | 2018-06-28 | 2019-04-26 | 深圳奥尼电子股份有限公司 | Drive assistance device |
| CN111169463A (en) * | 2019-10-10 | 2020-05-19 | 中国第一汽车股份有限公司 | Parking control system and method |
Non-Patent Citations (2)
| Title |
|---|
| 冯国虎，吴文启: "《单目视觉惯性组合导航可观性分析与动态滤波算法研究》", 1 February 2017, 国防科技大学出版社 * |
| 张萍等: "全景视频处理技术分析", 《广东通信技术》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113071511A (en) * | 2021-04-21 | 2021-07-06 | 中国第一汽车股份有限公司 | Method and device for displaying reverse image, electronic equipment and storage medium |
| CN113990103A (en) * | 2021-09-24 | 2022-01-28 | 北京车和家信息技术有限公司 | Method, equipment and device for processing vehicle environment image and storage medium |
| CN114407928A (en) * | 2022-01-24 | 2022-04-29 | 中国第一汽车股份有限公司 | Vehicle avoidance control method and vehicle avoidance control device |
| CN114488047A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle sensor calibration system |
| CN114648504A (en) * | 2022-03-17 | 2022-06-21 | 小米汽车科技有限公司 | Automatic driving method, device, electronic equipment and storage medium |
| CN114648504B (en) * | 2022-03-17 | 2022-12-02 | 小米汽车科技有限公司 | Automatic driving method, device, electronic equipment and storage medium |
| CN114633694A (en) * | 2022-03-24 | 2022-06-17 | 岚图汽车科技有限公司 | Obstacle display control method, device and equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111169381A (en) | Vehicle image display method and device, vehicle and storage medium | |
| EP3650285B1 (en) | Parking assistance method and parking assistance device | |
| US10163016B2 (en) | Parking space detection method and device | |
| US9863775B2 (en) | Vehicle localization system | |
| CN112738171B (en) | Vehicle control method, device, system, equipment and storage medium | |
| JP2001233150A (en) | Danger judging device for vehicle and periphery monitoring device for vehicle | |
| CN113593301B (en) | Method for pre-judging vehicle jam, vehicle and computer readable storage medium | |
| JP2008250503A (en) | Operation support device | |
| EP3511222A1 (en) | Obstacle determination method, parking support method, dispatch support method, and obstacle determination device | |
| CN107004250B (en) | Image generation device and image generation method | |
| CN110378836B (en) | Method, system and equipment for acquiring 3D information of object | |
| CN114492679B (en) | Vehicle data processing method and device, electronic equipment and medium | |
| JP6394440B2 (en) | Dirt determination device | |
| CN113228135A (en) | Blind area image acquisition method and related terminal device | |
| JP2020134981A (en) | Driving assistance device | |
| JP4848644B2 (en) | Obstacle recognition system | |
| US11403950B2 (en) | Moving body detection system | |
| CN115497338B (en) | Blind zone early warning system, method and device for auxiliary road intersection | |
| CN116572837A (en) | Information display control method and device, electronic equipment and storage medium | |
| JP7115872B2 (en) | Drive recorder and image recording method | |
| CN110979319A (en) | Driving assistance method, device and system | |
| CN112249010A (en) | Method and apparatus for controlling automatic emergency braking of vehicle and storage medium | |
| JP6593240B2 (en) | Recommended lane guidance system and recommended lane guidance program | |
| WO2022270207A1 (en) | Vehicular display control device and vehicular display control program | |
| US20240010242A1 (en) | Signal processing device and signal processing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200519 |
|
| RJ01 | Rejection of invention patent application after publication |