CN115878825A

CN115878825A - Method, device, equipment and medium for generating backing trajectory

Info

Publication number: CN115878825A
Application number: CN202211449269.9A
Authority: CN
Inventors: 彭潮锋; 徐林浩; 姜树红; 涂庆裕
Original assignee: BDstar Intelligent and Connected Vehicle Technology Co Ltd
Current assignee: BDstar Intelligent and Connected Vehicle Technology Co Ltd
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-03-31

Abstract

The invention relates to the technical field of vehicle safety, and provides a method, a device, equipment and a medium for generating a backing track line, which can convert pixel point data of a backing track picture into line data and then store the line data, reduce the occupied space of the data, solve the problem of insufficient storage space of a vehicle machine.

Description

Method, device, equipment and medium for generating backing track line

Technical Field

The invention relates to the technical field of vehicle safety, in particular to a method, a device, equipment and a medium for generating a backing track line.

Background

The rapid backing refers to that a vehicle-mounted multimedia entertainment host (vehicle machine for short) can rapidly enter and display a backing picture (comprising a backing track line and the like) in a short time after being started. Because the rapid backing is realized at the initial stage of the starting of the car machine system, namely, the support of an operating system, a Graphical User Interface (GUI) library and the like is not provided, the available storage space is very limited.

The number of the backing track line pictures can be six to seventy, and the current solution is to display the backing track line after the operating system and the application program are started, but at the moment, the requirement of rapid backing cannot be met after the car machine is started for tens of seconds or even more.

Disclosure of Invention

In view of the foregoing, there is a need to provide a method, an apparatus, a device and a medium for generating a reverse trajectory line, which aims to solve the problem that the requirement of fast reverse cannot be met due to insufficient storage space.

A reversing trajectory line generating method comprises the following steps:

acquiring a pre-calibrated initial backing track picture set;

converting pixel point data of each initial reversing track picture in the initial reversing track picture set into line data to obtain a picture set to be processed, and storing the picture set to be processed to a vehicle-mounted machine system;

responding to a reversing instruction triggered by a target vehicle, and acquiring a turning angle of the target vehicle;

matching the turning angle of the target vehicle in the to-be-processed picture set stored in the vehicle machine system to obtain a target to-be-processed picture;

determining the position of each pixel point in the target picture to be processed;

performing RGB assignment on a corresponding pixel point at each pixel point position to obtain a color value of each pixel point;

and drawing an image according to the position of each pixel point and the color value of each pixel point to obtain a target backing track picture.

According to the preferred embodiment of the invention, each initial reverse track picture in the initial reverse track picture set corresponds to a vehicle turning angle.

According to a preferred embodiment of the present invention, the converting the pixel point data of each initial reverse trajectory picture in the initial reverse trajectory picture set into line data to obtain a to-be-processed picture set includes:

acquiring a starting point of each initial backing track picture and acquiring a preset effective color;

scanning each initial reversing track picture point by point from the starting point of each initial reversing track picture;

in the scanning process, when a first pixel point is scanned to have the preset effective color, determining the first pixel point as a starting point x-axis coordinate, until a second pixel point is scanned to have no preset effective color, determining the second pixel point as a terminal point x-axis coordinate, acquiring a current y-axis coordinate, and generating a line according to the starting point x-axis coordinate, the terminal point x-axis coordinate and the y-axis coordinate;

integrating each line obtained by scanning as line data of each initial backing track picture, and generating each picture to be processed according to the line data of each initial backing track picture;

dividing the pictures to be processed into two types according to the left turn or the right turn of the vehicle corner, and establishing a sequence number for each picture to be processed in each type according to the sequence of the turn angles from small to large;

and constructing the picture set to be processed according to the sequence number of each picture to be processed.

According to a preferred embodiment of the present invention, the matching, according to the turning angle of the target vehicle, in the to-be-processed picture set stored in the vehicle-mounted device system to obtain the target to-be-processed picture includes:

acquiring the maximum steering angle of a steering wheel of the target vehicle;

calculating a quotient of the steering angle of the target vehicle and the maximum steering angle of the steering wheel to obtain a first numerical value;

acquiring the total number of all pictures to be processed in the picture set to be processed;

calculating the quotient of the total number and 2 to obtain a second numerical value;

calculating the product of the first numerical value and the second numerical value to obtain a target sequence number;

and matching the target picture to be processed from the picture set to be processed according to the target sequence number to obtain the target picture to be processed.

According to a preferred embodiment of the present invention, the determining the position of each pixel point in the target to-be-processed picture includes:

acquiring a starting point x-axis coordinate, a terminal point x-axis coordinate and a y-axis coordinate of each line in the target picture to be processed;

acquiring the screen resolution width of the target vehicle;

calculating the product of the y-axis coordinate of each line and the resolution width of the screen to obtain a third numerical value corresponding to each line;

acquiring x-axis coordinates of each pixel point included between the starting point x-axis coordinates and the end point x-axis coordinates of each line;

calculating the sum of the third value corresponding to each line and the x-axis coordinate of each pixel point corresponding to each line to obtain the position of the pixel point corresponding to each line;

and integrating the corresponding pixel point position on each line to obtain the position of each pixel point in the target picture to be processed.

According to the preferred embodiment of the present invention, the performing RGB assignment on the pixel point corresponding to each pixel point position to obtain the color value of each pixel point includes:

and performing RGB assignment on the corresponding pixel point on each pixel point position according to the original color distribution of each initial backing track picture to obtain the color value of each pixel point.

According to the preferred embodiment of the present invention, after obtaining the target reversing track picture, the method further includes:

displaying the target reversing track picture on a display screen of the target vehicle;

monitoring the actual backing track of the target vehicle in real time;

and when the actual backing track of the target vehicle deviates from the target backing track picture, sending out a warning prompt.

A reversing trajectory line generating device, comprising:

the system comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring a pre-calibrated initial backing track picture set;

the conversion unit is used for converting the pixel point data of each initial reverse track picture in the initial reverse track picture set into line data to obtain a picture set to be processed, and storing the picture set to be processed to the car machine system;

the acquisition unit is further used for responding to a reversing instruction triggered by a target vehicle and acquiring a turning angle of the target vehicle;

the matching unit is used for matching in the picture set to be processed stored in the vehicle-mounted device system according to the turning angle of the target vehicle to obtain a target picture to be processed;

the determining unit is used for determining the position of each pixel point in the target picture to be processed;

the assignment unit is used for carrying out RGB assignment on the corresponding pixel point on each pixel point position to obtain the color value of each pixel point;

and the drawing unit is used for drawing the image according to the position of each pixel point and the color value of each pixel point to obtain a target backing track picture.

A computer device, the computer device comprising:

a memory storing at least one instruction; and

and the processor executes the instructions stored in the memory to realize the reversing trajectory line generation method.

A computer readable storage medium having stored therein at least one instruction for execution by a processor in a computer device to implement the reverse trajectory generation method.

According to the technical scheme, the reversing track picture can be converted from the pixel point data into the line data and then stored, the occupied space of the data is reduced, the problem of insufficient storage space of a vehicle machine is solved, the target picture to be processed is matched from the stored data by using the steering wheel corner during actual reversing, the pixel point position marking and RGB assignment are carried out on the target picture to be processed, the target reversing track picture is drawn, the dependence on resources and environment is small, the reversing track can be rapidly displayed under the condition that the vehicle machine system is started in the initial stage, and rapid reversing is assisted.

Drawings

FIG. 1 is a flow chart of a preferred embodiment of the method for generating a reverse trajectory line of the present invention.

FIG. 2 is a functional block diagram of a preferred embodiment of the reverse trajectory generating device of the present invention.

Fig. 3 is a schematic structural diagram of a computer device for implementing the method for generating a back track line according to a preferred embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a flow chart of a reverse trajectory generation method according to a preferred embodiment of the present invention. The order of the steps in the flow chart may be changed and some steps may be omitted according to different needs.

The method for generating the back track is applied to one or more computer devices, wherein the computer device is a device capable of automatically performing numerical calculation and/or information processing according to preset or stored instructions, and the hardware thereof includes but is not limited to a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.

The computer device may be any electronic product capable of performing human-computer interaction with a user, for example, a Personal computer, a tablet computer, a smart phone, a Personal Digital Assistant (PDA), a game machine, an Internet Protocol Television (IPTV), an intelligent wearable device, and the like.

The computer device may also include a network device and/or a user device. The network device includes, but is not limited to, a single network server, a server group consisting of a plurality of network servers, or a Cloud Computing (Cloud Computing) based Cloud consisting of a large number of hosts or network servers.

The server may be an independent server, or may be a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a Content Delivery Network (CDN), a big data and artificial intelligence platform, and the like.

Among them, artificial Intelligence (AI) is a theory, method, technique and application system that simulates, extends and expands human Intelligence using a digital computer or a machine controlled by a digital computer, senses the environment, acquires knowledge and uses the knowledge to obtain the best result.

The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a robot technology, a biological recognition technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.

The Network in which the computer device is located includes, but is not limited to, the internet, a wide area Network, a metropolitan area Network, a local area Network, a Virtual Private Network (VPN), and the like.

And S10, acquiring a pre-calibrated initial backing track picture set.

In this embodiment, each initial reverse track picture in the initial reverse track picture set corresponds to a vehicle turning angle.

Wherein the vehicle turning angle refers to a steering wheel turning angle of the vehicle.

In this embodiment, the initial reverse trajectory image set may include reverse trajectory images of various reverse angles.

And S11, converting the pixel point data of each initial reverse track picture in the initial reverse track picture set into line data to obtain a picture set to be processed, and storing the picture set to be processed to a vehicle-mounted machine system.

In this embodiment, the converting the pixel point data of each initial reverse trajectory picture in the initial reverse trajectory picture set into line data to obtain a to-be-processed picture set includes:

acquiring a starting point of each initial reversing track picture and acquiring a preset effective color;

The preset effective color can be configured according to actual requirements, such as yellow, red and the like.

For example: starting from each initial reversing track pictureStarting point-by-point scanning, recording a starting point x-axis coordinate when a preset effective color (taking a pixel point RGB (Red Green Blue) value as a reference) point is met, recording an end point x-axis coordinate when a non-effective color is met, recording a current y-axis coordinate, forming the three data into a starting point x-axis coordinate, an end point x-axis coordinate and a y-axis coordinate of a line, and integrating the three data into a data set of the picture, wherein the formula is expressed as follows: l _n ＝{x _s ,x _e ,y}，D _n ＝{l ₁ ,l ₂ ,l ₃ ,…l _n In which l _n Representing the n-th line, D, scanned _n Data set representing the nth track picture, D _n The two types of the rotation angle are arranged in sequence from the minimum value to the maximum value of the rotation angle, namely left rotation and right rotation, and respectively account for half of all the locus diagrams.

Through the embodiment, the original pixel point data can be converted into the line data for storage, and the occupied storage space is small.

And S12, responding to a reversing instruction triggered by the target vehicle, and acquiring the turning angle of the target vehicle.

In this embodiment, the reversing instruction may be triggered by a driver of the target vehicle, or may be automatically triggered when reversing is detected, which is not limited in the present invention.

In the present embodiment, the steering wheel angle of the target vehicle is acquired as the steering angle of the target vehicle.

And S13, matching in the picture set to be processed stored in the vehicle-mounted machine system according to the corner of the target vehicle to obtain a target picture to be processed.

In this embodiment, the matching, according to the turning angle of the target vehicle, in the to-be-processed picture set stored in the vehicle-mounted device system to obtain a target to-be-processed picture includes:

acquiring the maximum steering angle of a steering wheel of the target vehicle;

For example: after the vehicle is backed, the target sequence number is determined by using the following formula:

wherein T represents a turning angle of the target vehicle, T _m And the maximum turning angle of the steering wheel is represented, and N represents the total number (including half of left turning and half of right turning) of all the pictures to be processed in the picture set to be processed, namely, the turning angle of the steering wheel is divided into N/2 parts.

Further, matching is carried out in the picture set to be processed according to the obtained target sequence number, and the target picture to be processed is obtained.

And S14, determining the position of each pixel point in the target picture to be processed.

In this embodiment, the determining the position of each pixel point in the target to-be-processed picture includes:

acquiring the screen resolution width of the target vehicle;

For example: each pixel point location may be represented as follows: i = y w + x. Wherein i is the position of the pixel point, y is the y-axis coordinate of the line, w is the resolution width of the screen, and x is the x-axis coordinate of each pixel point included between the x-axis coordinate of the starting point and the x-axis coordinate of the end point on the line.

And S15, performing RGB assignment on the corresponding pixel point on each pixel point position to obtain the color value of each pixel point.

In this embodiment, the performing RGB assignment on the pixel point corresponding to each pixel point position to obtain the color value of each pixel point includes:

For example: the color value of each pixel point can be expressed as follows: b [ i ] = R. Wherein B [ i ] represents the ith pixel point, and R represents an RGB value.

And S16, drawing an image according to the position of each pixel point and the color value of each pixel point to obtain a target reversing track picture.

In this embodiment, carry out image drawing according to the colour value of every pixel position and every pixel, can turn into the orbit picture of backing a car with the orbit line data of backing a car of storage to supplementary quick backing a car.

In this embodiment, after obtaining the target reversing track picture, the method further includes:

monitoring the actual backing track of the target vehicle in real time;

Through the embodiment, the actual backing process can be monitored according to the generated target backing track picture, and timely warning prompt is carried out when the backing track deviates, so that the error rate of backing is reduced, and the driving safety is improved.

According to the technical scheme, the reversing track picture can be converted from the pixel point data into the line data and then stored, the occupied space of the data is reduced, the problem that the storage space of a vehicle machine is insufficient is solved, the target picture to be processed is matched from the stored data by utilizing the steering wheel corner in actual reversing, the pixel point position marking and RGB assignment are carried out on the target picture to be processed, the target reversing track picture is drawn, the dependence on resources and environment is small, and the reversing track can be rapidly displayed under the condition that the vehicle machine system is started in the initial stage so as to assist rapid reversing.

Fig. 2 is a functional block diagram of a reverse trajectory line generating device according to a preferred embodiment of the present invention. The backing track line generating device 11 comprises an acquiring unit 110, a converting unit 111, a matching unit 112, a determining unit 113, an assigning unit 114 and a drawing unit 115. A module/unit as referred to herein is a series of computer program segments stored in a memory that can be executed by a processor and that can perform a fixed function. In the present embodiment, the functions of the modules/units will be described in detail in the following embodiments.

The obtaining unit 110 is configured to obtain an initial reverse path picture set calibrated in advance.

In this embodiment, the initial reverse trajectory picture set may include reverse trajectory pictures of various reverse angles.

The conversion unit 111 is configured to convert the pixel point data of each initial reverse trajectory picture in the initial reverse trajectory picture set into line data, obtain a to-be-processed picture set, and store the to-be-processed picture set to the car machine system.

In this embodiment, the converting unit 111 converts the pixel point data of each initial reverse trajectory picture in the initial reverse trajectory picture set into line data, and obtaining a picture set to be processed includes:

in the scanning process, when a first pixel point is scanned to have the preset effective color, the first pixel point is determined as a starting point x-axis coordinate, until a second pixel point is scanned to have no preset effective color, the second pixel point is determined as a terminal point x-axis coordinate, a current y-axis coordinate is obtained, and a line is generated according to the starting point x-axis coordinate, the terminal point x-axis coordinate and the y-axis coordinate;

For example: scanning point by point from the starting point of each initial backing track picture, recording the x-axis coordinate of the starting point when a preset effective color (taking the RGB (Red Green Blue, red Green Blue) value of a pixel point as the standard) is met, recording the x-axis coordinate of the end point when a non-effective color is met, recording the current y-axis coordinate, forming the three data into the x-axis coordinate of the starting point, the x-axis coordinate of the end point and the y-axis coordinate of the line, and integrating the x-axis coordinate of the starting point, the x-axis coordinate of the end point and the y-axis coordinate of the y-axis coordinate into a data set of the picture, and expressing the following formula: l. the _n ＝{x _s ,x _e ,y}，D _n ＝{l ₁ ,l ₂ ,l ₃ ,…l _n In which l _n Representing the n-th line scanned, D _n Data set representing the nth track picture, D _n The two types of the rotation angle are arranged in sequence from the minimum value to the maximum value of the rotation angle, namely left rotation and right rotation, and respectively account for half of all the locus diagrams.

The obtaining unit 110 is further configured to obtain a turning angle of the target vehicle in response to a reversing instruction triggered by the target vehicle.

The matching unit 112 is configured to match the to-be-processed image set stored in the vehicle machine system according to the corner of the target vehicle, so as to obtain a target to-be-processed image.

In this embodiment, the matching unit 112 performs matching in the to-be-processed picture set stored in the vehicle-mounted device system according to the corner of the target vehicle, and obtaining the target to-be-processed picture includes:

acquiring the maximum steering angle of a steering wheel of the target vehicle;

The determining unit 113 is configured to determine a position of each pixel point in the target to-be-processed picture.

In this embodiment, the determining unit 113 determines the position of each pixel point in the target to-be-processed picture, including:

acquiring the screen resolution width of the target vehicle;

The assignment unit 114 is configured to perform RGB assignment on a corresponding pixel point at each pixel point position to obtain a color value of each pixel point.

In this embodiment, the assigning unit 114 performs RGB assignment on a pixel point corresponding to each pixel point, and obtaining a color value of each pixel point includes:

The drawing unit 115 is configured to perform image drawing according to the position and the color value of each pixel point to obtain a target reversing track picture.

In this embodiment, image drawing is performed according to the position of each pixel point and the color value of each pixel point, and the stored backing track line data can be converted into backing track pictures to assist in rapid backing.

In this embodiment, after a target reversing track picture is obtained, the target reversing track picture is displayed on a display screen of the target vehicle;

monitoring the actual backing track of the target vehicle in real time;

Fig. 3 is a schematic structural diagram of a computer device according to a preferred embodiment of the method for generating a reverse trajectory line according to the present invention.

The computer device 1 may comprise a memory 12, a processor 13 and a bus, and may further comprise a computer program, such as a back-up trajectory line generating program, stored in the memory 12 and executable on the processor 13.

It will be understood by those skilled in the art that the schematic diagram is merely an example of the computer device 1, and does not constitute a limitation to the computer device 1, the computer device 1 may have a bus-type structure or a star-shaped structure, the computer device 1 may further include more or less other hardware or software than those shown, or different component arrangements, for example, the computer device 1 may further include an input and output device, a network access device, etc.

It should be noted that the computer device 1 is only an example, and other electronic products that are now or may come into existence in the future, such as may be adapted to the present invention, should also be included within the scope of the present invention, and are hereby incorporated by reference.

The memory 12 includes at least one type of readable storage medium, which includes flash memory, removable hard disks, multimedia cards, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disks, optical disks, etc. The memory 12 may in some embodiments be an internal storage unit of the computer device 1, e.g. a removable hard disk of the computer device 1. The memory 12 may also be an external storage device of the computer device 1 in other embodiments, such as a plug-in removable hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the computer device 1. Further, the memory 12 may also include both an internal storage unit and an external storage device of the computer apparatus 1. The memory 12 can be used not only for storing application software installed in the computer device 1 and various types of data such as a code of a back-up trajectory line generation program, but also for temporarily storing data that has been output or is to be output.

The processor 13 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same function or different functions, including one or more Central Processing Units (CPUs), microprocessors, digital Processing chips, graphics processors, and combinations of various control chips. The processor 13 is a Control Unit (Control Unit) of the computer device 1, connects various components of the entire computer device 1 by using various interfaces and lines, and executes various functions and processes data of the computer device 1 by running or executing programs or modules (e.g., executing a back track line generation program, etc.) stored in the memory 12 and calling data stored in the memory 12.

The processor 13 executes the operating system of the computer device 1 and various installed application programs. The processor 13 executes the application program to implement the steps in the above-mentioned various embodiments of the reverse trajectory generation method, such as the steps shown in fig. 1.

Illustratively, the computer program may be divided into one or more modules/units, which are stored in the memory 12 and executed by the processor 13 to accomplish the present invention. The one or more modules/units may be a series of computer readable instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the computer device 1. For example, the computer program may be divided into an acquisition unit 110, a conversion unit 111, a matching unit 112, a determination unit 113, an assignment unit 114, and a drawing unit 115.

The integrated unit implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a computer device, or a network device, etc.) or a processor (processor) to execute parts of the reverse trajectory generation method according to various embodiments of the present invention.

The integrated modules/units of the computer device 1 may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented.

Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random access Memory, etc.

Further, the computer-readable storage medium may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the blockchain node, and the like.

The block chain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism, an encryption algorithm and the like. A block chain (Blockchain), which is essentially a decentralized database, is a string of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, which is used for verifying the validity (anti-counterfeiting) of the information and generating a next block. The blockchain may include a blockchain underlying platform, a platform product service layer, an application service layer, and the like.

The bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one line is shown in FIG. 3, but that does not indicate only one bus or type of bus. The bus is arranged to enable connection communication between the memory 12 and at least one processor 13 etc.

Although not shown, the computer device 1 may further include a power supply (such as a battery) for supplying power to each component, and preferably, the power supply may be logically connected to the at least one processor 13 through a power management device, so that functions of charge management, discharge management, power consumption management and the like are realized through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The computer device 1 may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.

Further, the computer device 1 may further include a network interface, and optionally, the network interface may include a wired interface and/or a wireless interface (such as a WI-FI interface, a bluetooth interface, etc.), which are generally used for establishing a communication connection between the computer device 1 and other computer devices.

Optionally, the computer device 1 may further comprise a user interface, which may be a Display (Display), an input unit, such as a Keyboard (Keyboard), and optionally a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the computer device 1 and for displaying a visualized user interface.

It is to be understood that the described embodiments are for purposes of illustration only and that the scope of the appended claims is not limited to such structures.

Fig. 3 shows only the computer device 1 with the components 12-13, and it will be understood by a person skilled in the art that the structure shown in fig. 3 does not constitute a limitation of the computer device 1 and may comprise fewer or more components than shown, or a combination of certain components, or a different arrangement of components.

With reference to fig. 1, the memory 12 in the computer device 1 stores a plurality of instructions to implement a reverse trajectory line generation method, and the processor 13 can execute the plurality of instructions to implement:

acquiring a pre-calibrated initial reversing track picture set;

converting the pixel point data of each initial backing track picture in the initial backing track picture set into line data to obtain a picture set to be processed, and storing the picture set to be processed to a vehicle-mounted machine system;

responding to a reversing instruction triggered by a target vehicle, and acquiring a corner of the target vehicle;

matching in the to-be-processed picture set stored in the vehicle-mounted machine system according to the corner of the target vehicle to obtain a target to-be-processed picture;

Specifically, the processor 13 may refer to the description of the relevant steps in the embodiment corresponding to fig. 1 for a specific implementation method of the instruction, which is not described herein again.

It should be noted that all the data involved in the present application are legally acquired.

In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.

The invention is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like. The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.

The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.

Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the present invention may also be implemented by one unit or means through software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A reversing trajectory line generation method is characterized by comprising the following steps:

acquiring a pre-calibrated initial backing track picture set;

performing RGB assignment on the corresponding pixel point at each pixel point position to obtain the color value of each pixel point;

2. The reversing trajectory line generating method according to claim 1, characterized in that:

and each initial reversing track picture in the initial reversing track picture set corresponds to a vehicle corner.

3. The method for generating a reversing trajectory line according to claim 1, wherein the step of converting the pixel point data of each initial reversing trajectory picture in the initial reversing trajectory picture set into line data to obtain a picture set to be processed comprises the steps of:

4. The method for generating a backup trajectory line according to claim 1, wherein the step of matching the target vehicle corner in the to-be-processed image set stored in the vehicle-mounted device system to obtain a target to-be-processed image comprises:

acquiring the maximum steering angle of a steering wheel of the target vehicle;

5. The reversing trajectory line generating method according to claim 3, wherein the determining the position of each pixel point in the target picture to be processed comprises:

acquiring the screen resolution width of the target vehicle;

acquiring x-axis coordinates of each pixel point included between the starting point x-axis coordinates and the ending point x-axis coordinates of each line;

6. The method of claim 1, wherein the performing RGB assignment on the corresponding pixel at each pixel position to obtain the color value of each pixel comprises:

7. The reversing trajectory generation method of claim 1, wherein after obtaining the target reversing trajectory picture, the method further comprises:

monitoring the actual backing track of the target vehicle in real time;

8. A reverse trajectory line generating device, characterized by comprising:

the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring a pre-calibrated initial backing track picture set;

the matching unit is used for matching in the picture set to be processed stored in the vehicle-mounted device system according to the corner of the target vehicle to obtain a target picture to be processed;

the assignment unit is used for performing RGB assignment on the corresponding pixel point at each pixel point position to obtain the color value of each pixel point;

9. A computer device, characterized in that the computer device comprises:

a memory storing at least one instruction; and

a processor executing instructions stored in the memory to implement the reverse trajectory generation method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: the computer-readable storage medium has stored therein at least one instruction that is executed by a processor in a computer device to implement the reverse trajectory generation method of any one of claims 1 to 7.