CN111845725A - Image display method, image display device, vehicle, and computer-readable storage medium - Google Patents
Image display method, image display device, vehicle, and computer-readable storage medium Download PDFInfo
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- 230000000007 visual effect Effects 0.000 claims abstract description 41
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- 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
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2624—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of whole input images, e.g. splitscreen
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- 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
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Abstract
Embodiments of the present disclosure provide an image display method, apparatus, vehicle, and computer-readable storage medium. The method is applied to a vehicle, a plurality of image acquisition devices and a plurality of obstacle detection devices are respectively arranged on the periphery of the vehicle, and the method comprises the following steps: carrying out image splicing on images acquired by each image acquisition device to obtain spliced images; determining a target obstacle with the shortest obstacle distance in all obstacles in the spliced image according to the obstacle distance detected by each obstacle detector; and displaying the spliced image at a visual angle corresponding to the target barrier. Therefore, in the embodiment of the disclosure, the display effect of the spliced image is richer, so that the actual requirement can be better met.
Description
Technical Field
Embodiments of the present disclosure relate to the field of vehicle engineering technologies, and in particular, to an image display method and apparatus, a vehicle, and a computer-readable storage medium.
Background
In the field of vehicle engineering, the use of peripheral View Monitoring (SVM) technology on vehicles is becoming increasingly widespread. In order to use the SVM technology, a plurality of cameras can be arranged around the vehicle, the vehicle can obtain a spliced image according to images acquired by the cameras, and the vehicle can display the obtained spliced image by using a display interface in a fixed strategy. Therefore, the display effect of the spliced image is very single, and the actual requirement cannot be well met.
Disclosure of Invention
In a first aspect, an embodiment of the present disclosure provides an image display method applied to a vehicle, where a plurality of image capturing devices and a plurality of obstacle detecting devices are respectively disposed around the vehicle, and the method includes:
carrying out image splicing on images acquired by each image acquisition device to obtain spliced images;
determining a target obstacle with the shortest obstacle distance in all obstacles in the spliced image according to the obstacle distance detected by each obstacle detector;
and displaying the spliced image at a visual angle corresponding to the target barrier.
In some embodiments, said displaying said stitched image comprises:
and displaying the spliced image with each obstacle added with the corresponding distance mark according to the obstacle distance detected by each obstacle detecting device.
In some embodiments, the distance identifications added by the corresponding obstacles to the obstacles belonging to different distance ranges are different.
In some embodiments, the displaying the stitched image at the viewing angle corresponding to the target obstacle includes:
acquiring the driving direction of the vehicle under the condition that the number of the target obstacles is at least two;
Selecting a target obstacle from at least two target obstacles according to a selection rule corresponding to the driving direction;
and displaying the spliced image at the visual angle corresponding to the selected target barrier.
In some embodiments of the present invention, the,
before displaying the stitched image at the view angle corresponding to the target obstacle, the method further includes:
judging whether the vehicle is in an automatic driving mode or not, and judging whether the vehicle is in a preset working condition or not;
the displaying the spliced image at the view angle corresponding to the target obstacle includes:
and displaying the spliced image at a visual angle corresponding to the target obstacle under the conditions that the vehicle is in an automatic driving mode and the vehicle is in a preset working condition.
In some embodiments, the predetermined condition includes at least one of a park condition, a drive-off condition, and a reverse condition.
In some embodiments of the present invention, the,
before displaying the stitched image at the view angle corresponding to the target obstacle, the method further includes:
judging whether the vehicle is in a preset road section or not;
the displaying the spliced image at the view angle corresponding to the target obstacle includes:
And under the condition that the vehicle is in a preset road section, displaying the spliced image at a view angle corresponding to the target barrier.
In some embodiments of the present invention, the,
the judging whether the vehicle is in a preset road section comprises the following steps:
judging whether obstacles exist in the preset distance ranges of the two side surfaces of the vehicle or not according to the obstacle distance detected by each obstacle detecting device;
the displaying the spliced image at the view angle corresponding to the target obstacle under the condition that the vehicle is in the preset road section comprises:
and under the condition that the obstacles exist in the preset distance range of the two side surfaces of the vehicle, displaying the spliced image according to the visual angle corresponding to the target obstacle.
In some embodiments, the method further comprises:
and under the condition that the vehicle is in a dormant state and a collision event of the vehicle is detected, calling each image acquisition device to acquire an image and storing the image acquired by each image acquisition device.
In a second aspect, an embodiment of the present disclosure provides an image display apparatus applied to a vehicle, where a plurality of image capturing devices and a plurality of obstacle detecting devices are respectively disposed around the vehicle, the apparatus including:
The splicing module is used for carrying out image splicing on the images acquired by the image acquisition devices to obtain spliced images;
the determining module is used for determining a target obstacle with the shortest obstacle distance in all obstacles in the spliced image according to the obstacle distances detected by the obstacle detecting devices;
and the display module is used for displaying the spliced image at a visual angle corresponding to the target barrier.
In some embodiments, the display module is specifically configured to:
and displaying the spliced image with each obstacle added with the corresponding distance mark according to the obstacle distance detected by each obstacle detecting device.
In some embodiments, the distance identifications added by the corresponding obstacles to the obstacles belonging to different distance ranges are different.
In some embodiments, the display module comprises:
an acquisition unit configured to acquire a traveling direction of the vehicle when the number of the target obstacles is at least two;
the selection unit is used for selecting a target obstacle from at least two target obstacles according to a selection rule corresponding to the driving direction;
and the display unit is used for displaying the spliced image according to the visual angle corresponding to the selected target barrier.
In some embodiments of the present invention, the,
the device further comprises:
the first judgment module is used for judging whether the vehicle is in an automatic driving mode or not and judging whether the vehicle is in a preset working condition or not before the spliced image is displayed at a visual angle corresponding to the target obstacle;
the display module is specifically configured to:
and displaying the spliced image at a visual angle corresponding to the target obstacle under the conditions that the vehicle is in an automatic driving mode and the vehicle is in a preset working condition.
In some embodiments, the predetermined condition includes at least one of a park condition, a drive-off condition, or a reverse condition.
In some embodiments of the present invention, the,
the device further comprises:
the second judgment module is used for judging whether the vehicle is in a preset road section or not before the spliced image is displayed at a visual angle corresponding to the target barrier;
the display module is specifically configured to:
and under the condition that the vehicle is in a preset road section, displaying the spliced image at a view angle corresponding to the target barrier.
In some embodiments of the present invention, the,
the second judgment module is specifically configured to:
judging whether obstacles exist in the preset distance ranges of the two side surfaces of the vehicle or not according to the obstacle distance detected by each obstacle detecting device;
The display module is specifically configured to:
and under the condition that an obstacle exists in the preset distance range, displaying the spliced image at a visual angle corresponding to the target obstacle.
In some embodiments, the apparatus further comprises:
and the processing module is used for calling each image acquisition device to acquire images and storing the images acquired by each image acquisition device under the conditions that the vehicle is in a dormant state and the collision event of the vehicle is detected.
In a third aspect, embodiments of the present disclosure provide a vehicle comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the image display method described above.
In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the image display method described above.
Drawings
Fig. 1 is a flowchart of an image display method provided by an embodiment of the present disclosure;
FIG. 2 is a schematic view of a driving condition of the vehicle;
FIG. 3 is a schematic view of another driving condition of the vehicle;
FIG. 4 is an architectural view of a vehicle;
fig. 5 is a block diagram of a structure of an image display apparatus provided by an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a vehicle provided by an embodiment of the present disclosure.
Detailed Description
Technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
First, an image display method provided by an embodiment of the present disclosure will be described below.
It should be noted that the image display method provided by the embodiment of the present disclosure is applied to a vehicle, and a plurality of image capturing devices (for implementing SVM) and a plurality of obstacle detecting devices are respectively arranged around the vehicle.
Optionally, the vehicle involved in the embodiments of the present disclosure may be a vehicle using an Android (Android) system, for example, an electric vehicle using an Android system. In addition, the image display method provided by the embodiment of the disclosure may be particularly applied to a core board in a vehicle.
Optionally, the image capturing devices may be cameras, the number of the image capturing devices may be 4, and the 4 image capturing devices may be respectively disposed in the front, the rear, the left, and the right of the vehicle; the obstacle detecting device may be a body radar, and the number of the obstacle detecting devices may be 12. Of course, the type and number of the image capturing devices and the type and number of the obstacle detecting devices are not limited thereto, and may be determined according to actual situations, and the embodiment of the present disclosure does not limit this.
Referring to fig. 1, a flowchart of an image display method provided by an embodiment of the present disclosure is shown. As shown in fig. 1, the method comprises the steps of:
and 101, carrying out image splicing on the images acquired by the image acquisition devices to obtain spliced images.
The algorithm adopted when the vehicle performs image stitching may be an Annular visual stitching algorithm (AVA), at this time, the stitched image obtained by the vehicle may be a panoramic image (for example, a 360-degree panoramic image), and the stitched image can effectively reflect the situation around the vehicle.
And 102, determining a target obstacle with the shortest obstacle distance in all obstacles in the spliced image according to the obstacle distances detected by the obstacle detectors.
In step 102, according to the obstacle distance detected by each obstacle detector, the actual distance between each obstacle and the vehicle in the stitched image can be obtained; the actual distance between any obstacle and the vehicle can be used as the obstacle distance corresponding to the obstacle. Next, the vehicle may determine a target obstacle with the shortest distance from the corresponding obstacle among all obstacles in the stitched image. Specifically, the equidistant ranges of 0 meter to 25 meters, 25 meters to 35 meters, 35 meters to 55 meters, 55 meters to 80 meters, 80 meters to 100 meters, and more than 100 meters may be preset, and the vehicle may determine a distance range to which the obstacle distance corresponding to each obstacle in the stitched image belongs, determine an obstacle to which the corresponding obstacle distance belongs in the distance range of 0 meter to 25 meters, and use the determined obstacle as the target obstacle.
And 103, displaying the spliced image at a view angle corresponding to the target barrier.
It should be noted that several viewing angles for displaying images may be preset, and these viewing angles may include: a front viewing angle, a front top viewing angle, a rear top viewing angle, a left viewing angle, a right viewing angle, a front rear viewing angle, a rear top viewing angle, and the like; in addition, a mapping relation between the obstacle orientation and a visual angle can be preset, and the visual angle mapped by any obstacle orientation is as follows: the visual angle that the obstacle at the obstacle position can be clearly presented to the user can be ensured.
Specifically, assuming that the target obstacle is located in front of the vehicle, and the front corresponding view in the mapping relationship is a front overlooking view, then, in step 103, the stitched image may be displayed at the front overlooking view on the display interface, and at this time, the stitched image may clearly display the target obstacle, so that the driver may conveniently pay attention to the relative position condition of the target obstacle and the vehicle, and accordingly, a reasonable driving strategy is formulated, for example, the target obstacle is avoided during driving, so as to avoid damages such as scratch and collision to the vehicle as much as possible.
If the target obstacle is located behind the vehicle and the rear corresponding view angle in the mapping relationship is a rear overlooking view angle, then, in step 103, the spliced image can be displayed at the rear overlooking view angle on the display interface, and at this time, the spliced image can clearly display the target obstacle, so that a driver can conveniently pay attention to the relative position condition of the target obstacle and the vehicle, and a reasonable driving strategy is formulated according to the spliced image, for example, the target obstacle is avoided during driving, so that the vehicle is prevented from being damaged by scratching, colliding and the like as much as possible.
It should be noted that the image acquisition device may continuously acquire images, the obstacle detection device may also continuously detect the distance of the obstacle, and the vehicle may accordingly update the stitched image displayed on the display interface. When the spliced image is updated, the target barrier in the spliced image may change, and at this time, the view angle of the spliced image displayed on the display interface may also be correspondingly switched, so as to ensure that the view angle is always kept as the view angle corresponding to the current target barrier.
In the embodiment of the disclosure, a plurality of image acquisition devices and a plurality of obstacle detection devices are arranged around the vehicle, and based on images acquired by the plurality of image acquisition devices and obstacle distances detected by the plurality of obstacle detection devices, the vehicle can display a spliced image at a view angle corresponding to a target obstacle. That is to say, the display strategy of the spliced image is not fixed and unchanged, the vehicle can display the spliced image at a corresponding visual angle according to the actual condition of the obstacle, so that the driver can conveniently pay attention to the relative position condition of the target obstacle and the vehicle, and a reasonable driving strategy is formulated according to the relative position condition so as to avoid the damage of scraping, colliding and the like to the vehicle as far as possible, thereby improving the driving safety. Therefore, compared with the prior art, in the embodiment of the disclosure, the display effect of the spliced image is richer, so that the actual requirement can be better met.
In some embodiments, displaying a stitched image comprises:
and displaying a spliced image with each obstacle added with a corresponding distance mark according to the obstacle distance detected by each obstacle detecting device.
Here, the distance marks are various in type, and for example, the distance marks may be color marks, symbol marks, pattern marks, and the like.
In the embodiment of the disclosure, after the stitched image is obtained by image stitching, the vehicle can add a corresponding distance identifier to each obstacle in the stitched image according to the obstacle distance detected by each obstacle detector while displaying the stitched image through the display interface.
Specifically, in the case that the distance indicator is a color indicator, the vehicle may cover a color layer of a corresponding color for an area surrounded by the outline of each obstacle, and the color layer covered for each obstacle is used as the distance indicator added for the obstacle. At this time, the vehicle displays the spliced image with each obstacle added with the corresponding distance mark through the display interface.
Then, the user can execute touch operations such as sliding operations on the display interface according to actual needs to switch the view angles of the stitched image on the display interface, so that the user can view the stitched image at various view angles (for example, view angles such as front, rear, left, right or front-rear wide-angle).
Therefore, in the embodiment of the disclosure, each distance mark in the spliced image can effectively mark the actual distance between the corresponding obstacle and the vehicle, so that some favorable information references are provided for the driver, the driver can make a reasonable driving strategy according to the information references, and the display effect of the spliced image can be further enriched, so that the actual requirements can be better met.
In some embodiments, the distance identifications added by the corresponding obstacles to the obstacles belonging to different distance ranges are different.
In the embodiment of the present disclosure, the vehicle may store a correspondence relationship between the distance range and the distance flag in advance (for convenience of distinguishing from a correspondence relationship appearing hereinafter, this will be referred to as a first correspondence relationship hereinafter). For any obstacle in the spliced image, the vehicle can determine a distance identifier corresponding to a distance range to which the actual distance between the obstacle and the vehicle belongs according to the first corresponding relation, and add the determined distance identifier for the obstacle.
Specifically, assuming that in the first correspondence relationship, the distance corresponding to the distance range of 35 meters to 55 meters is identified as a black color layer, the distance corresponding to the distance range of 25 meters to 35 meters is identified as a red color layer, and the distance corresponding to the distance range of 0 meters to 25 meters is identified as an orange color layer, then the vehicle may cover the black color layer for an obstacle whose actual distance from the vehicle in the stitched image is between 35 meters and 55 meters, and cover the red color layer for an obstacle whose actual distance from the vehicle in the stitched image is between 25 meters and 35 meters. In some embodiments, an Open Graphics Library (Open GL) tool may be used to cover the respective color layer for each obstacle in the stitched image; among them, OPENGL is a cross-language, cross-platform Application Programming Interface (API) for rendering 2-dimensional and 3-dimensional vector images. In this way, the obstacles covering the color layers of different colors in the stitched image can be considered as obstacles of different levels, and the obstacles of different levels are different from the relative distance of the vehicle.
It can be seen that, in the embodiment of the present disclosure, according to the distance range to which the obstacle corresponding to each obstacle belongs, each obstacle may be defined to have a specific level, so that effective help may be provided for the driver to formulate a reasonable driving strategy.
In some embodiments, displaying the stitched image at a viewing angle corresponding to the target obstacle includes:
acquiring the driving direction of the vehicle under the condition that the number of the target obstacles is at least two;
selecting a target obstacle from at least two target obstacles according to a selection rule corresponding to the driving direction;
and displaying the spliced image according to the visual angle corresponding to the selected target barrier.
In the embodiment of the present disclosure, when the obstacle distances corresponding to at least two obstacles in the stitched image all belong to the distance range of 0 meter to 25 meters, the obstacles may all be regarded as target obstacles, that is, the number of the target obstacles is at least two. In this case, the traveling direction of the vehicle can be acquired; the driving direction may include horizontal forward, horizontal backward, turning, etc.
It should be noted that the vehicle may store a corresponding relationship between the driving direction and the selection rule in advance (for convenience of distinguishing from the corresponding relationship appearing above, it is hereinafter referred to as a second corresponding relationship). In general, in the case where the traveling direction is horizontally forward, an obstacle near the head of the vehicle is an obstacle that the driver needs to pay attention to preferentially; when the driving direction is horizontal backward, the obstacle close to the tail of the vehicle is an obstacle which needs to be paid attention to by a driver; in the case where the traveling direction is turning, for example, the vehicle is turning backward and the front steering wheel is deflected, the obstacle near the head of the vehicle is an obstacle that the driver needs to pay attention to preferentially. Then, the selection rule corresponding to the horizontal forward direction may be set to preferentially select the obstacle close to the head of the vehicle; the selection rule corresponding to the horizontal backward direction can be set to preferentially select the obstacle close to the tail of the vehicle; the selection rule corresponding to the turning situation in which the vehicle turns backwards and the nose wheel deflects may be set to preferentially select the obstacle near the head of the vehicle.
In specific implementation, as shown in fig. 2, assuming that the vehicle 200 travels in the direction indicated by the arrow 210 as a whole, and the distances between the obstacle a and the obstacle B and the vehicle 200 are both in the range of 0 meter to 25 meters, it is obvious that the possibility of scratch or collision between the vehicle 200 and the obstacle a is higher, and then the obstacle a may be selected from the obstacle a and the obstacle B, and the display of the stitched image may be performed at a viewing angle corresponding to the obstacle a, for example, the display of the stitched image may be performed at a previous top view viewing angle.
As shown in fig. 3, assuming that the head of the vehicle 300 is turned in the direction indicated by the arrow 310, the other portions of the vehicle 300 are retreated in the direction indicated by the arrow 320, and the distances between the obstacle C and the obstacle D and the vehicle 300 both belong to the distance range of 0 m to 25 m, it is obvious that the possibility of scratch or collision between the vehicle 300 and the obstacle C is higher, and then the obstacle C can be selected from the obstacle C and the obstacle D, and the display of the stitched image is performed at the viewing angle corresponding to the obstacle C.
Therefore, in the embodiment of the disclosure, when the number of the target obstacles is at least two, the target obstacles are selected based on the driving direction, and the display of the stitched image can be performed at the view angle corresponding to the obstacle which needs to be preferentially focused, so that the driver can focus on the obstacle which may cause danger, and the driving safety of the vehicle is better ensured.
In some embodiments of the present invention, the,
before displaying the stitched image at a viewing angle corresponding to the target obstacle, the method further includes:
judging whether the vehicle is in an automatic driving mode or not, and judging whether the vehicle is in a preset working condition or not;
displaying the stitched image at a viewing angle corresponding to the target obstacle, comprising:
and displaying the spliced image at the visual angle corresponding to the target barrier under the conditions that the vehicle is in the automatic driving mode and the vehicle is in the preset working condition.
The preset working condition may include at least one of a parking working condition, a driving-away working condition and a reversing working condition. It is understood that the vehicle is in a low speed driving state under the parking condition, the driving-away condition or the reverse condition.
It should be noted that the vehicle may include an Advanced Driver Assistance System (ADAS), the ADAS may have an outward-shooting camera, and the automatic driving mode may also be referred to as an ADAS control mode; when the vehicle is in the automatic driving mode, the automatic driving flag of the vehicle is a preset value, for example, 1.
In the embodiment of the disclosure, whether the vehicle is in the automatic driving mode can be determined by detecting whether the automatic driving flag bit is 1; whether the vehicle is in a preset condition may be determined by detecting the speed, acceleration, operation data (e.g., engine speed, accelerator pedal opening), etc. of the vehicle. If the vehicle is in an automatic driving mode and the vehicle is in a Parking working condition, the vehicle is using an Autonomous Parking (APA) function, and at the moment, the external shooting camera and each obstacle detecting device can assist in providing Parking space and vehicle distance information and the like; if the vehicle is in an Autonomous driving mode and the vehicle is in an Out-of-drive condition, this indicates that the vehicle is using an automatic drive-Out (APO) function.
Generally speaking, in an automatic driving mode, although a vehicle can be automatically driven, in order to ensure driving safety, a driver still needs to pay attention to the situation around the vehicle, and therefore when the vehicle is in the automatic driving mode and under a preset working condition, it can be considered that a requirement for displaying a stitched image exists currently, and the vehicle can display the stitched image so as to realize the combination of an auxiliary driving technology and a panoramic image technology, so that the driver can pay attention to the situation around the vehicle, and further ensure the driving safety of the vehicle. Because the vehicle does not need to display the spliced image under all conditions, the electric quantity loss and the power consumption of the vehicle can be effectively saved.
In some embodiments of the present invention, the,
before displaying the stitched image at a viewing angle corresponding to the target obstacle, the method further includes:
judging whether the vehicle is in a preset road section or not;
displaying the stitched image at a viewing angle corresponding to the target obstacle, comprising:
and displaying the spliced image at the view angle corresponding to the target barrier under the condition that the vehicle is in the preset road section.
The preset road segment may be a road segment where there is a need to display the stitched image, such as a narrow road segment, a congested road segment, an accident-prone road segment, and the like.
Therefore, in the embodiment of the disclosure, the vehicle displays the spliced image only on a part of road sections, so that the power consumption and the power consumption of the vehicle can be effectively saved.
It should be noted that, according to the type of the preset road segment, there is a certain difference in the implementation form of determining whether the vehicle is located in the preset road segment, which is described in the following by way of example.
In one implementation form, the preset road segment may include an accident high-speed road segment, the vehicle may have position information of the accident high-speed road segment stored in advance, and the vehicle may call a Global Positioning System (GPS) periodically or aperiodically to obtain position information of a road segment where the vehicle is currently located, and compare the obtained position information with the position information stored in advance. If the acquired position information exists in the pre-stored position information through comparison, the vehicle can be judged to be in the accident-prone road section at present, and then the vehicle can be judged to be in the preset road section, and the spliced image can be displayed next.
In another implementation form, the preset road section may include a narrow road section and a congested road section;
at this time, judging whether the vehicle is in a preset road section includes:
Judging whether obstacles exist in the preset distance ranges of the two side surfaces of the vehicle or not according to the obstacle distance detected by each obstacle detecting device;
under the condition that the vehicle is in a preset road section, displaying a spliced image at a view angle corresponding to a target obstacle, wherein the spliced image comprises the following steps:
and under the condition that the obstacles exist in the preset distance range of the two side surfaces of the vehicle, displaying the spliced image at the visual angle corresponding to the target obstacle.
In this implementation form, the left side surface and the right side surface of the vehicle may be respectively provided with an obstacle detecting device; the obstacle detector device on the left side of the vehicle is used for detecting whether an obstacle exists in a preset distance range (for example, in a range of 0.9 meter) on the left side of the vehicle, and the obstacle detector device on the right side of the vehicle is used for detecting whether an obstacle exists in a preset distance range (for example, in a range of 0.9 meter) on the right side of the vehicle. If obstacles exist in the preset distance range of the two side surfaces of the vehicle, the vehicle can be considered to be in a narrow road section or a congested road section at present, then the vehicle can be judged to be in the preset road section, and the vehicle can display the spliced image next.
In some embodiments, the vehicle may identify the preset section in combination with whether an obstacle exists within a preset distance range of both sides, and the map API shown in fig. 4.
It can be seen that no matter what implementation form is adopted, the vehicle can very conveniently determine whether the vehicle is in the preset road section.
In some embodiments, the method further comprises:
and when the vehicle is in a dormant state and a collision event of the vehicle is detected, calling each image acquisition device to acquire an image and storing the image acquired by each image acquisition device.
Specifically, a body gyroscope may be included in the vehicle, and a collision event of the vehicle may be detected based on the body gyroscope.
It will be appreciated that in the event that the vehicle is in a dormant state, it may be assumed that the driver (typically the owner) is away from the vehicle, in which case the owner's property may be lost in the event of a vehicle collision. Therefore, the vehicle can call each image acquisition device to acquire images and store the images acquired by each image acquisition device, for example, the images are stored in a power-down non-lost storage area, so that the vehicle owner can conveniently process collision events according to the stored images.
The following describes a specific implementation process of the embodiment of the present disclosure with a specific example in conjunction with fig. 4.
As shown in fig. 4, the vehicle includes: front camera 41, rear camera 42, left camera 43 and right camera 44 for SVM, outer camera for ADAS, body radars 45 for obstacle distance detection, and body gyroscope 46 for collision event detection.
After the images are captured by all four of the front Camera 41, the rear Camera 42, the left Camera 43, and the right Camera 44, the images captured by the four may be transferred (e.g., to the core board 47) via a Camera Driver (Camera Driver) program. The core board 47 may perform image stitching by using AVA to obtain a stitched image. In addition, the distances of the obstacles detected by the plurality of body radars 45 may be transmitted to the core board 47 through other driving programs, and the core board 47 may control the display interface to display the stitched image with the corresponding distance identifier added to each obstacle according to the distance of the obstacle detected by each body radar 45, at this time, the SVM technique may be successfully used, and the assisted driving technique (implemented based on ADAS) may be combined with the panoramic image technique. In this way, embodiments of the present disclosure enable functions such as APA, APO, narrow road detection, collision detection, obstacle ranking, perspective switching, etc. on a vehicle.
In conclusion, in the embodiment of the disclosure, the display effect of the spliced image is richer, so that the actual requirement can be better met.
The following describes an image display device provided by an embodiment of the present disclosure.
Referring to fig. 5, a block diagram of an image display apparatus 500 provided by an embodiment of the present disclosure is shown. As shown in fig. 5, the image display apparatus 500 is applied to a vehicle, a plurality of image capturing devices and a plurality of obstacle detecting devices are respectively disposed around the vehicle, and the image display apparatus 500 includes:
the splicing module 501 is configured to splice images acquired by the image acquisition devices to obtain a spliced image;
a determining module 502, configured to determine, according to the obstacle distance detected by each obstacle detector, a target obstacle with a shortest obstacle distance among all obstacles in the stitched image;
and a display module 503, configured to display the stitched image at a viewing angle corresponding to the target obstacle.
In some embodiments, the display module 503 is specifically configured to:
and displaying a spliced image with each obstacle added with a corresponding distance mark according to the obstacle distance detected by each obstacle detecting device.
In some embodiments, the distance identifications added by the corresponding obstacles to the obstacles belonging to different distance ranges are different.
In some embodiments, the display module 503 includes:
the device comprises an acquisition unit, a control unit and a display unit, wherein the acquisition unit is used for acquiring the driving direction of the vehicle under the condition that the number of target obstacles is at least two;
The selection unit is used for selecting a target obstacle from at least two target obstacles according to a selection rule corresponding to the driving direction;
and the display unit is used for displaying the spliced image according to the visual angle corresponding to the selected target barrier.
In some embodiments, the image display apparatus 500 further includes:
the first judgment module is used for judging whether the vehicle is in an automatic driving mode or not and judging whether the vehicle is in a preset working condition or not before the spliced image is displayed at a visual angle corresponding to the target obstacle;
the display module 503 is specifically configured to:
and displaying the spliced image at the visual angle corresponding to the target barrier under the conditions that the vehicle is in the automatic driving mode and the vehicle is in the preset working condition.
In some embodiments, the predetermined condition includes at least one of a park condition, a drive-off condition, or a reverse condition.
In some embodiments, the image display apparatus 500 further includes:
the second judgment module is used for judging whether the vehicle is in a preset road section or not before the spliced image is displayed at the visual angle corresponding to the target barrier;
the display module 503 is specifically configured to:
and displaying the spliced image at the view angle corresponding to the target barrier under the condition that the vehicle is in the preset road section.
In some embodiments, the second determining module is specifically configured to:
judging whether obstacles exist in the preset distance ranges of the two side surfaces of the vehicle or not according to the obstacle distance detected by each obstacle detecting device;
the display module 503 is specifically configured to:
and under the condition that the obstacle exists in the preset distance range, displaying the spliced image at the visual angle corresponding to the target obstacle.
In some embodiments, the image display apparatus 500 further includes:
and the processing module is used for calling each image acquisition device to acquire images and storing the images acquired by each image acquisition device under the conditions that the vehicle is in a dormant state and a collision event of the vehicle is detected.
In the embodiment of the disclosure, a plurality of image acquisition devices and a plurality of obstacle detection devices are arranged around the vehicle, and based on images acquired by the plurality of image acquisition devices and obstacle distances detected by the plurality of obstacle detection devices, the vehicle can display a spliced image at a view angle corresponding to a target obstacle. That is to say, the display strategy of the spliced image is not fixed and unchanged, the vehicle can display the spliced image at a corresponding visual angle according to the actual condition of the obstacle, so that the driver can conveniently pay attention to the relative position condition of the target obstacle and the vehicle, and a reasonable driving strategy is formulated according to the relative position condition so as to avoid the damage of scraping, colliding and the like to the vehicle as far as possible, thereby improving the driving safety. Therefore, compared with the prior art, in the embodiment of the disclosure, the display effect of the spliced image is richer, so that the actual requirement can be better met.
The following describes a vehicle provided by an embodiment of the present disclosure.
Referring to fig. 6, a schematic structural diagram of a vehicle 600 provided by an embodiment of the disclosure is shown. As shown in fig. 6, the vehicle 600 includes: a processor 601, a transceiver 602, a memory 603, a user interface 604, and a bus interface, wherein:
a plurality of image acquisition devices and a plurality of obstacle detection devices are respectively arranged around the vehicle 600; the processor 601, configured to read the program in the memory 603, executes the following processes:
carrying out image splicing on images acquired by each image acquisition device to obtain spliced images;
determining a target obstacle with the shortest obstacle distance in all obstacles in the spliced image according to the obstacle distance detected by each obstacle detector;
and displaying the spliced image at a visual angle corresponding to the target barrier.
In fig. 6, the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by processor 601 and various circuits of memory represented by memory 603 being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 602 may be a number of elements including a transmitter and a receiver that provide a means for communicating with various other apparatus over a transmission medium. The user interface 604 may also be an interface capable of interfacing with a desired device for different user devices, including but not limited to a keypad, display, speaker, microphone, joystick, etc.
The processor 601 is responsible for managing the bus architecture and general processing, and the memory 603 may store data used by the processor 601 in performing operations.
In some embodiments, the processor 601 is specifically configured to:
and displaying a spliced image with each obstacle added with a corresponding distance mark according to the obstacle distance detected by each obstacle detecting device.
In some embodiments, the distance identifications added by the corresponding obstacles to the obstacles belonging to different distance ranges are different.
In some embodiments, the processor 601 is specifically configured to:
acquiring the driving direction of the vehicle under the condition that the number of the target obstacles is at least two;
selecting a target obstacle from at least two target obstacles according to a selection rule corresponding to the driving direction;
and displaying the spliced image according to the visual angle corresponding to the selected target barrier.
In some embodiments of the present invention, the,
the processor 601 is further configured to:
judging whether the vehicle is in an automatic driving mode or not and judging whether the vehicle is in a preset working condition or not before displaying the spliced image at a visual angle corresponding to the target obstacle;
the processor 601 is specifically configured to:
and displaying the spliced image at the visual angle corresponding to the target barrier under the conditions that the vehicle is in the automatic driving mode and the vehicle is in the preset working condition.
In some embodiments, the preset conditions include at least one of a park condition, a drive-off condition, and a reverse condition.
In some embodiments of the present invention, the,
the processor 601 is further configured to:
judging whether the vehicle is in a preset road section or not before displaying the spliced image at the visual angle corresponding to the target barrier;
the processor 601 is specifically configured to:
and displaying the spliced image at the view angle corresponding to the target barrier under the condition that the vehicle is in the preset road section.
In some embodiments, the processor 601 is specifically configured to:
judging whether obstacles exist in the preset distance ranges of the two side surfaces of the vehicle or not according to the obstacle distance detected by each obstacle detecting device;
and under the condition that the obstacles exist in the preset distance range of the two side surfaces of the vehicle, displaying the spliced image at the visual angle corresponding to the target obstacle.
In some embodiments, the processor 601 is further configured to:
and when the vehicle is in a dormant state and a collision event of the vehicle is detected, calling each image acquisition device to acquire an image and storing the image acquired by each image acquisition device.
In the embodiment of the present disclosure, a plurality of image capturing devices and a plurality of obstacle detecting devices are disposed around the vehicle 600, and based on the images captured by the plurality of image capturing devices and the obstacle distances detected by the plurality of obstacle detecting devices, the vehicle 600 may display the stitched image at the viewing angle corresponding to the target obstacle. That is to say, the display strategy of the stitched image is not fixed, and the vehicle 600 can display the stitched image at a corresponding viewing angle according to the actual obstacle situation, so that the driver can conveniently pay attention to the relative position situation of the target obstacle and the vehicle 600, and accordingly a reasonable driving strategy is formulated, so that the vehicle 600 is prevented from being damaged by scratch, collision and the like as much as possible, and the driving safety is improved. Therefore, compared with the prior art, in the embodiment of the disclosure, the display effect of the spliced image is richer, so that the actual requirement can be better met.
The embodiment of the present disclosure further provides a vehicle, including a processor 601, a memory 603, and a computer program stored in the memory 603 and capable of running on the processor 601, where the computer program is executed by the processor 601 to implement each process of the above-mentioned embodiment of the image display method, and can achieve the same technical effect, and is not repeated here to avoid repetition.
Embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned embodiment of the image display method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (20)
1. An image display method is characterized by being applied to a vehicle, wherein a plurality of image acquisition devices and a plurality of obstacle detection devices are respectively arranged on the periphery of the vehicle, and the method comprises the following steps:
carrying out image splicing on images acquired by each image acquisition device to obtain spliced images;
determining a target obstacle with the shortest obstacle distance in all obstacles in the spliced image according to the obstacle distance detected by each obstacle detector;
and displaying the spliced image at a visual angle corresponding to the target barrier.
2. The method of claim 1, wherein displaying the stitched image comprises:
and displaying the spliced image with each obstacle added with the corresponding distance mark according to the obstacle distance detected by each obstacle detecting device.
3. The method according to claim 2, wherein the distance identifiers added by the corresponding obstacles with the obstacles belonging to different distance ranges are different.
4. The method of claim 1, wherein displaying the stitched image at a viewing angle corresponding to the target obstacle comprises:
acquiring the driving direction of the vehicle under the condition that the number of the target obstacles is at least two;
Selecting a target obstacle from at least two target obstacles according to a selection rule corresponding to the driving direction;
and displaying the spliced image at the visual angle corresponding to the selected target barrier.
5. The method of claim 1,
before displaying the stitched image at the view angle corresponding to the target obstacle, the method further includes:
judging whether the vehicle is in an automatic driving mode or not, and judging whether the vehicle is in a preset working condition or not;
the displaying the spliced image at the view angle corresponding to the target obstacle includes:
and displaying the spliced image at a visual angle corresponding to the target obstacle under the conditions that the vehicle is in an automatic driving mode and the vehicle is in a preset working condition.
6. The method of claim 5, wherein the preset conditions include at least one of a park condition, a drive-off condition, and a reverse condition.
7. The method of claim 1,
before displaying the stitched image at the view angle corresponding to the target obstacle, the method further includes:
judging whether the vehicle is in a preset road section or not;
The displaying the spliced image at the view angle corresponding to the target obstacle includes:
and under the condition that the vehicle is in a preset road section, displaying the spliced image at a view angle corresponding to the target barrier.
8. The method of claim 7,
the judging whether the vehicle is in a preset road section comprises the following steps:
judging whether obstacles exist in the preset distance ranges of the two side surfaces of the vehicle or not according to the obstacle distance detected by each obstacle detecting device;
the displaying the spliced image at the view angle corresponding to the target obstacle under the condition that the vehicle is in the preset road section comprises:
and under the condition that the obstacles exist in the preset distance range of the two side surfaces of the vehicle, displaying the spliced image according to the visual angle corresponding to the target obstacle.
9. The method of claim 1, further comprising:
and under the condition that the vehicle is in a dormant state and a collision event of the vehicle is detected, calling each image acquisition device to acquire an image and storing the image acquired by each image acquisition device.
10. The utility model provides an image display device which characterized in that is applied to the vehicle, the vehicle is provided with a plurality of image acquisition devices and a plurality of obstacle detection device respectively all around, the device includes:
The splicing module is used for carrying out image splicing on the images acquired by the image acquisition devices to obtain spliced images;
the determining module is used for determining a target obstacle with the shortest obstacle distance in all obstacles in the spliced image according to the obstacle distances detected by the obstacle detecting devices;
and the display module is used for displaying the spliced image at a visual angle corresponding to the target barrier.
11. The apparatus according to claim 10, wherein the display module is specifically configured to:
and displaying the spliced image with each obstacle added with the corresponding distance mark according to the obstacle distance detected by each obstacle detecting device.
12. The apparatus according to claim 11, wherein the distance identifiers added by the obstacles whose corresponding obstacle distances belong to different distance ranges are different.
13. The apparatus of claim 10, wherein the display module comprises:
an acquisition unit configured to acquire a traveling direction of the vehicle when the number of the target obstacles is at least two;
the selection unit is used for selecting a target obstacle from at least two target obstacles according to a selection rule corresponding to the driving direction;
And the display unit is used for displaying the spliced image according to the visual angle corresponding to the selected target barrier.
14. The apparatus of claim 10,
the device further comprises:
the first judgment module is used for judging whether the vehicle is in an automatic driving mode or not and judging whether the vehicle is in a preset working condition or not before the spliced image is displayed at a visual angle corresponding to the target obstacle;
the display module is specifically configured to:
and displaying the spliced image at a visual angle corresponding to the target obstacle under the conditions that the vehicle is in an automatic driving mode and the vehicle is in a preset working condition.
15. The apparatus of claim 14, wherein the preset condition comprises at least one of a park condition, a drive-off condition, or a reverse condition.
16. The apparatus of claim 10,
the device further comprises:
the second judgment module is used for judging whether the vehicle is in a preset road section or not before the spliced image is displayed at a visual angle corresponding to the target barrier;
the display module is specifically configured to:
and under the condition that the vehicle is in a preset road section, displaying the spliced image at a view angle corresponding to the target barrier.
17. The apparatus of claim 16,
the second judgment module is specifically configured to:
judging whether obstacles exist in the preset distance ranges of the two side surfaces of the vehicle or not according to the obstacle distance detected by each obstacle detecting device;
the display module is specifically configured to:
and under the condition that an obstacle exists in the preset distance range, displaying the spliced image at a visual angle corresponding to the target obstacle.
18. The apparatus of claim 10, further comprising:
and the processing module is used for calling each image acquisition device to acquire images and storing the images acquired by each image acquisition device under the conditions that the vehicle is in a dormant state and the collision event of the vehicle is detected.
19. A vehicle comprising a processor, a memory, a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the image display method according to any one of claims 1 to 9.
20. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the image display method according to any one of claims 1 to 9.
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