CN113212309A - Remote driving end video display method and device and electronic equipment - Google Patents
Remote driving end video display method and device and electronic equipment Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000002093 peripheral effect Effects 0.000 claims abstract description 49
- 238000009434 installation Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
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- 239000003086 colorant Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- 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
- H04N5/265—Mixing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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Abstract
The invention discloses a remote driving end video display method and device and electronic equipment. The remote driving end video display method comprises the steps of obtaining at least one distance prompt line; acquiring a real-time peripheral image of a vehicle; fusing the real-time peripheral image with at least one distance prompt line to generate a prompt image; and displaying the prompt image at the remote driving end. The distance between the actual position corresponding to each point on the distance prompt line and the vehicle body is equal, and the distance between the actual position corresponding to each point on the distance prompt line and the vehicle body is different. The distance prompt line can be dynamically displayed at the remote driving end, so that an operator at the remote driving end can effectively master the distance between the vehicle and the surrounding environment, and collision accidents are avoided.
Description
Technical Field
The embodiment of the invention relates to the intelligent automobile technology, in particular to a remote driving end video display method and device and electronic equipment.
Background
Today, vehicle cameras have become indispensable hardware for traffic safety in the rapid development of vehicle electronic technology and security technology. Through installing the camera on the vehicle, can gather vehicle surrounding environment image or video and show in real time, provide the guarantee for people's safe driving.
In general, due to the problem of the visual angle of the camera, images acquired by the camera in remote driving have certain deformation, and especially video pictures of the camera on the left side and the right side of the vehicle are seriously deformed. The remote driver cannot easily determine the actual distance of the object around the vehicle from the deformed image. For example, when a vehicle passes through a narrow road section in a remote driving process, the acquired images are deformed when an image of a road edge is acquired, an image of a road edge is acquired when the vehicle is parked close to the side, an image of a parallel vehicle is acquired in the remote driving process, and the distance between an object around the vehicle and the vehicle is not easy to accurately judge. If the remote driver judges the actual distance between the objects around the vehicle and the vehicle inaccurately according to the acquired images or videos, the scratch and collision accidents are easy to happen.
Disclosure of Invention
Accordingly, it is necessary to provide a method and an apparatus for displaying a remote driving end video and an electronic device, which can dynamically display a distance prompt line at the remote driving end, so that an operator at the remote driving end can effectively grasp a distance between a vehicle and the surrounding environment, thereby avoiding a collision accident.
The embodiment of the invention provides a remote driving end video display method, which comprises the following steps:
obtaining at least one distance prompt line, wherein the distances between actual positions corresponding to all points on the same distance prompt line and the vehicle body are equal, and the distances between the actual positions corresponding to all points on different distance prompt lines and the vehicle body are different;
acquiring a real-time peripheral image of a vehicle;
fusing the real-time peripheral image with at least one distance prompt line to generate a prompt image;
and displaying the prompt image at the remote driving end.
In one embodiment, the distance cue lines in the cue image are in a partially transparent state; and/or the color of the distance indication lines is different.
In one embodiment, before fusing the real-time peripheral image with the distance cue line to generate a cue image, the method further includes:
acquiring vehicle attitude information;
fusing the real-time peripheral image with the distance prompt line to generate a prompt image, comprising:
updating the distance prompt line according to the vehicle posture information;
and fusing the real-time peripheral image with the updated distance prompt line to generate a prompt image.
In one embodiment, the obtaining at least one distance cue line includes:
acquiring an acquired image of at least one actual equidistant line;
determining at least one distance prompt line according to the acquired image of the at least one actual equidistant line;
wherein, the same the actual position that each point on the real equidistance line corresponds equals with the distance of automobile body.
In one embodiment, the fusing the real-time peripheral image with the distance cue line to generate a cue image includes:
and overlapping the distance prompt line with the pixel points at the same pixel coordinate position in the real-time peripheral image.
In one embodiment, the obtaining at least one distance cue line includes:
and determining at least one distance prompt line according to the installation position of the image acquisition device, the vehicle posture and the visual angle of the image acquisition device.
In one embodiment, before fusing the real-time peripheral image with the distance cue line to generate a cue image, the method further includes:
when the vehicle runs to a preset road condition and obtains a parking instruction, or the distance between the vehicles is smaller than a preset value, an image prompt instruction is triggered.
In one embodiment, after the remote driving end displays the prompt image, the method further includes:
and generating prompt information if the objects around the vehicle are overlapped with at least one distance prompt line in the prompt image.
The embodiment of the invention provides a remote driving end video display device, which comprises:
the distance prompt line acquisition module is used for acquiring at least one distance prompt line;
the real-time surrounding image acquisition module is used for acquiring real-time surrounding images of the vehicle;
the prompt image generation module is used for fusing the real-time peripheral image with at least one distance prompt line to generate a prompt image;
the display module is used for displaying the prompt image at a remote driving end;
the distance between the actual position corresponding to each point on the distance prompt line and the vehicle body is equal, and the distance between the actual position corresponding to each point on the distance prompt line and the vehicle body is different.
An embodiment of the present invention provides an electronic device, including: a processor and a memory; the processor is used for executing the steps of the vehicle image calibration method according to any embodiment of the above embodiments by calling the program or the instructions stored in the memory.
According to the remote driving end video display method provided by the embodiment of the invention, the distance prompt lines and the real-time peripheral images of the vehicles are fused to generate the prompt images, and the actual positions corresponding to the points on the same distance prompt line are equal to the distance between the vehicle body, and the actual positions corresponding to the points on different distance prompt lines are different from the distance between the vehicle body, so that even if the observation picture in the collected real-time peripheral images is deformed, an operator at the remote driving end can assist in judging the actual distances between the peripheral vehicles, obstacles and the like in the prompt images and the vehicle according to the distance prompt lines displayed in the prompt images, and collision accidents caused by wrong distance judgment are avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a video display method for a remote driving end according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a prompt image according to an embodiment of the present invention;
fig. 3 is a schematic diagram of another prompt image according to an embodiment of the present invention;
FIG. 4 is a block diagram of a remote video display device for a driver end according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
When the vehicle passes through devices such as a camera and the like to collect images around the vehicle, the observed picture has certain deformation, so that the remote control personnel of the unmanned vehicle are difficult to judge the actual distance between objects around the vehicle and the vehicle, and collision accidents are easy to happen. In view of this, the embodiment of the invention provides a remote driving end video display method, which can be applied to control of an intelligent driving vehicle.
Fig. 1 is a schematic flow chart of a remote driving end video display method according to an embodiment of the present invention, and as shown in fig. 1, the remote driving end video display method according to an embodiment of the present invention includes:
and S110, acquiring at least one distance prompt line.
The distance cue lines are equidistant lines finally displayed in the cue image. The actual positions corresponding to the points on the same distance prompt line are equal to the distance between the vehicle body and the actual positions corresponding to the points on the same distance prompt line. The actual positions corresponding to the points on the different distance prompt lines are different from the distance of the vehicle body. The distance between the actual position corresponding to each distance prompt line and the vehicle body is the actual distance between the vehicle body and the marked place of the distance prompt line when the vehicle is parked or driven normally and horizontally.
And S120, acquiring a real-time surrounding image of the vehicle.
For example, a real-time image of the surroundings of the vehicle may be acquired by providing an imaging device such as a camera on the vehicle. The embodiment of the invention does not limit the arrangement position of the camera device such as a camera. For example, the camera devices can be arranged at the front, the back, the left and the right of the vehicle, so that real-time surrounding images of the vehicle in different directions can be acquired.
And S130, fusing the real-time peripheral image with at least one distance prompt line to generate a prompt image.
And S140, displaying a prompt image at the remote driving end.
The real-time surrounding image collected by the vehicle has certain deformation. For example, the edges of objects in the surrounding environment are actually straight, but in real-time surrounding images captured by a vehicle, there is a possibility that the edges will be curved due to deformation. The deformation can cause that the operator at the remote driving end cannot judge the actual distance between the object in the real-time peripheral image and the vehicle body when watching the acquired real-time peripheral image. Therefore, the embodiment of the invention fuses at least one distance prompt line in the real-time peripheral image to generate the prompt image. The actual positions corresponding to the points on the same distance prompt line in the prompt image are equal to the actual distance of the vehicle body. Therefore, an operator at the remote driving end can use the distance prompt line of the prompt image as a distance reference scale line and judge the actual distance between each object in the prompt image and the vehicle according to the distance prompt line, so that the collision accident caused by the misjudgment of the distance is avoided.
According to the embodiment of the invention, the distance prompt lines are fused with the real-time peripheral images of the vehicles to generate the prompt images, the actual positions corresponding to all points on the same distance prompt line in the prompt images are equal to the actual distance of the vehicle body, and the actual positions corresponding to all points on different distance prompt lines are different from the actual distance of the vehicle body, so that even if the observation picture in the acquired real-time peripheral images is deformed, an operator at a remote driving end can assist in judging the actual distances between the peripheral vehicles, obstacles and the like in the prompt images and the vehicle according to the distance prompt lines displayed in the prompt images, thereby avoiding collision accidents caused by misjudgment of distances and improving the driving safety.
Optionally, the executing subjects of the steps S110 to S130 may be a vehicle end, that is, the operation of acquiring the distance prompt line and the real-time surrounding image of the vehicle, and fusing the real-time surrounding image and the distance prompt line to generate the prompt image is executed by the vehicle end. The original processing unit with computing energy at the vehicle end can be used for generating the prompt image through the operation, or the processing unit can be additionally arranged for generating the prompt image through the operation and then sending the prompt image to the remote driving end to display the prompt image. In addition, the execution main body of the above S110 to S140 may be a remote control end, and the remote control end performs the above operation to generate and display a presentation image.
It should be noted that the embodiment of the present invention can be used for a remotely controlled unmanned vehicle, and performs video display and presentation of a prompt image at a remote driving end. In some other embodiments, the method can also be applied to vehicles operated by drivers, and the video display and the prompt image presentation are carried out at the vehicle end. In addition, the sequence of steps S110 and S120 is not limited in the embodiment of the present invention.
In one embodiment, the distance cue lines in the cue image may be set to be in a partially transparent state. The distance prompt line in the prompt image is partially transparent, so that the real-time surrounding image content can be prevented from being shielded.
In one embodiment, different distance cue lines may be provided in different colors. The different distance cue lines are distinguished by color. Fig. 2 schematically provides a prompt image. Referring to fig. 2, for example, 4 distance indication lines are provided, wherein the distance indication line 1 is red, the distance indication line 2 is yellow, the distance indication line 3 is blue, and the distance indication line 4 is green. For example, a distance indication line 1 (red distance indication line) may indicate a distance of 30cm from the vehicle body, a distance indication line 2 (yellow distance indication line) may indicate a distance of 50cm from the vehicle body, a distance indication line 3 (blue distance indication line) may indicate a distance of 100cm from the vehicle body, and a distance indication line 4 (green distance indication line) may indicate a distance of 200cm from the vehicle body.
Fig. 2 illustrates an image of only one orientation of the vehicle (e.g., the rear of the vehicle). The embodiment of the invention can also perform fusion of distance prompt lines on the peripheral images of a plurality of directions acquired by the vehicle to generate the prompt image. Fig. 3 is a schematic diagram of another prompt image according to an embodiment of the present invention. Referring to fig. 3, distance cue lines can be fused with the peripheral images of the front, rear, left, and right directions acquired by the vehicle, so as to generate a cue image. The distance prompt lines in the prompt images in different directions can be the same or different in number.
It should be noted that fig. 2 and 3 are only exemplary and provided with distance indication lines as solid lines. In other embodiments, the line shape of the distance indication line may be set according to actual requirements, for example, the distance indication line may be set as a dotted line. In order to clearly show the attached drawings, each distance indication line in fig. 2 is in a non-transparent state. In other embodiments, the distance prompt line may be in a transparent state or not according to actual requirements.
In one embodiment, before fusing the real-time peripheral image with the distance cue line to generate the cue image, the method may further include: vehicle attitude information is acquired.
If the subsequent posture of the vehicle changes, for example, the vehicle is located on a slope or other road conditions at present, the vehicle and the ground have a certain included angle, and the originally obtained distance prompt line is not matched with the real-time peripheral image of the vehicle. Therefore, the embodiment of the invention can also acquire the vehicle attitude information, and the vehicle attitude information comprises the information of the included angle between the vehicle and the horizontal plane and the like. And then updating the distance prompt line according to the vehicle attitude information, and fusing the real-time peripheral image with the updated distance prompt line to generate a prompt image.
In one embodiment, at least one distance cue line may be obtained as follows.
And S111, acquiring at least one acquired image of the actual equidistant line.
The actual equidistant lines refer to real graduation lines previously provided around the vehicle. And the distances between the actual positions corresponding to the points on the same actual equidistant line and the vehicle body are equal. And acquiring a preset acquired image of at least one actual equidistant line by using equipment such as a camera on the vehicle.
And S112, determining at least one distance prompt line according to the acquired image of the at least one actual equidistant line.
The distance prompt line corresponding to the actual equidistant line and needing to be displayed in the prompt image can be determined according to the collected image of the at least one actual equidistant line.
The method for acquiring the distance prompt line in the embodiment of the invention comprises the following steps: the real actual equidistant line is preset, the collected image of the actual equidistant line is obtained, and the distance prompt line is determined in the collected image of the actual equidistant line. The mode can be operated once before the vehicle is started, when a camera of the vehicle is started, or before the vehicle leaves a factory, and the process is simple.
In one embodiment, at least one distance indication line may also be determined according to the image capturing device installation position, the vehicle attitude, and the image capturing device viewing angle.
The image acquisition device may be, for example, a camera or the like. The installation position of the image acquisition device on the vehicle is different, the vehicle posture is different, the visual angle of the image acquisition device is different, the deformation of the vehicle image acquired by the image acquisition device is different, and the distance prompt line fused in the prompt image needs to be adjusted. According to the embodiment of the invention, the distance prompt line can be determined in real time according to the installation position of the image acquisition device, the vehicle posture and the visual angle of the image acquisition device, and then the distance prompt line determined in the above way is fused with the real-time peripheral image to generate the prompt image.
Optionally, on the basis of the foregoing embodiments, the real-time peripheral image is fused with the distance cue line to generate a cue image, including: and overlapping the distance prompt line with the pixel points at the same pixel coordinate position in the real-time peripheral image. Namely, the distance prompt line is loaded and mapped into the real-time peripheral image by superposing the distance prompt line and the pixel point at the same pixel coordinate position in the real-time peripheral image, so that the prompt image is obtained.
In one embodiment, before fusing the real-time peripheral image with the distance cue line to generate the cue image, the method may further include: when the vehicle runs to a preset road condition and obtains a parking instruction, or the distance between the vehicles is smaller than a preset value, an image prompt instruction is triggered.
The embodiment of the invention can perform fusion of the real-time peripheral image and at least one distance prompt line after triggering the image prompt instruction to generate the calibration image, thereby reducing the operation load. When the vehicle runs to a preset road condition (for example, when the vehicle runs to a narrow road section), a parking instruction is acquired, or the vehicle distance is smaller than a preset value (for example, the current vehicle and the peripheral vehicles have the vehicle distance smaller than the preset value), an image prompt instruction is triggered, the real-time peripheral image is fused with at least one distance prompt line to generate a prompt image, so that an operator can conveniently pay attention to the peripheral image of the vehicle in time, and scratch and collision accidents are avoided.
In one embodiment, after the remote driving end displays the prompt image, the method further comprises:
and generating prompt information if the objects around the vehicle are overlapped with at least one distance prompt line in the prompt image.
For example, the indication image has 3 distance indication lines, which are distance indication line 1, distance indication line 2, and distance indication line 3. The distance between the actual position corresponding to each point on the distance indication line 1 and the vehicle body is S1, the distance between the actual position corresponding to each point on the distance indication line 2 and the vehicle body is S2, and the distance between the actual position corresponding to each point on the distance indication line 3 and the vehicle body is S3. S1< S2< S3. If the actual distance between the object around the vehicle and the vehicle body is S2, the object around the vehicle overlaps the distance indication line 2 in the indication image, and then the indication message may be generated to alert the operator at the remote driving end. The prompt message may be a voice prompt or a text prompt. The embodiment of the present invention is not limited thereto.
It should be noted that the embodiment of the present invention may be configured such that the prompt information is generated only when an object around the vehicle overlaps any one of the distance prompt lines in the prompt image. For example, if the actual distance between the object around the vehicle and the vehicle body is S1, the object around the vehicle overlaps the distance indication line 1 in the indication image, and the first indication message is generated to alert the operator at the remote driving end. The actual distance between the object around the vehicle and the vehicle body is S2, and the object around the vehicle overlaps the distance indication line 2 in the indication image, and the second indication message is generated to alert the operator at the remote driving end. The actual distance between the object around the vehicle and the vehicle body is S3, and the object around the vehicle overlaps the distance indication line 3 in the indication image, and a third indication message is generated to alert the operator at the remote driving end. Optionally, when the object around the vehicle overlaps with the prompt lines with different distances in the prompt image, different prompt information may be set, so that the operator at the remote driving end can distinguish the distance between the current vehicle and the object around the vehicle. For example, the prompt information is a voice prompt, the prompt type is a beep, the time interval between adjacent beeps is t1 when the distance between the vehicle and the surrounding object is S1, the time interval between adjacent beeps is t2 when the distance between the vehicle and the surrounding object is S2, the time interval between adjacent beeps is t3 when the distance between the vehicle and the surrounding object is S3, and t1< t2< t 3.
In another embodiment, the prompt information may be generated when the object around the vehicle is selected to overlap with a part of the distance prompt lines in the prompt image according to actual conditions. For example, only when the distance between the vehicle and the peripheral object is S1 and the object around the vehicle overlaps the distance indication line 1 in the prompt image, prompt information is generated to prompt the operator at the remote driving end that the vehicle and the peripheral object are close to each other, and care needs to be taken to avoid scratches.
According to the embodiment of the invention, after the real-time peripheral image is fused with the distance prompt line to generate the prompt image, the prompt image can be displayed at the remote driving end. The operator at the remote driving end can use the distance prompt line of the prompt image as a distance reference scale line to help the operator at the remote driving platform to judge and calibrate the actual distance between each object in the image and the vehicle according to the distance prompt line, so that the collision accident caused by the error in distance judgment is avoided.
An embodiment of the present invention further provides a remote driving end video display device, fig. 4 is a block diagram of a structure of the remote driving end video display device according to the embodiment of the present invention, and referring to fig. 4, the remote driving end video display device according to the embodiment of the present invention includes:
and the distance prompt line acquisition module 21 is used for acquiring at least one distance prompt line.
And a real-time surrounding image acquiring module 22 for acquiring a real-time surrounding image of the vehicle.
And the prompt image generating module 23 is configured to fuse the real-time peripheral image with at least one distance prompt line to generate a prompt image.
And the display module 24 is used for displaying the prompt image at the remote driving end.
The actual positions corresponding to all points on the same distance prompt line are equal to the distance between the vehicle body and each point on the same distance prompt line; the actual positions corresponding to the points on the different distance prompt lines are different from the distance of the vehicle body.
According to the embodiment of the invention, the distance prompt lines are fused with the real-time peripheral images of the vehicles to generate the prompt images, the actual positions corresponding to all points on the same distance prompt line in the prompt images are equal to the distance between the vehicle body, and the actual positions corresponding to all points on different distance prompt lines are different from the distance between the vehicle body, so that even if the observation picture in the collected real-time peripheral images is deformed, an operator at a remote driving end can assist in judging the actual distances between the peripheral vehicles, obstacles and the like in the prompt images and the vehicle according to the distance prompt lines displayed in the prompt images, thereby avoiding collision accidents caused by misjudgment of distances and improving the driving safety.
An embodiment of the present invention further provides an electronic device, and fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention, where the electronic device includes: a processor 31 and a memory 32. The various components in the electronic device are coupled together by a bus system 33. The electronic device may also include a communication interface 34 for information transfer with external devices, for example. It is understood that the bus system 504 is used to enable communications among the components. The bus system 33 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, the various buses are labeled as bus system 33 in fig. 5.
It will be appreciated that the memory 32 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
In the embodiment of the present invention, the processor 31 is configured to call a program or an instruction stored in the memory 32, specifically, the program or the instruction stored in the application program, and the processor 31 is configured to execute the steps of the embodiments of the remote driving-end video display method provided by the embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A remote driving end video display method is characterized by comprising the following steps:
obtaining at least one distance prompt line, wherein the distances between actual positions corresponding to all points on the same distance prompt line and the vehicle body are equal, and the distances between the actual positions corresponding to all points on different distance prompt lines and the vehicle body are different;
acquiring a real-time peripheral image of a vehicle;
fusing the real-time peripheral image with at least one distance prompt line to generate a prompt image;
and displaying the prompt image at the remote driving end.
2. The remote driving-end video display method according to claim 1, wherein the distance cue lines in the cue image are in a partially transparent state; and/or the color of the distance indication lines is different.
3. The remote driving-end video display method according to claim 1, further comprising, before fusing the real-time surrounding image with a distance cue line to generate a cue image:
acquiring vehicle attitude information;
fusing the real-time peripheral image with the distance prompt line to generate a prompt image, comprising:
updating the distance prompt line according to the vehicle posture information;
and fusing the real-time peripheral image with the updated distance prompt line to generate a prompt image.
4. The remote driving-end video display method according to claim 1, wherein the obtaining at least one distance cue line comprises:
acquiring an acquired image of at least one actual equidistant line;
determining at least one distance prompt line according to the acquired image of the at least one actual equidistant line;
wherein, the same the actual position that each point on the real equidistance line corresponds equals with the distance of automobile body.
5. The remote driving end video display method according to claim 1, wherein the fusing the real-time surrounding image with a distance cue line to generate a cue image comprises:
and overlapping the distance prompt line with the pixel points at the same pixel coordinate position in the real-time peripheral image.
6. The remote driving-end video display method according to claim 1, wherein the obtaining at least one distance cue line comprises:
and determining at least one distance prompt line according to the installation position of the image acquisition device, the vehicle posture and the visual angle of the image acquisition device.
7. The remote driving-end video display method according to claim 1, further comprising, before fusing the real-time surrounding image with a distance cue line to generate a cue image:
when the vehicle runs to a preset road condition and obtains a parking instruction, or the distance between the vehicles is smaller than a preset value, an image prompt instruction is triggered.
8. The remote driving end video display method according to claim 1, further comprising, after the remote driving end displays the prompt image:
and generating prompt information if the objects around the vehicle are overlapped with at least one distance prompt line in the prompt image.
9. A remote driver-side video display apparatus, comprising:
the distance prompt line acquisition module is used for acquiring at least one distance prompt line;
the real-time surrounding image acquisition module is used for acquiring real-time surrounding images of the vehicle;
the prompt image generation module is used for fusing the real-time peripheral image with at least one distance prompt line to generate a prompt image;
the display module is used for displaying the prompt image at a remote driving end;
the distance between the actual position corresponding to each point on the distance prompt line and the vehicle body is equal, and the distance between the actual position corresponding to each point on the distance prompt line and the vehicle body is different.
10. An electronic device, comprising: a processor and a memory;
the processor is adapted to perform the steps of the method of any one of claims 1 to 8 by calling a program or instructions stored in the memory.
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