CN114025129A - Image processing method and system and motor vehicle - Google Patents
Image processing method and system and motor vehicle Download PDFInfo
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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
- 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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- 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
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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
- B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
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Abstract
本发明涉及一种图像处理方法，通过CMS控制器对车载摄像头采集的图像信息进行处理后，则可直接将处理后的图像信息传递至ADAS控制器，以辅助汽车的驾驶，使得ADAS控制器可与CMS控制器共用CMS摄像头，以减少整车摄像头的使用数量，从而减少系统的成本、功率和空间的消耗；同时CMS控制器可承担ADAS控制器的部分算力资源，以提升ADAS图像处理的效率，从而提升ADAS的系统性能。
The invention relates to an image processing method. After the image information collected by the vehicle camera is processed by the CMS controller, the processed image information can be directly transmitted to the ADAS controller to assist the driving of the vehicle, so that the ADAS controller can Share the CMS camera with the CMS controller to reduce the number of cameras used in the whole vehicle, thereby reducing the cost, power and space consumption of the system; at the same time, the CMS controller can undertake part of the computing power resources of the ADAS controller to improve ADAS image processing. efficiency, thereby improving the system performance of ADAS.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted electronic image systems, in particular to an image processing method and system and a motor vehicle.
Background
With the rapid development of national economy in China and the mass popularization of vehicles, people pay more and more attention to the driving safety of the vehicles.
At present, the rearview mirror is widely applied to vehicles such as automobiles and the like, and plays an important role in improving the safety of automobile driving. Along with the intelligent degree of car is higher and higher, people adopt the camera of electron rear-view mirror system (CMS) to catch image information around the vehicle usually, and the electron rear-view mirror system of car mainly includes camera, display screen and CMS controller, utilizes the display screen to show the image of camera collection to obtain the image information of different positions, satisfied driver's observation demand.
The system aims at an automobile with an auxiliary driving system (ADAS), and comprises the ADAS controller and a plurality of cameras, wherein the cameras collect image information around the automobile when the automobile runs and transmit the image information to the ADAS controller, and the ADAS controller drives the automobile in an auxiliary mode according to the image information.
However, in the prior art, the electronic rearview mirror system and the vision-assisted driving system are independent from each other, and cannot share image data, so that the cost of the whole vehicle is high, the power is high, and the occupied space is large.
Disclosure of Invention
The invention provides an image processing method, an image processing system and a motor vehicle, and aims to solve the technical problems that an electronic rearview mirror system and a vision-assisted driving system cannot share image data, so that the cost of the whole vehicle is higher, the power is higher, and the occupied space is larger.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides an image processing method applied to a motor vehicle, where the motor vehicle includes an on-board camera, a CMS controller, and an ADAS controller, the on-board camera is connected to the CMS controller, and the CMS controller is connected to the ADAS controller, the method includes:
acquiring image information acquired by the vehicle-mounted camera;
sending the image information to the CMS controller, and processing the image information through the CMS controller to obtain ADAS image information according to the image information;
sending, by the CMS controller, the ADAS image information to the ADAS controller.
In one embodiment, the onboard camera comprises a first CMS camera and a second CMS camera;
the sending the image information to the CMS controller and the processing the image information by the CMS controller includes:
sending the image information acquired by the first CMS camera and the second CMS camera to the CMS controller, and processing the image information through the CMS controller;
the sending, by the CMS controller, the ADAS image information to the ADAS controller comprises:
establishing a first data channel between the CMS controller and the ADAS controller;
and sending the processed image information to the ADAS controller through the CMS controller based on the first data channel.
In one embodiment, said sending said ADAS image information to said ADAS controller by said CMS controller further comprises:
establishing a first data channel and a second data channel between the CMS controller and the ADAS controller;
sending, by the CMS controller, the processed image information to the ADAS controller based on the first data channel and the second data channel.
In one embodiment, the onboard camera includes a first CMS camera and a second CMS camera, the CMS controller includes a first CMS controller and a second CMS controller,
the sending the image information to the CMS controller and the processing the image information by the CMS controller includes:
acquiring first image information acquired by the first CMS camera, and sending the first image information to the first CMS controller;
acquiring second image information acquired by the second CMS camera, and sending the second image information to the second CMS controller;
controlling the second CMS controller to transmit the second image information to the first CMS controller and process the first image information and the second image information through the first CMS controller;
the sending, by the CMS controller, the ADAS image information to the ADAS controller comprises:
establishing a first data channel between the first CMS controller and the ADAS controller;
sending, by the first CMS controller, the processed first image information and the second image information to the ADAS controller based on the first data channel.
In one embodiment, said sending said ADAS image information to said ADAS controller by said CMS controller further comprises:
establishing a first data channel between the first CMS controller and the ADAS controller, and a second data channel between the second CMS controller and the ADAS controller;
sending, by the first CMS controller and the second CMS controller, the processed first image information and the second image information to the ADAS controller based on the first data channel and the second data channel.
In order to solve the above technical problem, according to a second aspect, another technical solution adopted by an embodiment of the present invention is to provide an image processing system, including: the system comprises a vehicle-mounted camera, a CMS controller and an ADAS controller, wherein the vehicle-mounted camera is connected with the CMS controller, and the CMS controller is connected with the ADAS controller;
the vehicle-mounted camera is used for collecting image information and sending the image information to the CMS controller;
the CMS controller is configured to process the image information to obtain ADAS image information according to the image information, and send the ADAS image information to the ADAS controller.
In one embodiment, the onboard camera comprises a first CMS camera and a second CMS camera;
the first CMS camera and the second CMS camera are both used for collecting image information and sending the image information to the CMS controller;
a first data channel is established between the CMS controller and the ADAS controller, and the CMS controller transmits processed image information to the ADAS controller based on the first data channel.
In one embodiment, a second data channel is further established between the CMS controller and the ADAS controller;
the CMS controller transmits processed image information to the ADAS controller based on the first data channel and the second data channel.
In one embodiment, the onboard camera includes a first CMS camera and a second CMS camera, and the CMS controller includes a first CMS controller and a second CMS controller;
the first CMS camera is used for collecting first image information and sending the first image information to the first CMS controller;
the second CMS camera is configured to collect second image information and send the second image information to the second CMS controller;
the second CMS controller is configured to send the second image information to the first CMS controller;
the first CMS controller is configured to process the first image and the second image, a first data channel is established between the first CMS controller and the ADAS controller, and the first CMS controller sends the processed first image information and the processed second image information to the ADAS controller based on the first data channel.
In order to solve the above technical problem, according to a third aspect, another technical solution adopted by an embodiment of the present invention is to provide a motor vehicle, including: an image processing system as described above.
The beneficial effects of the embodiment of the invention are as follows:
according to the image processing method provided by the embodiment of the invention, after the CMS controller processes the image information acquired by the vehicle-mounted camera, the processed image information can be directly transmitted to the ADAS controller to assist the driving of the automobile, so that the ADAS controller and the CMS controller can share the CMS camera, the use number of the cameras of the whole automobile is reduced, and the cost, the power and the space consumption of the system are reduced; meanwhile, the CMS controller can bear part of computational resources of the ADAS controller so as to improve the efficiency of ADAS image processing and improve the system performance of ADAS.
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One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.
FIG. 1 is a flow chart of an image processing method according to a first embodiment of the present invention;
FIG. 2 is a flow chart of an image processing method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of a method of image processing according to a third embodiment of the present invention;
FIG. 4 is a flow chart of a method of image processing according to a fourth embodiment of the present invention;
FIG. 5 is a flow chart of a method of image processing according to a fifth embodiment of the present invention;
FIG. 6 is a schematic diagram of an image processing system according to a second embodiment of the present invention;
FIG. 7 is a diagram of an image processing system according to a third embodiment of the present invention
FIG. 8 is a schematic diagram of an image processing system according to a fourth embodiment of the present invention;
fig. 9 is a schematic structural diagram of an image processing system according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
It should be noted that an automobile vision-assisted driving System, namely Advanced Driver Assistance System, ADAS for short, is an active safety technology that collects environmental data inside and outside an automobile at the first time by using various sensors mounted on the automobile, and performs technical processes such as identification, detection and tracking of static and dynamic objects, so that a Driver can detect a possible danger at the fastest time to attract attention and improve safety. The ADAS uses sensors, such as cameras, radars, lasers, and ultrasonic waves, which detect light, heat, pressure, or other variables used to monitor the state of the vehicle, and are usually located in the front and rear bumpers, side-view mirrors, and the inside of the steering column or on the windshield of the vehicle.
The electronic rearview mirror System of the automobile uses an electronic mode to replace the traditional glass mirror surface rearview mirror, and has a plurality of names, namely electronic side view mirrors, virtual rearview mirrors, electronic rearview mirrors and electronic replacement mirrors, wherein the name of the ISO international standard organization is the Camera monitoring System, namely Camera Monitor System, CMS for short. CMS not only can improve driving safety, eliminates the blind area, widens the field of vision and increases the visible distance.
Referring to fig. 1, an embodiment of the present invention provides an image processing method applied to a motor vehicle, where the motor vehicle includes an onboard camera, a CMS controller and an ADAS controller, the onboard camera is connected to the CMS controller, and the CMS controller is connected to the ADAS controller, and the method includes:
s100, acquiring image information acquired by the vehicle-mounted camera;
CMS mainly includes camera, display screen and CMS controller, and image information is gathered to the camera, and the CMS controller receives this image information and transmits this image information to the display screen to utilize the display screen to show the image of camera collection, thereby obtain the image information of the different positions of vehicle, above-mentioned on-vehicle camera is CMS camera promptly.
S200, sending the image information to the CMS controller, and processing the image information through the CMS controller to obtain ADAS image information according to the image information;
the ADAS controller and CMS controller need different image information, typically, CMS is 60FPS (Frames Per Second), ADAS is 30FPS, and since CMS camera is only for CMS controller, ADAS controller does not need image information of 60FPS as high frame rate. Therefore, to ensure that ADAS works efficiently, the CMS controller needs to compress the image information to convert the image information into ADAS image information needed by the ADAS controller.
S300, sending the ADAS image information to the ADAS controller through the CMS controller.
After the CMS controller processes the image information, the ADAS image information obtained after processing can be directly transmitted to the ADAS controller to assist driving of the automobile, so that the ADAS controller and the CMS controller can share the CMS camera to reduce the number of the cameras used in the whole automobile.
Referring to fig. 2, in one embodiment, the onboard camera includes a first CMS camera and a second CMS camera; the step S200 specifically includes:
s210, sending the image information collected by the first CMS camera and the second CMS camera to the CMS controller, and processing the image information through the CMS controller;
the step S300 specifically includes:
s310, establishing a first data channel between the CMS controller and the ADAS controller;
s320, sending the processed image information to the ADAS controller through the CMS controller based on the first data channel.
First CMS camera and second CMS make a video recording and can be respectively in the rear-view mirror department about the car for gather car side rear image information, CMS controller is all connected to first CMS camera and second CMS camera, and first display screen and second display screen also all are connected with CMS controller, and the image information that first CMS camera was gathered shows through first display screen, and the image information that second CMS camera was gathered shows through the second display screen. The ADAS controller is connected with the CMS controller through a first data channel, image information acquired by the CMS controller is processed and then sent to the ADAS controller through the first data channel, and the ADAS controller and the CMS controller are directly connected with the gateway. In this embodiment, since the image information collected by the two CMS cameras is sent to the ADAS controller through only one data channel, the data transmission may be congested.
To prevent the data transmission from being congested, referring to fig. 3, in an embodiment, the step S300 further includes:
s330, establishing a first data channel and a second data channel between the CMS controller and the ADAS controller;
s340, sending the processed image information to the ADAS controller through the CMS controller based on the first data channel and the second data channel.
The ADAS controller is connected with the CMS controller through a first data channel and a second data channel, and image information acquired by the first CMS camera is processed by the CMS controller and then transmitted to the ADAS controller through the first data channel; the image information that the second CMS camera was gathered is handled the back through the CMS controller, transmits to the ADAS controller through the second data channel, because the image information that two CMS cameras were gathered all transmits to the ADAS controller through independent data channel respectively, can effectively reduce the jam of data.
Referring to fig. 4, in an embodiment, the vehicle-mounted camera includes a first CMS camera and a second CMS camera, and the CMS controller includes a first CMS controller and a second CMS controller, and with respect to the step S200, the method specifically includes:
s220, acquiring first image information acquired by the first CMS camera, and sending the first image information to the first CMS controller;
s230, acquiring second image information acquired by the second CMS camera, and sending the second image information to the second CMS controller;
s240, controlling the second CMS controller to send the second image information to the first CMS controller, and processing the first image information and the second image information through the first CMS controller;
for the above S300, specifically, the method further includes:
s350, establishing a first data channel between the first CMS controller and the ADAS controller;
s360, based on the first data channel, sending the processed first image information and the second image information to the ADAS controller through the first CMS controller.
For ADAS, in order to assist driving of an automobile, the ADAS usually includes a plurality of cameras, image information collected by the ADAS cameras is transmitted to the ADAS controller, and the ADAS controller needs to perform relevant processing on the image information, for example, for environmental data, technical processing such as identification, detection, and tracking of static and dynamic objects is performed, so that a driver can perceive a possible danger in the fastest time. However, the number of ADAS cameras is large, and it is difficult for the ADAS controller to process a large amount of data in a short time. The CMS controller can receive image information collected by the CMS camera, the collected image information can be divided into two paths, one path of image information is processed by the CMS controller and then is directly displayed through the display screen, the other path of image information is subjected to technical processing such as static and dynamic object identification, detection and tracking through the CMS controller, the processed image information is directly sent to the ADAS controller, and the ADAS can inform a driver of possible danger without processing the image information. In this embodiment, by providing two CMS controllers, the CMS controllers can bear computing resources of part of the ADAS controllers, and thus data processing efficiency of the ADAS can be improved.
It will be appreciated that since CMSs typically include only left and right cameras, which typically do not require the use of significant computational resources, the CMS controller described above assumes part of the computational power of the ADAS controller in order to improve system performance, and may be used in other embodiments of the invention. It is understood that the first and second CMS controllers may also be connected to share partial efforts of each other.
Further, referring to fig. 5, in an embodiment, the step S300 further includes:
s370, establishing a first data channel between the first CMS controller and the ADAS controller, and a second data channel between the second CMS controller and the ADAS controller;
s380, based on the first data channel and the second data channel, sending the processed first image information and the processed second image information to the ADAS controller through the first CMS controller and the second CMS controller.
The ADAS control is connected to the first CMS controller via a first data channel and to the second CMS controller via a second data channel. Image information acquired by the first CMS camera is processed by the first CMS controller and then transmitted to the ADAS controller through the first data channel; and the image information acquired by the second CMS camera is processed by the second CMS controller and then transmitted to the ADAS controller through the second data channel. In this embodiment, the image information collected by the two CMS cameras is processed by the respective independent CMS controller, and is transmitted to the ADAS controller by the respective independent data channel, so that congestion of data can be reduced to the maximum extent, and the CMS controller can bear partial computing power of the ADAS controller to the maximum extent, so as to improve system performance.
In order to improve the efficiency of data transmission, in an embodiment, the original image information of the CMS camera may be further compressed and cropped into a format required by the ADAS controller according to an image frame rate and a view angle range required by the ADAS controller, the ADAS controller requires a grayscale image, the CMS controller requires an RGB image, the CMS controller may process the original RGB image into a grayscale, and the whole scheme may compress the image information to less than 30% of the original data amount to improve the efficiency of data transmission.
In addition, the size, coordinates, distance, speed and the like of the vehicle/pedestrian/lane line/other obstacles in the image can be identified by using the calculation force of the CMS controller according to the ADAS requirement, and are transmitted to the ADAS controller in the form of a parameter equation and the like, so that the real-time performance of the system can be improved, and the data transmission amount can be reduced.
According to the image processing method provided by the embodiment of the invention, after the CMS controller processes the image information acquired by the vehicle-mounted camera, the processed image information can be directly transmitted to the ADAS controller to assist the driving of the automobile, so that the ADAS controller and the CMS controller can share the CMS camera, the use number of the cameras of the whole automobile is reduced, and the cost, the power and the space consumption of the system are reduced; meanwhile, the CMS controller can bear part of computational resources of the ADAS controller so as to improve the efficiency of ADAS image processing and improve the system performance of ADAS.
Referring to fig. 6, an embodiment of the present invention further provides an image processing system, where the system 100 includes: a vehicle camera, a CMS controller 10 and an ADAS controller 20; the vehicle-mounted camera is connected with the CMS controller 10, the CMS controller 10 is connected with the ADAS controller 20, and the vehicle-mounted camera is used for collecting image information and sending the image information to the CMS controller 10; the CMS controller 10 is configured to process the image information to obtain ADAS image information from the image information and send the ADAS image information to the ADAS controller 20.
Referring to fig. 6, in one embodiment, the onboard cameras include a first CMS camera 31 and a second CMS camera 32. The first CMS camera 31 and the second CMS camera 32 are each configured to collect image information and transmit the image information to the CMS controller 10. A first data channel is established between the CMS controller 10 and the ADAS controller 20, and the CMS controller transmits the processed image information to the ADAS controller 20 based on the first data channel.
In the present embodiment, there is only one data channel, but since the image information collected by the two CMS cameras is sent to the ADAS controller 20 through only one data channel, there is a possibility that the data transmission may be congested.
Referring to fig. 7, in an embodiment, in order to reduce congestion during data transmission, a second data channel is further established between the CMS controller 10 and the ADAS controller 20, and the CMS controller 10 sends the processed image information to the ADAS controller 20 based on the first data channel and the second data channel. Because the image information collected by the two CMS cameras is transmitted to the ADAS controller 20 through respective independent data channels, data congestion can be effectively reduced.
Referring to fig. 8, in one embodiment, the onboard camera includes a first CMS camera 31 and a second CMS camera 32, and the CMS controller 10 includes a first CMS controller 11 and a second CMS controller 12. The first CMS camera 31 is configured to collect first image information and send the first image information to the first CMS controller 11; the second CMS camera 32 is configured to collect second image information and send the second image information to the second CMS controller 12; the second CMS controller 12 is configured to send the second image information to the first CMS controller 11; the first CMS controller 11 is configured to process the first image and the second image, a first data channel is established between the first CMS controller 11 and the ADAS controller 20, and the first CMS controller 11 sends the processed first image information and the second image information to the ADAS controller 20 based on the first data channel.
The CMS controller receives the image information collected by the CMS cameras, the image information collected by the two CMS cameras can be divided into two paths, one path of image information is processed by the CMS controller and then is directly displayed by the first display screen and the second display screen, the other path of image information is subjected to technical processing such as static and dynamic object identification, detection and tracking through the CMS controller, the processed image information is directly sent to the ADAS controller 20, and the ADAS can inform a driver of possible danger without processing the image information. In this embodiment, by providing the first CMS controller 11 and the second CMS controller 12, the two CMS controllers can bear computing resources of the partial ADAS controller 20, so that the data processing efficiency of ADAS can be improved.
Based on the same inventive concept, referring to fig. 9, in one embodiment, a first data channel is established between the first CMS controller 11 and the ADAS controller 20, and a second data channel is established between the second CMS controller 12 and the ADAS controller 20; the first CMS controller 11 sends the processed image information to the ADAS controller 20 via a first data channel and the second CMS controller 12 sends the processed image information to the ADAS controller 20 via a second data channel. In this embodiment, the image information collected by the two CMS cameras is processed by the respective independent CMS controller, and is transmitted to the ADAS controller 20 by the respective independent data channel, so that congestion of data can be reduced to the maximum, and the CMS controller can bear partial computing power of the ADAS controller 20 to the maximum, so as to improve performance of the system 100.
The image processing system may execute the image processing method provided by the embodiment of the present invention, and has functional modules corresponding to the execution method. For technical details that are not described in detail in the embodiment of the interface display apparatus, reference may be made to the image processing method provided in the embodiment of the present invention.
Embodiments of the present invention also provide a motor vehicle including the image processing system described in the above embodiments. As shown in fig. 6, the motor vehicle further includes a gateway 50, an ICM meter 61, a HUM door 62, a door button 63, a defrost button 64, a fog lamp button 65, a CMRR angle radar 66, and a DCM door 67 to constitute a completed vehicle-mounted system. The motor vehicle adopting the image processing system enables the ADAS controller to share the CMS camera with the CMS controller, so that the use number of the cameras of the whole vehicle is reduced, and the cost, the power and the space consumption of the system are reduced.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115593313A (en) * | 2022-10-31 | 2023-01-13 | 福瑞泰克智能系统有限公司（Cn） | Vehicle driving auxiliary system |
| CN117400832A (en) * | 2023-10-23 | 2024-01-16 | 上海映赛电子科技有限公司 | Electronic rearview mirror field of view switching method, electronic rearview mirror and ECU terminal |
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