CN116758505A - Method, device, medium and equipment for constructing reversing auxiliary line - Google Patents
Method, device, medium and equipment for constructing reversing auxiliary line Download PDFInfo
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- CN116758505A CN116758505A CN202310766219.1A CN202310766219A CN116758505A CN 116758505 A CN116758505 A CN 116758505A CN 202310766219 A CN202310766219 A CN 202310766219A CN 116758505 A CN116758505 A CN 116758505A
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- 230000003993 interaction Effects 0.000 claims abstract description 17
- 238000010276 construction Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 9
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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
- B60R1/20—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
- B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30264—Parking
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- Multimedia (AREA)
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Image Processing (AREA)
Abstract
The application discloses a method, a device, a medium and equipment for constructing a reversing auxiliary line, wherein the method comprises the following steps: displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object; responding to the selected operation of a user according to a target reference object in the reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area; and constructing and obtaining a target reversing auxiliary line based on each target coordinate point. According to the application, the reversing image containing the reference object is displayed, and then the reversing image is selected according to the target reference object in the reversing image in a man-machine interaction mode, so that a plurality of target coordinate points can be conveniently and rapidly obtained, a guarantee is provided for generating a target reversing auxiliary line based on each target coordinate point, and the dynamic adjustment and modification of the reversing auxiliary line are realized.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method, an apparatus, a medium, and a device for constructing a reversing auxiliary line.
Background
Along with the continuous improvement of the economic level, the automobile is taken as a transportation means, so that the automobile is greatly convenient for people to travel, and provides convenience for people's life.
The existing automobile can normally provide a reversing auxiliary line when reversing, and the distance situation between the tail of the automobile and an obstacle is reminded by utilizing the reversing auxiliary line, however, the existing reversing auxiliary line is preset according to the internal parameters of the reversing camera, and a user cannot adjust and modify according to actual application.
Disclosure of Invention
In view of the above, the present application provides a method, a device, a medium and a device for constructing a reversing auxiliary line, which mainly aims to solve the problem that the reversing auxiliary line cannot be adjusted or modified according to the actual needs of users at present.
In order to solve the above problems, the present application provides a method for constructing a reversing auxiliary line, comprising:
displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object;
responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
and constructing and obtaining a target reversing auxiliary line based on each target coordinate point.
Optionally, the target reference object includes a target calibration field, and the method further includes:
drawing n square grids according to a preset side length in a preset parking area, and obtaining the target calibration field through pre-arrangement.
Optionally, the obtaining, by the response user, a target coordinate point corresponding to each pixel area in the reverse image according to a target reference object in the reverse image and a selected operation for each pixel area in the reverse image includes:
responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a plurality of pixel areas;
the coordinate range of each pixel region is acquired to determine a target coordinate point corresponding to each pixel region based on the coordinate range of each pixel region.
Optionally, the obtaining, by the response user, a target coordinate point corresponding to each pixel area in the reverse image according to a target reference object in the reverse image and a selected operation for each pixel area in the reverse image includes:
responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a plurality of pixel areas;
and identifying the grid vertexes of the target reference object in each pixel area so as to obtain target coordinate points corresponding to each pixel area.
Optionally, before the reverse assistance line is constructed and obtained based on each target coordinate point, the method further includes:
responding to the selection instruction of the auxiliary line type for each target coordinate point respectively to configure the corresponding auxiliary line type for each target coordinate point;
the auxiliary line type comprises any one or more of the following types: a left auxiliary line type in the vehicle longitudinal direction, a right auxiliary line type in the vehicle longitudinal direction, a first auxiliary line type in the vehicle width direction, a second auxiliary line type in the vehicle width direction, and a third auxiliary line type in the vehicle width direction; the distance between the sub reversing auxiliary line corresponding to the first auxiliary line type, the second auxiliary line type and the third auxiliary line type and the tail of the vehicle is different.
Optionally, the generating a reverse auxiliary line based on each target coordinate point includes:
generating a sub-reversing auxiliary line corresponding to the auxiliary line type based on each target coordinate point corresponding to the same auxiliary line type;
and constructing and obtaining the target reversing auxiliary line based on each sub reversing auxiliary line.
Optionally, after constructing the target reverse assistance line, the method further includes:
and displaying each sub auxiliary line in the target reversing auxiliary line according to different display modes.
In order to solve the above problems, the present application provides a device for constructing a reversing auxiliary line, comprising:
the display module is used for displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object;
the interaction module is used for responding to the selected operation of a user according to a target reference object in the reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
and the construction module is used for constructing and obtaining a target reversing auxiliary line based on each target coordinate point.
In order to solve the above-mentioned problems, the present application provides a storage medium storing a computer program which, when executed by a processor, implements the steps of the reverse assist line construction method according to any one of the above-mentioned problems.
In order to solve the above problems, the present application provides an electronic device, at least including a memory, and a processor, where the memory stores a computer program, and the processor implements the steps of the method for constructing a reverse auxiliary line according to any one of the above steps when executing the computer program on the memory.
According to the method, the device, the medium and the equipment for constructing the reversing auxiliary line, disclosed by the application, the reversing image containing the reference object is displayed, and then the reversing image is selected according to the target reference object in the reversing image in a man-machine interaction mode, so that a plurality of target coordinate points for generating the reversing auxiliary line can be conveniently and rapidly obtained, and a guarantee is provided for the subsequent reasonable and accurate generation of the target reversing auxiliary line based on each target coordinate point.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a flow chart of a method for constructing a reversing auxiliary line according to an embodiment of the present application;
FIG. 2 is a reverse image of a target reference object according to another embodiment of the present application;
FIG. 3 is a schematic view of a target reverse assist line including three sub-reverse assist lines according to another embodiment of the present application;
FIG. 4 is a schematic view of a target reverse assist line including five sub reverse assist lines according to yet another embodiment of the present application;
FIG. 5 is a block diagram illustrating a reverse auxiliary line construction apparatus according to another embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to another embodiment of the application.
Detailed Description
Various aspects and features of the present application are described herein with reference to the accompanying drawings.
It should be understood that various modifications may be made to the embodiments of the application herein. Therefore, the above description should not be taken as limiting, but merely as exemplification of the embodiments. Other modifications within the scope and spirit of the application will occur to persons of ordinary skill in the art.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with a general description of the application given above, and the detailed description of the embodiments given below, serve to explain the principles of the application.
These and other characteristics of the application will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It is also to be understood that, although the application has been described with reference to some specific examples, those skilled in the art can certainly realize many other equivalent forms of the application.
The above and other aspects, features and advantages of the present application will become more apparent in light of the following detailed description when taken in conjunction with the accompanying drawings.
Specific embodiments of the present application will be described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the application, which can be embodied in various forms. Well-known and/or repeated functions and constructions are not described in detail to avoid obscuring the application in unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not intended to be limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present application in virtually any appropriately detailed structure.
The specification may use the word "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the application.
The embodiment of the application provides a method for constructing a reversing auxiliary line, which can be particularly applied to a reversing auxiliary system in a vehicle, wherein the system at least comprises a camera, a display screen/touch screen, a processor and the like, and as shown in fig. 1, the method for constructing the reversing auxiliary line in the embodiment comprises the following steps:
step S101, displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object;
in this step, specifically, an imaging device may be installed at the rear of the automobile, and the imaging device is used to capture and obtain, in real time, a scene image of the rear/rear of the automobile, which includes the target reference object, thereby obtaining a reverse image, and then the reverse image is displayed in real time by using a display device.
The target reference object may specifically be a square grid of n x n calibrated/arranged in advance, or an obstacle object at a certain distance from the tail of the vehicle. Such as an obstacle 3 meters from the vehicle tail or an obstacle 2.5 meters from the vehicle tail, etc., where the obstacle may be a tree, a human body, a vehicle, a sign, a traffic cone, etc.
Step S102, responding to a selected operation of a user for each pixel area in a reversing image according to a target reference object in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
in this step, the actual distance relationship between the tail of the vehicle and the target reference object/obstacle may be obtained in advance, and then, according to the actual distance relationship and the position area of the target reference object on the reversing image, the user may quickly determine the target position area corresponding to the reversing image at the target distance from the tail of the vehicle, which is desired by the user, so that the user may select, by means of man-machine interaction, the pixel area corresponding to the target position area on the reversing image, thereby, several target coordinate points corresponding to the reversing image at the desired target distance may be obtained. That is, for example, if the actual distance between the target reference object and the tail of the vehicle is 3 meters, and if the distance between the target coordinate point desired by the user and the tail of the vehicle is 1.5 meters, the pixel area between the target reference object and the tail of the vehicle in the reverse image and in the middle position can be quickly determined as the pixel area to be selected, that is, the pixel area is the area which is actually 1.5 meters from the tail of the vehicle in the real scene, so that the corresponding target coordinate point can be determined based on the pixel area. For another example, if the distance between the target coordinate point expected by the user and the tail of the vehicle is also 3 meters, the coordinate point corresponding to the position area/pixel area can be quickly determined as the target coordinate point according to the position area where the target reference object is located in the reversing image. In the step, by acquiring the actual distance between the target reference object and the tail of the vehicle and referring to the actual distance and the position area of the target reference object in the reversing image, a plurality of target coordinate points can be selected from the reversing image quickly and reasonably, the positions of the target coordinate points in the real scene are the positions which are expected by the user and are at the preset distance from the tail of the vehicle, the acquisition of the target coordinate points is more convenient and quick, and the guarantee is provided for realizing the autonomous and dynamic adjustment/modification of the reversing auxiliary line of the user.
And step S103, constructing and obtaining a target reversing auxiliary line based on each target coordinate point.
In the step, after a plurality of target coordinate points are obtained, a processor in the reversing auxiliary system can construct a three-wire reversing auxiliary line or a six-wire reversing auxiliary frame based on each target coordinate point, so that the target reversing auxiliary line can be obtained, and the target reversing auxiliary frame can be displayed through a display screen.
According to the method for constructing the reversing auxiliary line, the reversing image containing the reference object is displayed, and then the selection operation is carried out in the reversing image in a man-machine interaction mode according to the target reference object in the reversing image, so that a plurality of target coordinate points for generating the reversing auxiliary line can be conveniently and rapidly obtained, and guarantee is provided for the follow-up construction of the target reversing auxiliary line based on each target coordinate point reasonably and accurately. The dynamic adjustment and modification of the reversing auxiliary line are realized, and the requirements of different users on the personalized setting of the reversing auxiliary line are met.
On the basis of the above embodiment, in this embodiment, taking a target reference object as a pre-calibrated square as an example, a method for constructing a reversing auxiliary line in the present application is explained, as shown in fig. 2, and the method in this embodiment includes the following steps:
in step S201, n×n squares are drawn according to a preset side length in a predetermined parking area, so as to obtain a target calibration field for use as a target reference object by pre-arranging.
In the implementation process of the step, 10 x 10 squares can be drawn on the ground of the preset parking area according to the length of the square edge of 1 meter, so that a grid-shaped target calibration field is obtained, wherein the square edge can be set and adjusted according to actual needs, such as 0.2 meter, 0.5 meter, 0.8 meter, 1.5 meter and the like. The number of the square grids can also be adjusted according to actual needs, such as 5*5, 6*8, 10 x 8, etc.
Step S202, displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object;
in the implementation process, the vehicle can be controlled to run to the edge of the target calibration field, the bottom of the vehicle tail is kept parallel to the grid edge line of the target calibration field, namely, the distance between the vehicle tail and the grid edge line of the target calibration field is kept to be zero, and therefore a reversing image containing the grid-shaped target calibration field shown in fig. 2 can be shot and obtained by using a camera of the vehicle tail.
Step S203, responding to a selected operation of a user for each pixel area in a reversing image according to a target reference object in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
in the implementation process of the step, since the side length of each square of the grid-shaped target calibration field is known, for example, 0.5 meter, 1 meter and the like, a user can select a corresponding pixel area in the displayed reversing image according to the distance of the reversing auxiliary line which is set desirably, so that a target coordinate point corresponding to the pixel area can be obtained. The selecting operation may specifically be a circling type delineating operation or a clicking type clicking operation, and the like.
That is, for example, the side length of each square of the grid-shaped target calibration field is 1 meter, and the distance of the reversing auxiliary line desired to be set by the user is: 3 meters away from the tail of the vehicle (3 meters away from the tail of the vehicle), and 5 meters away from the tail of the vehicle (5 meters away from the tail of the vehicle), so that a user can determine that a boundary line area between a 3 rd row of square and a 4 th row of square of the tail of the vehicle in the reversing image is a pixel area to be selected or a boundary line area between the 3 rd row of square and the 4 th row of square of the tail of the vehicle in the reversing image is a pixel area to be selected according to a position area of the tail of the vehicle in the reversing image and a grid-shaped target calibration field in the reversing image, or determine that an area, which is used as a square vertex, in the boundary line area between the 3 rd row of square and the 4 th row of square of the tail of the vehicle in the reversing image is a pixel area to be selected, so that the user can carry out a delineating operation, a clicking operation or the like on a display screen/touch screen on the pixel area to be selected in the reversing image, and thus a target coordinate point corresponding to each pixel area can be obtained.
For another example, the side length of each square of the grid-shaped target calibration field is 1 meter, and the distance of the reversing auxiliary line set by the user is as follows: the distance between the vehicle and the left side is 0.5 meter (the vertical distance between the vehicle and the left side is 0.5 meter), and the distance between the vehicle and the right side is 0.5 meter (the vertical distance between the vehicle and the right side is 0.5 meter), so that a user can determine the connecting line area of each central point of the first row of square grids on the side part of the vehicle in the reversing image as a pixel area to be selected according to the position area of the two sides of the vehicle in the reversing image and the grid-shaped target calibration field in the reversing image, and the user can perform the delineating operation, the clicking operation and the like on the displayed pixel area to be selected in the reversing image on a display screen/a touch screen, and the target coordinate point corresponding to each pixel area can be obtained.
Step S203, for each target coordinate point, respectively responding to a selection instruction of the auxiliary line type so as to configure a corresponding auxiliary line type for each target coordinate point; the auxiliary line type comprises any one or more of the following types: a left auxiliary line type in the vehicle longitudinal direction, a right auxiliary line type in the vehicle longitudinal direction, a first auxiliary line type in the vehicle width direction, a second auxiliary line type in the vehicle width direction, and a third auxiliary line type in the vehicle width direction; the distance between the sub reversing auxiliary line corresponding to the first auxiliary line type, the second auxiliary line type and the third auxiliary line type and the tail of the vehicle is different.
In this step, a first sub-reverse auxiliary line corresponding to the first auxiliary line type is closest to the tail of the vehicle, and then a second sub-reverse auxiliary line corresponding to the second auxiliary line type is further away from the tail of the vehicle.
In this step, after each target coordinate point is obtained, a corresponding auxiliary line type is configured for each target coordinate point on the type configuration page in a man-machine interaction manner. Specifically, the coordinates may be numbered according to the sequence of the operation for selecting the coordinates, and then the type configuration operation is sequentially performed on the target coordinates corresponding to the numbers on the type configuration page. For example, for any target coordinate point of the current type configuration to be performed, a plurality of auxiliary line type options (virtual buttons) can be displayed on the type configuration page, so that a user can generate a selection instruction through operations such as clicking, double clicking, dragging and the like, a processor in the reversing auxiliary system can respond to the selection instruction to configure a corresponding auxiliary line type for the target coordinate point, and then the user can determine the target coordinate point of the next number as the target coordinate point of the type configuration to be performed by triggering a next button.
Step S204, generating a sub-reversing auxiliary line corresponding to the auxiliary line type based on each target coordinate point corresponding to the same auxiliary line type; and constructing and obtaining the target reversing auxiliary line based on each sub reversing auxiliary line.
In this step, after the auxiliary line type is configured for each target coordinate point, each target coordinate point corresponding to the same auxiliary line type may be obtained, for example, each target coordinate point corresponding to the left auxiliary line type is obtained, and then a left auxiliary line of a straight line type is drawn based on the set of target coordinate points, so as to obtain a sub reversing auxiliary line. For another example, each target coordinate point corresponding to the first auxiliary line type is acquired, and then the first auxiliary line of the straight line type is drawn based on the group of target coordinate points, so that a sub reversing auxiliary line is obtained. Thus, after each sub auxiliary line is obtained, each sub auxiliary line can be combined to obtain the target reversing auxiliary line.
According to the method for constructing the reversing auxiliary line, through pre-arranging the grid-shaped target calibration field, a user can quickly and accurately determine the target coordinate point in the reversing image, where the expected actual reversing distance is located, according to the actual size of the square grid in the target calibration field and the position of the square grid in the reversing image, so that a guarantee is provided for quickly and accurately drawing the target reversing auxiliary line meeting the user requirement based on each target coordinate point. The dynamic adjustment and modification of the reversing auxiliary line are realized, and the requirements of different users on the personalized setting of the reversing auxiliary line are met.
On the basis of the above embodiment, a further embodiment of the present application provides a method for constructing a reversing auxiliary line, where in this embodiment, when a target coordinate point is acquired, the following two methods may be specifically adopted:
mode one: responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a plurality of pixel areas; the coordinate range of each pixel region is acquired to determine a target coordinate point corresponding to each pixel region based on the coordinate range of each pixel region. In this way, when the target reference object is a certain object or a grid-shaped target calibration field, the pixel area selected by the user may not include the grid vertices or may include the grid vertices, so when the grid vertices are not included, the coordinate range of the pixel area may be determined according to the selected pixel area, and then the central coordinate point in the coordinate range is determined to be the target coordinate point corresponding to the pixel area. The determination of the target coordinate point is more reasonable and accurate.
Mode two: responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a plurality of pixel areas; and identifying the grid vertexes of the target reference object in each pixel area so as to obtain target coordinate points corresponding to each pixel area.
In this way, when the target reference object is a grid-shaped target calibration field, the pixel area selected by the user may not include the grid vertices or may include the grid vertices, so when the grid vertices are included, that is, when the pixel area is identified as including the grid vertices, the coordinates of the grid vertices may be further acquired, so as to obtain the target coordinate point corresponding to the pixel area. The determination of the target coordinate point is more reasonable and accurate.
In the implementation process, after the pixel area is obtained, grid vertex identification can be performed on the target pixel area; determining target coordinate points corresponding to the pixel areas based on the coordinate ranges of the pixel areas under the condition that the grid vertices are not identified; in the case where the grid vertices are identified, the target coordinate points corresponding to the respective pixel regions are obtained based on the identified grid vertices.
Based on the above embodiment, another embodiment of the present application provides a method for constructing a reversing auxiliary line, where in this embodiment, after a target reversing auxiliary line is constructed and obtained, each sub auxiliary line in the target reversing auxiliary line may be displayed according to different display styles. Wherein the display pattern may be a color, a line pattern, or the like. That is, each sub auxiliary line in the target reverse auxiliary line may be displayed in a different color, or each sub auxiliary line in the target reverse auxiliary line may be displayed in a different line pattern. For example, the sub-reverse auxiliary lines of the left auxiliary line type and the right auxiliary line type in the target reverse auxiliary line are displayed in a blue line pattern, and the sub-reverse auxiliary lines of the first auxiliary line type, the second auxiliary line type and the third auxiliary line type in the target reverse auxiliary line are displayed in a yellow line pattern.
On the basis of the above embodiment, another embodiment of the present application provides a method for constructing a reversing auxiliary line, where in this embodiment, the method in this embodiment is illustrated by taking the construction to obtain a reversing auxiliary line including three sub reversing auxiliary lines as shown in fig. 3, and includes the following steps:
drawing n square grids according to a preset side length in a preset parking area to obtain a grid-shaped target calibration field serving as a target reference object in a prearranged mode, wherein the side length of each square grid is 0.5 meter.
And secondly, controlling the vehicle to run to the edge of the target calibration field, keeping the bottom of the tail of the vehicle parallel to the grid edge line of the target calibration field, and displaying a reversing image containing the target reference object.
And thirdly, responding to the selected operation of a user according to the target reference object in the reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area.
That is, the user selects the pixel region a, the pixel region B, and the pixel region C as shown in fig. 3 in the direction of the central axis of the length of the car in the reverse image according to the desired 1 meter distance, 3 meters distance, and 5 meters distance, respectively, thereby obtaining the target coordinate point a corresponding to the pixel region a, the target coordinate point B corresponding to the pixel region B, and the target coordinate point C corresponding to the pixel region C, that is, the target coordinate point a corresponding to the 1 meter distance, the target coordinate point B corresponding to the 3 meters distance, and the target coordinate point C corresponding to the 5 meters distance. The pixel area a, the pixel area B and the pixel area C may be selected from a plurality of target coordinate points a, a plurality of target coordinate points B and a plurality of target coordinate points C according to actual needs.
And step four, respectively responding to the selection instruction of the auxiliary line type aiming at each target coordinate point so as to configure the corresponding auxiliary line type for each target coordinate point.
That is, a first auxiliary line type is configured for the target coordinate point a, a second auxiliary line type is configured for the target coordinate point B, and a third auxiliary line type is configured for the target coordinate point C.
Generating a sub-reversing auxiliary line corresponding to the auxiliary line type based on each target coordinate point corresponding to the same auxiliary line type; and constructing and obtaining the target reversing auxiliary line based on each sub reversing auxiliary line.
That is, a first sub-assistance line in the vehicle width direction corresponding to the first assistance line type is generated based on the target coordinate point a, a second sub-assistance line in the vehicle width direction corresponding to the second assistance line type is generated based on the target coordinate point B, a third sub-assistance line in the vehicle width direction corresponding to the third assistance line type is generated based on the target coordinate point C, thereby obtaining a target reverse assistance line including three sub-reverse assistance lines as shown in fig. 3, which may be displayed finally, for example, the first sub-assistance line may be displayed in red, the second sub-assistance line may be displayed in yellow, and the third sub-assistance line may be displayed in green.
On the basis of the above embodiment, another embodiment of the present application provides a method for constructing a reversing auxiliary line, where in this embodiment, the method in this embodiment is illustrated by taking the construction to obtain a reversing auxiliary line including five sub reversing auxiliary lines as shown in fig. 4, and includes the following steps:
drawing n square grids according to a preset side length in a preset parking area to obtain a grid-shaped target calibration field serving as a target reference object in a prearranged mode, wherein the side length of each square grid is 0.5 meter.
In this step n may be any natural number greater than zero.
And secondly, controlling the vehicle to run to the edge of the target calibration field, keeping the bottom of the tail of the vehicle parallel to the grid edge line of the target calibration field, and displaying a reversing image containing the target reference object.
And thirdly, responding to the selected operation of a user according to the target reference object in the reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area.
That is, the user selects the pixel region D, the pixel region E, the pixel region F1, the pixel region F2, the pixel region G1, and the pixel region G2 as shown in fig. 4 in the direction of the central axis of the vehicle length in the reverse image according to the desired distance of 1 meter from the rear of the vehicle, the distance of 3 meters from the rear of the vehicle, the distance of 5 meters from the rear of the vehicle, and the distance of 0.5 meter from the side of the vehicle, respectively, thereby obtaining the target coordinate point F1 corresponding to the pixel region F1, the target coordinate point F2 corresponding to the pixel region F2, the target coordinate point G1 corresponding to the pixel region G1, and the target coordinate point G2 corresponding to the pixel region G2, that is, the target coordinate point D corresponding to the distance of 1 meter, the target coordinate point E corresponding to the distance of 3 meters, the target coordinate points F1 and F2 corresponding to the distance of 5 meters, and the target coordinate points F1, F2, G1 and G2 corresponding to the distance of 0.5 meters. The pixel area can be selected from a plurality of pixel areas according to actual needs, namely, a plurality of target coordinate points are obtained.
And step four, respectively responding to the selection instruction of the auxiliary line type aiming at each target coordinate point so as to configure the corresponding auxiliary line type for each target coordinate point.
That is, a first auxiliary line type is configured for the target coordinate point D, a second auxiliary line type is configured for the target coordinate point E, a third auxiliary line type is configured for the target coordinate point F1 and the target coordinate point F2, a right auxiliary line type is configured for the target coordinate point F1 and the target coordinate point G1, and a left auxiliary line type is configured for the target coordinate point F2 and the target coordinate point G2.
Generating a sub-reversing auxiliary line corresponding to the auxiliary line type based on each target coordinate point corresponding to the same auxiliary line type; and constructing and obtaining the target reversing auxiliary line based on each sub reversing auxiliary line.
That is, a first sub-assist line in the vehicle width direction corresponding to the first assist line type is generated based on the target coordinate point D, a second sub-assist line in the vehicle width direction corresponding to the second assist line type is generated based on the target coordinate point E, a third sub-assist line in the vehicle width direction corresponding to the third assist line type is generated based on the target coordinate point F1 and the target coordinate point F2, a right sub-assist line in the vehicle length direction corresponding to the right assist line type is generated based on the target coordinate points F1 and G1, and a left sub-assist line in the vehicle length direction corresponding to the left assist line type is generated based on the target coordinate points F2 and G2. Thus, a target reverse assistance line comprising five sub-reverse assistance lines as shown in fig. 4 is obtained, which may finally be displayed, such as a first sub-assistance line being displayed in red, a second sub-assistance line being displayed in yellow, a third sub-assistance line being displayed in green, and a left sub-assistance line and a right sub-assistance line being displayed in blue.
Another embodiment of the present application provides a device for constructing a reversing auxiliary line, as shown in fig. 5, including:
a display module 11, configured to display a reverse image including a target reference object, where the reverse image is a scene image captured by a capturing device at the tail of a vehicle after the vehicle travels a predetermined distance from the target reference object;
the interaction module 12 is used for responding to the selected operation of a user for each pixel area in the reversing image according to the target reference object in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
and the construction module 13 is used for constructing and obtaining a target reversing auxiliary line based on each target coordinate point.
In a specific implementation process of this embodiment, the target reference object includes a target calibration field, and the device for constructing a reversing auxiliary line further includes an arrangement module, where the arrangement module is configured to: drawing n square grids according to a preset side length in a preset parking area, and obtaining the target calibration field through pre-arrangement.
In a specific implementation process of this embodiment, the interaction module specifically includes an interaction unit and an obtaining unit, where the interaction unit is configured to: responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a plurality of pixel areas; the acquisition unit is used for: the coordinate range of each pixel region is acquired to determine a target coordinate point corresponding to each pixel region based on the coordinate range of each pixel region.
In a specific implementation process of this embodiment, the interaction module further includes an identification unit, where the interaction unit in the interaction module is configured to: responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a plurality of pixel areas; the identification unit is used for identifying the grid vertexes of the target reference object in each pixel area so as to obtain target coordinate points corresponding to each pixel area.
In a specific implementation process of this embodiment, the device for constructing a reversing auxiliary line further includes a configuration module, where the configuration module is configured to: before a reversing auxiliary line is constructed and obtained based on each target coordinate point, responding to a selection instruction of an auxiliary line type for each target coordinate point respectively so as to configure a corresponding auxiliary line type for each target coordinate point; the auxiliary line type comprises any one or more of the following types: a left auxiliary line type in the vehicle longitudinal direction, a right auxiliary line type in the vehicle longitudinal direction, a first auxiliary line type in the vehicle width direction, a second auxiliary line type in the vehicle width direction, and a third auxiliary line type in the vehicle width direction; the distance between the sub reversing auxiliary line corresponding to the first auxiliary line type, the second auxiliary line type and the third auxiliary line type and the tail of the vehicle is different.
In a specific implementation process of this embodiment, the building module is configured to: generating a sub-reversing auxiliary line corresponding to the auxiliary line type based on each target coordinate point corresponding to the same auxiliary line type; and constructing and obtaining the target reversing auxiliary line based on each sub reversing auxiliary line.
In a specific implementation process of this embodiment, after the target reverse assistance line is constructed and obtained, the display module is further configured to: and displaying each sub auxiliary line in the target reversing auxiliary line according to different display modes.
According to the reversing auxiliary line constructing device, the reversing image containing the reference object is displayed, and then the reversing image is selected according to the target reference object in the reversing image in a man-machine interaction mode, so that a plurality of target coordinate points for generating the reversing auxiliary line can be conveniently and rapidly obtained, and guarantee is provided for the follow-up reasonable and accurate construction of the target reversing auxiliary line based on each target coordinate point. The dynamic adjustment and modification of the reversing auxiliary line are realized, and the requirements of different users on the personalized setting of the reversing auxiliary line are met.
Another embodiment of the present application provides a storage medium storing a computer program which, when executed by a processor, performs the method steps of:
step one, displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object;
responding to the selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
and thirdly, constructing and obtaining a target reversing auxiliary line based on each target coordinate point.
The specific implementation process of the above method steps can refer to the embodiment of any reverse auxiliary line construction method, and this embodiment is not repeated here.
According to the storage medium, the reversing image containing the reference object is displayed, and then the reversing image is selected according to the target reference object in the reversing image in a man-machine interaction mode, so that a plurality of target coordinate points for generating the reversing auxiliary line can be conveniently and rapidly obtained, and a guarantee is provided for the follow-up construction of the target reversing auxiliary line based on the target coordinate points reasonably and accurately. The dynamic adjustment and modification of the reversing auxiliary line are realized, and the requirements of different users on the personalized setting of the reversing auxiliary line are met.
Another embodiment of the present application provides an electronic device, as shown in fig. 6, at least including a memory 1 and a processor 2, where the memory 1 stores a computer program, and the processor 2 implements the following method steps when executing the computer program on the memory 1:
step one, displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object;
responding to the selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
and thirdly, constructing and obtaining a target reversing auxiliary line based on each target coordinate point.
The specific implementation process of the above method steps can refer to the embodiment of any reverse auxiliary line construction method, and this embodiment is not repeated here.
According to the electronic equipment, the reversing image containing the reference object is displayed, and then the reversing image is selected according to the target reference object in the reversing image in a man-machine interaction mode, so that a plurality of target coordinate points for generating the reversing auxiliary line can be conveniently and rapidly obtained, and a guarantee is provided for the follow-up construction of the target reversing auxiliary line based on the target coordinate points reasonably and accurately. The dynamic adjustment and modification of the reversing auxiliary line are realized, and the requirements of different users on the personalized setting of the reversing auxiliary line are met.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this application will occur to those skilled in the art, and are intended to be within the spirit and scope of the application.
Claims (10)
1. The method for constructing the reversing auxiliary line is characterized by comprising the following steps of:
displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object;
responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
and constructing and obtaining a target reversing auxiliary line based on each target coordinate point.
2. The method of claim 1, wherein the target reference object comprises a target calibration field, the method further comprising:
drawing n square grids according to a preset side length in a preset parking area, and obtaining the target calibration field through pre-arrangement.
3. The method of claim 1, wherein the obtaining, in response to the user selecting the pixel regions in the reverse image according to the target reference object in the reverse image, the target coordinate point corresponding to each pixel region comprises:
responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a plurality of pixel areas;
the coordinate range of each pixel region is acquired to determine a target coordinate point corresponding to each pixel region based on the coordinate range of each pixel region.
4. The method of claim 1, wherein the obtaining, in response to the user selecting the pixel regions in the reverse image according to the target reference object in the reverse image, the target coordinate point corresponding to each pixel region comprises:
responding to a selected operation of a user according to a target reference object in a reversing image and aiming at each pixel area in the reversing image, and obtaining a plurality of pixel areas;
and identifying the grid vertexes of the target reference object in each pixel area so as to obtain target coordinate points corresponding to each pixel area.
5. The method of claim 1, wherein prior to constructing the get reverse assist line based on each of the target coordinate points, the method further comprises:
responding to the selection instruction of the auxiliary line type for each target coordinate point respectively to configure the corresponding auxiliary line type for each target coordinate point;
the auxiliary line type comprises any one or more of the following types: a left auxiliary line type in the vehicle longitudinal direction, a right auxiliary line type in the vehicle longitudinal direction, a first auxiliary line type in the vehicle width direction, a second auxiliary line type in the vehicle width direction, and a third auxiliary line type in the vehicle width direction; the distance between the sub reversing auxiliary line corresponding to the first auxiliary line type, the second auxiliary line type and the third auxiliary line type and the tail of the vehicle is different.
6. The method of claim 5, wherein generating a reverse assist line based on each of the target coordinate points comprises:
generating a sub-reversing auxiliary line corresponding to the auxiliary line type based on each target coordinate point corresponding to the same auxiliary line type;
and constructing and obtaining the target reversing auxiliary line based on each sub reversing auxiliary line.
7. The method of claim 6, wherein after constructing the get target reverse assist line, the method further comprises:
and displaying each sub auxiliary line in the target reversing auxiliary line according to different display modes.
8. A reverse assist line generating device, comprising:
the display module is used for displaying a reversing image containing a target reference object, wherein the reversing image is a scene image shot by a shooting device at the tail of a vehicle after the vehicle runs to a preset distance from the target reference object;
the interaction module is used for responding to the selected operation of a user according to a target reference object in the reversing image and aiming at each pixel area in the reversing image, and obtaining a target coordinate point corresponding to each pixel area;
and the construction module is used for constructing and obtaining a target reversing auxiliary line based on each target coordinate point.
9. A storage medium storing a computer program which, when executed by a processor, implements the steps of the reverse assist line construction method according to any one of the above 1 to 7.
10. An electronic device comprising at least a memory, a processor, said memory having stored thereon a computer program, said processor, when executing the computer program on said memory, implementing the steps of the method for constructing a reverse auxiliary line according to any of the preceding claims 1-7.
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