WO2017075984A1 - 控制车辆上全景摄像头俯角的方法和车载设备 - Google Patents

控制车辆上全景摄像头俯角的方法和车载设备 Download PDF

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WO2017075984A1
WO2017075984A1 PCT/CN2016/084134 CN2016084134W WO2017075984A1 WO 2017075984 A1 WO2017075984 A1 WO 2017075984A1 CN 2016084134 W CN2016084134 W CN 2016084134W WO 2017075984 A1 WO2017075984 A1 WO 2017075984A1
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Prior art keywords
vehicle
information
panoramic camera
gear position
entire entire
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PCT/CN2016/084134
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English (en)
French (fr)
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臧成杰
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乐视控股（北京）有限公司
乐卡汽车智能科技（北京）有限公司
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Publication of WO2017075984A1 publication Critical patent/WO2017075984A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
    • 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
    • B60R2300/101—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using cameras with adjustable capturing direction

Definitions

  • Embodiments of the present invention relate to in-vehicle control technologies, and more particularly to a method and an in-vehicle device for controlling a depression angle of a panoramic camera on a vehicle.
  • the panoramic assisted parking system applied to the vehicle can collect images of the surroundings of the vehicle in real time, and after splicing, a panoramic image is displayed on the vehicle display screen to facilitate the driver to observe the image around the automobile. Eliminate blind spots around the body and improve parking safety.
  • the panoramic assisted parking system usually consists of four cameras mounted on the front and rear license plates of the vehicle body and the left and right rear view mirror positions. As shown in FIG. 1, the mounting positions of the front side of the vehicle and the left side camera P are shown. In order to reduce the blind spot near the body, the four cameras installed the angle of the theta about 30 degrees (as shown in Figure 2).
  • the panoramic camera mounted around the vehicle body at a certain depression angle Based on the installation method of the panoramic camera mounted around the vehicle body at a certain depression angle, although the image around the vehicle body can be collected in real time, the blind zone is eliminated, the driver is assisted to improve the parking safety, but the presence of the depression angle theta is reduced while reducing the blind zone around the vehicle body. Also reduces the horizontal field of view.
  • Embodiments of the present invention provide a method and an in-vehicle device for controlling a depression angle of a panoramic camera on a vehicle, which can realize angle control of a panoramic camera on a vehicle, and perform reasonable switching between reducing a blind area around the vehicle body and reducing a horizontal visual field range.
  • an embodiment of the present invention provides a method for controlling a depression angle of a panoramic camera on a vehicle, including: collecting operation parameter information of the vehicle; determining, according to the operation parameter information, a state in which the current vehicle is traveling or parking; Adjust the panoramic camera when the current vehicle is driving The head angle is 0 degrees; if it is determined that the current vehicle is in the parking state, the angle of the panoramic camera is adjusted to be greater than 0 and less than 90 degrees.
  • the embodiment of the present invention further provides an in-vehicle device, comprising: an information collecting device connected in sequence, a processor and a stepping motor fixedly connected with the panoramic camera; the information collecting device is configured to collect operating parameter information of the vehicle;
  • the processor is configured to determine, according to the operating parameter information, a state in which the current vehicle is traveling or parking; if it is determined that the current vehicle is in a running state, control the stepping motor to rotate to adjust the panoramic camera depression angle to 0 degrees; When the vehicle is in the parking state, the stepping motor is controlled to rotate to adjust the angle of the panoramic camera to a angle greater than 0 and less than 90 degrees.
  • the method for controlling the depression angle of the panoramic camera on the vehicle and the in-vehicle device provided by the embodiment of the present invention determine whether the current vehicle is traveling or parking by collecting the operating parameter information of the vehicle in real time.
  • the panoramic camera tilt angle is then adjusted based on the resulting state of travel or parking to meet the driving needs of the current driver to reduce the blind area around the body or to reduce the horizontal field of view.
  • FIG. 1 is a schematic diagram of a mounting position and a collection affected area of a panoramic camera on a vehicle in the prior art
  • FIG. 2 is a schematic diagram of a panoramic camera installed on a vehicle with a depression angle of not 0° according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a panoramic camera mounted on a vehicle with a depression angle of 0° according to an embodiment of the present invention
  • FIG. 4 is a flow chart of a method for controlling a method for controlling a depression angle of a panoramic camera on a vehicle according to the present invention
  • FIG. 5 is a schematic structural diagram of an embodiment of an in-vehicle device provided by the present invention.
  • P-panoramic camera 510-information acquisition device; 520-processor; 530-stepper motor.
  • the inventive concept of the solution is to take into account the driver's need for observation of the vehicle body and the horizontal field of view in different operating states of the vehicle, especially when the vehicle is in driving state and parking.
  • the observation requirement in the state by identifying the current running state of the vehicle, adaptively adjusts the depression angle of the panoramic camera to meet the driver's field of view requirements.
  • FIG. 4 is a flowchart of a method for controlling a method for controlling a depression angle of a panoramic camera on a vehicle according to the present invention.
  • the execution body of the method may be an in-vehicle device. As shown in FIG. 4, the method includes the following steps:
  • the operating parameter information of the vehicle is information of a state parameter of the vehicle collected by a device or a sensor such as an in-vehicle device after the vehicle is started, such as gear position information, speed information, driving direction information, and various indicator states of the vehicle. Information, etc.
  • S420 Determine, according to the operation parameter information, a state in which the current vehicle is traveling or parking.
  • the operating state of the current vehicle can be analyzed by the collected operating parameter information of the vehicle. For example, when the gear position information of the collected vehicle is the forward gear position and is higher than the preset number gear position (such as 2nd gear or 1st gear) and/or the speed information is higher than the preset speed (such as 20km/s) In one or more cases, it is determined that the current vehicle is in a running state; when the collected gear position information of the vehicle is a reverse gear, a forward gear position and not higher than a preset number gear position (such as 2 gear or 1 gear), The speed information is at least one of a preset speed (eg, 20 km/s), and it is determined that the current vehicle is in a parking state.
  • a preset speed eg, 20 km/s
  • the parking state in the present scheme also includes the state in which the vehicle is traveling at a low speed, for example, driving at a speed not higher than the aforementioned preset speed is defined as a parking state. .
  • S440 is executed to adjust the panoramic angle of the panoramic camera to be any angle greater than 0 and less than 90 degrees if it is determined that the current vehicle is in the parking state.
  • the panoramic camera tilt angle can be adjusted in real time while the vehicle is in the running or parking state to meet the driver's observation requirements for the environment.
  • the panoramic camera can be fixed on the stepping motor, and the stepping motor is controlled to rotate by the external vehicle state signal, thereby driving the change of the depression angle of the panoramic camera.
  • the external vehicle status signal can be provided by a processor located on the body, including two states: 0 and 1. Among them, the state 0 indicates the parking state, and the state 1 indicates the traveling state. In the parking state, the processor sends a status signal 0 to the stepping motor. After receiving the signal, the stepping motor is brought to the panoramic camera to rotate, so that the depression angle theta is any angle greater than 0 and less than 90 degrees, preferably It is 30 degrees (as shown in Figure 2). In the driving state, the processor sends a status signal 1 to the stepping motor. After receiving the signal, the stepping motor drives the panoramic camera to rotate, so that the depression angle theta is 0 degrees.
  • a feedback signal can be sent to the processor to inform the processor that the rotation is complete. After the processor receives the stepper motor rotation completion signal, it completes an information transfer.
  • the pan angle of the panoramic camera may be dynamically adjusted according to the current traveling speed of the vehicle in a range of 0 to 90 degrees, and the depression angle of the panoramic camera changes inversely proportional to the traveling speed. Applicable in the actual scene, that is, the depression angle of the panoramic camera in the state of parking, with the continuous rotation of the vehicle speed, the faster the vehicle speed, the smaller the depression angle, and the larger the depression angle.
  • the method for controlling the depression angle of the panoramic camera on the vehicle provides that when the vehicle is in the running state, the panoramic camera is adjusted to be 0°, and when the vehicle is in the parking state, the panoramic camera is adjusted to an angle between 0° and 90°. This applies to the different viewing needs of the driver.
  • FIG. 5 is a schematic structural diagram of an embodiment of an in-vehicle device according to the present invention, which can be used to perform the method steps of the embodiment shown in FIG. 4.
  • the in-vehicle device includes: an information collecting device 510 connected in sequence, a processor 520, and a stepping motor 530 fixedly connected to the panoramic camera P; wherein:
  • the information collecting device 510 is configured to collect operating parameter information of the vehicle; the processor 520 is configured to determine, according to the operating parameter information, a state in which the current vehicle is traveling or parking; if it is determined that the current vehicle is in a driving state, the stepping motor 530 is controlled to rotate to adjust The panoramic camera has a depression angle of 0 degrees (as shown in FIG. 3); if it is determined that the current vehicle is in the parking state, the stepping motor 530 is controlled to rotate to adjust the angle of the panoramic camera to be greater than 0 and less than 90 degrees, preferably 30 degrees (state as shown in Figure 2).
  • the operating parameter information of the vehicle may include: gear position information of the vehicle, At least one of speed information and driving direction information.
  • the processor 520 is further configured to determine that the current vehicle is determined if the operating parameter information of the vehicle satisfies the gear position information as a forward gear position and is higher than the preset number gear position and/or the speed information is higher than the preset speed. For driving. or,
  • the processor 520 may be further configured to: if the operating parameter information of the vehicle satisfies the gear position information as a reverse gear, a forward gear position, and not higher than a preset number gear position, and the speed information is not higher than the preset speed. In at least one of the cases, it is determined that the current vehicle is in a parking state.
  • the pan angle of the panoramic camera may be dynamically adjusted according to the current traveling speed of the vehicle in a range of 0 to 90 degrees, and the depression angle of the panoramic camera changes inversely proportional to the traveling speed. .
  • the in-vehicle device of the embodiment of the invention adjusts the panoramic camera to 0° when the vehicle is in a running state, and adjusts the angle of the panoramic camera to between 0° and 90° when the vehicle is in the parking state, thereby being suitable for the driver. Different observation needs.

Abstract

一种控制车辆上全景摄像头俯角的方法和车载设备，所述方法包括：采集车辆的运行参数信息；根据所述运行参数信息确定当前车辆为行驶或泊车的状态；若确定当前车辆为行驶状态则调整全景摄像头俯角为0度；若确定当前车辆为泊车状态则调整全景摄像头俯角为大于0且小于90度范围中的角度。所述车载设备能够对车辆上全景摄像头的角度控制，从而在减小车身周围盲区以及减少水平视野范围之间进行合理切换。

Description

控制车辆上全景摄像头俯角的方法和车载设备
交叉引用
本申请引用于2015年11月2日提交的专利名称为“控制车辆上全景摄像头俯角的方法和车载设备”的第2015107325314号中国专利申请，其通过引用被全部并入本申请。
技术领域
本发明的实施例涉及车载控制技术，尤其涉及一种控制车辆上全景摄像头俯角的方法和车载设备。
背景技术
现有技术中，应用在车辆上的全景辅助泊车系统可以实时采集汽车周围的影像，经过拼接处理以后，形成一幅全景图显示在车载显示屏上，以方便驾驶员观察汽车周围的影像，消除车身周围的盲区，提高泊车安全。全景辅助泊车系统通常包含四个摄像头，分别安装在车身的前后车牌和左右后视镜位置。如图1所示，示出了车辆前侧和左侧摄像头P的安装位置。为了减少车身附近的盲区，四个摄像头安装俯角theta大约为30度左右(如图2所示)。
基于全景摄像头以一定俯角安装在车身周围的设置方式，虽然可以实时采集车身周围的图像，消除了盲区，辅助驾驶员提高泊车安全，但是安装俯角theta的存在，在减小车身周围盲区的同时，也减少了水平视野范围。
发明内容
本发明的实施例提供一种控制车辆上全景摄像头俯角的方法和车载设备，可实现对车辆上全景摄像头的角度控制，在减小车身周围盲区以及减少水平视野范围之间进行合理切换。
为达到上述目的，本发明实施例提供了一种控制车辆上全景摄像头俯角的方法，包括：采集车辆的运行参数信息；根据所述运行参数信息确定当前车辆为行驶或泊车的状态；若确定当前车辆为行驶状态则调整全景摄 像头俯角为0度；若确定当前车辆为泊车状态则调整全景摄像头俯角为大于0且小于90度范围中的角度。
本发明的实施例还提供了一种车载设备，包括：依次连接的信息采集装置、处理器和与全景摄像头固定连接的步进电机；所述信息采集装置，用于采集车辆的运行参数信息；所述处理器用于，根据所述运行参数信息确定当前车辆为行驶或泊车的状态；若确定当前车辆为行驶状态则控制所述步进电机旋转以调整全景摄像头俯角为0度；若确定当前车辆为泊车状态则控制所述步进电机旋转以调整全景摄像头俯角为大于0且小于90度范围中的角度。
本发明的实施例提供的控制车辆上全景摄像头俯角的方法和车载设备，通过实时采集车辆的运行参数信息来判定当前车辆是行驶或泊车的状态。然后根据得到的行驶或泊车的状态结果对全景摄像头俯角进行调整以满足当前驾驶者所需的减小车身周围盲区或减少水平视野范围的驾驶服务需求。
附图说明
图1为现有技术中车辆上全景摄像头安装位置及采集影响区域的示意图；
图2为本发明实施例提供的车辆上全景摄像头安装俯角不为0°时的示意图；
图3为本发明实施例提供的车辆上全景摄像头安装俯角为0°时的示意图；
图4为本发明提供的控制车辆上全景摄像头俯角的方法一个实施例的方法流程图；
图5为本发明提供的车载设备一个实施例的结构示意图。
附图标记说明：
P-全景摄像头、510-信息采集装置；520-处理器；530-步进电机。
具体实施方式
本方案的发明构思是，在考虑到驾驶者对于车辆在不同的运行状态下对车身周围以及水平视野的观察需求，特别在车辆处于行驶状态以及泊车 状态时的观察需求，通过识别当前车辆的运行状态，适应性调整全景摄像头俯角，以满足驾驶者的视野范围要求。
实施例一
图4为本发明提供的控制车辆上全景摄像头俯角的方法一个实施例的方法流程图，该方法的执行主体可以为车载设备。如图4所示，该方法包括如下步骤：
S410，采集车辆的运行参数信息。
所述的车辆的运行参数信息为车辆启动后，通过车载设备等装置或传感器采集的车辆的状态参数的信息，如车辆的运行的档位信息、速度信息、行驶方向信息、各种指示灯状态信息等。
S420，根据运行参数信息确定当前车辆为行驶或泊车的状态。
通过采集的车辆的运行参数信息可以分析得出当前车辆的运行状态。例如：当采集的车辆的档位信息为正向档位且高于预设编号档位(如2档或者1档)和/或速度信息为高于预设速度(如20km/s)中任意一种或多种情况时，则确定当前车辆为行驶状态；当采集的车辆的档位信息为倒挡、正向档位且不高于预设编号档位(如2档或者1档)、速度信息为不高于预设速度(如20km/s)中的至少一种情况，则确定当前车辆为泊车状态。
这里说明，车辆在准备泊车阶段，也是处于有速度行驶，因此，本方案中的泊车状态也包括车辆低速行驶的状态，如在不高于前述预设速度下行驶都定义为泊车状态。
可以理解的，本领域技术人员还可根据实际采集的车辆的运行参数信息设定多种判定当前车辆为行驶或泊车的状态对应规则，本方案对此不作限定。
在此之后，执行S430，若确定当前车辆为行驶状态则调整全景摄像头俯角为0度(如图3所示的状态)；
与此同时，执行S440，若确定当前车辆为泊车状态则调整全景摄像头俯角为大于0且小于90度范围中的任一角度。
车辆在行驶状态时，驾驶员主要关注的是车辆在水平视野较远距离的道路车辆情况。车辆在泊车状态时，驾驶员主要关注的是车身周围较进距离是否有障碍物。因此，在车辆处于行驶或泊车状态时可通过实时调整全景摄像头俯角，以满足驾驶员对环境的观察需求。
在具体应用场景中，可将全景摄像头固定在步进电机上，通过外部车辆状态信号控制步进电机旋转，进而带动全景摄像头俯角的变化。外部车辆状态信号可由设置在车身上的处理器提供，包括两个状态：0和1。其中，状态0表示泊车状态，状态1表示行驶状态。在泊车状态下，处理器发出状态信号0给步进电机，步进电机接收到信号后，带到全景摄像头旋转，使其俯角theta为大于0且小于90度范围中的任一角度，优选为30度(如图2所示的状态)。在行驶状态时，处理器发出状态信号1给步进电机，步进电机收到信号后，带动全景摄像头旋转，使其俯角theta为0度。
当步进电机每次旋转到指定theta角时，可发出反馈信号给处理器，以通知处理器旋转完成。处理器收到步进电机旋转完成信号后，完成一次信息传递。
可选地，在确定当前车辆为泊车状态时，还可以根据当前车辆的行驶速度使全景摄像头俯角在0～90度范围中动态调整，且全景摄像头俯角与行驶速度成反比例关系变化。应用在实际场景中，即为全景摄像头的俯角在泊车的状态下，随着车速的变化连续的旋转，车速越快，俯角越小，反之俯角越大。
本实施例提供的控制车辆上全景摄像头俯角的方法，在车辆处于行驶状态时，调整全景摄像头为0°，在车辆处于泊车状态时，调整全景摄像头为0°～90°之间的角度，从而适用于驾驶者的不同观察需求。
实施例二
图5为本发明提供的车载设备一个实施例的结构示意图，可用于执行如图4所示实施例的方法步骤。如图5所示，该车载设备包括：依次连接的信息采集装置510、处理器520和与全景摄像头P固定连接的步进电机530；其中：
信息采集装置510，用于采集车辆的运行参数信息；处理器520用于根据运行参数信息确定当前车辆为行驶或泊车的状态；若确定当前车辆为行驶状态则控制步进电机530旋转以调整全景摄像头俯角为0度(如图3所示的状态)；若确定当前车辆为泊车状态则控制步进电机530旋转以调整全景摄像头俯角为大于0且小于90度范围中的角度，优选为30度(如图2所示的状态)。
进一步地，上述车辆的运行参数信息可包括：车辆运行的档位信息、 速度信息、行驶方向信息中的至少一个。
进一步地，上述处理器520具体还可用于若车辆的运行参数信息满足档位信息为正向档位且高于预设编号档位和/或速度信息为高于预设速度，则确定当前车辆为行驶状态。或者，
进一步地，上述处理器520具体还可用于若车辆的运行参数信息满足档位信息为倒挡、正向档位且不高于预设编号档位、速度信息为不高于所述预设速度中的至少一种情况，则确定当前车辆为泊车状态。
可选地，在确定当前车辆为泊车状态时，还可则根据当前车辆的行驶速度使全景摄像头俯角在0～90度范围中动态调整，且全景摄像头俯角与行驶速度成反比例关系变化。。
本发明实施例的车载设备，在车辆处于行驶状态时，调整全景摄像头为0°，在车辆处于泊车状态时，调整全景摄像头为0°～90°之间的角度，从而适用于驾驶者的不同观察需求。
以上所述，仅为本发明的具体实施方式，但本发明的实施例的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明的实施例揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的实施例的保护范围之内。因此，本发明的实施例的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种控制车辆上全景摄像头俯角的方法，其特征在于，所述方法包括：
    采集车辆的运行参数信息；
    根据所述运行参数信息确定当前车辆为行驶或泊车的状态；
    若确定当前车辆为行驶状态则调整全景摄像头俯角为0度；
    若确定当前车辆为泊车状态则调整全景摄像头俯角为大于0且小于90度范围中的角度。
  2. 根据权利要求1所述的方法，其特征在于，所述车辆的运行参数信息包括：车辆运行的档位信息、速度信息、行驶方向信息中的至少一个。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述运行参数信息确定当前车辆为行驶或泊车的状态包括：
    若所述车辆的运行参数信息满足所述档位信息为正向档位且高于预设编号档位和/或速度信息为高于预设速度，则确定当前车辆为行驶状态。
  4. 根据权利要求2所述的方法，其特征在于，所述根据所述运行参数信息确定当前车辆为行驶或泊车的状态包括：
    若所述车辆的运行参数信息满足所述档位信息为倒挡、正向档位且不高于预设编号档位、速度信息为不高于所述预设速度中的至少一种情况，则确定当前车辆为泊车状态。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，若确定当前车辆为泊车状态，则调整所述全景摄像头俯角为30度。
  6. 根据权利要求1-4中任一项所述的方法，其特征在于，若确定当前车辆为泊车状态，则根据当前车辆的行驶速度使全景摄像头俯角在0～90度范围中动态调整，且全景摄像头俯角与行驶速度成反比例关系变化。
  7. 一种车载设备，其特征在于，所述车载设备包括：依次连接的信息采集装置、处理器和与全景摄像头固定连接的步进电机；
    所述信息采集装置，用于采集车辆的运行参数信息；
    所述处理器用于，根据所述运行参数信息确定当前车辆为行驶或泊车的状态；若确定当前车辆为行驶状态则控制所述步进电机旋转以调整全景摄像头俯角为0度；若确定当前车辆为泊车状态则控制所述步进电机旋转 以调整全景摄像头俯角为大于0且小于90度范围中的角度，优选为30度。
  8. 根据权利要求7所述的车载设备，其特征在于，所述车辆的运行参数信息包括：车辆运行的档位信息、速度信息、行驶方向信息中的至少一个。
  9. 根据权利要求8所述的车载设备，其特征在于，所述处理器具体还用于，若所述车辆的运行参数信息满足所述档位信息为正向档位且高于预设编号档位和/或速度信息为高于预设速度，则确定当前车辆为行驶状态；或，所述处理器具体还用于，若所述车辆的运行参数信息满足所述档位信息为倒挡、正向档位且不高于预设编号档位、速度信息为不高于所述预设速度中的至少一种情况，则确定当前车辆为泊车状态。
  10. 根据权利要求7-9任一项所述的车载设备，其特征在于，所述处理器在确定当前车辆为泊车状态的情况下，则根据当前车辆的行驶速度使全景摄像头俯角在0～90度范围中动态调整，且全景摄像头俯角与行驶速度成反比例关系变化。
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