WO2019192145A1 - Method and apparatus for adjusting field of view of panoramic image, storage medium, and electronic device - Google Patents

Abstract

Provided in the present disclosure are a method and an apparatus for adjusting the field of view of a panoramic image, a storage medium, and an electronic device. The method comprises: determining dangerous obstacles around a vehicle and an initial field of view range of a panoramic image; and, on the basis of the initial field of view range and position information of the vehicle relative to the dangerous obstacles, determining an adjusted field of view range of the panoramic image, the adjusted field of view range comprising the dangerous obstacles. The present solution can flexibly adjust the field of view range of the panoramic image display, reducing redundant information and avoiding missing information of dangerous obstacles.

Description

Method and device for adjusting vision of panoramic view, storage medium, electronic device [Technical Field]

The present disclosure relates to the field of intelligent technologies, and in particular, to a method and device for adjusting a field of view of a panorama, a storage medium, and an electronic device.

【Background technique】

With the continuous development of intelligent technology, autonomous driving and assisted driving are widely used in the automotive field, and the 360-degree panoramic system of the vehicle as a basic function plays a huge role in the safe driving of the automobile.

At present, the 360-degree panoramic system of the vehicle mainly collects images around the vehicle body through fisheye cameras installed in the front, rear, left and right directions of the vehicle; and then passes through a predefined front field of view range d _f , a rear field of view range d _b , and a left field of view range d _l , the right field of view range d _r , through homography transformation, to generate a panoramic view of the bird's eye view with a fixed field of view.

Usually, the d _f , d _b , d _l , and d _r parameters are set by the manufacturer and configured in the system, and remain unchanged during subsequent use, which results in the actual generated panoramic view of the bird's eye view. Fixed field of view in a certain range nearby, which is less flexible and prone to the following problems: The panorama shows a lot of redundant information that has no reference value to the user's current driving behavior; because the field of view is limited, some of the current driving to the user is caused. Obstacles with behavioral reference values are not shown in the panorama, especially obstacles in vehicle blind spots. Whether it contains redundant information or missing valuable obstacles, it will have an impact on safe driving, making users who rely on panoramic systems more prone to security incidents.

[Summary of the Invention]

The main purpose of the present disclosure is to provide a method and device for adjusting the field of view of a panoramic image, a storage medium, and an electronic device, which can flexibly adjust the field of view of the panorama display, help reduce redundant information, and avoid missing information of dangerous obstacles.

In order to achieve the above object, the present disclosure provides a method for adjusting a field of view of a panorama, the method comprising:

Identify dangerous obstacles around the vehicle and the initial field of view of the panorama;

And determining an adjusted visual field range of the panoramic image according to the initial visual field range and the position information of the dangerous obstacle relative to the vehicle, the adjusted visual field range including the dangerous obstacle.

Optionally, the determining a dangerous obstacle around the vehicle includes:

Obtaining a collision distance s between each obstacle and the vehicle and a collision time t according to the driving data of the vehicle and the obstacle information of the obstacle around the vehicle;

An obstacle having a collision distance s smaller than the preset distance s ₀ and/or an obstacle having a collision time t smaller than the preset time t ₀ is determined as the dangerous obstacle.

Optionally, the collision distance s and the collision time t between each obstacle and the vehicle are obtained according to the driving data of the vehicle and the obstacle information of the obstacle around the vehicle, including:

Determining a traffic area of the vehicle according to the driving data;

Based on the passing area and the obstacle information, a collision distance s between each obstacle and the vehicle and a collision time t are obtained.

Optionally, the manner of obtaining the obstacle information is:

Collecting image data around the vehicle body through the camera; performing obstacle detection on the image data to obtain obstacle information of the obstacle around the vehicle;

and / or,

Obstacle information of obstacles around the vehicle is collected by radar.

Optionally, the determining an initial field of view of the panorama includes:

Determining an initial field of view of the panorama according to a preset fixed field of view; or

An initial field of view of the panorama is determined based on a steering wheel angle of the vehicle.

Optionally, if the vehicle body center is used as the origin, the vehicle body is laterally oriented to the right as the positive X-axis direction, and the vehicle body is longitudinally oriented toward the front of the vehicle head as the positive direction of the Y-axis, and a coordinate system is established, then the steering wheel angle is determined according to the vehicle. The initial field of view of the panorama, including:

The initial front visual field range df ₀ , the initial rear visual field range db ₀ , the initial left visual field range dl ₀ , and the initial right visual field range dr ₀ satisfy the following relationship:

Df ₀ +db ₀ +l _car ≥h _min

Dr ₀ +dl ₀ +w _car ≥w _min

Based on the steering wheel angle of the vehicle, dr ₀ or dl ₀ can be obtained:

Where h _min represents the longitudinal length covered by the panorama when the minimum field of view is included; w _min represents the lateral width of the panorama coverage when the minimum field of view is included; l _car represents the length of the vehicle; w _car represents the vehicle Width; p represents an adjustable parameter;

The steering angle of the front wheel is calculated from the steering wheel angle.

Optionally, the determining the adjusted visual field range of the panoramic image according to the initial visual field range and the position information of the dangerous obstacle relative to the vehicle includes:

Determining whether a dangerous obstacle in the direction of the visual field that the user needs to pay attention to is located within the initial visual field;

If the dangerous obstacle in the direction of the field of view that needs attention is located within the initial field of view, the initial field of view is not adjusted; otherwise, the initial field of view of the field of view that needs attention is adjusted, so that the dangerous obstacle is located Adjusted within the field of view.

Optionally, when the vehicle is backing up, the direction of the visual field to be concerned includes a left side, a right side, and a rear side of the vehicle, and the initial visual field range of the visual field direction that needs attention is adjusted, so that the dangerous obstacle is located after the adjustment Within the field of view, including:

If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

If the dangerous obstacle behind the vehicle exceeds the initial rear view range, the initial rear view range is adjusted so that the dangerous obstacle behind the vehicle is located within the adjusted rear view range;

or,

When the vehicle is moving forward, the visual field direction that needs to be concerned includes a left side, a right side, and a front side of the vehicle, and the initial visual field range of the visual field direction that needs attention is adjusted, so that the dangerous obstacle is located within the adjusted visual field range. include:

If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

If the dangerous obstacle in front of the vehicle exceeds the initial front field of view, the initial front field of view is adjusted such that the dangerous obstacle in front of the vehicle is within the adjusted front field of view.

Optionally, if the maximum field of view is pre-set, the adjusted field of view of the panorama is not greater than the maximum field of view.

The present disclosure provides a field of view adjustment device for a panoramic view, the device comprising:

a dangerous obstacle determination module for determining a dangerous obstacle around the vehicle;

An initial field of view range determining module for determining an initial field of view of the panorama;

The adjusted visual field range determining module is configured to determine an adjusted visual field range of the panoramic image according to the initial visual field range and the position information of the dangerous obstacle relative to the vehicle, where the adjusted visual field range includes A dangerous obstacle.

Optionally, the dangerous obstacle determination module includes:

a collision distance and time obtaining module, configured to obtain a collision distance s and a collision time t between each obstacle and the vehicle according to the driving data of the vehicle and the obstacle information of the obstacle around the vehicle;

The dangerous obstacle determination sub-module is configured to determine an obstacle that has a collision distance s smaller than the preset distance s ₀ and/or an obstacle whose collision time t is less than the preset time t ₀ as the dangerous obstacle.

Optionally, the collision distance and time obtaining module is configured to determine a traffic area of the vehicle according to the driving data; and obtain each obstacle and the vehicle according to the traffic area and the obstacle information. The collision distance s between and the collision time t.

Optionally, the device further includes:

An obstacle information acquiring module, configured to collect image data around the vehicle body through the camera; perform obstacle detection on the image data to obtain obstacle information of the obstacle around the vehicle; and/or collect the surrounding of the vehicle by radar Obstacle information for obstacles.

Optionally, the initial field of view range determining module is configured to determine an initial field of view of the panorama according to a preset fixed field of view; or determine an initial field of view of the panorama according to a steering wheel angle of the vehicle range.

Optionally, if the vehicle body center is used as the origin, the vehicle body is laterally oriented to the right as the positive X-axis direction, and the vehicle body is longitudinally oriented toward the front of the vehicle head as the positive direction of the Y-axis, and a coordinate system is established, then the steering wheel angle is determined according to the vehicle. The initial field of view of the panorama, including:

The initial front visual field range df ₀ , the initial rear visual field range db ₀ , the initial left visual field range dl ₀ , and the initial right visual field range dr ₀ satisfy the following relationship:

Df ₀ +db ₀ +l _car ≥h _min

Dr ₀ +dl ₀ +w _car ≥w _min

Based on the steering wheel angle of the vehicle, dr ₀ or dl ₀ can be obtained:

Where h _min represents the longitudinal length covered by the panorama when the minimum field of view is included; w _min represents the lateral width of the panorama coverage when the minimum field of view is included; l _car represents the length of the vehicle; w _car represents the vehicle Width; p represents an adjustable parameter;

The steering angle of the front wheel is calculated from the steering wheel angle.

Optionally, the adjusted field of view range determining module is configured to determine whether a dangerous obstacle in a visual field direction that the user needs to pay attention to is located in the initial visual field; if the dangerous obstacle in the visual field direction that needs attention If the first field of view is within the initial field of view, the initial field of view is not adjusted; otherwise, the initial field of view of the field of view that needs to be focused is adjusted so that the dangerous obstacle is located within the adjusted field of view.

Optionally, when the vehicle is backing up, the direction of the visual field to be concerned includes a left side, a right side, and a rear side of the vehicle, and the initial visual field range of the visual field direction that needs attention is adjusted, so that the dangerous obstacle is located after the adjustment Within the field of view, including:

If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

If the dangerous obstacle behind the vehicle exceeds the initial rear view range, the initial rear view range is adjusted so that the dangerous obstacle behind the vehicle is located within the adjusted rear view range;

or,

When the vehicle is moving forward, the visual field direction that needs to be concerned includes a left side, a right side, and a front side of the vehicle, and the initial visual field range of the visual field direction that needs attention is adjusted, so that the dangerous obstacle is located within the adjusted visual field range. include:

If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

If the dangerous obstacle in front of the vehicle exceeds the initial front field of view, the initial front field of view is adjusted such that the dangerous obstacle in front of the vehicle is within the adjusted front field of view.

Optionally, if the maximum field of view is pre-set, the adjusted field of view of the panorama is not greater than the maximum field of view.

The present disclosure provides a storage medium in which a plurality of instructions are stored, the instructions being loaded by a processor to perform the steps of the field of view adjustment method of the above-described panorama.

The present disclosure provides an electronic device, the electronic device including:

The above storage medium;

a processor for executing instructions in the storage medium.

In the solution of the present disclosure, the dangerous obstacles having reference value to the current driving behavior, and the initial visual field range of the panoramic map may be determined first, and then the initial visual field range and the position information of the dangerous obstacle relative to the vehicle are obtained, and the panoramic map is adjusted. The field of view allows the adjusted field of view to include dangerous obstacles. This adjusted field of view helps reduce redundant information, avoids the absence of dangerous obstacle information, and improves the usability of the panorama during actual driving.

Other features and advantages of the present disclosure will be described in detail in the detailed description which follows.

[Description of the Drawings]

The drawings are intended to provide a further understanding of the disclosure, and are in the In the drawing:

1 is a schematic flow chart of a method for adjusting a field of view of a panoramic view of the present disclosure;

2 is a schematic flow chart of determining a dangerous obstacle in the solution of the present disclosure;

3 is a schematic diagram showing the relationship between l _m , w _car , d _b , and d _f in the scheme of the present disclosure;

Figure 4 is a schematic view of a traffic area when reversing in the solution of the present disclosure;

Figure 5 is a schematic view of a passage area when advancing in the solution of the present disclosure;

Figure 6 is a trajectory curve of an obstacle relative to a vehicle in the disclosed embodiment;

Figure 7 is a schematic diagram of a minimum field of view in the disclosed embodiment;

8 is a correspondence relationship between a steering wheel angle and an initial visual field range when reversing in the solution of the present disclosure;

9 is a correspondence relationship between a steering wheel rotation angle and an initial visual field range in advance in the solution of the present disclosure;

10 is a schematic structural diagram of a field of view adjusting device of a panoramic view of the present disclosure;

FIG. 11 is a schematic structural diagram of an electronic device for performing field of view adjustment of a panoramic view according to an embodiment of the present disclosure.

【detailed description】

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are not to be construed

Referring to FIG. 1, a flow chart of a method of adjusting a field of view of a panoramic view of the present disclosure is shown. The steps can be included:

S101, determining a dangerous obstacle around the vehicle and an initial field of view of the panorama.

In the solution of the present disclosure, at least the dangerous obstacles around the vehicle can be determined in the following manner:

(1) In order to avoid missing valuable obstacles, all obstacles detected around the vehicle can be identified as dangerous obstacles.

(2) Some obstacles detected around the vehicle can be identified as dangerous obstacles in combination with the attributes of the obstacle. For example, the attribute of the obstacle may be embodied as follows: whether it is in the preset detection range, whether the living body, the moving speed is too fast, whether the volume is too large, or the like, and the present disclosure does not specifically limit this.

(3) Some obstacles detected around the vehicle can be determined as dangerous obstacles in combination with the user's current driving behavior. For details, see the schematic diagram of the process shown in Figure 2. The steps can be included:

S201: Obtain a collision distance s and a collision time t between each obstacle and the vehicle according to the driving data of the vehicle and the obstacle information of the obstacle around the vehicle.

As an example, the travel data in the present disclosure may include: a gear position of the vehicle, a travel speed, and a steering wheel angle. The process of obtaining driving data can be implemented by referring to related technologies, and will not be described in detail herein.

As an example, the obstacle information in the present disclosure may include: position information of the obstacle relative to the vehicle, and motion state information of the obstacle. For example, the position information of the N obstacles relative to the vehicle can be expressed as Location={(x ₁ , y ₁ ), (x ₂ , y ₂ ), ..., (x _i , y _i ),... , (x _N , y _N )}, the motion state information can be expressed as Motion={(v ₁ , θ ₁ ), (v ₂ , θ ₂ ), ..., (v _i , θ _i ),... , (v _N , θ _N )}. Wherein, the coordinate system corresponding to the position information can take the center of the vehicle body as the origin, the lateral direction of the vehicle body is the positive direction of the X axis, the longitudinal direction of the vehicle body is the positive direction of the Y axis; the v indicates the instantaneous speed of the obstacle relative to the vehicle, and θ indicates the world. The direction of motion in the coordinate system.

For example, the disclosed solution can obtain obstacle information of an obstacle around the vehicle at least by:

In the first method, image data around the vehicle body is collected by the camera; obstacle detection is performed on the image data, and obstacle information of the obstacle around the vehicle is obtained.

In the actual application process, at least four cameras can be installed in the front, rear, left and right directions of the vehicle, or at least one camera that can rotate 360° can be installed on the roof, as long as the image data around the vehicle body can be captured by the camera. For example, the type of camera can be a fisheye camera and/or a depth camera and/or a binocular camera. For example, four fisheye cameras can be installed around the body, supplemented by other types of cameras to capture images around the body. data. The present disclosure does not specifically limit the type of the camera, the installation position, and the like. The process of acquiring image data by the camera can be implemented by referring to related technologies, and will not be described in detail herein.

It should be noted that, in order to enhance related information in the image, the collected image data may be preprocessed, for example, image noise may be removed by a median filtering or a Gaussian filtering algorithm, and contrast is enhanced by an image histogram equalization method. The manner of pre-processing may not be specifically limited, and may be determined in combination with actual application requirements.

For example, the disclosed solution can perform obstacle detection at least by the following methods: depth learning based object detection, machine vision based moving object detection. Taking the object detection method based on deep learning as an example, the sample image data with the labeled information can be used for model training in advance to generate a target detection and recognition model, wherein the annotation information can be embodied as an obstacle category, for example, a pedestrian, a car, Non-motor vehicles, etc., may be specific to the actual application. The target detection and recognition model obtained by the training can detect and identify the specific type of objects of the image data collected by the camera, and obtain the position of the obstacles in the image and the category of the obstacles.

After obtaining the position of the obstacle in the image, you can transform the position of the obstacle on the image into the world coordinate system by coordinate system transformation; then combine the position of the same obstacle in the image of the previous frame, or use the optical flow method Calculate the instantaneous velocity v of the current frame relative to the previous frame and the motion direction θ, that is, the motion state information of the obstacle. In addition, in the actual application process, considering that the obstacle usually has a certain size, the position information of the obstacle relative to the vehicle can be determined according to any point of the obstacle, for example, the point where the obstacle is closest to the vehicle body is determined as an obstacle. The position information (x _i , y _i ) is obtained with respect to the position of the vehicle. The disclosure solution is not limited thereto, and can be determined in combination with actual application requirements.

For example, if at least four cameras are installed around the vehicle body, each camera can take a corresponding image data, that is, at least four image data can be obtained through the camera, and in the actual application process, obstacle detection can be performed on all image data. Or, in order to reduce the amount of calculation, it is possible to perform obstacle detection on some image data according to driving needs. For example, combined with the driving data, the user is reversing. At this time, the user is more concerned with the obstacle information in the rear, left, and right directions of the vehicle, so that the obstacle detection can be performed for the image data of the three directions.

In the second method, the obstacle information of the obstacle around the vehicle is collected by radar. The process of detecting obstacles based on the data collected by the radar can be implemented by referring to relevant technologies, and will not be described in detail herein. In the actual application process, the radar accuracy can be determined in combination with the use requirements. For example, a millimeter wave radar can be used, and the present disclosure does not specifically limit this. As an example, the radar can be mounted around the body or can be mounted on the roof for a 360° scan, as long as the obstacle information around the vehicle is collected by the radar.

Understandably, in the actual application process, the above two methods can also be combined, that is, the obstacle information of the obstacle around the vehicle is acquired by the camera and the radar, so as to find the obstacles around the vehicle as comprehensively as possible, and perform obstacles as accurately as possible. Object location. The implementation scheme of the present disclosure may not specifically limit the implementation manner of acquiring obstacle information.

As an example, after the travel data and the obstacle information are obtained, the collision distance s between the obstacle and the vehicle and the collision time t can be calculated in the following manner.

First, the possible running trajectory and the traffic area of the vehicle can be calculated based on the driving data of the vehicle.

Similarly, if the center of the vehicle body is used as the origin, the lateral direction of the vehicle body is the positive direction of the X-axis, and the longitudinal direction of the vehicle body is the positive direction of the Y-axis, and a coordinate system is established. Correspondingly, the equations of the trajectory of the four vertices of the left rear, right rear, left front and right front of the vehicle can be embodied as:

Where (x _bL , y _bL ) represents the trajectory coordinates of the left rear vertex; (x _bR , y _bR ) represents the trajectory coordinates of the right rear vertex; (x _fL , y _fL ) represents the trajectory coordinates of the left front vertex; (x _fR , y _fR ) represents the trajectory coordinates of the right front vertex;

Indicates the steering angle of the front wheel, which can be defined as the positive direction, which can be calculated from the steering wheel angle; l _m represents the front and rear axle distance of the vehicle; l _car represents the length of the vehicle; w _car represents the width of the vehicle; d _b Indicates the distance from the rear axle to the rear of the vehicle; d _f represents the distance from the front axle to the front. For the specific relationship, see the diagram shown in Figure 3.

After calculating the trajectory of the four vertices according to the above motion trajectory equation, the traveling direction of the vehicle can be obtained by combining the traveling direction of the vehicle, such as front or rear; and the steering direction of the vehicle, for example, left or right. As an example, FIG. 4 shows a schematic view of a traffic area when the vehicle is traveling backwards, that is, to the left, and FIG. 5 is a schematic view of the traffic area when the vehicle is traveling forward, that is, to the left.

Secondly, after obtaining the traffic area of the vehicle, the motion state information of the obstacle can be combined to establish a motion model, and the collision point when the obstacle collides with the vehicle while maintaining the motion state is calculated, thereby obtaining an obstacle from the obstacle. The collision distance s of the current position to the collision point and the collision time t. It can be understood that if the obstacle does not collide with the vehicle, then s=∞, t=∞.

For example, the vehicle can be used as a reference system. Since the vehicle is in a momentary uniform circular motion, the obstacle instantaneously moves in a uniform linear motion, so the speed of the obstacle relative to the vehicle can be decomposed into: linear velocity of uniform circular motion v _r , uniform linear motion speed v _l . Corresponding to this, the parameter equation of the obstacle's trajectory coordinates with respect to time can be expressed as:

Where (x _i , y _i ) represents the current position coordinate of the i-th obstacle, that is, the position information of the obstacle relative to the vehicle; R represents the radius of motion of the circular motion, which can be obtained by the trajectory line equation; ω represents the circular motion Angular velocity, ω=v _r /R; θ _i represents the angle between the current position and the X axis; v _lx represents the x component of the linear motion velocity v _l ; v _ly represents the y component of the linear motion velocity v _l .

Based on the above parameter equation, the motion trajectory curve of the obstacle relative to the vehicle can be obtained, as shown in FIG. 6 .

In this way, the rectangular frame equation representing the edge of the vehicle body can be combined to obtain the coordinates of the collision point and the corresponding collision time t:

Where l _car represents the length of the vehicle; w _car represents the width of the vehicle.

It can be understood that the obstacle is relative to the trajectory curve of the vehicle and the rectangular frame at the edge of the vehicle body, and the point at which the two intersect is the collision point. After the coordinates of the collision point are obtained, the obstacle can be calculated from the current position to the collision by the integral operation. Point collision distance s:

In this way, the collision distance set S={s ₁ , s ₂ , . . . , s _N } between each obstacle and the collision point of the vehicle can be obtained, and the corresponding collision time set T={t ₁ , t ₂ ,... , t _N }.

S202, an obstacle with a collision distance s smaller than the preset distance s ₀ , and/or an obstacle with a collision time t less than the preset time t ₀ is determined as the dangerous obstacle.

After obtaining the collision distance set and the collision time set, the dangerous obstacles that have a great influence on the current driving behavior can be determined according to s and/or t. Specifically, an obstacle having an s smaller than the preset distance s ₀ and/or an obstacle having a t less than the preset time t ₀ may be determined as a dangerous obstacle. The values of s ₀ and t _{0 of the} present disclosure may not be specifically limited, and may be set in combination with actual application requirements.

In the disclosed solution, the initial field of view of the panorama can be determined at least in the following manner:

(1) The initial field of view of the panorama can be determined according to a preset fixed field of view.

For example, the fixed field of view may be a certain value; or it may be a range of values that may be used. The size of the fixed field of view may not be specifically limited by the disclosed solution.

In the actual application process, the size of each field of view direction can be determined in advance in combination with the size of the fixed field of view, and the initial field of view of the panorama is obtained. Alternatively, the size of each field of view direction may be determined in real time in combination with the size of the fixed field of view and the position information of the dangerous obstacle relative to the vehicle to obtain an initial field of view of the panorama. For example, if there are fewer dangerous obstacles on the left side of the vehicle and are closer to the vehicle, and the dangerous obstacles on the right side of the vehicle are more and more dispersed, the size of the initial left-view range may be smaller than the size of the initial right-view range. The method of the present disclosure may not specifically limit the manner of determining the initial field of view of the panorama by using the fixed field of view.

(2) The initial field of view of the panorama can be determined based on the steering wheel angle of the vehicle. See the description below for details.

In the actual application process, in order to ensure the safety in all directions, the minimum field of view of a panorama may be preset, so that the initial field of view determined by the present disclosure is not less than the minimum field of view.

The minimum field of view of the panorama may include: a minimum front field of view range df _min , a minimum back field of view range db _min , a minimum left field of view range dl _min , and a minimum right field of view range dr _min . Where df _min +db _min +l _car =h _min , which represents the longitudinal length of the panorama coverage in the minimum field of view; dl _min +dr _min +w _car =w _min , which represents the lateral width of the panorama coverage in the minimum field of view, For details, refer to the schematic diagram of the minimum field of view shown in FIG. 7.

As an example, the minimum field of view can satisfy the following conditions:

For example, the minimum left field of view can be set to dl _min ≥d ₁ , and d ₁ represents the maximum steering angle when the vehicle turns right.

Corresponding maximum field of view on the left side of the vehicle.

For example, the minimum right field of view can be set to dr _min ≥d ₂ , and d ₂ represents the maximum steering angle when the vehicle turns left.

Corresponding maximum field of view on the right side of the vehicle.

specifically,

For example, the minimum front visual field range can be set to _{l car / 8≤df min ≤l car /} 4, _{e.g., df min = l car / 6} , this embodiment of the present disclosure may be not particularly limited.

For example, the field of view can be set to the minimum _{l car / 6≤db min ≤l car /} 3, _{e.g., db min = l car / 4} , this embodiment of the present disclosure may be not particularly limited.

The process of determining the initial field of view of the panorama according to the steering wheel angle of the vehicle in the present disclosure will be explained below in conjunction with the minimum field of view.

For example, the initial front field of view range df ₀ , the initial back field of view range db ₀ , the initial left field of view range dl ₀ , and the initial right field of view range dr ₀ may satisfy the following relationship:

Df ₀ +db ₀ +l _car ≥h _min

Dr ₀ +dl ₀ +w _car ≥w _min

In addition, referring to the correspondence relationship between the steering wheel rotation angle and the initial visual field range when reversing, and the correspondence between the steering wheel rotation angle and the initial visual field range shown in FIG. 9 , df ₀ and db ₀ can be set to a constant value. , dl ₀ , dr ₀ can change sinusoidally with the steering wheel angle. Therefore, when determining dl ₀ and dr ₀ , an initial field of view can be determined based on the steering wheel angle. For example, first determine dr0, and then determine another initial field of view based on dr ₀ +dl ₀ +w _car ≥w _min . For example, let dl0 satisfy dl ₀ ≥ w _min -w _car -dr ₀ .

Specifically, if the center of the vehicle body is used as the origin, the lateral direction of the vehicle body is the positive direction of the X-axis, and the longitudinal direction of the vehicle body is the positive direction of the Y-axis, and the coordinate system is established.

Combined with the steering wheel angle, the initial right-view range dr ₀ corresponding to the current driving behavior can be expressed as:

Alternatively, in combination with the steering wheel angle, the initial left-view range dl ₀ corresponding to the current driving behavior may be embodied as:

Where p represents an adjustable parameter. In the actual application process, the sine function can be stretched by adjusting the value of p to achieve a better visual effect. Specifically, the sinusoidal image is compressed in the horizontal direction when p is increased, and the sinusoidal image is stretched in the horizontal direction when p is decreased. As an example, in the actual application process, located in the interval

a sinusoid within a period of no more than one cycle and greater than half a cycle, ie

It should be noted that the order of the present disclosure for determining the dangerous obstacle and determining the initial visual field range may not be specifically limited, as long as the dangerous obstacle and the initial visual field range are obtained before the visual field range adjustment is performed.

S102. Determine, according to the initial visual field range and the position information of the dangerous obstacle relative to the vehicle, an adjusted visual field range of the panoramic view, where the adjusted visual field range includes the dangerous obstacle.

After obtaining the dangerous obstacle and the initial field of view, the adjusted field of view of the panorama can be determined accordingly. In the actual application process, all dangerous obstacles may be included in the adjusted field of view; or some dangerous obstacles may be selected after sorting the dangerous obstacles, which are included in the adjusted field of view, and the present disclosure may not do this. Specifically limited.

As an example, in addition to the use of s, t for dangerous obstacle sorting, if the obstacle category is specified at the time of obstacle detection, it may also be sorted based on the priority of the obstacle category, for example, the pedestrian has a high priority. The priority of the non-motor vehicle and the non-motor vehicle is higher than that of the automobile, and the present disclosure does not specifically limit this.

Specifically, the adjustment process of the visual field range may be: determining whether the dangerous obstacle in the visual field direction that the user needs to pay attention to is located in the initial visual field; if the dangerous obstacle in the visual field direction that needs attention is located in the In the initial field of view, the initial field of view is not adjusted; otherwise, the initial field of view of the field of view that needs to be focused is adjusted so that the dangerous obstacle is within the adjusted field of view.

As an example, the direction of the visual field that the user needs to pay attention to may be four directions of the front, rear, left, and right of the vehicle; or, the user may set the visual field direction that needs attention according to the needs of the user. For example, if the user prefers to view the rear view of the vehicle, the rear of the vehicle may be Set to the direction of the field of view that needs attention; or, in combination with the direction of travel of the vehicle, determine the direction of the field of view that needs attention. For example, when the vehicle is backing up, the direction of the field of view that needs attention may include: left, right, and rear of the vehicle; When the vehicle is moving forward, the direction of view that needs attention may include: the left side, the right side, and the front side of the vehicle.

As an example, the traveling direction of the vehicle can be determined by the vehicle gear position, which is not specifically limited in the disclosure.

For example, when the vehicle is reversing, adjust the initial field of view of the field of view that needs attention, so that the dangerous obstacle is located within the adjusted field of view, which can be reflected as:

If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

If the dangerous obstacle behind the vehicle exceeds the initial rear view range, adjust the initial rear view range so that the dangerous obstacle behind the vehicle is within the adjusted rear view range.

In other words, the adjusted field of view of the panorama can be:

For the adjusted left-view range dl ₁ , if the dangerous obstacle on the left side of the vehicle does not exceed dl ₀ , then dl ₁ = dl ₀ ; otherwise

E.g,

For the adjusted right-view range dr ₁ , if the dangerous obstacle on the right side of the vehicle does not exceed dr ₀ , then dr ₁ =dr ₀ ; otherwise

E.g,

For the adjusted rear field of view range db ₁ , if the dangerous obstacle located behind the vehicle does not exceed db ₀ , then db ₁ =db ₀ ; otherwise

E.g,

For the adjusted front field of view range df ₁ , the user does not need to pay much attention to the information of the front field of view when reversing, so the adjusted front field of view can be df ₁ ≥df ₀ . For example, df ₁ =df ₀ .

For example, when the vehicle is moving forward, adjust the initial field of view of the field of view that needs attention, so that the dangerous obstacle is located within the adjusted field of view, which can be embodied as:

If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

If the dangerous obstacle in front of the vehicle exceeds the initial front field of view, adjust the initial front field of view so that the dangerous obstacle in front of the vehicle is within the adjusted front field of view.

In other words, the adjusted field of view of the panorama can be:

The adjusted left-view range dl ₁ and the adjusted right-view range dr ₁ are the same as when the vehicle is reversed. For details, refer to the above description, and details are not described here.

For the adjusted front field of view range df ₁ , if the dangerous obstacle located in front of the vehicle does not exceed df ₀ , then df ₁ =df ₀ ; otherwise

E.g,

For the adjusted rear view range db ₁ , the vehicle does not need to pay much attention to the information of the rear view range when the vehicle advances, so the adjusted rear view range can be db ₁ ≥ db ₀ . For example, db ₁ =db ₀ .

Understandably, in the above formula,

|min(x)| represents the absolute value of the minimum value of the X-axis in the position information of the dangerous obstacle relative to the vehicle;

|max(x)| represents the absolute value of the maximum value of the X-axis in the position information of the dangerous obstacle relative to the vehicle;

|min(y)| represents the absolute value of the minimum value of the Y-axis in the position information of the dangerous obstacle relative to the vehicle;

|max(y)| indicates the absolute value of the maximum value of the Y-axis in the position information of the dangerous obstacle relative to the vehicle.

As an example, when performing panorama generation, the theoretical field of view can reach infinity, that is, the maximum field of view of the panorama is not limited, but in consideration of the actual application process, when the obstacle data information is acquired by the image data collected by the camera Due to the different degree of clarity of the camera, the obstacle pixels in the distance may be blurred to the panorama, and the effect presented to the user is poor. To this end, in order to ensure the overall visual effect of the panorama, the present disclosure may also preset a maximum field of view of a panorama without affecting the panoramic view to display valuable information, which may include: a maximum front field of view range df _max The maximum back visual field range db _max , the maximum left visual field range dl _max , and the maximum right visual field range dr _max .

As an example, the maximum field of view can satisfy the following conditions:

For example, the maximum field of view may be provided before _{l car ≤df max ≤2.5 × l car} , _{e.g., df max = 1.5 × l car} , this embodiment of the present disclosure may be not particularly limited.

For example, the maximum field of view can be set to _{l car ≤db max ≤2.5 × l car} , _{e.g., db max = 1.5 × l car} , this embodiment of the present disclosure may be not particularly limited.

For example, the maximum left-view range may be set to _{1.5 × l car ≤dl max ≤3 ×} l car, for _{example, dl max = 2 × l car} , this embodiment of the present disclosure may be not particularly limited.

For example, the maximum right-view range may be set to 1.5×1 _car ≤dr _max ≤3×l _car , for example, dr _max =2×l _car , which is not specifically limited in the present disclosure.

Corresponding to this, the adjusted field of view of the panorama in the present disclosure may be no larger than the maximum field of view.

For example, when the vehicle is backing up, the adjusted field of view of the panorama can be:

If the dangerous obstacle on the left side of the vehicle exceeds dl ₀ , then

For example, the adjusted left field of view is specifically:

If the dangerous obstacle on the right side of the vehicle exceeds dr ₀ , then

For example, the adjusted right field of view is specifically:

If the dangerous obstacle behind the vehicle exceeds db ₀ , then

For example, after adjustment, the field of view is specifically:

The adjusted front field of view may be df _max ≥df ₁ ≥df ₀ . For example, the adjusted front field of view is specifically: df ₁ =df ₀ .

For example, when the vehicle is moving forward, the adjusted field of view of the panorama can be:

The adjusted left-view range dl ₁ and the adjusted right-view range dr ₁ are the same as when the vehicle is reversed. For details, refer to the above description, and details are not described here.

If the dangerous obstacle in front of the vehicle exceeds df ₀ , then

For example, the adjusted front field of view is specifically:

After adjustment, the field of view can be db _max ≥ db ₁ ≥ db ₀ . For example, after adjustment, the field of view is specifically: db ₁ = db ₀ .

In summary, compared with the prior art, the homography transformation is performed only by four fisheye images to generate a panoramic view of a fixed visual field range, and the disclosed solution can flexibly adjust the visual field range to generate a panoramic view of the variable visual field range, and the variable The panoramic view of the field of view can better show the user the information related to the current driving behavior, improve the usability of the panorama during the actual driving process, and minimize the possibility of a safety accident caused by the user who relies on the panoramic system.

As an example, a panorama that better displays information related to current driving behavior refers to minimizing redundant information that has no reference value to current driving behavior, and/or maximizing reference to current driving behavior. Obstacle information.

Referring to Fig. 10, there is shown a schematic configuration diagram of a field of view adjusting device of the panoramic view of the present disclosure. The device can include:

a dangerous obstacle determination module 301, configured to determine a dangerous obstacle around the vehicle;

An initial field of view range determining module 302, configured to determine an initial field of view of the panorama;

The adjusted visual field range determining module 303 is configured to determine an adjusted visual field range of the panoramic image according to the initial visual field range and the position information of the dangerous obstacle relative to the vehicle, where the adjusted visual field range includes The dangerous obstacle.

Optionally, the dangerous obstacle determination module 301 includes:

a collision distance and time obtaining module, configured to obtain a collision distance s and a collision time t between each obstacle and the vehicle according to the driving data of the vehicle and the obstacle information of the obstacle around the vehicle;

The dangerous obstacle determination sub-module is configured to determine an obstacle that has a collision distance s smaller than the preset distance s ₀ and/or an obstacle whose collision time t is less than the preset time t ₀ as the dangerous obstacle.

Optionally, the collision distance and time obtaining module is configured to determine a traffic area of the vehicle according to the driving data; and obtain each obstacle and the vehicle according to the traffic area and the obstacle information. The collision distance s between and the collision time t.

Optionally, the device further includes:

An obstacle information acquiring module, configured to collect image data around the vehicle body through the camera; perform obstacle detection on the image data to obtain obstacle information of the obstacle around the vehicle; and/or collect the surrounding of the vehicle by radar Obstacle information for obstacles.

Optionally, the initial field of view range determining module 302 is configured to determine an initial field of view of the panorama according to a preset fixed field of view; or determine an initial of the panorama according to a steering wheel angle of the vehicle. visual field.

Optionally, if the vehicle body center is used as the origin, the vehicle body is laterally oriented to the right as the positive X-axis direction, and the vehicle body is longitudinally oriented toward the front of the vehicle head as the positive direction of the Y-axis, and a coordinate system is established, then the steering wheel angle is determined according to the vehicle. The initial field of view of the panorama, including:

The initial front visual field range df ₀ , the initial rear visual field range db ₀ , the initial left visual field range dl ₀ , and the initial right visual field range dr ₀ satisfy the following relationship:

Df ₀ +db ₀ +l _car ≥h _min

Dr ₀ +dl ₀ +w _car ≥w _min

Based on the steering wheel angle of the vehicle, dr ₀ or dl ₀ can be obtained:

Where h _min represents the longitudinal length covered by the panorama when the minimum field of view is included; w _min represents the lateral width of the panorama coverage when the minimum field of view is included; l _car represents the length of the vehicle; w _car represents the vehicle Width; p represents an adjustable parameter;

The steering angle of the front wheel is calculated from the steering wheel angle.

Optionally, the adjusted visual field range determining module 303 is configured to determine whether a dangerous obstacle in a visual field direction that the user needs to pay attention to is located in the initial visual field; if the dangerous visual direction in the visual field direction that needs attention If the object is located within the initial field of view, the initial field of view is not adjusted; otherwise, the initial field of view of the field of view that needs to be focused is adjusted so that the dangerous obstacle is located within the adjusted field of view.

Optionally, when the vehicle is backing up, the direction of the visual field to be concerned includes a left side, a right side, and a rear side of the vehicle, and the initial visual field range of the visual field direction that needs attention is adjusted, so that the dangerous obstacle is located after the adjustment Within the field of view, including:

If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

If the dangerous obstacle behind the vehicle exceeds the initial rear view range, the initial rear view range is adjusted so that the dangerous obstacle behind the vehicle is located within the adjusted rear view range;

or,

When the vehicle is moving forward, the visual field direction that needs to be concerned includes a left side, a right side, and a front side of the vehicle, and the initial visual field range of the visual field direction that needs attention is adjusted, so that the dangerous obstacle is located within the adjusted visual field range. include:

If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

If the dangerous obstacle in front of the vehicle exceeds the initial front field of view, the initial front field of view is adjusted such that the dangerous obstacle in front of the vehicle is within the adjusted front field of view.

Optionally, if the maximum field of view is pre-set, the adjusted field of view of the panorama is not greater than the maximum field of view.

With regard to the apparatus in the above embodiments, the specific manner in which the respective modules perform the operations has been described in detail in the embodiment relating to the method, and will not be explained in detail herein.

Referring to FIG. 11, a schematic structural diagram of an electronic device 400 for performing field of view adjustment of a panoramic view of the present disclosure is shown. The electronic device 400 may include at least a processor 401 and a storage medium 402. As an example, the processor 401 and the storage medium 402 may be connected by a bus or other means, as shown in Fig. 11 by way of a bus connection. The number of processors 401 may be one or more, and one processor is taken as an example in FIG. A storage device resource represented by storage medium 402 for storing instructions executable by processor 401, such as an application. Moreover, the processor 401 can be configured to load instructions in the storage medium to perform the field of view adjustment method of the above-described panorama.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solutions of the present disclosure within the scope of the technical idea of the present disclosure. These simple variations are all within the scope of the disclosure.

It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure is applicable to various possibilities. The combination method will not be described separately.

In addition, any combination of various embodiments of the present disclosure may be made as long as it does not deviate from the idea of the present disclosure, and should also be regarded as the disclosure of the present disclosure.

Claims (20)

1. A method for adjusting a field of view of a panorama, wherein the method comprises:

   Identify dangerous obstacles around the vehicle and the initial field of view of the panorama;

   And determining an adjusted visual field range of the panoramic image according to the initial visual field range and the position information of the dangerous obstacle relative to the vehicle, the adjusted visual field range including the dangerous obstacle.
2. The method of claim 1 wherein said determining a dangerous obstacle around the vehicle comprises:

   Obtaining a collision distance s between each obstacle and the vehicle and a collision time t according to the driving data of the vehicle and the obstacle information of the obstacle around the vehicle;

   An obstacle having a collision distance s smaller than the preset distance s ₀ and/or an obstacle having a collision time t smaller than the preset time t ₀ is determined as the dangerous obstacle.
3. The method according to claim 2, wherein the collision distance s and the collision time t between each obstacle and the vehicle are obtained according to the driving data of the vehicle and the obstacle information of the obstacle around the vehicle, including:

   Determining a traffic area of the vehicle according to the driving data;

   Based on the passing area and the obstacle information, a collision distance s between each obstacle and the vehicle and a collision time t are obtained.
4. The method according to claim 2 or 3, wherein the manner of acquiring the obstacle information is:

   Collecting image data around the vehicle body through the camera; performing obstacle detection on the image data to obtain obstacle information of the obstacle around the vehicle;

   and / or,

   Obstacle information of obstacles around the vehicle is collected by radar.
5. The method of claim 1 wherein said determining an initial field of view of the panorama comprises:

   Determining an initial field of view of the panorama according to a preset fixed field of view; or

   An initial field of view of the panorama is determined based on a steering wheel angle of the vehicle.
6. The method according to claim 5, wherein the vehicle body is used as an origin, the vehicle body is laterally oriented to the right as the positive X-axis direction, and the vehicle body is longitudinally oriented toward the front of the vehicle as the positive direction of the Y-axis, and a coordinate system is established. The steering wheel angle determines the initial field of view of the panorama, including:

   The initial front visual field range df ₀ , the initial rear visual field range db ₀ , the initial left visual field range dl ₀ , and the initial right visual field range dr ₀ satisfy the following relationship:

   Df ₀ +db ₀ +l _car ≥h _min

   Dr ₀ +dl ₀ +w _car ≥w _min

   Based on the steering wheel angle of the vehicle, dr ₀ or dl ₀ can be obtained:

   

   

   Where h _min represents the longitudinal length covered by the panorama when the minimum field of view is included; w _min represents the lateral width of the panorama coverage when the minimum field of view is included; l _car represents the length of the vehicle; w _car represents the vehicle Width; p represents an adjustable parameter;

   

   The steering angle of the front wheel is calculated from the steering wheel angle.
7. The method according to claim 1, wherein the determining the adjusted visual field range of the panoramic image according to the initial visual field range and the position information of the dangerous obstacle relative to the vehicle comprises:

   Determining whether a dangerous obstacle in the direction of the visual field that the user needs to pay attention to is located within the initial visual field;

   If the dangerous obstacle in the direction of the field of view that needs attention is located within the initial field of view, the initial field of view is not adjusted; otherwise, the initial field of view of the field of view that needs attention is adjusted, so that the dangerous obstacle is located Adjusted within the field of view.
8. The method of claim 7 wherein

   When the vehicle is reversed, the direction of the field of view that needs to be concerned includes the left side, the right side, and the rear of the vehicle, and the initial field of view of the field of view direction that needs to be focused is adjusted, so that the dangerous obstacle is located within the adjusted field of view. include:

   If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

   If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

   If the dangerous obstacle behind the vehicle exceeds the initial rear view range, the initial rear view range is adjusted so that the dangerous obstacle behind the vehicle is located within the adjusted rear view range;

   or,

   When the vehicle is moving forward, the visual field direction that needs to be concerned includes a left side, a right side, and a front side of the vehicle, and the initial visual field range of the visual field direction that needs attention is adjusted, so that the dangerous obstacle is located within the adjusted visual field range. include:

   If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

   If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

   If the dangerous obstacle in front of the vehicle exceeds the initial front field of view, the initial front field of view is adjusted such that the dangerous obstacle in front of the vehicle is within the adjusted front field of view.
9. The method according to claim 7 or 8, wherein if the maximum field of view is pre-set, the adjusted field of view of the panorama is not greater than the maximum field of view.
10. A panoramic field of view adjusting device, wherein the device comprises:

    a dangerous obstacle determination module for determining a dangerous obstacle around the vehicle;

    An initial field of view range determining module for determining an initial field of view of the panorama;

    The adjusted visual field range determining module is configured to determine an adjusted visual field range of the panoramic image according to the initial visual field range and the position information of the dangerous obstacle relative to the vehicle, where the adjusted visual field range includes A dangerous obstacle.
11. The apparatus of claim 10, wherein the dangerous obstacle determination module comprises:

    a collision distance and time obtaining module, configured to obtain a collision distance s and a collision time t between each obstacle and the vehicle according to the driving data of the vehicle and the obstacle information of the obstacle around the vehicle;

    The dangerous obstacle determination sub-module is configured to determine an obstacle that has a collision distance s smaller than the preset distance s ₀ and/or an obstacle whose collision time t is less than the preset time t ₀ as the dangerous obstacle.
12. The apparatus according to claim 11, wherein

    The collision distance and time obtaining module is configured to determine a traffic area of the vehicle according to the driving data; and obtain a collision between each obstacle and the vehicle according to the traffic area and the obstacle information Distance s and collision time t.
13. The device according to claim 11 or 12, wherein the device further comprises:

    An obstacle information acquiring module, configured to collect image data around the vehicle body through the camera; perform obstacle detection on the image data to obtain obstacle information of the obstacle around the vehicle; and/or collect the surrounding of the vehicle by radar Obstacle information for obstacles.
14. The device according to claim 10, wherein

    The initial field of view range determining module is configured to determine an initial field of view of the panorama according to a preset fixed field of view; or determine an initial field of view of the panorama according to a steering wheel angle of the vehicle.
15. The apparatus according to claim 14, wherein if the vehicle body center is used as an origin, the vehicle body laterally faces the right direction as the X-axis positive direction, and the vehicle body longitudinally faces the front direction as the Y-axis positive direction to establish a coordinate system, the vehicle is The steering wheel angle determines the initial field of view of the panorama, including:

    The initial front visual field range df ₀ , the initial rear visual field range db ₀ , the initial left visual field range dl ₀ , and the initial right visual field range dr ₀ satisfy the following relationship:

    Df ₀ +db ₀ +l _car ≥h _min

    Dr ₀ +dl ₀ +w _car ≥w _min

    Based on the steering wheel angle of the vehicle, dr ₀ or dl ₀ can be obtained:

    

    

    Where h _min represents the longitudinal length covered by the panorama when the minimum field of view is included; w _min represents the lateral width of the panorama coverage when the minimum field of view is included; l _car represents the length of the vehicle; w _car represents the vehicle Width; p represents an adjustable parameter;

    

    The steering angle of the front wheel is calculated from the steering wheel angle.
16. The device according to claim 10, wherein

    The adjusted visual field range determining module is configured to determine whether a dangerous obstacle in a visual field direction that the user needs to pay attention to is located in the initial visual field; if the dangerous obstacle in the visual field direction that needs attention is located in the In the initial field of view, the initial field of view is not adjusted; otherwise, the initial field of view of the field of view to be focused is adjusted so that the dangerous obstacle is within the adjusted field of view.
17. The device according to claim 16, wherein

    When the vehicle is reversed, the direction of the field of view that needs to be concerned includes the left side, the right side, and the rear of the vehicle, and the initial field of view of the field of view direction that needs to be focused is adjusted, so that the dangerous obstacle is located within the adjusted field of view. include:

    If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

    If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

    If the dangerous obstacle behind the vehicle exceeds the initial rear view range, the initial rear view range is adjusted so that the dangerous obstacle behind the vehicle is located within the adjusted rear view range;

    or,

    When the vehicle is moving forward, the visual field direction that needs to be concerned includes a left side, a right side, and a front side of the vehicle, and the initial visual field range of the visual field direction that needs attention is adjusted, so that the dangerous obstacle is located within the adjusted visual field range. include:

    If the dangerous obstacle on the left side of the vehicle exceeds the initial left-view range, adjust the initial left-view range so that the dangerous obstacle on the left side of the vehicle is within the adjusted left-view range;

    If the dangerous obstacle on the right side of the vehicle exceeds the initial right field of view, adjust the initial right field of view so that the dangerous obstacle on the right side of the vehicle is within the adjusted right field of view;

    If the dangerous obstacle in front of the vehicle exceeds the initial front field of view, the initial front field of view is adjusted such that the dangerous obstacle in front of the vehicle is within the adjusted front field of view.
18. The apparatus according to claim 16 or 17, wherein the adjusted field of view of the panorama is not larger than the maximum field of view if a maximum field of view is pre-set.
19. A storage medium in which a plurality of instructions are stored, wherein the instructions are loaded by a processor to perform the steps of the method of any one of claims 1 to 9.
20. An electronic device, wherein the electronic device includes;

    The storage medium of claim 19;

    a processor for executing instructions in the storage medium.

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