WO2022052789A1 - 车内后视镜全视野动态显示方法、存储介质及电子设备 - Google Patents

车内后视镜全视野动态显示方法、存储介质及电子设备 Download PDF

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WO2022052789A1
WO2022052789A1 PCT/CN2021/113731 CN2021113731W WO2022052789A1 WO 2022052789 A1 WO2022052789 A1 WO 2022052789A1 CN 2021113731 W CN2021113731 W CN 2021113731W WO 2022052789 A1 WO2022052789 A1 WO 2022052789A1
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Prior art keywords
view
rearview mirror
viewing angle
display
interior rearview
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PCT/CN2021/113731
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English (en)
French (fr)
Inventor
陈晓坤
田鹏
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恒大新能源汽车投资控股集团有限公司
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Publication of WO2022052789A1 publication Critical patent/WO2022052789A1/zh

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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
    • 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
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/04—Rear-view mirror arrangements mounted inside vehicle
    • 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
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • 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
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • B60R2001/1215—Mirror assemblies combined with other articles, e.g. clocks with information displays
    • 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
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views

Definitions

  • the present application relates to the technical field of automotive intelligent control, and in particular, to a full-view dynamic display method, a storage medium, and an electronic device for an interior rearview mirror.
  • the rearview mirror is a tool for the driver to directly obtain external information such as the rear, side and below of the car in the cab. These include the interior rearview mirror and the left and right side mirrors on the outside of the vehicle. With the development of smart cars, the electronic rear-view mirror extended from the rear-view mirror can display the image behind the car body captured by the body camera during driving.
  • the electronic rearview mirror inside the car can only display the rear of the vehicle, during the driver's driving process, the driver has a high probability of an accident when changing lanes or turning, which poses a potential safety hazard.
  • the embodiments of the present application aim to provide a full-view dynamic display method, storage medium and electronic device for an interior rearview mirror, so as to solve the potential safety hazard caused by the fact that the interior rearview mirror can only display the situation behind the vehicle in the prior art.
  • Some embodiments of the present application provide a full-view dynamic display method for an interior rearview mirror.
  • the method includes the following steps:
  • a target viewing angle of the display view of the interior rearview mirror is obtained, and the target viewing angle is the viewing angle of the interior rearview mirror display view after the vehicle completes steering according to the steering requirement;
  • the interior rearview mirror display view is: Panoramic images around the body;
  • the step of acquiring the target viewing angle of the display view of the interior rearview mirror includes:
  • the target viewing angle is determined according to the target turning angle of the vehicle body.
  • the step of acquiring the target viewing angle of the display view of the interior rearview mirror further includes:
  • step of adjusting the viewing angle of the display view of the interior rearview mirror to be translated to the target viewing angle according to the translation direction of the view adjusting the viewing angle of the interior rearview mirror display view to translate to the target viewing angle at the translation speed .
  • the step of acquiring the target viewing angle of the display view of the interior rearview mirror includes:
  • the target viewing angle is determined according to the current viewing angle of the display view of the rear-view mirror and the viewing angle adjustment angle.
  • the step of acquiring the target viewing angle of the display view of the interior rearview mirror further includes:
  • step of adjusting the viewing angle of the display view of the interior rearview mirror to be translated to the target viewing angle according to the translation direction of the view adjusting the viewing angle of the interior rearview mirror display view to translate to the target viewing angle at the translation speed .
  • the step of acquiring the target viewing angle of the display view of the interior rearview mirror includes:
  • step of adjusting the viewing angle of the display view of the interior rearview mirror to the target viewing angle according to the translation direction of the view extracting the target display area of the panoramic image corresponding to the target viewing angle, and controlling the display of the interior rearview mirror The target display area of the panoramic image.
  • a panoramic image of the surrounding environment of the vehicle body is obtained in the following manner:
  • the panoramic image is obtained by fusing the left side image of the vehicle body, the right side image of the vehicle body, and the rear image of the vehicle body, or the panoramic image is obtained according to an image captured by a 360° camera;
  • the image on the left side of the vehicle body is obtained according to an image captured by a camera disposed on the left rearview mirror of the vehicle
  • the image on the right side of the vehicle body is obtained according to an image captured by a camera disposed on the rearview mirror on the right side of the vehicle.
  • the rear side image of the vehicle body is obtained from an image captured by a camera installed on the rear side of the vehicle.
  • the present application further provides a storage medium, where program instructions are stored in the storage medium, and after the computer reads the program instructions, the computer executes any one of the above-described full-view dynamic display methods for an interior rearview mirror.
  • the present application also provides an electronic device, comprising at least one processor and at least one memory, at least one of the memories stores program instructions, and at least one of the processors reads the program instructions and executes any one of the above The full-view dynamic display method of the interior rearview mirror.
  • the above-mentioned electronic device also includes a view translation button:
  • the view panning button is arranged on the steering wheel or the central control instrument panel, and when the view panning button is operated, an operation signal is sent to the processor.
  • the solution of the present application can control the rearview mirror of the vehicle to dynamically display the image of the surrounding environment of the vehicle body under any target viewing angle according to the steering requirement.
  • the road conditions under the driver's desired viewing angle are displayed for the driver to observe, so as to guide the driver's operation when changing lanes or turning, which can improve the safety of the driving process.
  • FIG. 1 is a flowchart of a full-view dynamic display method for an interior rearview mirror according to an embodiment of the application
  • FIG. 2 is a schematic diagram of an arrangement of a body camera of an automobile according to an embodiment of the application
  • Fig. 3a is a schematic diagram showing the viewing angle of the interior rearview mirror when the car shown in Fig. 2 is traveling in a straight line;
  • Fig. 3b is a schematic diagram showing the viewing angle of the interior rearview mirror when the car turns as shown in Fig. 2;
  • Fig. 3c is a schematic diagram of the display angle of the interior rearview mirror of the car shown in Fig. 2 after responding to the view panning to the right;
  • Fig. 3d is a schematic diagram showing the viewing angle of the interior rearview mirror of the car shown in Fig. 2 after the steering wheel is turned back to the initial angle;
  • Fig. 4a is a schematic diagram of the displayed image content of the interior rearview mirror under the viewing angle shown in Fig. 3b;
  • Fig. 4b is a schematic diagram of the displayed image content of the interior rearview mirror from the viewing angle shown in Fig. 3c;
  • Fig. 4c is a schematic diagram of the displayed image content of the interior rearview mirror under the viewing angle shown in Fig. 3d;
  • FIG. 5 is a flowchart of a method for acquiring a target perspective according to an embodiment of the present application
  • FIG. 6 is a flowchart of a method for acquiring a target perspective according to another embodiment of the present application.
  • FIG. 7 is a schematic diagram of the correspondence between a panoramic image and a viewing angle of the surrounding environment of a vehicle body according to an embodiment of the present application
  • FIG. 8 is a schematic diagram of a hardware connection relationship of an electronic device for performing a full-view dynamic display method for an interior rearview mirror according to another embodiment of the present application.
  • Some embodiments of the present application provide a full-view dynamic display method for an interior rearview mirror, which can be applied to a control unit of an interior electronic rearview mirror of an automobile. As shown in FIG. 1 , the method includes the following steps:
  • the steering demand signal can be obtained according to the driving state of the vehicle, and can also be adjusted by the driver manually or by voice.
  • the steering wheel and the steering column are provided with a rotation angle sensor, and the rotation of the steering wheel and the steering column can be detected by the rotation angle sensor, thereby it can be determined that the vehicle has a steering requirement.
  • the driver's voice signal can also be collected through the microphone, and the steering demand in the voice signal can be recognized.
  • S102 Obtain the view translation direction according to the steering demand signal. Specifically, if the steering demand signal is obtained according to the steering wheel or the steering column provided by the rotation angle sensor, then directly analyze the detection result of the rotation angle sensor to obtain which direction the vehicle is turning, and naturally The translation direction of the viewing angle of the interior rearview mirror can be determined.
  • S103 Adjust the viewing angle of the display view of the interior rearview mirror and translate to the target viewing angle according to the view translation direction.
  • FIG. 2 at least three cameras with viewing angles are arranged around the body 100 of the car, a left camera 101 , a right camera 102 and a rear camera 103 , and a 360° camera 104 is arranged on some cars.
  • the left camera 101 is arranged on the left rearview mirror
  • the right camera 102 is arranged on the right rearview mirror
  • the rear camera 103 is arranged behind the vehicle body
  • the 360° camera 104 is arranged on the top of the vehicle body.
  • Figures 3a to 4c show an example of the process of changing the shooting range of the camera of the vehicle. In fact, the shooting range of each camera is related to the change of the driving direction of the vehicle or the angle of the body.
  • the shooting range of the left camera 101 is the left area 111 shown in FIG. 3a
  • the shooting range of the right camera 102 is the right area 112 shown in FIG. 3a
  • the rear camera The shooting range of 103 is the rear area 113 shown in FIG. 3a; and when the vehicle is in a turning process, the shooting range of each of the above cameras is shown in FIG. 3b.
  • a panoramic image 110 around the vehicle can be obtained (here, since the driver can observe the front image by himself, in this solution).
  • the fusion process does not include the front image, and the front image can also be fused together to obtain an image within a 360° range in actual operation).
  • the viewing angle 1 that can be displayed by the interior mirror display screen 200 corresponds to the rear area 113 .
  • the steering angle sensor set on the steering wheel will detect the steering direction and angle of the steering wheel to obtain the steering wheel rotation signal.
  • the steering wheel rotation signal can be used as the steering demand signal, and the control unit receives After the steering wheel rotation signal sent by the steering angle sensor, the steering wheel rotation signal can be analyzed to determine the steering wheel rotation direction and angle, and the target viewing angle can be obtained according to the steering wheel rotation direction and angle. If the areas to be known are the same, the control unit can directly adjust the viewing angle of the display view of the interior rearview mirror and translate it to the target viewing angle. In this solution, assuming that the driver needs to know the road conditions in the left area in advance, the effect of panning the view to the right as shown in Figure 3c and Figure 4b will allow the driver to get out of the car before the vehicle performs a lane change operation.
  • the image of view angle 2 seen in the rearview mirror, the area corresponding to view angle 2 is a part of the rear area 113 and a part of the left area 111, and when the lane change operation is completed, the steering wheel angle sensor on the steering wheel detects that the steering wheel angle indicates the vehicle
  • the control unit can directly adjust the interior rearview mirror to display the image of the viewing angle 1.
  • FIG. 3d and FIG. As shown in Figure 3d, the key points of this scheme can be displayed: that is, although the vehicle is ready to turn, the body is still in the state of straight driving.
  • the interior rearview mirror has displayed the required view after the vehicle has been turned in advance. For the driver to know the surrounding environment of the body after turning in advance.
  • the full-view dynamic display method of the interior rear-view mirror in the above scheme can control the interior rear-view mirror to dynamically display the image of the surrounding environment of the vehicle body under any target viewing angle according to the steering demand, and display the road conditions at the driver's desired viewing angle in advance.
  • Driver observation to guide the driver when changing lanes or turning, can improve the safety of the driving process.
  • the steering demand signal can be obtained according to the driving state of the vehicle or by the driver manually or by voice control.
  • the method shown in FIG. 5 is used to obtain the steering demand signal and the target perspective:
  • S201 Acquire a signal that the steering wheel is operated as the steering demand signal.
  • S203 Determine the target turning angle of the vehicle body according to the turning torque.
  • the corresponding relationship between the steering wheel torque and the body angle is calibrated before the vehicle leaves the factory. For each steering wheel torque, an actual value of the body angle is obtained. After summarizing all the calibration results, the steering wheel is rotated by a curve or a table. The corresponding relationship between the moment and the body rotation angle is stored. In this step, as long as the rotational moment of the steering wheel can be determined, the corresponding vehicle body rotation angle value can be directly found in the curve or table as the vehicle body target rotation angle.
  • S204 Determine the target angle of view according to the target turning angle of the body; specifically, it includes obtaining the difference between the target turning angle of the body and the current turning angle of the body, where the difference is a vector value that can simultaneously reflect the direction (represented by a sign) and size .
  • the difference value is used to determine the translation angle of the view displayed by the rearview mirror, and the target viewing angle can be obtained by combining the translation angle on the basis of the current angle of the view displayed by the rearview mirror of the vehicle.
  • the target body rotation angle For example: take the current body angle as 0°, determine the target body rotation angle as 10° to the right according to the steering wheel rotation angle, and then determine the translation angle of the view displayed in the rearview mirror to the left by 10°, so the target angle of view is determined as The current viewing angle plus the vehicle body target rotation angle is -10° (assuming the viewing angle angle when the vehicle body is aligned is zero, the viewing angle corresponding to the left area is negative, and the viewing angle corresponding to the right area is positive).
  • a standard translation speed may be preset, or the translation speed of the view may be obtained in the following manner: determine the angle of the vehicle body according to the rotational torque. Rotation speed; the moving speed in the horizontal direction is decomposed from the rotation speed of the vehicle body as the translation speed of the viewing angle of the display view of the interior rearview mirror; the target point of view.
  • the steering wheel turning torque is large, the corresponding translation speed is faster, otherwise it is slower.
  • the translation speed obtained by the above method is adapted to the driver's operation of the steering wheel, so that the interior rearview mirror can accurately display the driver's desired angle of view Image.
  • Some embodiments of the present application also provide the following ways to obtain the steering demand signal and the target angle of view, as shown in FIG. 6 , which may include the following steps:
  • S301 Acquire an operation signal triggered by a view panning button as the steering demand signal.
  • S302 Determine the viewing angle adjustment angle of the display view of the interior rearview mirror according to the operation signal.
  • S303 Determine the target viewing angle according to the current viewing angle of the view displayed by the rear-view mirror and the viewing angle adjustment angle.
  • buttons on the steering wheel or the central control panel one of which is used to control the view displayed in the rearview mirror to move to the first direction
  • the other button is used to control the view displayed in the rearview mirror to move to the first direction.
  • the second direction translates, and the first direction and the second direction respectively correspond to the left direction and the right direction during the running of the vehicle.
  • the above solution may further include: determining the view translation speed according to the frequency at which the view translation button is triggered; in the step of adjusting the viewing angle of the display view of the rearview mirror to move to the target viewing angle, using the view
  • the translation speed is used as the translation speed of the display view of the interior rearview mirror. That is, every time the button is triggered, the view displayed in the rearview mirror will be translated by a certain preset angle. The faster the driver operates the view translation button, the faster the view displayed in the rearview mirror will be translated.
  • a panoramic image of the surrounding environment of the vehicle body is obtained as the display view of the interior rearview mirror, wherein the panoramic image can be obtained by fusing the left side image of the vehicle body, the right side image of the vehicle body and the rear image of the vehicle body. image, or obtain the panoramic image according to the image captured by the 360° camera.
  • the display areas of different viewing angles of the panoramic image are stored in association with the corresponding viewing angles.
  • the center line of the rear area 113 is also located at the center line of the display screen of the rear view mirror, and the current viewing angle is considered to be zero at this time.
  • -A4--A1 angles are only illustrative, and multiple viewing angles can be set in the actual application process.
  • a target display area of the panoramic image corresponding to the target angle of view is extracted, and the interior rear-view mirror is controlled to display the target display area of the panoramic image.
  • the target viewing angle is A2
  • Some embodiments of the present application also provide a storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.), where program instructions are stored in the storage medium, and the computer can execute the above after reading the program instructions
  • a storage medium including but not limited to disk storage, CD-ROM, optical storage, etc.
  • some embodiments of the present application provide an electronic device for a full-view dynamic display method for an interior rearview mirror, which includes one or more processors 301 and a memory 302 .
  • one processor 301 is used.
  • the above electronic device may further include: an input device 303 and an output device 304 .
  • the processor 301, the memory 302, the input device 303, and the output device 304 can be connected through a bus or other means. In FIG. 8, the connection through a bus is taken as an example.
  • the above-mentioned electronic device may also include a view translation button: the view translation button It is arranged on the steering wheel or the central control panel, and when the view pan button is operated, an operation signal is sent to the processor.
  • the view panning key can be used as a form of the input device 303 .
  • the memory 302 can be used to store non-volatile software programs, non-volatile computer-executable programs and modules.
  • the processor 301 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 302, that is, to implement the full-view dynamic display method for the interior rearview mirror of the above method embodiments.

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Abstract

一种车内后视镜全视野动态显示方法、存储介质及电子设备，其中的方法包括：响应于转向需求信号，获取车内后视镜显示视图的目标视角，所述目标视角为车辆根据所述转向需求完成转向后车内后视镜显示视图的视角（S101）；所述车内后视镜显示视图为车身周围环境的全景图像；根据所述转向需求信号得到视图平移方向（S102）；调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角（S103）。依照上述方案，能够控制车内后视镜依据转向需求动态显示任意目标视角下的车身周围环境图像，预先将驾驶员所需视角下的路况显示下来供驾驶员观察，以指导驾驶员在变道或转向时的操作，能够提高驾驶过程的安全性。

Description

车内后视镜全视野动态显示方法、存储介质及电子设备
本申请要求在2020年9月8日提交中国专利局、申请号为202010933993.3、发明名称为“车内后视镜全视野动态显示方法、存储介质及电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及汽车智能控制技术领域，具体地，涉及一种车内后视镜全视野动态显示方法、存储介质及电子设备。
背景技术
后视镜是驾驶员在驾驶室中直接获取汽车后方、侧方和下方等外部信息的工具。其中包括车内后视镜和车外左右两侧的后视镜。随着智能汽车的发展，车内后视镜延伸出的电子后视镜能够显示车身摄像头在行车途中拍摄的车身后方的图像。
现阶段，由于汽车内部的电子内后视镜仅能显示车辆的后方车况，在驾驶员驾驶过程中，驾驶员在变道或转向时出现事故的概率很高，存在安全隐患。
发明内容
本申请实施例旨在提供一种车内后视镜全视野动态显示方法、存储介质及电子设备，以解决现有技术中由于车内后视镜仅能显示车辆后方情况所导致的安全隐患。
本申请一些实施例中提供一种车内后视镜全视野动态显示方法，所述方法包括如下步骤：
响应于转向需求信号，获取车内后视镜显示视图的目标视角，所述目标视角为车辆根据转向需求完成转向后车内后视镜显示视图的视角；所述车内后视镜显示视图为车身周围的全景图像；
根据所述转向需求信号得到视图平移方向；
调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角。
可选地，上述的车内后视镜全视野动态显示方法中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤中，包括：
获取方向盘被操作的信号作为所述转向需求信号；
获取方向盘的转动力矩；
根据所述转动力矩确定车身目标转角；
根据所述车身目标转角确定所述目标视角。
可选地，上述的车内后视镜全视野动态显示方法中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤中，还包括：
根据所述转动力矩确定车身的转动速度；
根据所述车身的转动速度得到所述车内后视镜显示视图的平移速度；
在调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角的步骤中：调整所述车内后视镜显示视图的视角以所述平移速度平移至所述目标视角。
可选地，上述的车内后视镜全视野动态显示方法中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤中，包括：
获取视图平移按键被触发的操作信号作为所述转向需求信号；
根据所述操作信号确定车内后视镜显示视图的视图平移方向和视角调节角度；
根据车内后视镜显示视图的当前视角角度和所述视角调节角度确定所述目标视角。
可选地，上述的车内后视镜全视野动态显示方法中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤中，还包括：
根据所述视图平移按键被触发的频率确定视图平移速度；
在调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角的步骤中：调整所述车内后视镜显示视图的视角以所述平移速度平移至所述目标视角。
可选地，上述的车内后视镜全视野动态显示方法中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤前包括：
将所述全景图像不同视角的显示区域与对应的视角关联存储；
调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角的步骤中：提取与所述目标视角对应的全景图像的目标显示区域，控制所述车内后视镜显示所述全景图像的目标显示区域。
可选地，上述的车内后视镜全视野动态显示方法中，通过如下方式获取车身周围环境的全景图像：
根据车身左侧图像、车身右侧图像和车身后方图像融合得到所述全景图像，或根据360°摄像仪拍摄的图像得到所述全景图像；
其中，所述车身左侧图像根据设置于车辆左侧后视镜上的摄像头拍摄的图像得到，所述车身右侧图像根据设置于车辆右侧后视镜上的摄像头拍摄的图像得到，所述车身后侧图像根据设置于车辆后侧的摄像头拍摄的图像得到。
本申请还提供一种存储介质，所述存储介质中存储有程序指令，计算机读取所述程序指令后执行以上任一项所述的车内后视镜全视野动态显示方法。
本申请还提供一种电子设备，包括至少一个处理器和至少一个存储器，至少一个所述存储器中存储有程序指令，至少一个所述处理器读取所述程序指令后执行以上任一项所述的车内后视镜全视野动态显示方法。
可选地，上述的电子设备还包括视图平移按键：
所述视图平移按键设置于方向盘或中控仪表板上，所述视图平移按键被操作时向所述处理器发送操作信号。
本申请实施例提供的以上技术方案，与现有技术相比，至少具有如下技术效果：本申请的方案能够控制车内后视镜依据转向需求动态显示任意目标视角下的车身周围环境图像，预先将驾驶员所需视角下的路况显示下来供驾驶员观察，以指导驾驶员在变道或转向时的操作，能够提高驾驶过程的安全性。
附图说明
图1为本申请一个实施例所述车内后视镜全视野动态显示方法的流程图；
图2为本申请一个实施例所述汽车的车身摄像头布置方式示意图；
图3a为图2所示的汽车沿直线行驶时车内后视镜显示视角的示意图；
图3b为图2所示的汽车转弯时车内后视镜显示视角的示意图；
图3c为图2所示的汽车在响应到视图向右平移后车内后视镜显示视角的示意图；
图3d为图2所示的汽车在方向盘转回初始角度后车内后视镜显示视角的示意图；
图4a为图3b所示视角下车内后视镜的显示图像内容示意图；
图4b为图3c所示视角下车内后视镜的显示图像内容示意图；
图4c为图3d所示视角下车内后视镜的显示图像内容示意图；
图5为本申请一个实施例所述目标视角的获取方法流程图；
图6为本申请另一个实施例所述目标视角的获取方法流程图；
图7为本申请一个实施例所述车身周围环境的全景图像与视角对应关系的示意图；
图8为本申请另一个实施例所述执行车内后视镜全视野动态显示方法的电子设备的硬件连接关系示意图。
具体实施方式
下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所 有其他实施例，都属于本申请保护的范围。
本申请一些实施例中提供一种车内后视镜全视野动态显示方法，可应用于汽车车内电子后视镜的控制单元中，如图1所示，所述方法包括如下步骤：
S101：响应于转向需求信号，获取车内后视镜显示视图的目标视角，所述目标视角为车辆根据所述转向需求完成转向后所述车内后视镜显示视图的视角；所述车内后视镜显示视图为车身周围环境的全景图像。其中，所述转向需求信号可以根据汽车的行驶状态得到也可以由驾驶员通过手动或者语音等方式进行调节。例如，方向盘、转向柱处设置有转角传感器，通过转角传感器能够检测到方向盘、转向柱的转动，由此即可确定车辆具有转向需求。也可以通过麦克风采集驾驶员的语音信号，识别语音信号中的转向需求等。
S102：根据所述转向需求信号得到视图平移方向，具体地，如果转向需求信号是根据方向盘或转向柱设置的转角传感器得到，则直接解析转角传感器的检测结果得到车辆向哪一方向转向，自然就能够确定车内后视镜的视角的平移方向。
S103：调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角。
参见图2，在汽车的车身100周围设置有至少三个视角方向的摄像头，左侧摄像头101、右侧摄像头102和后方摄像头103，在一部分汽车上设置有360°摄像仪104。其中左侧摄像头101设置于左侧后视镜上，右侧摄像头102设置于右侧后视镜上，后方摄像头103设置于车身后方，360°摄像仪104设置于车身的顶部。图3a-图4c所示为车辆摄像头拍摄范围变化过程的一种示例，实际上，每一摄像头的拍摄范围与车辆行驶方向或车身角度变化相关。在本示例中，当车辆直行时，左侧摄像头101的拍摄范围为图3a中所示的左侧区域111，右侧摄像头102的拍摄范围为图3a中所示的右侧区域112，后方摄像头103的拍摄范围为图3a中所示的后方区域113；而当车辆处于转弯过程时，上述各个摄像头的拍摄范围如图3b所示。采用图像处理方式将左侧摄像头101、右侧摄像头102和后方摄像头103拍摄到的图 像融合后能够得到车辆周围的全景图像110(此处，由于驾驶员能够自己观察到前方图像，所以本方案中融合过程不包括前方图像，在实际操作时也可以对前方图像一并融合得到360°范围内的图像)。常规情况下，如图3a和图4a所示，车内后视镜显示屏200能够显示的视角1与后方区域113相对应。当驾驶员需要变道，驾驶员会转动方向盘，此时，方向盘上设置的转角传感器会检测到方向盘的转动方向和角度以得到方向盘转动信号，方向盘转动信号可以作为转向需求信号，控制单元接收到转角传感器发送的方向盘转动信号后，解析方向盘转动信号能够确定方向盘转动方向和角度，根据方向盘转动方向和角度得到目标视角，该目标视角下的显示内容直接对应于车辆后方左侧区域，与驾驶员需要了解的区域一致，控制单元直接调整车内后视镜显示视图的视角平移至所述目标视角即可。本方案中，假设驾驶员是需要提前了解左侧区域的路况，则会如图3c和图4b中所示的视图向右平移的效果，驾驶员能够在车辆执行变道操作之前就从车内后视镜中观看到的视角2的图像，视角2对应的区域为后方区域113的一部分以及左侧区域111的一部分，而当变道操作完成后，方向盘上的转角传感器检测到方向盘转角表示车辆直行，控制单元直接调整车内后视镜显示回视角1的图像即可，如图3d和图4c所示，车内后视镜显示屏200所显示的内容又平移回后方区域113。如图3d所示能够显示本方案的关键点：即车辆虽然已经准备转向，但是车身依然保持直线行驶时的状态，此时车内后视镜已经预先将车辆转向后所需要的视图展示出来，供驾驶员提前获知转向后的车身周围环境。
以上方案中的车内后视镜全视野动态显示方法，能够根据转向需求控制车内后视镜动态显示任意目标视角下的车身周围环境图像，预先将驾驶员所需视角下的路况显示下来供驾驶员观察，以指导驾驶员在变道或转向时的操作，能够提高驾驶过程的安全性。
如前所述，转向需求信号可以根据汽车行驶状态获得也可以由驾驶员手动或语音操控等获得。本申请一部分实施例中采用图5所示的方式获得转向需求信号以及目标视角：
S201：获取方向盘被操作的信号作为所述转向需求信号。
S202：获取方向盘的转动力矩，可以通过方向盘上的转角传感器来实现。
S203：根据所述转动力矩确定车身目标转角。在车辆出厂之前对方向盘转动力矩与车身转角之间的对应关系进行标定，针对每一个方向盘转动力矩都得到一个车身转角的实际值，汇总所有标定结果后，通过曲线或者表格的方式，将方向盘转动力矩与车身转角之间的对应关系进行存储。在本步骤中，只要能够确定方向盘的转动力矩，就能够直接在曲线或者表格中查找到对应的车身转角值作为车身目标转角。
S204：根据所述车身目标转角确定所述目标视角；具体包括获得车身目标转角与车身当前转角之间的差值，该差值为向量值，能够同时体现方向(通过正负号表示)与大小。利用该差值确定车内后视镜显示视图的平移角度，在车辆后视镜显示视图的当前角度的基础上结合所述平移角度即可得到所述目标视角。例如：以当前车身所处角度为0°，根据方向盘转动角度确定车身目标转角为向右转动10°，进而确定车内后视镜显示视图的平移角度左移10°，因此确定目标视角为所述当前视角加上所述车身目标转角，即-10°(假设车身摆正时的视角角度为零，此时左侧区域对应视角角度为负，右侧区域对应视角角度为正)。
进一步地，上述方案中在控制车内后视镜显示视图的视角平移时，可以是预先设定一个标准的平移速度，也可以通过如下方式得到视图的平移速度：根据所述转动力矩确定车身的转动速度；从车身的转动速度中分解出水平方向的移动速度作为车内后视镜显示视图的视角的平移速度；调整所述车内后视镜显示视图的视角以所述平移速度平移至所述目标视角。方向盘转动力矩大时对应的平移速度更快，反之则更慢，通过上述方式得到的平移速度与驾驶员对方向盘的操作相适配，使车内后视镜准确的显示驾驶员所需要的视角的图像。
本申请一些实施例中还提供如下方式获得转向需求信号以及目标视角，如图6所示，其可以包括如下步骤：
S301：获取视图平移按键被触发的操作信号作为所述转向需求信 号。
S302：根据所述操作信号确定车内后视镜显示视图的视角调节角度。
S303：根据车内后视镜显示视图的当前视角角度和所述视角调节角度确定所述目标视角。
例如，在方向盘或中控仪表盘上设置两个按键，其中一个按键用于控制车内后视镜显示的视图向第一方向平移，另一个按键用于控制车内后视镜显示的视图向第二方向平移，第一方向和第二方向分别对应于车辆行驶过程中的左侧方向和右侧方向。通过设置视图平移按键的方式，由驾驶员自己选择想要观察的视图角度，进而控制车内后视镜显示相应内容，能够满足驾驶员的实际需求。
进一步地，上述方案中还可以包括：根据所述视图平移按键被触发的频率确定视图平移速度；在调整车内后视镜显示视图的视角平移至所述目标视角的步骤中，以所述视图平移速度作为所述车内后视镜显示视图的平移速度。也即，每触发一下按键，车内后视镜显示的视图就平移一定的预设角度，驾驶员越快地操作视图平移按键，车内后视镜显示的视图平移的速度就会越快。
本申请的一部分实施例中，如前所述：获取车身周围环境的全景图像作为车内后视镜显示视图，其中可以根据车身左侧图像、车身右侧图像和车身后方图像融合得到所述全景图像，或根据360°摄像仪拍摄的图像得到所述全景图像。如图7所示，在获得全景图像后，将所述全景图像不同视角的显示区域与对应的视角关联存储，例如以常规情况下所显示的视图的中心点标记为0°，也即在常规情况下，车内后视镜显示后方区域113时，后方区域113的中心线也位于车内后视镜显示屏的中心线处，此时认为当前视角为零点。对应于图中所标注的A1-A4，-A4--A1角度仅做示例性说明，实际应用过程中可以设置多个视角。当确定了目标视角之后，提取与所述目标视角对应的全景图像的目标显示区域，控制所述车内后视镜显示所述全景图像的目标显示区域。例如目标视角为A2时，就表示在车内后视镜显示的图像中，以A2所在一列像素形成的线条位于车内后视镜显示屏的中心 线处。
本申请一些实施例中还提供一种存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)，所述存储介质中存储有程序指令，计算机读取所述程序指令后可以执行以上任一方案所述的车内后视镜全视野动态显示方法。
如图8所示，本申请一些实施例中提供一种车内后视镜全视野动态显示方法的电子设备，其包括一个或多个处理器301以及存储器302，图8中以一个处理器301为例。上述电子设备还可以包括：输入装置303和输出装置304。处理器301、存储器302、输入装置303和输出装置304可以通过总线或者其他方式连接，图8中以通过总线连接为例，优选地，上述电子设备还可以包括视图平移按键：所述视图平移按键设置于方向盘或中控仪表板上，所述视图平移按键被操作时向所述处理器发送操作信号。所述视图平移按键可以作为所述输入装置303中的一种形式。
存储器302作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块。处理器301通过运行存储在存储器302中的非易失性软件程序、指令以及模块，从而执行各种功能应用以及数据处理，即实现上述方法实施例的车内后视镜全视野动态显示方法。
以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (10)

  1. 一种车内后视镜全视野动态显示方法，其中，所述方法包括如下步骤：
    响应于转向需求信号，获取车内后视镜显示视图的目标视角，所述目标视角为车辆根据转向需求完成转向后车内后视镜显示视图的视角；所述车内后视镜显示视图为车身周围环境的全景图像；
    根据所述转向需求信号得到视图平移方向；
    调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角。
  2. 根据权利要求1所述的车内后视镜全视野动态显示方法，其中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤中，包括：
    获取方向盘被操作的信号作为所述转向需求信号；
    获取方向盘的转动力矩；
    根据所述转动力矩确定车身目标转角；
    根据所述车身目标转角确定所述目标视角。
  3. 根据权利要求2所述的车内后视镜全视野动态显示方法，其中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤中，还包括：
    根据所述转动力矩确定车身的转动速度；
    根据所述车身的转动速度得到所述车内后视镜显示视图的平移速度；
    在调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角的步骤中：调整所述车内后视镜显示视图的视角以所述平移速度平移至所述目标视角。
  4. 根据权利要求1所述的车内后视镜全视野动态显示方法，其中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤中，包括：
    获取视图平移按键被触发的操作信号作为所述转向需求信号；
    根据所述操作信号确定车内后视镜显示视图的视图平移方向和视角调节角度；
    根据车内后视镜显示视图的当前视角角度和所述视角调节角度确定所述目标视角。
  5. 根据权利要求4所述的车内后视镜全视野动态显示方法，其中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤中，还包括：
    根据所述视图平移按键被触发的频率确定视图平移速度；
    在调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角的步骤中：调整所述车内后视镜显示视图的视角以所述平移速度平移至所述目标视角。
  6. 根据权利要求1-5任一项所述的车内后视镜全视野动态显示方法，其中，响应于转向需求信号，获取车内后视镜显示视图的目标视角的步骤前包括：
    将所述全景图像不同视角的显示区域与对应的视角关联存储；
    调整车内后视镜显示视图的视角按所述视图平移方向平移至所述目标视角的步骤中：提取与所述目标视角对应的全景图像的目标显示区域，控制所述车内后视镜显示所述全景图像的目标显示区域。
  7. 根据权利要求6所述的车内后视镜全视野动态显示方法，其中，通过如下方式获取车身周围环境的全景图像：
    根据车身左侧图像、车身右侧图像和车身后方图像融合得到所述全景图像，或，根据360°摄像仪拍摄的图像得到所述全景图像；
    其中，所述车身左侧图像根据设置于车辆左侧后视镜上的摄像头拍摄的图像得到，所述车身右侧图像根据设置于车辆右侧后视镜上的摄像头拍摄的图像得到，所述车身后侧图像根据设置于车辆后侧的摄像头拍摄的图像得到。
  8. 一种存储介质，其中，所述存储介质中存储有程序指令，计算机读取所述程序指令后执行权利要求1-7任一项所述的车内后视镜全视野动态显示方法。
  9. 一种电子设备，其中，包括至少一个处理器和至少一个存储器，至少一个所述存储器中存储有程序指令，至少一个所述处理器读取所述程序指令后执行权利要求1-7任一项所述的车内后视镜全视野动态显示方法。
  10. 根据权利要求9所述的电子设备，其中，还包括视图平移按键：
    所述视图平移按键设置于方向盘或中控仪表板上，所述视图平移按键被触发时向所述处理器发送操作信号。
PCT/CN2021/113731 2020-09-08 2021-08-20 车内后视镜全视野动态显示方法、存储介质及电子设备 WO2022052789A1 (zh)

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