An image display verification method, device, vehicle and storage medium

Abstract

Embodiments of the present application provide an image display verification method, device, vehicle and storage medium, the method comprising: collecting a remote driving image containing a marker; the marker is located on a historical driving path; the historical driving path is a path on which the front wheels of the vehicle travel according to a preset turning angle; calculating a true value path based on the preset turning angle; calculating difference information between the marker and the true value path; when the difference information meets a preset verification condition, determining that the remote driving image is in an accurate display state. Embodiments of the present application place a marker on the actual driving path of the vehicle, collect a remote driving image containing the marker, calculate the difference information between the true value path on the image and the marker, and verify the display state of the remote driving image.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to an image display verification method, an image display verification device, a vehicle, and a storage medium. Background Technology

[0002] Remote driving can assist vehicles in overcoming difficulties in vulnerable scenarios when using autonomous driving functions, achieving fully driverless operation. During remote driving, information needs to be transmitted to the cloud before a cloud-based safety operator can react and take control of the vehicle. While driving, the cloud-based safety operator primarily relies on images of the vehicle's surrounding environment displayed on the cloud for judgment. Therefore, the accuracy of image display is crucial to the safety of remote driving, and verifying the accuracy of image display is a key means to improve the safety of remote driving. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide an image display verification method, an image display verification device, a vehicle, and a storage medium that overcome or at least partially solve the above problems.

[0004] This invention discloses an image display verification method, comprising:

[0005] Acquire remote driving images containing markers; the markers are located on a historical driving path; the historical driving path is the path along which the front wheels of the vehicle travel at a preset turning angle;

[0006] Calculate the true path based on the preset turning angle;

[0007] Calculate the difference information between the marker and the truth path;

[0008] When the difference information meets the preset verification conditions, it is determined that the remote driving image is in an accurate display state.

[0009] Optionally, the historical driving route is determined in the following way:

[0010] Control the vehicle's front wheels to rotate to the preset angle;

[0011] Drive the front wheels of the vehicle to travel at a preset speed at a constant speed;

[0012] It records the driving position points in real time during constant speed driving and generates historical driving paths.

[0013] Optionally, the driving location points correspond to timestamps, and the step of recording the driving location points during the constant-speed driving process in real time and generating historical driving paths includes:

[0014] Read the timestamps to determine the time sequence;

[0015] By connecting the driving location points according to the time sequence, a historical driving path is generated.

[0016] Optionally, the step of calculating the difference information between the marker and the truth path includes:

[0017] On the remote driving image, determine the first display pixel corresponding to the marker and the second display pixel corresponding to the truth path;

[0018] The difference information is determined based on the first display pixel and the second display pixel.

[0019] Optionally, the step of determining the difference information based on the first display pixel and the second display pixel includes:

[0020] Determine the first pixel coordinates of the first display pixel and the second pixel coordinates of the second display pixel;

[0021] The distance between the first pixel coordinates and the second pixel coordinates is calculated and determined as the difference information.

[0022] Optionally, the preset display condition is no greater than a preset distance threshold, and the step of determining that the remote driving image is in an accurate display state when the difference information meets the preset verification condition includes:

[0023] When the distance is not greater than a preset distance threshold, the remote driving image is determined to be in an accurate display state.

[0024] Optionally, the step of calculating the truth path based on the preset turning angle includes:

[0025] Calculate the turning radius corresponding to the preset turning angle;

[0026] Generate a truth path that matches the turning radius.

[0027] This invention also discloses an image display verification device, comprising:

[0028] The acquisition module is used to acquire remote driving images containing markers; the markers are located on the historical driving path; the historical driving path is the path along which the front wheels of the vehicle travel at a preset turning angle;

[0029] The first calculation module is used to calculate the true path based on the preset turning angle;

[0030] The second calculation module is used to calculate the difference information between the marker and the truth path;

[0031] The verification module is used to determine that the remote driving image is in an accurate display state when the difference information meets the preset verification conditions.

[0032] This invention also discloses a vehicle, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the image display verification method as described above.

[0033] This invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the image display verification method described above.

[0034] The embodiments of the present invention have the following advantages:

[0035] This invention involves acquiring remote driving images containing markers; the markers are located on a historical driving path; the historical driving path is the path along which the vehicle's front wheels travel at a preset turning angle; by placing markers on the path along which the vehicle's front wheels travel at the preset turning angle, the actual driving path of the vehicle is marked in the image, and a true path is calculated based on the preset turning angle; the true path displayed in the image at the preset turning angle is determined; the difference between the markers and the true path is calculated; by comparing the difference between the markers and the true path in the image, the difference between the actual driving path of the vehicle in the image and the true path displayed in the image is determined; when the difference information meets preset verification conditions, the remote driving image is determined to be in an accurate display state. Verifying the correct display of the remote driving image ensures that the image seen by the cloud-based safety operator during remote driving is consistent with the actual environment, effectively improving the safety of remote driving. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the steps of an embodiment of the image display verification method of the present invention;

[0037] Figure 2 This is a flowchart illustrating the steps of another embodiment of the image display verification method of the present invention;

[0038] Figure 3a This is a schematic diagram of a marker and truth path according to the present invention;

[0039] Figure 3b This is a schematic diagram of another marker and truth path of the present invention;

[0040] Figure 4 This is a structural block diagram of an embodiment of an image display verification device according to the present invention. Detailed Implementation

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] During remote driving, multiple cameras on the vehicle typically collect information about the surrounding environment and send it to the cloud. The cloud then displays this information as images, simulating the actual driving environment. The cloud-based safety operator uses these images to assess the surroundings and make appropriate controls to complete the driving task. Therefore, images are the basis for the cloud-based safety operator's perception of the vehicle's environment; accurate image display is crucial to ensuring the correctness of the driver's perception. Thus, verifying the accuracy of image display is essential for guaranteeing the safety of remote driving.

[0043] Reference Figure 1 The diagram illustrates a flowchart of an embodiment of an image display verification method according to the present invention, which may specifically include the following steps:

[0044] Step 101: Acquire a remote driving image containing markers; the markers are located on the historical driving path; the historical driving path is the path along which the front wheels of the vehicle travel at a preset turning angle;

[0045] Turning the steering wheel to a certain angle in a vehicle will cause the front wheels to turn accordingly. Therefore, by turning the steering wheel, the front wheels can be rotated to a preset turning angle, and the path the vehicle travels at this preset turning angle is the historical driving path. It should be noted that the preset turning angle is the angle that the front wheels can reach during driving. Its specific angle value is related to the vehicle's mechanical structure, and those skilled in the art should determine the range of the preset turning angle based on the vehicle's actual mechanical structure. However, this embodiment of the invention does not specifically limit the specific angle value of the preset angle. Furthermore, for the sake of reliability verification, the preset turning angle is not the limit value of the front wheel turning angle.

[0046] When a vehicle travels along a historical driving path at a preset angle for its front wheels, at least one marker can be placed along the historical driving path. Since the front wheels of a vehicle are specifically the left and right front wheels, the historical driving path referred to here is the historical driving path of a single front wheel of the vehicle. At least one marker also refers to the historical driving path formed by a single front wheel having at least one marker.

[0047] Once markers are placed along the historical driving route, remote driving images containing the markers are captured using visual sensors such as cameras on the vehicle.

[0048] Step 102: Calculate the true path based on the preset turning angle;

[0049] The vehicle acquires remote driving images of its historical driving path, where markers are placed along a predetermined turning angle. Simultaneously, it calculates the true path displayed on the remote driving image based on the predetermined turning angle. It should be noted that the true path refers to the path displayed on the remote driving image when the vehicle is traveling forward, calculated based on the predetermined turning angle.

[0050] Step 103: Calculate the difference information between the marker and the truth path;

[0051] The difference between the displayed true path and the actual historical driving path is determined by comparing the markers representing the vehicle's actual historical driving path with the ground truth path displayed in the remote driving image representing the vehicle's forward driving.

[0052] Step 104: When the difference information meets the preset verification conditions, determine that the remote driving image is in an accurate display state.

[0053] When the difference information meets the preset verification conditions, it indicates that the difference between the displayed true path and the actual historical driving path is within a reasonable error range and will not have a substantial impact on the existence of the remote driving vehicle by the cloud safety officer. Therefore, it can be determined that the remote driving image is in an accurate display state.

[0054] This invention involves acquiring remote driving images containing markers; the markers are located on a historical driving path; the historical driving path is the path along which the vehicle's front wheels travel at a preset turning angle; by placing markers on the path along which the vehicle's front wheels travel at the preset turning angle, the actual driving path of the vehicle is marked in the image, and a true path is calculated based on the preset turning angle; the true path displayed in the image at the preset turning angle is determined; the difference between the markers and the true path is calculated; by comparing the difference between the markers and the true path in the image, the difference between the actual driving path of the vehicle in the image and the true path displayed in the image is determined; when the difference information meets preset verification conditions, the remote driving image is determined to be in an accurate display state. Verifying the correct display of the remote driving image ensures that the image seen by the cloud-based safety operator during remote driving is consistent with the actual environment, effectively improving the safety of remote driving.

[0055] Reference Figure 2 The diagram illustrates a flowchart of another embodiment of the image display verification method of the present invention, which may specifically include the following steps:

[0056] Step 201: Acquire a remote driving image containing markers; the markers are located on the historical driving path; the historical driving path is the path along which the front wheels of the vehicle travel at a preset turning angle;

[0057] In this embodiment of the invention, at least one marker is placed in advance on the historical driving path of the vehicle traveling at a preset angle. The marker can be a different colored object from the ground, or it can be an object that is significantly different from the ground in terms of display, such as one containing objects visible to the naked eye.

[0058] In order to make the dispersion of the markers similar, a marker can be placed at a certain distance along the historical driving path, such as placing a marker every meter, that is, placing a marker at one meter, two meters, three meters, four meters and so on along the historical driving path.

[0059] When markers are placed along the historical driving route, the vehicle's visual sensors capture and display remote driving images containing the markers.

[0060] In an optional embodiment of the present invention, the historical driving route is determined in the following manner:

[0061] Control the vehicle's front wheels to rotate to the preset angle;

[0062] In practical applications, historical driving paths can be generated by driving the vehicle in a test area. Specifically, the front wheels of the vehicle are controlled to turn to a preset angle, such as by turning the steering wheel. The linkage mechanism between the steering wheel and the front wheels drives the front wheels to turn, allowing the front wheels to rotate to the preset angle.

[0063] Drive the front wheels of the vehicle to travel at a preset speed at a constant speed;

[0064] After the front wheels of the vehicle turn to a preset angle, the vehicle's front wheels are driven to move forward at a preset speed. It should be noted that the preset speed is the speed at which the front wheels of the vehicle do not slip as much as possible when turning, that is, controlling the vehicle to move forward at a slow and constant speed, such as driving the vehicle at a constant speed of 2.5 meters per second.

[0065] It records the driving position points in real time during constant speed driving and generates historical driving paths.

[0066] During constant speed driving, the vehicle's front wheel position is recorded in real time; multiple position points are combined to generate a historical driving path.

[0067] In an optional embodiment of the present invention, the driving position point corresponds to a timestamp, and the step of recording the driving position points in real time during constant speed driving and generating a historical driving path includes:

[0068] Read the timestamps to determine the time sequence;

[0069] In practical applications, for each real-time recorded driving location, there will be a corresponding timestamp. Specifically, this timestamp can be the time when the driving location was recorded, such as 1 hour 23 minutes 45.05.

[0070] After recording the driving position points during the constant speed driving process, the timestamp corresponding to each driving position point is read, and the time order is determined according to the size relationship of the timestamps. For example, if the timestamp corresponding to one driving position point is 1 hour 23 minutes 45 seconds 05 and the timestamp corresponding to another driving position point is 1 hour 23 minutes 45 seconds 55, then 1 hour 23 minutes 45 seconds 05 is ranked first and 1 hour 23 minutes 45 seconds 55 is ranked second.

[0071] By connecting the driving location points according to the time sequence, a historical driving path is generated.

[0072] After sorting the timestamps of all driving positions during the constant speed driving process, the corresponding driving positions are connected end to end in chronological order to generate the historical driving path.

[0073] Step 202: Calculate the turning radius corresponding to the preset turning angle;

[0074] Once the steering angle of the vehicle's front wheels, i.e., the preset steering angle, is known, the vehicle's turning radius can be calculated based on the preset steering angle and the vehicle's length. Specifically, the turning radius is the quotient of the vehicle's length divided by the sine of the preset steering angle.

[0075] Step 203: Generate the truth path matching the turning radius;

[0076] After obtaining the turning radius, the corresponding circle can be determined based on the turning radius. Then, the point where the front wheel of the vehicle is located is taken as a point on the circumference to match the corresponding true path.

[0077] Step 204: Calculate the difference information between the marker and the truth path;

[0078] After determining the truth path and the markers, calculate the difference information between the markers and the truth path. For example, the minimum distance between the markers and the truth path could be used as the difference information.

[0079] In an optional embodiment of the present invention, the step of calculating the difference information between the marker and the truth path includes:

[0080] Sub-step S2041: Determine the first display pixel corresponding to the marker and the second display pixel corresponding to the truth path on the remote driving image;

[0081] The truth path is simultaneously displayed on the remote driving image containing markers; that is, both the truth path and markers are displayed on the remote driving image at the same time. See also... Figure 3a as well as Figure 3b The remote driving image displays the truth path and markers, with the line trajectory representing the truth path and the dots representing the markers.

[0082] On the same remote driving image, a first display pixel corresponding to the image content displayed by the marker is determined; that is, the first display pixel is the pixel of the marker on the remote driving image. Furthermore, on the same remote driving image, a second display pixel corresponding to the image content displayed by the truth path is determined; that is, the second display pixel is the pixel of the truth path on the remote driving image.

[0083] Sub-step S2042: Determine difference information based on the first display pixel and the second display pixel.

[0084] After determining the first display pixel and the second display pixel, the system has information on the distance difference between the first display pixel and the second display pixel.

[0085] In an optional embodiment of the present invention, the step of determining the difference information based on the first display pixel and the second display pixel includes:

[0086] Sub-step S20421: Determine the first pixel coordinates of the first display pixel and the second pixel coordinates of the second display pixel;

[0087] When displaying the true path and markers on the same remote driving image, a two-dimensional coordinate system can be established using a corner of the remote driving image as the origin. This coordinate system can be a Cartesian coordinate system or a polar coordinate system; this embodiment of the invention does not limit the choice. Preferably, a two-dimensional Cartesian coordinate system is established based on the origin. The embodiments of the invention will be described using a Cartesian coordinate system subsequently.

[0088] In the Cartesian coordinate system, the first pixel coordinates of the first display pixel can be determined. It should be noted that when there are multiple first display pixels, the coordinates of the first display pixel located in the middle of the multiple first display pixels can be determined as the first pixel coordinates.

[0089] Furthermore, the second pixel coordinates of the second display pixel can also be determined. It should be noted that the second pixel coordinates can be the coordinates of the second pixel that is closest to the first display pixel.

[0090] Sub-step S20422: Calculate the distance between the first pixel coordinates and the second pixel coordinates, and determine it as difference information.

[0091] Specifically, the minimum distance between the coordinates of the first pixel and the coordinates of the second pixel can be calculated using the coordinate distance formula, and the minimum distance can be determined as the difference information.

[0092] Step 205: When the difference information meets the preset verification conditions, determine that the remote driving image is in an accurate display state.

[0093] When the discrepancy information meets the preset verification conditions, the display of the remote image meets the usage requirements, confirming that the remote driving image is in an accurate display state.

[0094] In an optional embodiment of the present invention, the preset display condition is no greater than a preset distance threshold, and the step of determining that the remote driving image is in an accurate display state when the difference information meets the preset verification condition includes:

[0095] In sub-step S2051, when the distance is not greater than a preset distance threshold, it is determined that the remote driving image is in an accurate display state.

[0096] Specifically, when the minimum distance between the first pixel coordinates and the second pixel coordinates is not greater than a preset distance threshold, the remote driving image is determined to be in an accurate display state. (See also...) Figure 3a When the minimum distance between the first pixel coordinates and the second pixel coordinates is not greater than a preset distance threshold, that is, the minimum distance between the pixel of the marker and the pixel of the truth path is small, the usage requirements are met, and it is determined that the remote driving image is in an accurate display state. The distance threshold can be set by those skilled in the art according to actual design requirements, and this embodiment of the invention does not impose specific limitations on it.

[0097] Furthermore, when the minimum distance between the first pixel coordinates and the second pixel coordinates exceeds a preset distance threshold, it is determined that the remote driving image is in an erroneous display state. (See also...) Figure 3b When the minimum distance between the first pixel coordinate and the second pixel coordinate is greater than the preset distance threshold, the minimum distance between the pixel of the marker and the pixel of the true path is too large, which cannot meet the usage requirements.

[0098] In this embodiment of the invention, a remote driving image containing markers is acquired. The markers are located on a historical driving path, which is the path along which the vehicle's front wheels travel at a preset turning angle. By placing markers on the path along which the vehicle's front wheels travel at the preset turning angle, the image of the actual driving path of the vehicle is marked, and the turning radius corresponding to the preset turning angle is calculated. A true path matching the turning radius is generated. The true path displayed in the remote driving image that matches the turning radius is determined when the vehicle is at the preset turning angle. The distance between the markers and the true path is calculated. By comparing the minimum distance between the markers and the true path in the image, the difference between the actual driving path of the vehicle in the image and the true path displayed in the image is determined. Only when the minimum distance between the markers and the true path is not greater than a preset distance threshold is the remote driving image determined to be in an accurate display state. Verifying the correct display of the remote driving image with the minimum distance ensures that the image seen by the cloud-based safety operator during remote driving is consistent with the actual environment, which can effectively improve the safety of remote driving.

[0099] To enable those skilled in the art to better understand the embodiments of the present invention, an example is provided below:

[0100] 1) At the test site, turn the steering wheel to a preset fixed angle (preset angle);

[0101] 2) The vehicle travels at a speed of 2.5 m / s (preset speed);

[0102] 3) Place physical markers on the path traveled by the vehicle's front wheels (historical driving path) as ground truth;

[0103] 5) Acquire the location points of physical markers collected by the sensors, generate a remote driving image containing the physical markers, and display the remote driving image on the display component;

[0104] 6) Calculate the true path displayed on the remote driving image based on the turning radius, and display the true path on the display component;

[0105] 7) Determine the first pixel position of the entity marker in the remote driving image, and the second pixel position of the nearest point corresponding to the entity marker in the truth path in the remote driving image;

[0106] 8) Calculate the distance difference between the second pixel position and the first pixel position;

[0107] 9) Determine whether the distance difference is greater than the distance threshold;

[0108] 10) If the value is greater than 10, then the image is definitely displayed incorrectly.

[0109] 11) If it is less than, then the image is displayed correctly.

[0110] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0111] Reference Figure 4 The diagram shows a structural block diagram of an embodiment of the image display verification device of the present invention, which may specifically include the following modules:

[0112] The acquisition module 401 is used to acquire remote driving images containing markers; the markers are located on the historical driving path; the historical driving path is the path along which the front wheels of the vehicle travel at a preset turning angle;

[0113] The first calculation module 402 is used to calculate the true path based on the preset turning angle;

[0114] The second calculation module 403 is used to calculate the difference information between the marker and the truth path;

[0115] The verification module 404 is used to determine that the remote driving image is in an accurate display state when the difference information meets the preset verification conditions.

[0116] In an optional embodiment of the present invention, the historical driving route is determined in the following manner:

[0117] Control the vehicle's front wheels to rotate to the preset angle;

[0118] Drive the front wheels of the vehicle to travel at a preset speed at a constant speed;

[0119] It records the driving position points in real time during constant speed driving and generates historical driving paths.

[0120] In an optional embodiment of the present invention, the driving position point corresponds to a timestamp, and the real-time recording of the driving position points during the constant speed driving process to generate a historical driving path includes:

[0121] Read the timestamps to determine the time sequence;

[0122] By connecting the driving location points according to the time sequence, a historical driving path is generated.

[0123] In an optional embodiment of the present invention, the second computing module 403 includes:

[0124] The display pixel determination submodule is used to determine the first display pixel corresponding to the marker and the second display pixel corresponding to the truth path on the remote driving image.

[0125] The calculation submodule is used to determine the difference information based on the first display pixel and the second display pixel.

[0126] In an optional embodiment of the present invention, the computing submodule includes:

[0127] A coordinate determining unit is used to determine the first pixel coordinates of the first display pixel and the second pixel coordinates of the second display pixel.

[0128] The calculation unit is used to calculate the distance between the first pixel coordinates and the second pixel coordinates and determine it as difference information.

[0129] In an optional embodiment of the present invention, the preset display condition is not greater than a preset distance threshold, and the verification module 404 includes:

[0130] The verification submodule is used to determine that the remote driving image is in an accurate display state when the distance is not greater than a preset distance threshold.

[0131] In an optional embodiment of the present invention, the first computing module 402 includes:

[0132] The turning radius calculation submodule is used to calculate the turning radius corresponding to the preset turning angle;

[0133] A generation submodule is used to generate the truth path for matching the turning radius.

[0134] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0135] This invention also provides a vehicle, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described image display verification method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0136] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described image display verification method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0137] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0138] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0139] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0140] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0141] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0142] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0143] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0144] The above provides a detailed description of the image display verification method, apparatus, vehicle, and storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An image display verification method, characterized in that, include: Acquire remote driving images containing markers; The marker is located on the historical driving path; The historical driving path is the path along which the front wheels of the vehicle travel at a preset turning angle; Calculate the true path based on the preset turning angle; Calculate the difference information between the marker and the truth path; When the difference information meets the preset verification conditions, it is determined that the remote driving image is in an accurate display state; The step of calculating the true path based on the preset turning angle includes: Calculate the turning radius corresponding to the preset turning angle; Generate a truth path that matches the turning radius.

2. The method according to claim 1, characterized in that, The historical driving route was determined in the following way: Control the vehicle's front wheels to turn to the preset steering angle; Drive the front wheels of the vehicle to travel at a preset speed at a constant speed; It records the driving position points in real time during constant speed driving and generates historical driving paths.

3. The method according to claim 2, characterized in that, The driving location points correspond to timestamps, and the step of recording the driving location points in real time during constant speed driving and generating historical driving paths includes: Read the timestamps to determine the time sequence; By connecting the driving location points according to the time sequence, a historical driving path is generated.

4. The method according to claim 1, characterized in that, The step of calculating the difference information between the marker and the truth path includes: On the remote driving image, determine the first display pixel corresponding to the marker and the second display pixel corresponding to the truth path; The difference information is determined based on the first display pixel and the second display pixel.

5. The method according to claim 4, characterized in that, The step of determining the difference information based on the first display pixel and the second display pixel includes: Determine the first pixel coordinates of the first display pixel and the second pixel coordinates of the second display pixel; The distance between the first pixel coordinates and the second pixel coordinates is calculated and determined as the difference information.

6. The method according to claim 5, characterized in that, The preset display condition is no greater than a preset distance threshold. The step of determining that the remote driving image is in an accurate display state when the difference information meets the preset verification condition includes: When the distance is not greater than a preset distance threshold, the remote driving image is determined to be in an accurate display state.

7. An image display verification device, characterized in that, include: The acquisition module is used to acquire remote driving images containing markers; The marker is located on the historical driving path; The historical driving path is the path along which the front wheels of the vehicle travel at a preset turning angle; The first calculation module is used to calculate the true path based on the preset turning angle; The second calculation module is used to calculate the difference information between the marker and the truth path; The verification module is used to determine that the remote driving image is in an accurate display state when the difference information meets the preset verification conditions; The first calculation module includes: The turning radius calculation submodule is used to calculate the turning radius corresponding to the preset turning angle; A generation submodule is used to generate the truth path for matching the turning radius.

8. A vehicle, characterized in that, include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the image display verification method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the image display verification method as described in any one of claims 1 to 6.

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