A method, device, equipment and storage medium for displaying vehicle-mounted surround view images

Abstract

The present application discloses a method, device, equipment and storage medium for displaying an on-vehicle surround view image, the method comprising: acquiring panoramic surround view image data around a vehicle; determining an in-screen surround view image displayed on a preset on-vehicle display screen based on a preset on-vehicle display screen and the panoramic surround view image data; extracting target surround view image data from the panoramic surround view image data based on the in-screen surround view image; identifying obstacle information in the target surround view image data; if a target obstacle exists in the target surround view image data, determining initial position information of the target obstacle; converting the initial position information based on a preset conversion function to obtain target position information of the target obstacle in the preset on-vehicle display screen; and displaying an image window corresponding to the target obstacle on the preset on-vehicle display screen based on a position corresponding to the target position information; the present application can reduce the time for handling dangerous reactions and improve driving safety.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle-mounted panoramic surround view images, and in particular to a display method, device, equipment and storage medium for vehicle-mounted surround view images. Background Art

[0002] The panoramic surround view system includes 4 to 8 wide-angle cameras installed around the car, which can cover the entire field of view around the vehicle. The panoramic surround view system can process multiple video images collected at the same time into a 360-degree overhead view of the vehicle's surroundings, and finally display it on the screen of the center console, allowing the driver to clearly check whether there are obstacles around the vehicle and understand the relative position and distance of the obstacles, helping the driver to park the vehicle easily.

[0003] The existing surround view system is generally displayed on the central control screen, and some are displayed on the instrument screen. However, the size of the existing display screen is limited. Compared with the length and width of the entire car, the screen size is relatively small. In addition, the surround view image must be close to the actual object size when displayed and cannot be scaled too much. If the image is scaled to display a larger content area, it may mislead the driver because the object is too small. For the above reasons, the surround view system generally crops the image spliced ​​by the camera and displays the cropped image on the central control screen; as a result, the surround view system does not display more images outside the screen range; however, if there are safety hazards such as obstacles in the image that is not displayed on the screen, the driver cannot find it in time, affecting driving safety. Summary of the invention

[0004] In order to solve the above technical problems, the present application discloses a method for displaying a vehicle-mounted surround view image, which identifies obstacle information in image data outside a preset vehicle-mounted display screen in a panoramic surround view image, and displays the identified target obstacle in the form of a window on the preset vehicle-mounted display screen, so that the driver can find the obstacle in time, reduce the dangerous reaction processing time, and improve driving safety.

[0005] In order to achieve the above-mentioned object of the invention, the present application provides a method for displaying a vehicle-mounted surround view image, the method comprising:

[0006] Acquire panoramic surround image data around the vehicle;

[0007] Based on a preset vehicle-mounted display screen and the panoramic surround view image data, determining an in-screen surround view image displayed on the preset vehicle-mounted display screen, wherein the in-screen surround view image is an image corresponding to part of the image data in the panoramic surround view image data;

[0008] Extracting target surround view image data from the panoramic surround view image data according to the intra-screen surround view image, wherein the target surround view image data is image data from the panoramic surround view image data excluding image data corresponding to the intra-screen surround view image;

[0009] Identifying obstacle information in the target surround image data;

[0010] If there is a target obstacle in the target surround image data, determining initial position information of the target obstacle;

[0011] The initial position information is converted based on a preset conversion function to obtain the target position information of the target obstacle in a preset vehicle-mounted display screen;

[0012] Based on the position corresponding to the target position information, an image window corresponding to the target obstacle is displayed on the preset vehicle-mounted display screen.

[0013] In some implementations, acquiring panoramic surround view image data around the vehicle includes:

[0014] Acquire at least four wide-angle image data around the vehicle;

[0015] Performing format conversion processing on each wide-angle image data to obtain target wide-angle bird's-eye view image data corresponding to each wide-angle image data;

[0016] The wide-angle bird's-eye view image data of each target are stitched together to obtain the panoramic surround image data around the vehicle.

[0017] In some implementations, extracting target surround view image data from the panoramic surround view image data according to the intra-screen surround view image includes:

[0018] Determining image edge line information corresponding to the intra-screen surround image according to the intra-screen surround image;

[0019] Based on the image edge line information, the surround view image corresponding to the panoramic surround view image data is divided and clipped to obtain target surround view image data other than the image data corresponding to the intra-screen surround view image in the panoramic surround view image data.

[0020] In some implementations, before acquiring the initial position information of the target obstacle if there is a target obstacle in the target surround image data, the method further includes:

[0021] Determining whether there is an obstacle in the obstacle information that affects the driving safety of the vehicle;

[0022] If so, it is determined that there is a target obstacle in the target surround image data.

[0023] In some implementations, converting the initial position information based on a preset conversion function to obtain the target position information of the target obstacle on a preset vehicle display screen includes:

[0024] Acquire initial coordinates corresponding to the initial position information, where the initial coordinates are actual coordinates of the center of the target obstacle relative to the center point of the vehicle;

[0025] The initial coordinates are converted based on a preset conversion function to obtain target coordinates, where the target coordinates are virtual display coordinates of the center of the target obstacle relative to the center point of the vehicle;

[0026] According to the position information corresponding to the target coordinates, the target position information of the target obstacle in the preset vehicle display screen is determined.

[0027] In some implementations, converting the initial coordinates based on a preset conversion function to obtain the target coordinates includes:

[0028] The line between the initial coordinates and the center point of the vehicle is used as a conversion reference line, and the coordinate point values ​​of the x-axis and y-axis corresponding to the initial coordinates are converted based on a preset conversion coefficient to obtain the target coordinates, which are located on the conversion reference line.

[0029] In some implementations, after displaying the target obstacle image window on the preset vehicle-mounted display screen at the position corresponding to the target position information, the method further includes:

[0030] Acquire in real time the updated position of the center point of the vehicle and the initial updated position information of the target obstacle relative to the center point of the vehicle;

[0031] Converting the initial update position information based on a preset conversion function to obtain the update position information in the preset vehicle display screen;

[0032] Based on the position corresponding to the updated position information, the display position of the image window corresponding to the target obstacle on the preset vehicle display screen is updated.

[0033] The present application also provides a display device for a vehicle-mounted surround view image, the device comprising:

[0034] A data acquisition module, used to acquire panoramic surround image data around the vehicle;

[0035] An image determination module, configured to determine an in-screen surround view image displayed on the preset in-vehicle display screen based on the preset in-vehicle display screen and the panoramic surround view image data, wherein the in-screen surround view image is an image corresponding to part of the image data in the panoramic surround view image data;

[0036] a data extraction module, configured to extract target surround view image data from the panoramic surround view image data according to the intra-screen surround view image, wherein the target surround view image data is image data from the panoramic surround view image data excluding image data corresponding to the intra-screen surround view image;

[0037] An information recognition module, used to recognize obstacle information in the target surround image data;

[0038] A position determination module, configured to determine the initial position information of the target obstacle if there is a target obstacle in the target surround image data;

[0039] A processing module, used for converting the initial position information based on a preset conversion function to obtain the target position information in the preset vehicle-mounted display screen;

[0040] A display module is used to display the target obstacle image window on the preset vehicle-mounted display screen based on the position corresponding to the target position information.

[0041] The present application also provides a display device for an in-vehicle surround view image, the device comprising a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the display method for the in-vehicle surround view image as described above.

[0042] The present application also provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded by a processor and executes the method for displaying a vehicle-mounted surround view image as described above.

[0043] Implementing the embodiments of the present application has the following beneficial effects:

[0044] The display method of the vehicle-mounted surround view image disclosed in the present application recognizes obstacle information in image data outside the preset vehicle-mounted display screen in the panoramic surround view image, and displays the recognized target obstacle information in the form of a window on the preset vehicle-mounted display screen, so that the driver can find the obstacle in time, reduce the danger reaction processing time, and improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the display method, device, equipment and storage medium of the vehicle-mounted surround view image described in the present application, the drawings required for the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A schematic diagram of a flow chart of a method for displaying a vehicle-mounted surround view image provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of a flow chart of a position conversion method provided in an embodiment of the present application;

[0048] Figure 3 A flowchart of a method for updating an image window provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of the structure of a vehicle-mounted surround view image display device provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] The display method of the vehicle-mounted surround view image of the present application can be applied to the image display of a moving vehicle during the blind spot monitoring process. Specifically, it can be applied to the display of images that exceed the preset vehicle-mounted display screen in the panoramic surround view image detected by the panoramic surround view system, so as to increase the opportunity for the driver to identify blind spot obstacles and further improve driving safety.

[0054] Please refer to Figure 1 , which shows a flow chart of a method for displaying a vehicle-mounted surround view image provided by an embodiment of the present application. This specification provides method operation steps as described in the embodiment or flow chart, but based on conventional; or non-creative labor, more or fewer operation steps may be included. The order of steps listed in the embodiment is only one way of executing the steps among many, and does not represent the only execution order. The method for displaying a vehicle-mounted surround view image can be executed in the order of the methods shown in the embodiment or the accompanying drawings. Specifically, Figure 1 As shown, the method includes:

[0055] S110, obtaining panoramic surround image data around the vehicle.

[0056] It should be noted that, in the embodiment of the present application, the panoramic surround view image data may be a surround view image obtained by stitching images acquired by using at least four vehicle-mounted wide-angle image acquisition devices; specifically, the following steps may be adopted.

[0057] Acquire at least four wide-angle image data around the vehicle;

[0058] Specifically, image data collected by at least four vehicle-mounted wide-angle cameras arranged at the four outer corners of the vehicle may be obtained. Correspondingly, the image data collected by the vehicle-mounted wide-angle cameras may be side view data of objects around the vehicle.

[0059] Each wide-angle image data is converted to obtain target wide-angle bird's-eye view image data corresponding to each wide-angle image data.

[0060] In the embodiment of the present application, each wide-angle image data is converted into target wide-angle bird's-eye view data of a bird's-eye view perspective; correspondingly, there is an intersection area between the images corresponding to two adjacent target wide-angle bird's-eye view data.

[0061] The wide-angle bird's-eye view image data of each target are stitched together to obtain the panoramic surround image data around the vehicle.

[0062] In an embodiment of the present application, the images corresponding to the wide-angle bird's-eye view data of two adjacent targets are stitched together in sequence; specifically, one of the images in the intersection area of ​​the images corresponding to the wide-angle bird's-eye view data of two adjacent targets can be deleted so that the images corresponding to the wide-angle bird's-eye view data of two adjacent targets form a continuous image, thereby obtaining the panoramic image data after the wide-angle bird's-eye view data of two adjacent targets are stitched together.

[0063] By sequentially stitching together at least four target wide-angle bird's-eye view data, panoramic surround image data around the vehicle can be obtained.

[0064] Specifically, after the panoramic surround view image data around the vehicle is acquired, the panoramic surround view image data can be displayed on a preset vehicle display screen.

[0065] S120: Determine an in-screen surround view image displayed on the preset in-vehicle display screen based on the preset in-vehicle display screen and the panoramic surround view image data, wherein the in-screen surround view image is an image corresponding to part of the image data in the panoramic surround view image data.

[0066] In an embodiment of the present application, the preset vehicle-mounted display screen may be a central control screen or an instrument display screen of the vehicle; correspondingly, the panoramic surround image data may be displayed on the preset vehicle-mounted display screen.

[0067] In an embodiment of the present application, due to the limitation of the display area of ​​the preset vehicle-mounted display screen, the preset vehicle-mounted display screen cannot display all the data in the panoramic surround image data; that is, the preset vehicle-mounted display screen displays part of the data in the panoramic surround image data.

[0068] Specifically, part of the image data in the panoramic view image data displayed in the preset vehicle display screen can be determined according to the display area of ​​the preset vehicle display screen and the area around the vehicle covered by the panoramic view image data, which is referred to as the in-screen surround view image.

[0069] Specifically, the intra-screen surround view image may be an image symmetrically distributed near the center of the vehicle in a process of extending outward from the vehicle in the panoramic surround view image corresponding to the panoramic surround view image data.

[0070] S130, extracting target surround view image data from the panoramic surround view image data according to the intra-screen surround view image, wherein the target surround view image data is image data from the panoramic surround view image data excluding image data corresponding to the intra-screen surround view image.

[0071] In the embodiment of the present application, extracting the target surround view image data from the panoramic surround view image data according to the intra-screen surround view image may include the following extraction method.

[0072] Determining image edge line information corresponding to the intra-screen surround image according to the intra-screen surround image;

[0073] In the embodiment of the present application, the circumferential edge line information of the intra-screen surround image is identified based on the display area of ​​the intra-screen surround image.

[0074] Based on the image edge line information, the surround view image corresponding to the panoramic surround view image data is divided and clipped to obtain target surround view image data other than the image data corresponding to the intra-screen surround view image in the panoramic surround view image data.

[0075] In the embodiment of the present application, the surround view image corresponding to the panoramic surround view image data may include an intra-screen surround view image and a target surround view image.

[0076] Specifically, based on the image edge line information identified above, the panoramic surround view image corresponding to the panoramic surround view image data is divided into regions to obtain an intra-screen surround view image region and a target surround view image region; correspondingly, cropping is performed along the image edge line to extract image data corresponding to the target surround view image region, that is, the target surround view image data is obtained.

[0077] S140, identifying obstacle information in the target surround image data;

[0078] In the embodiment of the present application, the obstacle information may be information about obstacles that affect the driving safety of the vehicle; specifically, the obstacle information may include information such as the location of the obstacle, the type of obstacle, the speed of the obstacle, etc.

[0079] Identify obstacles that may affect vehicle driving safety in target surround view image data.

[0080] S150: If there is a target obstacle in the target surround image data, determine the initial position information of the target obstacle.

[0081] In the embodiment of the present application, the target obstacle may be an obstacle in the target surround view image data that affects the driving safety of the vehicle.

[0082] Specifically, the initial position information may be the position information of the target obstacle in the target surround image corresponding to the target surround image data relative to the center point of the vehicle; correspondingly, the initial position information may include the position information of any point in the target obstacle relative to the center point of the vehicle.

[0083] In an embodiment of the present application, if there is a target obstacle in the target surround image data, before determining the initial position information of the target obstacle, a step of judging whether there is target obstacle information is included.

[0084] Specifically, determining whether there is an obstacle in the obstacle information that affects the driving safety of the vehicle;

[0085] If so, it is determined that there is a target obstacle in the target surround image data; correspondingly, the target obstacle includes at least one.

[0086] S160: converting the initial position information based on a preset conversion function to obtain target position information of the target obstacle on a preset vehicle display screen.

[0087] In an embodiment of the present application, the target position information may be the position information of the target obstacle relative to the center point of the vehicle, and the target position information is located in a preset vehicle display screen; correspondingly, the target position information may include the position information of any point of the target obstacle relative to the center point of the vehicle when displayed in the preset vehicle display screen.

[0088] The initial position information of the target obstacle in the target surround image is converted into target position information in a preset vehicle-mounted display screen.

[0089] In the embodiments of the present application, Figure 2 , which is a flow chart of a position conversion method provided in an embodiment of the present application; the specific steps are as follows.

[0090] S210, obtaining initial coordinates corresponding to the initial position information, where the initial coordinates are actual coordinates of the center of the target obstacle relative to the center point of the vehicle;

[0091] In the embodiment of the present application, a coordinate system is established with the coordinates of the center point of the vehicle as the coordinate origin; the initial coordinates may be the coordinates in the coordinate system with the center point of the vehicle as the coordinate origin.

[0092] Specifically, the initial coordinates may be the coordinates of the center point of the target obstacle.

[0093] S220, converting the initial coordinates based on a preset conversion function to obtain target coordinates, where the target coordinates are virtual display coordinates of the center of the target obstacle relative to the center point of the vehicle;

[0094] In the embodiment of the present application, the preset conversion function may be a coordinate conversion function. Specifically, the coordinates may be converted based on a preset conversion coefficient within the same coordinate system.

[0095] Specifically, the line between the initial coordinates and the center point position of the vehicle can be used as a conversion reference line, and the coordinate point values ​​of the x-axis and y-axis corresponding to the initial coordinates can be converted based on a preset conversion coefficient to obtain the target coordinates, and the target coordinates are located on the conversion reference line.

[0096] Exemplarily, the coordinate point values ​​of the initial coordinates on the x-axis and y-axis may be (x1, y1), and after being converted by a preset conversion function, the target coordinates may be (x2, y2); specifically, the following conversion model may be used for conversion.

[0097] (x2, y2) = f(x1, y1).

[0098] S230: Determine the target position information in a preset vehicle display screen according to the position information corresponding to the target coordinates.

[0099] In the embodiment of the present application, after determining the position corresponding to the target coordinates, the target coordinates are used as the midpoint position of the target obstacle display image, and the conversion coefficient between the initial coordinates and the target coordinates is used as the standard conversion coefficient. The coordinates of several points on the circumferential edge line of the target obstacle corresponding to the initial position information are converted using the standard conversion coefficient, and the target conversion coordinates of each point on the circumferential edge line of the target obstacle can be obtained. The target position information of the target obstacle in the preset vehicle display screen can be obtained by connecting the target conversion coordinates. The target position information of the target obstacle obtained in this way has a corresponding relationship with the initial position information of the target obstacle.

[0100] S170, based on the position corresponding to the target position information, displaying an image window corresponding to the target obstacle on a preset vehicle display screen.

[0101] In an embodiment of the present application, an image of a target obstacle is displayed in the form of a floating window at a position corresponding to the target position information on a preset vehicle display screen.

[0102] In some embodiments of the present application, the image window corresponding to the target obstacle may be on the overlay screen surround image, and correspondingly, the transparency of the image window may be adjusted as required.

[0103] Specifically, if there are obstacles in the area covered by the image window, the image window can be displayed in a semi-transparent form; if there are no obstacles in the area covered by the image window, the image window can cover the image at the position of the image window on the intra-screen surround image.

[0104] In the embodiment of the present application, based on the correspondence between the target position information and the initial position information of the target obstacle, the position of the image window of the target obstacle displayed on the preset vehicle-mounted display screen is associated with the actual position of the target obstacle relative to the vehicle; correspondingly, as the position of the target obstacle relative to the vehicle changes during the driving process of the vehicle, the position of the image window of the target obstacle on the preset vehicle-mounted display screen also changes synchronously.

[0105] In an embodiment of the present application, after displaying the image window corresponding to the target obstacle on the preset vehicle-mounted display screen at the position corresponding to the target position information, a step of updating the image window position is also included.

[0106] Specifically, Figure 3 , which is a flow chart of an image window updating method provided in an embodiment of the present application; specifically, as follows.

[0107] S310, acquiring in real time the updated position of the center point of the vehicle and the initial updated position information of the target obstacle relative to the updated position of the center point of the vehicle.

[0108] In an embodiment of the present application, after the image window corresponding to the target obstacle is displayed on a preset vehicle display screen, the driving information of the vehicle is monitored in real time, and the updated position of the vehicle center point is obtained based on the driving information of the vehicle.

[0109] Specifically, according to the updated position of the center point of the vehicle, the initial updated position information of the target obstacle relative to the updated position of the center point of the vehicle is calculated.

[0110] S320, converting the initial update position information based on a preset conversion function to obtain update position information in a preset vehicle display screen;

[0111] In an embodiment of the present application, the target updated position information may be updated position information of the target obstacle relative to the center point of the vehicle, and the target updated position information is located in a preset vehicle display screen.

[0112] The initial updated position information of the target obstacle in the target surround image is converted into target updated position information in a preset vehicle display screen; correspondingly, the specific conversion method is the same as the conversion method of converting the initial position information into the target position information.

[0113] S330: Based on the position corresponding to the updated position information, update the display position of the image window corresponding to the target obstacle on the preset vehicle display screen.

[0114] In an embodiment of the present application, the display position of the image window of the target obstacle on the preset vehicle display screen is updated to the position corresponding to the updated position information.

[0115] Specifically, the target obstacle is displayed as an image in the form of a floating window at a position corresponding to the target update position information on the preset vehicle-mounted display screen.

[0116] It can be seen from the embodiments of the method, device, equipment and storage medium for displaying vehicle-mounted surround view images provided by the present application that the embodiments of the present application obtain panoramic surround view image data around the vehicle; based on a preset vehicle-mounted display screen and the panoramic surround view image data, determine the in-screen surround view image displayed on the preset vehicle-mounted display screen, wherein the in-screen surround view image is an image corresponding to part of the image data in the panoramic surround view image data; based on the in-screen surround view image, extract target surround view image data in the panoramic surround view image data, wherein the target surround view image data is image data in the panoramic surround view image data excluding image data corresponding to the in-screen surround view image; identify obstacle information in the target surround view image data; if If there is a target obstacle in the target surround view image data, the initial position information of the target obstacle is determined; the initial position information is converted based on a preset conversion function to obtain the target position information of the target obstacle in a preset vehicle display screen; based on the position corresponding to the target position information, an image window corresponding to the target obstacle is displayed on the preset vehicle display screen; using the technical solution provided in the embodiments of this specification, by identifying obstacle information in image data outside the preset vehicle display screen in the panoramic surround view image, and displaying the identified target obstacle in the form of a window on the preset vehicle display screen, the driver can find the obstacle in time, reduce the dangerous reaction processing time, and improve driving safety.

[0117] The present application also provides a vehicle-mounted surround view image display device, such as Figure 4 As shown, it is a structural schematic diagram of a display device for a vehicle-mounted surround view image provided by an embodiment of the present application; specifically, the device includes:

[0118] The data acquisition module 410 is used to acquire panoramic view image data around the vehicle;

[0119] An image determination module 420 is used to determine an in-screen surround view image displayed on the preset in-vehicle display screen based on the preset in-vehicle display screen and the panoramic surround view image data, wherein the in-screen surround view image is an image corresponding to part of the image data in the panoramic surround view image data;

[0120] A data extraction module 430 is used to extract target surround view image data from the panoramic surround view image data according to the intra-screen surround view image, wherein the target surround view image data is image data from the panoramic surround view image data except for image data corresponding to the intra-screen surround view image;

[0121] An information identification module 440 is used to identify obstacle information in the target surround image data;

[0122] A position determination module 450 is used to determine the initial position information of the target obstacle if there is a target obstacle in the target surround image data;

[0123] The processing module 460 is used to convert the initial position information based on a preset conversion function to obtain the target position information of the target obstacle in a preset vehicle display screen;

[0124] The display module 470 is used to display an image window corresponding to the target obstacle on the preset vehicle display screen based on the position corresponding to the target position information.

[0125] In the embodiment of the present application, the data acquisition module 410 includes:

[0126] A first acquisition unit, used to acquire at least four wide-angle image data around the vehicle;

[0127] A first processing unit is used to convert each wide-angle image data to obtain target wide-angle bird's-eye view image data corresponding to each wide-angle image data;

[0128] The second processing unit is used to splice the wide-angle bird's-eye view image data of each target to obtain the panoramic surround image data around the vehicle.

[0129] In the embodiment of the present application, the data extraction module 430 includes:

[0130] A first determining unit, configured to determine image edge line information corresponding to the intra-screen surround view image according to the intra-screen surround view image;

[0131] The third processing unit is used to divide and crop the surround view image corresponding to the panoramic surround view image data based on the image edge line information to obtain target surround view image data other than the image data corresponding to the intra-screen surround view image in the panoramic surround view image data.

[0132] In the embodiment of the present application, it also includes:

[0133] A judging module, used to judge whether there is an obstacle affecting the driving safety of the vehicle in the obstacle information;

[0134] The determination module is used to determine whether a target obstacle exists in the target surround view image data if there is an obstacle that affects the driving safety of the vehicle in the obstacle information.

[0135] In the embodiment of the present application, the processing module 460 includes:

[0136] A second acquisition unit is used to acquire initial coordinates corresponding to the initial position information, where the initial coordinates are actual coordinates of the center of the target obstacle relative to the center point of the vehicle;

[0137] A conversion processing unit, configured to convert the initial coordinates based on a preset conversion function to obtain target coordinates, wherein the target coordinates are virtual display coordinates of the center of the target obstacle relative to the center point of the vehicle;

[0138] The second determining unit is used to determine the target position information of the target obstacle on a preset vehicle-mounted display screen according to the position information corresponding to the target coordinates.

[0139] In the embodiment of the present application, the conversion processing unit includes:

[0140] The conversion processing subunit is used to use the line between the initial coordinates and the vehicle center point position as a conversion reference line, and based on a preset conversion coefficient, convert the coordinate point values ​​of the x-axis and y-axis corresponding to the initial coordinates to obtain the target coordinates, and the target coordinates are located on the conversion reference line.

[0141] In the embodiment of the present application, it also includes:

[0142] A position information acquisition module, used to acquire in real time the updated position of the vehicle center point and the initial updated position information of the target obstacle relative to the updated position of the vehicle center point;

[0143] An update processing module, used for converting the initial update position information based on a preset conversion function to obtain the update position information in the preset vehicle display screen;

[0144] A display update module is used to update the display position of the image window corresponding to the target obstacle on the preset vehicle display screen based on the position corresponding to the updated position information.

[0145] It should be noted that the device in the device embodiment and the method embodiment are based on the same inventive concept.

[0146] An embodiment of the present application provides a display device for an in-vehicle surround view image, the device including a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the display method for an in-vehicle surround view image as described in the above method embodiment.

[0147] Further, Figure 5 The hardware structure diagram of an electronic device for implementing the display method of the vehicle-mounted surround view image provided by the embodiment of the present application is shown. The electronic device may participate in constituting or include the display device of the vehicle-mounted surround view image provided by the embodiment of the present application. Figure 5As shown, the electronic device 50 may include one or more (502a, 502b, ..., 502n are used to illustrate) processors 502 (the processor 502 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 504 for storing data, and a transmission device 506 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 5 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown.

[0148] It should be noted that the one or more processors 502 and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the electronic device 50 (or mobile device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0149] The memory 504 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the display method of the vehicle-mounted surround view image described in the embodiment of the present application. The processor 502 executes various functional applications and data processing by running the software programs and modules stored in the memory 504, that is, realizing the above-mentioned display method of the vehicle-mounted surround view image. The memory 504 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 504 may further include a memory remotely arranged relative to the processor 502, and these remote memories may be connected to the electronic device 50 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0150] The transmission device 506 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the electronic device 50. In one example, the transmission device 506 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one embodiment, the transmission device 506 can be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.

[0151] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the electronic device 50 (or mobile device).

[0152] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to a method for displaying a vehicle-mounted surround view image in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method for displaying a vehicle-mounted surround view image provided in the above method embodiment.

[0153] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0154] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0155] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0156] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and electronic device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0157] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0158] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for displaying a vehicle-mounted surround view image, characterized in that: The method includes: Acquire panoramic surround image data around the vehicle; Based on a preset vehicle-mounted display screen and the panoramic surround view image data, determining an in-screen surround view image displayed on the preset vehicle-mounted display screen, wherein the in-screen surround view image is an image corresponding to a portion of image data in the panoramic surround view image data; Extracting target surround view image data from the panoramic surround view image data according to the intra-screen surround view image, wherein the target surround view image data is image data from the panoramic surround view image data excluding image data corresponding to the intra-screen surround view image; Identifying obstacle information in the target surround image data; If there is a target obstacle in the target surround image data, determining initial position information of the target obstacle; The initial position information is converted based on a preset conversion function to obtain the target position information of the target obstacle in a preset vehicle-mounted display screen; Based on the position corresponding to the target position information, an image window corresponding to the target obstacle is displayed on the preset vehicle-mounted display screen.

2. The method for displaying a vehicle-mounted surround view image according to claim 1, characterized in that: The step of acquiring panoramic surround view image data around the vehicle includes: Acquire at least four wide-angle image data around the vehicle; Converting each wide-angle image data to obtain target wide-angle bird's-eye view image data corresponding to each wide-angle image data; The wide-angle bird's-eye view image data of each target are stitched together to obtain the panoramic surround image data around the vehicle.

3. The method for displaying a vehicle-mounted surround view image according to claim 1, characterized in that: The step of extracting target surround view image data from the panoramic surround view image data according to the intra-screen surround view image comprises: Determining image edge line information corresponding to the intra-screen surround image according to the intra-screen surround image; Based on the image edge line information, the surround view image corresponding to the panoramic surround view image data is divided and clipped to obtain target surround view image data other than the image data corresponding to the intra-screen surround view image in the panoramic surround view image data.

4. The method for displaying a vehicle-mounted surround view image according to claim 1, characterized in that: Before obtaining the initial position information of the target obstacle if there is a target obstacle in the target surround image data, the method further includes: Determining whether there is an obstacle in the obstacle information that affects the driving safety of the vehicle; If so, it is determined that there is a target obstacle in the target surround image data.

5. The method for displaying a vehicle-mounted surround view image according to claim 1, characterized in that: The converting the initial position information based on a preset conversion function to obtain the target position information of the target obstacle on a preset vehicle display screen includes: Acquire initial coordinates corresponding to the initial position information, where the initial coordinates are actual coordinates of the center of the target obstacle relative to the center point of the vehicle; The initial coordinates are converted based on a preset conversion function to obtain target coordinates, where the target coordinates are virtual display coordinates of the center of the target obstacle relative to the center point of the vehicle; According to the position information corresponding to the target coordinates, the target position information of the target obstacle in the preset vehicle display screen is determined.

6. The method for displaying a vehicle-mounted surround view image according to claim 5, characterized in that: The converting the initial coordinates based on a preset conversion function to obtain target coordinates includes: The line between the initial coordinates and the center point of the vehicle is used as a conversion reference line, and the coordinate point values ​​of the x-axis and y-axis corresponding to the initial coordinates are converted based on a preset conversion coefficient to obtain the target coordinates, which are located on the conversion reference line.

7. The method for displaying a vehicle-mounted surround view image according to claim 1, characterized in that: After displaying the target obstacle image window on the preset vehicle-mounted display screen at the position corresponding to the target position information, the method further includes: Acquire in real time the updated position of the center point of the vehicle and the initial updated position information of the target obstacle relative to the updated position of the center point of the vehicle; Converting the initial update position information based on a preset conversion function to obtain the update position information in the preset vehicle display screen; Based on the position corresponding to the updated position information, the display position of the image window corresponding to the target obstacle on the preset vehicle display screen is updated.

8. A vehicle-mounted surround view image display device, characterized in that: The device comprises: A data acquisition module, used to acquire panoramic surround image data around the vehicle; An image determination module, configured to determine an in-screen surround view image displayed on the preset in-vehicle display screen based on the preset in-vehicle display screen and the panoramic surround view image data, wherein the in-screen surround view image is an image corresponding to part of the image data in the panoramic surround view image data; a data extraction module, configured to extract target surround view image data from the panoramic surround view image data according to the intra-screen surround view image, wherein the target surround view image data is image data from the panoramic surround view image data excluding image data corresponding to the intra-screen surround view image; An information recognition module, used to recognize obstacle information in the target surround image data; A position determination module, configured to determine the initial position information of the target obstacle if there is a target obstacle in the target surround image data; A processing module, used for converting the initial position information based on a preset conversion function to obtain the target position information of the target obstacle in a preset vehicle-mounted display screen; A display module is used to display the target obstacle image window on the preset vehicle-mounted display screen based on the position corresponding to the target position information.

9. A vehicle-mounted surround view image display device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the method for displaying a vehicle-mounted surround view image as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method for displaying a vehicle-mounted surround view image as described in any one of claims 1 to 7.

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