A panoramic image acquisition method, system, storage medium and vehicle

Abstract

The application provides a panoramic image acquisition method, system, storage medium and vehicle. The method comprises the following steps: when it is detected that there is an obstacle around the vehicle, determining whether the obstacle is in a panoramic image acquisition blind area; if it is determined that the obstacle is in the panoramic image acquisition blind area, controlling the height of the front suspension and / or the rear suspension of the vehicle based on the position of the obstacle, so as to adjust the pose of the vehicle to a target pose, and the height of the suspension of the vehicle close to the obstacle is lower than the height of the suspension of the vehicle away from the obstacle; acquiring and displaying the panoramic image when the vehicle is in the target pose. The application adjusts the pose of the vehicle, so that the image of the panoramic image acquisition blind area can be acquired, thereby realizing the effect that when there is an obstacle in the panoramic image acquisition blind area, the driver does not need to get off the vehicle to check, and the image of the obstacle can be obtained, and the use scene of the panoramic image acquisition function is expanded.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a panoramic image acquisition method, system, storage medium, and vehicle. Background Technology

[0002] Panoramic imaging refers to a 360-degree surround view image of a vehicle obtained by processing images captured by multiple cameras installed around the vehicle body. With the development of vehicle intelligence, more large off-road vehicles are equipped with panoramic imaging capabilities. However, due to the inherent off-road characteristics of these vehicles, their front and rear bumpers are more prominent than those of ordinary vehicles, resulting in larger blind spots for the cameras capturing panoramic images. In existing technology, when obstacles are within the blind spots of an off-road vehicle's panoramic imaging, the driver needs to get out of the vehicle to check, limiting the use of the panoramic imaging function. Summary of the Invention

[0003] Based on this, this application provides a panoramic image acquisition method, system, storage medium, and vehicle.

[0004] A first aspect of the present invention provides a panoramic image acquisition method, comprising:

[0005] When an obstacle is detected around the vehicle, it is determined whether the obstacle is in the blind spot of the panoramic image acquisition.

[0006] If it is determined that the obstacle is in the blind zone of the panoramic image acquisition, the height of the front suspension and / or rear suspension of the vehicle is controlled based on the position of the obstacle to adjust the vehicle's pose to a target pose, which is the pose in which the height of the suspension of the vehicle near the obstacle is lower than the height of the suspension away from the obstacle.

[0007] Collect and display panoramic images of the vehicle when it is in the target pose.

[0008] Optionally, the panoramic image acquisition blind spot includes the front blind spot and the rear blind spot, and the step of controlling the height of the vehicle's front suspension and / or rear suspension based on the position of the obstacle includes:

[0009] When the obstacle is in the blind spot of the vehicle, the height of the front suspension of the vehicle is controlled to be low and the height of the rear suspension is controlled to be high.

[0010] Optionally, controlling the height of the vehicle's front and / or rear suspension based on the location of the obstacle further includes:

[0011] When the obstacle is in the blind spot at the rear of the vehicle, the height of the front suspension is controlled to be high and the height of the rear suspension is controlled to be low.

[0012] Optionally, controlling the height of the vehicle's front and / or rear suspension based on the location of the obstacle further includes:

[0013] If the obstacle includes a first obstacle located in the blind spot at the front of the vehicle and a second obstacle located in the blind spot at the rear of the vehicle, the current gear of the vehicle is obtained;

[0014] Based on the current gear position, determine the order of panoramic image acquisition for the first obstacle and the second obstacle;

[0015] According to the acquisition sequence, the height of the vehicle's front suspension and / or rear suspension is controlled sequentially so that the vehicle is in the target pose corresponding to the first obstacle and the target pose corresponding to the second obstacle in sequence.

[0016] Optionally, determining the panoramic image acquisition order of the first obstacle and the second obstacle based on the current gear position includes:

[0017] When the current gear is forward, first control the height of the front suspension of the vehicle to be low and the height of the rear suspension to be high in order to acquire a panoramic image of the first obstacle.

[0018] Then, the height of the front suspension is controlled to be at a high position and the height of the rear suspension is controlled to be at a low position, so as to acquire a panoramic image of the second obstacle.

[0019] Optionally, determining the panoramic image acquisition order of the first obstacle and the second obstacle based on the current gear position further includes:

[0020] When the current gear is reverse, first control the height of the front suspension to be at a high position and the height of the rear suspension to be at a low position in order to acquire a panoramic image of the second obstacle;

[0021] Then, the height of the vehicle's front suspension is controlled to be low and the height of the rear suspension is controlled to be high, so as to acquire a panoramic image of the first obstacle.

[0022] Optionally, if it is determined that the obstacle is in the blind zone of the panoramic image acquisition, the method further includes:

[0023] Send a notification message to the user to inform them that there are obstacles in the blind spot of the panoramic image acquisition;

[0024] Based on the location of the obstacle, controlling the height of the vehicle's front and / or rear suspension includes:

[0025] In response to a suspension adjustment event triggered by the user in response to the prompt information, the height of the front suspension and / or rear suspension of the vehicle is controlled based on the location of the obstacle.

[0026] A second aspect of the present invention provides a panoramic image acquisition system, the system comprising:

[0027] The detection module is used to determine whether an obstacle is in the blind spot of the panoramic image acquisition when an obstacle is detected around the vehicle.

[0028] The control module is used to, if it is determined that the obstacle is in the blind zone of the panoramic image acquisition, control the height of the front suspension and / or rear suspension of the vehicle based on the position of the obstacle, so as to adjust the vehicle's pose to a target pose, wherein the target pose is that the height of the suspension of the vehicle near the obstacle is lower than the height of the suspension away from the obstacle.

[0029] The execution module is used to acquire and display panoramic images of the vehicle when it is in the target pose.

[0030] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of the panoramic image acquisition method described in the first aspect of the present invention.

[0031] A fourth aspect of the present invention provides a vehicle for implementing the steps of the panoramic image acquisition method described in the first aspect of the present invention.

[0032] This invention provides a panoramic image acquisition method, system, storage medium, and vehicle. The method includes: when an obstacle is detected around the vehicle, determining whether the obstacle is in a panoramic image acquisition blind zone; if the obstacle is determined to be in the panoramic image acquisition blind zone, then, based on the position of the obstacle, controlling the height of the front suspension and / or rear suspension of the vehicle to adjust the vehicle's pose to a target pose, wherein the target pose is that the height of the suspension of the vehicle near the obstacle is lower than the height of the suspension away from the obstacle; and acquiring and displaying a panoramic image of the vehicle in the target pose.

[0033] This invention, when an obstacle is detected in the blind spot of the panoramic image acquisition, adjusts the height of the vehicle's front and rear suspensions according to the obstacle's position to position the vehicle towards the obstacle, and then acquires a panoramic image of the vehicle in this target position. By adjusting the vehicle's posture, this invention allows images from the panoramic image acquisition blind spot to be captured, thus enabling the driver to obtain images of obstacles without having to get out of the vehicle to check, expanding the application scenarios of the panoramic image acquisition function. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a flowchart illustrating the steps of a panoramic image acquisition method provided in an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of an image acquisition range provided in an embodiment of the present invention;

[0037] Figure 3 This is a flowchart illustrating the steps of a suspension height adjustment method provided in an embodiment of the present invention;

[0038] Figure 4 This is a flowchart illustrating another panoramic image acquisition method provided in an embodiment of the present invention;

[0039] Figure 5 This is a scene flowchart of a panoramic image acquisition method provided in an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of a panoramic image acquisition system provided in an embodiment of the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0042] The first aspect of the present invention provides an embodiment, such as Figure 1 The diagram illustrates the steps of a panoramic image acquisition method, which is applied to a panoramic controller and includes:

[0043] Step S101: When an obstacle is detected around the vehicle, determine whether the obstacle is in the blind spot of the panoramic image acquisition.

[0044] A panoramic image capture blind spot refers to an area where a panoramic image capture device cannot capture images due to obstructions from part of the vehicle body or other objects. Taking off-road vehicles as an example, due to their off-road characteristics, the front and rear bumpers of off-road vehicles are more prominent than those of other vehicles. This makes it impossible for panoramic image capture devices, which are usually mounted on top of the bumper, to capture images of the area below the bumper. Thus, the area below the bumper of an off-road vehicle becomes a panoramic image capture blind spot. The panoramic image capture device can be a camera.

[0045] The vehicle is equipped with obstacle detection devices such as collision avoidance radar. Collision avoidance radar detects obstacles by emitting radar waves in the surrounding area. When an obstacle is present, the radar waves emitted by the collision avoidance radar will be reflected back by the obstacle. The collision avoidance radar obtains the position and distance of the obstacle relative to the vehicle by calculating the time of the reflected radar waves received.

[0046] During the factory manufacturing process, the range of the panoramic image capture blind spot can be calibrated. Taking the calibration of the panoramic image capture blind spot for off-road vehicles as an area with a distance of less than or equal to 300mm from the vehicle as an example, when the distance between the obstacle detected by the collision avoidance radar and the vehicle body is less than or equal to 300mm, the obstacle is determined to be within the panoramic image capture blind spot; when the distance between the obstacle detected by the collision avoidance radar and the vehicle body is greater than 300mm, the obstacle is determined to be outside the panoramic image capture blind spot.

[0047] Step S102: If it is determined that the obstacle is in the blind zone of the panoramic image acquisition, then based on the position of the obstacle, control the height of the front suspension and / or rear suspension of the vehicle to adjust the vehicle's pose to a target pose, wherein the target pose is that the height of the suspension of the vehicle near the obstacle is lower than the height of the suspension away from the obstacle.

[0048] The suspension system is a general term for all force-transmitting connection devices between the vehicle body and the axle. Its function is to transmit the forces and torques acting between the wheels and the frame, and to buffer the impact forces transmitted from uneven road surfaces to the frame or body, reducing the resulting vibrations to ensure a smooth ride. Air spring suspension uses air springs as elastic elements, and its suspension height can be adjusted by changing the inflation level of the air springs. The greater the inflation level of the air springs, the higher the suspension height; the smaller the inflation level of the air springs, the lower the suspension height.

[0049] The blind spot in panoramic image acquisition is caused by the vehicle bumper blocking the image acquisition range of the panoramic image acquisition device. Therefore, by adjusting the relative position of the panoramic image acquisition device and the obstacle, the obstacle can be placed back into the image acquisition range, and then the image of the obstacle can be acquired.

[0050] like Figure 2As shown in the schematic diagram of an image acquisition range, the straight line connecting the panoramic image acquisition device and the bumper is the boundary line of its image acquisition range. When the obstacle is outside the boundary line, the image acquisition device can acquire its image; when the obstacle is inside the boundary line, the image acquisition device is blocked by the bumper and cannot acquire its image.

[0051] Therefore, when an obstacle is detected to be in the blind spot of the panoramic image acquisition, the relative position of the dividing line and the obstacle can be changed by changing the relative position of the panoramic image acquisition device and the obstacle. The obstacle that was originally located inside the dividing line can be moved to the outside of the dividing line, so that the obstacle is within the image acquisition range of the panoramic image acquisition device. It can be clearly defined that the inside of the dividing line is the side of the dividing line closer to the vehicle body, and the outside of the dividing line is the side of the dividing line farther away from the vehicle body.

[0052] By changing the height of the vehicle's front and rear suspensions, the vehicle is adjusted to a target position where the height of the suspension closer to the obstacle is lower than the height of the suspension farther away from the obstacle, thus moving the dividing line inward and achieving the effect of placing the obstacle outside the dividing line.

[0053] Step S103: Acquire and display a panoramic image of the vehicle when it is in the target pose.

[0054] After adjusting the vehicle body to the target position, the panoramic image acquisition device acquires images of the obstacles and displays them on the image display device.

[0055] In this embodiment, when an obstacle is detected in the blind spot of the panoramic image acquisition, the height of the vehicle's front and rear suspensions is adjusted according to the obstacle's position to position the vehicle towards the obstacle, and a panoramic image of the vehicle in this target position is acquired. By adjusting the vehicle's position, this embodiment enables the acquisition of images from the panoramic image acquisition blind spot, thus allowing the driver to obtain images of obstacles without having to get out of the vehicle to check, expanding the application scenarios of the panoramic image acquisition function.

[0056] A second aspect of the present invention provides an embodiment that, in addition to including the method proposed in the first aspect of the present invention, further includes:

[0057] The blind spots for panoramic image acquisition include the blind spots at the front and rear of the vehicle.

[0058] The panoramic imaging blind spots include the front blind spot and the rear blind spot. The panoramic imaging blind spot caused by the front bumper or other front parts of the vehicle is the front blind spot, and the panoramic imaging blind spot caused by the rear bumper or other rear parts of the vehicle is the rear blind spot.

[0059] Optionally, step S102 can be implemented by controlling the height of the front suspension of the vehicle to be low and the height of the rear suspension to be high when the obstacle is in the blind spot of the vehicle.

[0060] When an obstacle is in the blind spot in front of the vehicle, that is, when the obstacle is inside the boundary line of the image acquisition range, the height of the front suspension is controlled to be low and the height of the rear suspension is controlled to be high. The high and low positions of a certain suspension are relative to the height of the other suspension of the vehicle. For example, the height of the front suspension is low, that is, the height of the front suspension is lower than the height of the rear suspension, and the height of the rear suspension is high, that is, the height of the rear suspension is higher than the height of the front suspension.

[0061] If an obstacle is in the blind spot of the vehicle's front, meaning it's inside the image acquisition range boundary line of the panoramic image acquisition device, the vehicle's front suspension should be adjusted to a lower position and the rear suspension to a higher position. This will shift the boundary line closer to the vehicle body, placing the obstacle outside the boundary line and within the image acquisition range. The image acquisition range boundary line is the straight line connecting the panoramic image acquisition device to the outermost edge of the front bumper or other front-end components.

[0062] Optionally, step S102 can also be implemented by: when the obstacle is in the blind spot at the rear of the vehicle, controlling the height of the front suspension to be at a high position and the height of the rear suspension to be at a low position.

[0063] If an obstacle is located in the rear blind spot, meaning it's inside the image capture range boundary line of the panoramic image acquisition device, the vehicle's front suspension should be adjusted to a higher position and the rear suspension to a lower position. This will shift the boundary line closer to the vehicle body, placing the obstacle outside the boundary line and within the image capture range. The image capture range boundary line is the straight line connecting the panoramic image acquisition device to the outermost edge of the rear bumper or other rear components.

[0064] Optionally, such as Figure 3 The diagram illustrates the steps of a suspension height adjustment method. Step S102 further includes the following implementation:

[0065] Step S1021: If the obstacle includes a first obstacle located in the blind spot at the front of the vehicle and a second obstacle located in the blind spot at the rear of the vehicle, obtain the current gear of the vehicle.

[0066] The vehicle's current gear indicates its current direction of travel. When there are obstacles in both the front and rear blind spots, the order in which the user acquires obstacle images should be determined based on the vehicle's current direction of travel, with obstacles located in the vehicle's direction of travel being prioritized for acquisition.

[0067] Step S1022: Based on the current gear position, determine the panoramic image acquisition order of the first obstacle and the second obstacle.

[0068] Step S1023: According to the acquisition sequence, the height of the front suspension and / or rear suspension of the vehicle is controlled sequentially so that the vehicle is in the target pose corresponding to the first obstacle and the target pose corresponding to the second obstacle in sequence.

[0069] Optionally, step S1022 can be implemented by: when the current gear is forward, first controlling the height of the front suspension of the vehicle to be low and the height of the rear suspension to be high, so as to acquire a panoramic image of the first obstacle; then controlling the height of the front suspension to be high and the height of the rear suspension to be low, so as to acquire a panoramic image of the second obstacle.

[0070] When a vehicle is currently in drive, it indicates that the vehicle is traveling forward. If an obstacle is in the blind spot in front of the vehicle, it will obstruct the vehicle's movement and create a safety hazard. Therefore, when in drive, the front suspension should first be set to a low position and the rear suspension to a high position; then, the front suspension should be set to a high position and the rear suspension to a low position. This allows for inspection of obstacles in the direction of travel (front blind spot) first, and then of obstacles in the opposite direction of travel (rear blind spot).

[0071] Optionally, step S1022 can be further implemented by: when the current gear is reverse, first controlling the height of the front suspension to be at a high-low position and the height of the rear suspension to be at a low position, so as to acquire a panoramic image of the second obstacle; then controlling the height of the front suspension of the vehicle to be at a low position and the height of the rear suspension to be at a high position, so as to acquire a panoramic image of the first obstacle.

[0072] When a vehicle is in reverse gear, it indicates that the vehicle is traveling in the rear direction. If an obstacle is in the rear blind spot, it will obstruct the vehicle's reversing, creating a safety hazard. Therefore, when in reverse gear, the front suspension should first be set to a high position and the rear suspension to a low position; then, the front suspension should be set to a low position and the rear suspension to a high position. This allows for checking obstacles in the rear blind spot (directly in the vehicle's direction of travel) before checking obstacles in the front blind spot (opposite to the vehicle's direction of travel).

[0073] Optionally, such as Figure 4 The steps of another panoramic image acquisition method are shown in the diagram, the method including:

[0074] Step S201: When an obstacle is detected around the vehicle, determine whether the obstacle is in the blind spot of the panoramic image acquisition.

[0075] The specific implementation method of step S201 is the same as that of step S101, and can be referred to step S101.

[0076] Step S202: If it is determined that the obstacle is in the blind zone of the panoramic image acquisition, a prompt message is sent to the user to inform the user that there is an obstacle in the blind zone of the panoramic image acquisition.

[0077] If an obstacle is determined to be in the blind spot of the panoramic image acquisition, a prompt message can be sent to the user through the vehicle's human-machine interaction module to alert the user that an obstacle exists in the blind spot of the panoramic image acquisition.

[0078] Step S203: In response to a suspension adjustment event triggered by the user in response to the prompt information, based on the position of the obstacle, control the height of the front suspension and / or rear suspension of the vehicle to adjust the vehicle's pose to a target pose, wherein the target pose is that the height of the suspension closer to the obstacle is lower than the height of the suspension farther away from the obstacle.

[0079] When a user receives a message indicating an obstacle in the blind spot of the panoramic image capture, they can directly control the height of the vehicle's front or rear suspension using physical or virtual buttons on the vehicle, or send a command to the panoramic controller to adjust the suspension height.

[0080] Step S204: Acquire and display a panoramic image of the vehicle in the target pose.

[0081] The specific implementation method of step S204 is the same as that of step S103, and you can refer to step S103 for details.

[0082] A third aspect of the invention also provides an embodiment, such as... Figure 5 A scene flowchart illustrating a panoramic image acquisition method is shown, the method comprising:

[0083] After the panoramic image acquisition function is activated, obstacle detection devices such as collision avoidance radar detect obstacles around the vehicle. When an obstacle is detected to be in the blind spot of the panoramic image acquisition, the vehicle's posture is controlled to be in a target posture that is inclined towards the obstacle, so as to acquire and display the panoramic image when the vehicle is in the target posture.

[0084] Specifically, controlling the vehicle's pose to be in a target pose inclined towards the obstacle includes:

[0085] When an obstacle is in the blind spot in front of the vehicle, the front suspension of the vehicle is controlled to be in a low position and the rear suspension to be in a high position, so that the boundary line of the image acquisition range of the panoramic image acquisition device moves towards the vehicle, thereby bringing the obstacle into the image acquisition range.

[0086] When an obstacle is in the blind spot behind the vehicle, the front suspension of the vehicle is controlled to be in a high position and the rear suspension to be in a low position, so that the boundary line of the image acquisition range of the panoramic imaging device moves towards the vehicle, thereby bringing the obstacle into the image acquisition range.

[0087] When the obstacles include a first obstacle located in the blind spot at the front of the vehicle and a second obstacle located in the blind spot at the rear of the vehicle, the vehicle's current gear is captured, and the image capture order of the first obstacle and the second obstacle is determined based on the vehicle's current gear.

[0088] If the current gear is in forward gear, first control the front suspension to be in a low position and the rear suspension to be in a high position; then control the front suspension to be in a high position and the rear suspension to be in a low position, so as to first acquire the image of the first obstacle and then acquire the image of the second obstacle.

[0089] If the current gear is reverse, first control the front suspension to be in a high position and the rear suspension to be in a low position; then control the front suspension to be in a low position and the rear suspension to be in a high position, so as to first acquire the image of the second obstacle and then acquire the image of the first obstacle.

[0090] This invention also proposes a panoramic image acquisition system, such as... Figure 6 A schematic diagram of a panoramic image acquisition system is shown, the system comprising:

[0091] The detection module is used to determine whether an obstacle is in the blind spot of the panoramic image acquisition when an obstacle is detected around the vehicle.

[0092] The control module is used to, if it is determined that the obstacle is in the blind zone of the panoramic image acquisition, control the height of the front suspension and / or rear suspension of the vehicle based on the position of the obstacle, so as to adjust the vehicle's pose to a target pose, wherein the target pose is that the height of the suspension of the vehicle near the obstacle is lower than the height of the suspension away from the obstacle.

[0093] The execution module is used to acquire and display panoramic images of the vehicle when it is in the target pose.

[0094] Optionally, the control module is further configured to control the height of the front suspension of the vehicle to be low and the height of the rear suspension to be high when the obstacle is in the blind spot of the vehicle.

[0095] Optionally, the control module is further configured to control the height of the front suspension to be at a high position and the height of the rear suspension to be at a low position when the obstacle is in the blind spot of the rear of the vehicle.

[0096] Optionally, the control module is further configured to, when the obstacle includes a first obstacle located in the blind spot at the front of the vehicle and a second obstacle located in the blind spot at the rear of the vehicle, obtain the current gear position of the vehicle; determine the panoramic image acquisition order of the first obstacle and the second obstacle based on the current gear position; and control the height of the front suspension and / or rear suspension of the vehicle in sequence according to the acquisition order, so that the vehicle is in the target pose corresponding to the first obstacle and the target pose corresponding to the second obstacle in sequence.

[0097] Optionally, the control module is further configured to, when the current gear is forward, first control the height of the front suspension of the vehicle to be low and the height of the rear suspension to be high, so as to acquire a panoramic image of the first obstacle; and then control the height of the front suspension to be high and the height of the rear suspension to be low, so as to acquire a panoramic image of the second obstacle.

[0098] Optionally, the control module is further configured to, when the current gear is reverse, first control the height of the front suspension to be at a high position and the height of the rear suspension to be at a low position to acquire a panoramic image of the second obstacle; then control the height of the front suspension of the vehicle to be at a low position and the height of the rear suspension to be at a high position to acquire a panoramic image of the first obstacle.

[0099] Optionally, the control module is further configured to send a prompt message to the user to indicate that there is an obstacle in the blind spot of the panoramic image acquisition; and in response to a suspension adjustment event triggered by the user in response to the prompt message, control the height of the front suspension and / or rear suspension of the vehicle based on the location of the obstacle.

[0100] This application also provides a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements a panoramic image acquisition method as disclosed in this application.

[0101] This invention also provides a vehicle for implementing the steps of the panoramic image acquisition method described in this invention.

[0102] This invention, when an obstacle is detected in the blind spot of the panoramic image acquisition, adjusts the height of the vehicle's front and rear suspensions according to the obstacle's position to position the vehicle towards the obstacle, and then acquires a panoramic image of the vehicle in this target position. By adjusting the vehicle's posture, this invention allows images from the panoramic image acquisition blind spot to be captured, thus enabling the driver to obtain images of obstacles without having to get out of the vehicle to check, expanding the application scenarios of the panoramic image acquisition function.

[0103] 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.

[0104] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, vehicles, 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] The panoramic image acquisition method, system, storage medium, and vehicle provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is 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. A panoramic image acquisition method, characterized in that, The method comprises: when it is detected that there is an obstacle around the vehicle, determining whether the obstacle is in a panoramic image acquisition blind area; if it is determined that the obstacle is in the panoramic image acquisition blind area, controlling the height of the front suspension and / or the rear suspension of the vehicle based on the position of the obstacle, to adjust the pose of the vehicle to a target pose, the target pose being a pose in which the height of the suspension of the vehicle close to the obstacle is lower than the height of the suspension of the vehicle away from the obstacle; the controlling the height of the front suspension and / or the rear suspension of the vehicle based on the position of the obstacle further comprises: in the case where the obstacle comprises a first obstacle located in a front blind area and a second obstacle located in a rear blind area, obtaining the current gear of the vehicle; based on the current gear, determining the panoramic image acquisition sequence of the first obstacle and the second obstacle; controlling the height of the front suspension and / or the rear suspension of the vehicle in sequence according to the acquisition sequence, so that the vehicle is in a target pose corresponding to the first obstacle and a target pose corresponding to the second obstacle in sequence; the determining the panoramic image acquisition sequence of the first obstacle and the second obstacle based on the current gear comprises: in the case where the current gear is a forward gear, first controlling the height of the front suspension of the vehicle to be at a low position and the height of the rear suspension to be at a high position, to acquire the panoramic image of the first obstacle; then controlling the height of the front suspension to be at a high position and the height of the rear suspension to be at a low position, to acquire the panoramic image of the second obstacle; acquiring and displaying the panoramic image of the vehicle in the target pose.

2. The method of claim 1, wherein, the determining the panoramic image acquisition sequence of the first obstacle and the second obstacle based on the current gear further comprises: in the case where the current gear is a reverse gear, first controlling the height of the front suspension to be at a high position and the height of the rear suspension to be at a low position, to acquire the panoramic image of the second obstacle; then controlling the height of the front suspension of the vehicle to be at a low position and the height of the rear suspension to be at a high position, to acquire the panoramic image of the first obstacle.

3. The method of claim 1, wherein, in the case where it is determined that the obstacle is in the panoramic image acquisition blind area, the method further comprises: sending prompt information to the user to prompt the user that there is an obstacle in the panoramic image acquisition blind area; the controlling the height of the front suspension and / or the rear suspension of the vehicle based on the position of the obstacle comprises: in response to a suspension adjustment event triggered by the user for the prompt information, controlling the height of the front suspension and / or the rear suspension of the vehicle based on the position of the obstacle.

4. A panoramic image acquisition system, characterized in that The method comprises: a detection module, configured to, when it is detected that there is an obstacle around the vehicle, determine whether the obstacle is in a panoramic image acquisition blind area; a control module, configured to, if it is determined that the obstacle is in the panoramic image acquisition blind area, control the height of the front suspension and / or the rear suspension of the vehicle based on the position of the obstacle, to adjust the pose of the vehicle to a target pose, the target pose being a pose in which the height of the suspension of the vehicle close to the obstacle is lower than the height of the suspension of the vehicle away from the obstacle; The control module further comprises: in a case where the obstacles include a first obstacle located in a front blind area of the vehicle and a second obstacle located in a rear blind area of the vehicle, acquiring a current gear of the vehicle; determining a panoramic image acquisition sequence of the first obstacle and the second obstacle based on the current gear; controlling heights of front and / or rear suspensions of the vehicle in sequence according to the acquisition sequence, so that the vehicle is in a target pose corresponding to the first obstacle and a target pose corresponding to the second obstacle in sequence; the control module further comprises: in a case where the current gear is a forward gear, first controlling the height of the front suspension of the vehicle to be low and the height of the rear suspension to be high, so as to acquire the panoramic image of the first obstacle; and then controlling the height of the front suspension to be high and the height of the rear suspension to be low, so as to acquire the panoramic image of the second obstacle; an execution module configured to acquire and display the panoramic image of the vehicle in the target pose.

5. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps of the panoramic image acquisition method in any one of claims 1-3.

6. A vehicle characterized by comprising: The vehicle is used to implement the steps of the panoramic image acquisition method in any one of claims 1-3.

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