Method, device and equipment for determining vehicle bottom image and storage medium

Abstract

The application discloses a kind of vehicle bottom image determination method, device, equipment and storage medium, belong to intelligent driving technical field, the method includes: according to the vehicle information of target vehicle at current time, the actual chassis area of the vehicle chassis of target vehicle is determined;Vehicle information includes the body roll angle of target vehicle;According to actual chassis area, the extended chassis area of vehicle chassis is determined;According to the center position of extended chassis area and body roll angle, current overhead view is rotated and handled, and target overhead view is obtained;Current overhead view is determined based on the original overhead view corresponding to the original image shot by wide-angle camera;According to actual chassis area and extended chassis area, the vehicle bottom image of vehicle chassis at next time is determined from target overhead view.The application makes that vehicle driver can observe the condition of vehicle bottom pavement, avoids vehicle chassis being scratched, and improves the safety when vehicle is parked or started.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and in particular to a vehicle bottom image determination method and device, equipment and a storage medium. BACKGROUND

[0002] Based on the consideration of driving safety and parking safety of the vehicle, the 360-degree panoramic image system as a part of the advanced driving assistance system has emerged as the times require. The 360-degree panoramic image can be viewed through the vehicle display screen, and the 360-degree panoramic fusion around the vehicle, the real-time image information with super wide viewing angle and seamless splicing, the line-of-sight blind area around the vehicle, and the more intuitive and safer driving and parking of the vehicle for the driver.

[0003] However, the existing method for obtaining the 360-degree panoramic image cannot obtain the image of the vehicle bottom when the vehicle is parked or started, so that the line of sight of the vehicle driver is limited, and the condition of the vehicle bottom road surface cannot be observed, and the vehicle chassis is often scratched. SUMMARY

[0004] The present application provides a vehicle bottom image determination method, device, equipment and storage medium to improve the safety of the vehicle when parking or starting.

[0005] According to one aspect of the present application, a vehicle bottom image determination method is provided, which comprises:

[0006] According to the vehicle information of the target vehicle at the current time, the actual chassis area of the vehicle chassis of the target vehicle is determined; the vehicle information includes the vehicle body yaw angle of the target vehicle;

[0007] According to the actual chassis area, the extended chassis area of the vehicle chassis is determined;

[0008] According to the center position of the extended chassis area and the vehicle body yaw angle, the current overhead view is rotated and processed to obtain a target overhead view; the current overhead view is determined based on the original overhead view corresponding to the original image captured by the wide-angle camera;

[0009] According to the actual chassis area and the extended chassis area, the vehicle bottom image of the vehicle chassis at the next time is determined from the target overhead view.

[0010] According to another aspect of the present application, a vehicle bottom image determination device is provided, which comprises:

[0011] The actual chassis area determination module is configured to determine the actual chassis area of the vehicle chassis of the target vehicle according to the vehicle information of the target vehicle at the current time; the vehicle information includes the vehicle body yaw angle of the target vehicle;

[0012] An extended chassis area determination module is configured to determine an extended chassis area of the vehicle chassis according to the actual chassis area;

[0013] A target top view determination module is configured to rotate a current top view to obtain a target top view according to a center position of the extended chassis area and the vehicle body yaw angle; the current top view is determined based on an original top view corresponding to an original image captured by the wide-angle camera;

[0014] A vehicle bottom image determination module is configured to determine a vehicle bottom image of the vehicle chassis at the next moment from the target top view according to the actual chassis area and the extended chassis area.

[0015] According to another aspect of the present application, an electronic device is provided, which comprises:

[0016] at least one processor; and

[0017] a memory connected to the at least one processor in communication; wherein

[0018] The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the determination method of the vehicle bottom image according to any one of the embodiments of the present application.

[0019] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to perform the determination method of the vehicle bottom image according to any one of the embodiments of the present application when executed by the processor.

[0020] The technical solution of the embodiments of the present application determines an actual chassis area of a vehicle chassis of a target vehicle according to vehicle information of the target vehicle at a current moment; the vehicle information comprises a vehicle body yaw angle of the target vehicle; determines an extended chassis area of the vehicle chassis according to the actual chassis area; rotates a current top view to obtain a target top view according to a center position of the extended chassis area and the vehicle body yaw angle; the current top view is determined based on an original top view corresponding to an original image captured by a wide-angle camera; and determines a vehicle bottom image of the vehicle chassis at the next moment from the target top view according to the actual chassis area and the extended chassis area. The above technical solution realizes the acquisition of the vehicle bottom image on the basis of the 360-degree panoramic image, so that the vehicle driver can observe the condition of the vehicle bottom road surface, avoids the vehicle chassis being scratched, and thus improves the safety of the vehicle parking or vehicle starting.

[0021] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0023] Figure 1A is a flow chart of a vehicle bottom image determination method according to the first embodiment of the present application;

[0024] Figure 1B is a flow chart of a raw top view determination method according to the first embodiment of the present application;

[0025] Figure 2 is a flow chart of a vehicle bottom image determination method according to the second embodiment of the present application;

[0026] Figure 3 is a structural schematic diagram of a vehicle bottom image determination device according to the third embodiment of the present application;

[0027] Figure 4 is a structural schematic diagram of an electronic device implementing the vehicle bottom image determination method according to the present application. DETAILED DESCRIPTION

[0028] In order to make the technical personnel in the art better understand the present application, the following will combine 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 some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should be within the scope of protection of the present application.

[0029] It should be noted that the terms "target", "first" and "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, 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 "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] In addition, it also needs to be explained that the collection, storage, use, processing, transmission, provision and disclosure of the vehicle information of the target vehicle at the current time in the technical solutions of the present application all comply with the relevant laws and regulations and do not violate public order and good customs.

[0031] Embodiment one

[0032] Figure 1A A flowchart of a vehicle bottom image determination method provided by the present application embodiment one, the present embodiment can be applicable to the case of vehicle parking or vehicle starting, the method can be executed by a vehicle bottom image determination device, which can be realized in the form of hardware and / or software and can be configured in an electronic device, which can be a vehicle terminal. As shown in the figure, the method comprises: Figure 1A

[0033] S101, determining the actual chassis area of the vehicle chassis of the target vehicle according to the vehicle information of the target vehicle at the current time; the vehicle information comprises the body roll angle of the target vehicle.

[0034] Among them, the target vehicle refers to the vehicle that needs to be parked or started. The actual chassis area refers to the actual vehicle chassis area of the target vehicle. The vehicle information refers to the information of the target vehicle at the current time; optionally, the vehicle information can also include the vehicle speed, vehicle width, wheelbase, front wheel deflection angle, position information of the front axle midpoint, distance from the front axle midpoint to the vehicle head, speed of the front axle midpoint, position information of the rear axle midpoint, distance from the rear axle midpoint to the vehicle tail, and speed of the rear axle midpoint of the target vehicle. Among them, the body roll angle refers to the angle between the tire center line of the target vehicle and the X axis of the ground coordinate system XOY. The front wheel deflection angle refers to the angle between the front wheel deflection direction of the target vehicle and the tire center line. The position information of the front axle midpoint refers to the coordinates of the front axle midpoint of the target vehicle; the position information of the rear axle midpoint refers to the coordinates of the rear axle midpoint of the target vehicle. Optionally, the position information of the front axle midpoint can be determined according to the speed of the front axle midpoint and the body roll angle; correspondingly, the position information of the rear axle midpoint can be determined according to the speed of the rear axle midpoint and the body roll angle. For example, the position information of the rear axle midpoint can be determined according to the speed of the rear axle midpoint and the body roll angle by the following formula:

[0035]

[0036] Among them, is the speed of the rear axle midpoint, is the body roll angle, is the position information of the rear axle midpoint.

[0037] Specifically, the vehicle information of the target vehicle at the current time can be input into the vehicle motion model, and the actual chassis area of the vehicle chassis of the target vehicle at the current time can be obtained after simulation processing by the vehicle motion model.​

[0038] S102, determine an extended chassis area of the vehicle chassis according to the actual chassis area.

[0039] The extended chassis area refers to the vehicle chassis area obtained by extending the actual chassis area.

[0040] Specifically, the width of the actual chassis area can be extended according to a preset extension width, and the length of the actual chassis area can be extended according to a preset extension length, so as to obtain the extended chassis area of the vehicle chassis. The preset extension width and the preset extension length can be set in advance according to actual business needs, and the present embodiment does not make specific limitations.

[0041] Optionally, the contour hull of the actual chassis area can also be calculated, and the contour hull is taken as the extended chassis area of the vehicle chassis.

[0042] S103, rotate the current top view to obtain a target top view according to the center position of the extended chassis area and the vehicle body yaw angle; the current top view is determined based on an original top view corresponding to the original image captured by the wide-angle camera.

[0043] The original image refers to the image captured by the wide-angle camera at the current moment. The current top view refers to the top view obtained by processing the original top view. The original top view refers to the panoramic top view of the target vehicle obtained at the current moment.

[0044] Specifically, the center position of the extended chassis area, the vehicle body yaw angle, and the current top view are input into a preset rotation transformation model, and the target top view is obtained after processing by the preset rotation transformation model. It should be noted that the preset rotation transformation model can be set in advance according to actual business needs, and the present embodiment does not make specific limitations.

[0045] Optionally, the splicing area in the original top view corresponding to the original image can be blurred to obtain the current top view.

[0046] The splicing area refers to the area in the original top view where the original image overlaps. It should be noted that there are at least three splicing areas in the original top view.

[0047] Specifically, for each splicing area in the original top view, the splicing area is blurred according to the pixel point RGB value and the pixel point weight coefficient of the original image in the splicing area, to obtain the processed splicing area.

[0048] For example, for each pixel point in each splicing area, the RGB value of the pixel point is processed by the following formula to obtain the processed RGB value of the pixel point:

[0049]

[0050] wherein k is a pixel point weight coefficient, is the RGB value of the pixel point after processing, is the RGB value of the pixel point corresponding position in the left original image in the splicing area, is the RGB value of the pixel point corresponding position in the right original image in the splicing area.

[0051] After that, the processed splicing area can be obtained according to the RGB values of the pixel points in the splicing area after processing.

[0052] Further, the current overhead view can be obtained after the blur processing of all splicing areas in the original overhead view is completed.

[0053] It can be understood that the blur processing of the splicing area in the original overhead view corresponding to the original image obtains the current overhead view, solves the problems of broken lines, ghosting and line bending of the vehicle panoramic overhead view, and realizes the optimization of the vehicle panoramic overhead view.

[0054] Optionally, based on the original image captured by the wide-angle camera, the original overhead view can be determined through the following steps, see Figure 1B , and specifically includes:

[0055] S1, acquiring four original images captured by four wide-angle cameras in front, back, left and right of the target vehicle at the current time.

[0056] S2, determining the relationship between the world coordinate system and the image coordinate system according to the relationship between the established world coordinate system and the camera coordinate system, and the relationship between the established camera coordinate system and the image coordinate system.

[0057] S3, determining the projection table corresponding to the original image according to the relationship between the world coordinate system and the image coordinate system.

[0058] Specifically, for each original image, the projection coordinates of the pixel points in the image coordinate system in the original image can be determined through the following formula:

[0059]

[0060] wherein, is the projection coordinates of the i-th (i=1, 2, …, n) pixel point in the image coordinate system in the original image, n is a positive integer, is the depth coordinate of the i-th pixel point in the camera coordinate system in the original image, that is, the coordinate of the i-th pixel point in the camera coordinate system Z axis in the original image, is the intrinsic parameter of the wide-angle camera for capturing the original image, an extrinsic parameter of a wide-angle camera for shooting the original image, a coordinate of an i-th pixel in the original image in a world coordinate system.

[0061] Then, the coordinates of the pixels in the original image and the projection coordinates are stored in association to obtain a projection table corresponding to the original image. Similarly, a projection table corresponding to each original image can be obtained.

[0062] S4, adjusting the color of the original image based on a preset color adjustment algorithm to obtain a target image corresponding to the original image.

[0063] The target image refers to an image obtained after the original image is color-adjusted. It should be noted that one target image corresponds to one original image, and the projection table corresponding to the target image is the same as the projection table corresponding to the original image.

[0064] Specifically, the adjustment coefficient of the RGB channel of the original image can be determined according to the exposure of the wide-angle camera for shooting the original image, and the RGB channel of the original image is color-adjusted according to the adjustment coefficient to obtain an adjusted original image.

[0065] For example, for each original image, the exposure of the wide-angle camera for shooting the original image (denoted as original exposure) can be compared with a preset exposure threshold. If the original exposure is greater than the preset exposure threshold, the adjustment coefficient of the RGB channel of the original image is less than 1, otherwise, the adjustment coefficient of the RGB channel of the original image is greater than 1. Then, the RGB channel of the original image is color-adjusted according to the adjustment coefficient of the RGB channel of the original image to obtain an adjusted original image. It should be noted that the preset exposure threshold can be set in advance according to actual business requirements, and the present embodiment does not make specific limitations.

[0066] S5, based on a preset image registration algorithm, the target image is spliced and fused according to the projection table corresponding to the original image to obtain an original overhead view corresponding to the original image.

[0067] The preset image registration algorithm can be set in advance according to actual business requirements, for example, the preset image registration algorithm can be a gray-based image registration algorithm, for example, the preset image registration algorithm can be a template matching-based image registration algorithm, for example, the preset image registration algorithm can be a feature-based image registration algorithm, and the present embodiment does not make specific limitations.

[0068] Specifically, the overhead view corresponding to the target image is generated according to the projection table corresponding to the original image, and the target image corresponding to the overhead view is spliced and fused based on the preset image registration algorithm to obtain an original overhead view corresponding to the original image.

[0069] S104, determining the vehicle bottom image of the vehicle chassis at the next moment from the target overhead view according to the actual chassis region and the extended chassis region.

[0070] Specifically, the first center position of the actual chassis region and the second center position of the extended chassis region can be determined; the second center position is aligned with the second center position, and the image corresponding to the extended chassis region is extracted from the target overhead view as the vehicle bottom image of the vehicle chassis of the target vehicle at the next moment.

[0071] The technical scheme of the embodiment of the application determines the actual chassis region of the vehicle chassis of the target vehicle according to the vehicle information of the target vehicle at the current moment, the vehicle information including the body roll angle of the target vehicle; determines the extended chassis region of the vehicle chassis according to the actual chassis region; performs rotation processing on the current overhead view according to the center position of the extended chassis region and the body roll angle to obtain a target overhead view; the current overhead view is determined based on the original overhead view corresponding to the original image captured by the wide-angle camera; and determines the vehicle bottom image of the vehicle chassis at the next moment from the target overhead view according to the actual chassis region and the extended chassis region. The above technical scheme realizes the acquisition of the vehicle bottom image on the basis of the 360-degree panoramic image, so that the vehicle driver can observe the condition of the vehicle bottom road surface, and the vehicle chassis is prevented from being scratched, thereby improving the safety of the vehicle when parking or starting.

[0072] Embodiment two

[0073] Figure 2 A flowchart of a vehicle bottom image determination method provided by the second embodiment of the application, the embodiment further optimizes the determination of the actual chassis region of the vehicle chassis of the target vehicle according to the vehicle information of the target vehicle at the current moment on the basis of the above-mentioned embodiment, and provides an optional implementation scheme. The vehicle information further includes the wheelbase of the target vehicle, the position information of the front axle midpoint, the first distance from the front axle midpoint to the front of the vehicle, the position information of the rear axle midpoint, and the second distance from the rear axle midpoint to the rear of the vehicle. It should be noted that the parts not described in detail in the embodiment of the application can refer to the related descriptions of other embodiments. As shown in the embodiment, the method comprises the following steps. Figure 2

[0074] S201, determining the front center position of the vehicle chassis of the target vehicle according to the body roll angle, the wheelbase, the position information of the front axle midpoint, and the first distance from the front axle midpoint to the front of the vehicle of the target vehicle at the current moment.

[0075] The position information of the front axle midpoint refers to the coordinates of the front axle midpoint of the target vehicle. The first distance refers to the distance from the front axle midpoint of the target vehicle to the front of the vehicle.

[0076] ​Specifically, according to the body roll angle of the target vehicle at the current time, the wheelbase, the coordinate of the front axle midpoint, and the first distance from the front axle midpoint to the front of the vehicle, the position of the front center of the vehicle chassis of the target vehicle is determined by the following formula:

[0077]

[0078] wherein, the position of the front center of the vehicle chassis of the target vehicle, the coordinate of the front axle midpoint of the target vehicle at the current time, the body roll angle of the target vehicle at the current time, the first distance from the front axle midpoint to the front of the target vehicle, and L is the wheelbase of the target vehicle.

[0079] S202, determining the position of the rear center of the vehicle chassis according to the body roll angle, the position information of the rear axle midpoint of the target vehicle at the current time, and the second distance from the rear axle midpoint to the rear of the vehicle.

[0080] wherein, the position information of the rear axle midpoint refers to the coordinate of the rear axle midpoint of the target vehicle. The second distance from the rear axle midpoint to the rear of the vehicle refers to the distance from the rear axle midpoint of the target vehicle to the rear of the vehicle.

[0081] Specifically, according to the body roll angle, the coordinate of the rear axle midpoint of the target vehicle at the current time, and the second distance from the rear axle midpoint to the rear of the vehicle, the position of the rear center of the vehicle chassis is determined by the following formula:

[0082]

[0083] wherein, the position of the rear center of the vehicle chassis of the target vehicle, the coordinate of the rear axle midpoint of the target vehicle at the current time, the body roll angle of the target vehicle at the current time, the second distance from the rear axle midpoint to the rear of the target vehicle.

[0084] S203, determining the vertex position of the vehicle chassis according to the body roll angle, the target vehicle width of the target vehicle, the front center position, and the rear center position.

[0085] wherein, the target vehicle width refers to the vehicle width of the target vehicle; optionally, the target vehicle width includes the front vehicle width and the rear vehicle width of the target vehicle.

[0086] Specifically, the vertex position at the front of the vehicle chassis can be determined according to the body roll angle, the front vehicle width of the target vehicle, and the front center position; the vertex position at the rear of the vehicle chassis can be determined according to the body roll angle, the rear vehicle width of the target vehicle, and the rear center position.

[0087] Optionally, the first vertex position and the second vertex position of the vehicle chassis are determined according to the body roll angle, the target vehicle width, and the front center position of the target vehicle; the third vertex position and the fourth vertex position of the vehicle chassis are determined according to the body roll angle, the target vehicle width, and the rear center position of the target vehicle.

[0088] The first vertex position and the second vertex position are positions of preset vertices at the front of the vehicle chassis of the target vehicle. The third vertex position and the fourth vertex position are positions of preset vertices at the rear of the vehicle chassis of the target vehicle. It should be noted that the first vertex position is different from the second vertex position, and the third vertex position is different from the fourth vertex position. The first vertex position, the second vertex position, the third vertex position, and the fourth vertex position can be used to determine the outer contour of the target vehicle. The preset vertices can be preset according to actual business requirements, and are used to determine the bottom area of the vehicle chassis of the target vehicle.

[0089] Specifically, the first vertex position of the vehicle chassis can be determined according to the body roll angle, the front vehicle width of the target vehicle, and the front center position of the target vehicle by the following formula:

[0090]

[0091] wherein, the front center position of the vehicle chassis of the target vehicle, the front vehicle width of the target vehicle, the body roll angle of the target vehicle at the current time, the first vertex position of the vehicle chassis.

[0092] The second vertex position of the vehicle chassis can also be determined according to the body roll angle, the front vehicle width of the target vehicle, and the front center position of the target vehicle by the following formula:

[0093]

[0094] wherein, the second vertex position of the vehicle chassis.

[0095] The third vertex position of the vehicle chassis can be determined according to the body roll angle, the rear vehicle width of the target vehicle, and the rear center position of the target vehicle by the following formula:

[0096]

[0097] wherein, the rear center position of the vehicle chassis of the target vehicle, the front vehicle width of the target vehicle, the body roll angle of the target vehicle at the current time, the third vertex position of the vehicle chassis.

[0098] Then, the fourth vertex position of the vehicle chassis can be determined according to the vehicle body roll angle, the rear vehicle width of the target vehicle, and the rear center position of the target vehicle by the following formula:

[0099]

[0100] wherein, is the fourth vertex position of the vehicle chassis.

[0101] It can be understood that the vertex position of the vehicle chassis is determined according to the target vehicle width of the target vehicle, and the vehicle body roll angle, the front center position, and the rear center position of the target vehicle at the current time, which realizes real-time updating of the actual chassis area of the vehicle chassis of the target vehicle.

[0102] S204, determining the actual chassis area of the vehicle chassis according to the vertex position.

[0103] Specifically, the shortest straight line segment between the first vertex and the second vertex can be determined according to the first vertex position and the second vertex position; the shortest straight line segment between the first vertex and the fourth vertex can be determined according to the first vertex position and the fourth vertex position; the shortest straight line segment between the second vertex and the third vertex can be determined according to the second vertex position and the third vertex position; and the shortest straight line segment between the third vertex and the fourth vertex can be determined according to the third vertex position and the fourth vertex position, so as to determine the actual chassis area of the vehicle chassis of the target vehicle.

[0104] S205, determining the extended chassis area of the vehicle chassis according to the actual chassis area.

[0105] Optionally, the extended chassis area of the vehicle chassis can be determined according to the first vertex position, the second vertex position, the third vertex position, and the fourth vertex position based on a preset contour convex hull algorithm.

[0106] The preset contour convex hull algorithm can be preset according to actual business requirements, for example, the preset contour convex hull algorithm can be a contour convex hull algorithm based on a three-coin model, which is not limited in the present application.

[0107] Specifically, the first vertex position, the second vertex position, the third vertex position, and the fourth vertex position in the actual chassis area are input into the preset contour convex hull algorithm, and the extended chassis area of the vehicle chassis is obtained after processing by the preset contour convex hull algorithm.

[0108] It can be understood that the extended chassis area of the vehicle chassis is determined according to the first vertex position, the second vertex position, the third vertex position, and the fourth vertex position based on the preset contour convex hull algorithm, which can more accurately determine an extended chassis area containing the actual chassis area, and facilitate more comprehensive acquisition of the vehicle chassis image information of the next time.

[0109] S206, according to the center position of the extended chassis area and the vehicle body yaw angle, the current top view is rotated to obtain the target top view; the current top view is determined based on the original top view corresponding to the original image shot by the wide-angle camera.

[0110] Optionally, according to the center position of the extended chassis area and the vehicle body yaw angle, a rotation matrix corresponding to the current top view is determined; and the current top view is rotated based on the rotation matrix to obtain the target top view.

[0111] Specifically, according to the center position of the extended chassis area and the vehicle body yaw angle, the rotation matrix corresponding to the current top view can be determined by the following formula:

[0112]

[0113] Wherein, M is the rotation matrix corresponding to the current top view, is the vehicle body yaw angle of the target vehicle at the current time, is the center position of the extended chassis area.

[0114] Further, the current top view is rotated based on the rotation matrix to obtain the target top view.

[0115] It can be understood that according to the center position of the extended chassis area and the vehicle body yaw angle, the rotation matrix corresponding to the current top view is determined; and the current top view is rotated based on the rotation matrix to obtain the target top view, which realizes the transformation of the current top view, and facilitates more accurate determination of the vehicle chassis image of the vehicle chassis at the next time.

[0116] S207, according to the actual chassis area and the extended chassis area, the vehicle chassis image of the vehicle chassis at the next time is determined from the target top view.

[0117] Specifically, the center of the actual chassis area can be aligned with the center of the extended chassis area; and the image corresponding to the extended chassis area is extracted from the target top view as the vehicle chassis image of the vehicle chassis at the next time.

[0118] It can be understood that the center of the actual chassis area is aligned with the center of the extended chassis area; and the image corresponding to the extended chassis area is extracted from the target top view as the vehicle chassis image of the vehicle chassis at the next time, which can intercept a vehicle chassis image larger than the actual chassis area of the target vehicle from the target top view, facilitating subsequent splicing and fusion of the intercepted vehicle chassis image and the image shot by the wide-angle camera of the target vehicle at the next time.

[0119] The technical scheme of the embodiment of the present application realizes the acquisition of the vehicle bottom image on the basis of the 360-degree panoramic image, so that the vehicle driver can observe the condition of the vehicle bottom road surface, the vehicle chassis is prevented from being scratched, and thus the safety of the vehicle parking or vehicle starting is improved.

[0120] Embodiment three

[0121] Figure 3 A structure schematic diagram of a vehicle bottom image determination device provided for the third embodiment of the present application, the embodiment can be applicable to the vehicle parking or vehicle starting condition, the device can be realized in the form of hardware and / or software, and can be configured in an electronic device, which can be a vehicle terminal. Figure 3 As shown in the figure, the device comprises:

[0122] An actual chassis area determination module 301 is configured to determine the actual chassis area of the vehicle chassis of the target vehicle according to the vehicle information of the target vehicle at the current time, wherein the vehicle information comprises the vehicle body yaw angle of the target vehicle.

[0123] An extended chassis area determination module 302 is configured to determine the extended chassis area of the vehicle chassis according to the actual chassis area.

[0124] A target top view determination module 303 is configured to perform rotation processing on the current top view according to the center position of the extended chassis area and the vehicle body yaw angle, to obtain the target top view, wherein the current top view is determined based on the original top view corresponding to the original image captured by the wide-angle camera.

[0125] A vehicle bottom image determination module 304 is configured to determine the vehicle bottom image of the vehicle chassis at the next time from the target top view according to the actual chassis area and the extended chassis area.

[0126] The technical scheme of the embodiment of the present application determines the actual chassis area of the vehicle chassis of the target vehicle according to the vehicle information of the target vehicle at the current time, wherein the vehicle information comprises the vehicle body yaw angle of the target vehicle; determines the extended chassis area of the vehicle chassis according to the actual chassis area; performs rotation processing on the current top view according to the center position of the extended chassis area and the vehicle body yaw angle, to obtain the target top view, wherein the current top view is determined based on the original top view corresponding to the original image captured by the wide-angle camera; and determines the vehicle bottom image of the vehicle chassis at the next time from the target top view according to the actual chassis area and the extended chassis area. The above technical scheme realizes the acquisition of the vehicle bottom image on the basis of the 360-degree panoramic image, so that the vehicle driver can observe the condition of the vehicle bottom road surface, the vehicle chassis is prevented from being scratched, and thus the safety of the vehicle parking or vehicle starting is improved.

[0127] Optionally, the vehicle information further comprises a wheelbase of the target vehicle, position information of a front axle midpoint, a first distance from the front axle midpoint to the front of the target vehicle, position information of a rear axle midpoint, and a second distance from the rear axle midpoint to the rear of the target vehicle.

[0128] Correspondingly, the actual chassis area determination module 301 comprises:

[0129] a front center position determination unit configured to determine a front center position of a vehicle chassis of the target vehicle according to a body roll angle of the target vehicle at a current time, the wheelbase, the position information of the front axle midpoint, and the first distance from the front axle midpoint to the front of the target vehicle;

[0130] a rear center position determination unit configured to determine a rear center position of the vehicle chassis according to the body roll angle, position information of a rear axle midpoint of the target vehicle at the current time, and the second distance from the rear axle midpoint to the rear of the target vehicle;

[0131] a vertex position determination unit configured to determine a vertex position of the vehicle chassis according to the body roll angle, a target vehicle width of the target vehicle, the front center position, and the rear center position;

[0132] an actual chassis area determination unit configured to determine an actual chassis area of the vehicle chassis according to the vertex position.

[0133] Optionally, the vertex position determination unit is specifically configured to:

[0134] determine a first vertex position and a second vertex position of the vehicle chassis according to the body roll angle, the target vehicle width of the target vehicle, and the front center position;

[0135] determine a third vertex position and a fourth vertex position of the vehicle chassis according to the body roll angle, the target vehicle width, and the rear center position.

[0136] Optionally, the extended chassis area determination module 302 is specifically configured to:

[0137] determine an extended chassis area of the vehicle chassis according to the first vertex position, the second vertex position, the third vertex position, and the fourth vertex position based on a preset contour convex hull algorithm.

[0138] Optionally, the target overhead view determination module 303 is specifically configured to:

[0139] determine a rotation matrix corresponding to a current overhead view according to a center position of the extended chassis area and the body roll angle;

[0140] perform rotation processing on the current overhead view based on the rotation matrix to obtain a target overhead view.

[0141] Optionally, the vehicle bottom image determination module 304 is specifically configured to:

[0142] align the center of the actual chassis region with the center of the extended chassis region;

[0143] extract an image corresponding to the extended chassis region from the target overhead view as the vehicle chassis image of the next moment.

[0144] Optionally, the device further comprises:

[0145] a current overhead view determination module, configured to perform blur processing on the spliced region in the original overhead view corresponding to the original image to obtain the current overhead view.

[0146] The vehicle chassis image determination device provided in the embodiments can perform the vehicle chassis image determination method provided in any of the embodiments, and has the corresponding function modules and beneficial effects of performing the vehicle chassis image determination method.

[0147] Embodiment Four

[0148] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0149] As shown in Figure 4 The electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which are communicatively connected to the at least one processor 11, wherein the memory stores a computer program executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0150] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0151] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the determination method of the underbody image.

[0152] In some embodiments, the determination method of the underbody image can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the determination method of the underbody image described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the determination method of the underbody image by any other appropriate means, such as by means of firmware.

[0153] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0154] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, enables the functions / acts specified in the flowcharts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine or entirely on a remote machine or server.

[0155] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0156] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0157] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0158] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0159] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, and the present disclosure is not limited in this regard.

[0160] The specific embodiments described above are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that various modifications, combinations, sub-combinations, and alternatives can be made to the specific embodiments without departing from the spirit and principles of the present disclosure. Any further modifications, equivalents, and / or alternatives come within the scope of the present disclosure as recited by the claims.

Claims

1. A method of determining a car bottom image, characterized by, The method comprises the following steps: determining an actual chassis area of a vehicle chassis of the target vehicle according to vehicle information of the target vehicle at a current time; the vehicle information comprises a body roll angle of the target vehicle; determining an extended chassis area of the vehicle chassis according to the actual chassis area; rotating a current top view according to a center position of the extended chassis area and the body roll angle to obtain a target top view; the current top view is determined based on an original top view corresponding to an original image captured by a wide-angle camera; determining a vehicle bottom image of the vehicle chassis at a next time from the target top view according to the actual chassis area and the extended chassis area.

2. The method of claim 1, wherein, The vehicle information further comprises a wheelbase of the target vehicle, position information of a front axle midpoint, a first distance from the front axle midpoint to a front end of the vehicle, position information of a rear axle midpoint, and a second distance from the rear axle midpoint to a rear end of the vehicle. Correspondingly, the step of determining the actual chassis area of the vehicle chassis of the target vehicle according to the vehicle information of the target vehicle at the current time comprises: determining a front end center position of the vehicle chassis of the target vehicle according to the body roll angle, the wheelbase, the position information of the front axle midpoint, and the first distance from the front axle midpoint to the front end of the vehicle at the current time; determining a rear end center position of the vehicle chassis according to the body roll angle, the position information of the rear axle midpoint of the target vehicle at the current time, and the second distance from the rear axle midpoint to the rear end of the vehicle; determining a vertex position of the vehicle chassis according to the body roll angle, a target vehicle width of the target vehicle, the front end center position, and the rear end center position; determining the actual chassis area of the vehicle chassis according to the vertex position.

3. The method of claim 2, wherein, The step of determining the vertex position of the vehicle chassis according to the body roll angle, the target vehicle width of the target vehicle, the front end center position, and the rear end center position comprises: determining a first vertex position and a second vertex position of the vehicle chassis according to the body roll angle, the target vehicle width of the target vehicle, and the front end center position; determining a third vertex position and a fourth vertex position of the vehicle chassis according to the body roll angle, the target vehicle width, and the rear end center position.

4. The method of claim 3, wherein, The step of determining the extended chassis area of the vehicle chassis according to the actual chassis area comprises: determining the extended chassis area of the vehicle chassis according to the first vertex position, the second vertex position, the third vertex position, and the fourth vertex position based on a preset contour convex hull algorithm.

5. The method of claim 1, wherein, The step of rotating the current top view according to the center position of the extended chassis area and the body roll angle to obtain the target top view comprises: determining a rotation matrix corresponding to the current top view according to the center position of the extended chassis area and the body roll angle; rotating the current top view based on the rotation matrix to obtain the target top view.

6. The method of claim 1, wherein, The step of determining the vehicle bottom image of the vehicle chassis at the next time from the target top view according to the actual chassis area and the extended chassis area comprises: aligning a center of the actual chassis area with a center of the extended chassis area; extract an image corresponding to the extended chassis area from the target overhead view as a vehicle chassis image of the vehicle chassis at a next time.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: performing blur processing on a splicing area in an original overhead view corresponding to an original image to obtain a current overhead view.

8. An apparatus for determining a car bottom image, characterized by Comprise: an actual chassis area determination module configured to determine an actual chassis area of a vehicle chassis of a target vehicle according to vehicle information of the target vehicle at a current time; the vehicle information comprises a vehicle body yaw angle of the target vehicle; an extended chassis area determination module configured to determine an extended chassis area of the vehicle chassis according to the actual chassis area; a target overhead view determination module configured to perform rotation processing on a current overhead view to obtain a target overhead view according to a center position of the extended chassis area and the vehicle body yaw angle; the current overhead view is determined based on an original overhead view corresponding to an original image captured by a wide-angle camera; a vehicle chassis image determination module configured to determine a vehicle chassis image of the vehicle chassis at a next time from the target overhead view according to the actual chassis area and the extended chassis area.

9. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle chassis image determination method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to execute the vehicle chassis image determination method of any one of claims 1-7 when executed. The computer readable storage medium stores computer instructions for causing the processor to execute the vehicle chassis image determination method of any one of claims 1-7 when executed.

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