A vehicle image display method, device, equipment and medium

Abstract

The application discloses a display method, device and equipment of vehicle image and a medium. The application is applied to a vehicle carrying a trailer. The trailer is connected with a body of the vehicle. Position information of the body and position information of the trailer are acquired. The vehicle image including the body image and the trailer image is fitted based on the position information of the body and the position information of the trailer. Finally, the vehicle image is displayed. The user can understand the driving condition of the trailer based on the displayed vehicle image including the trailer image, so that the user is facilitated to drive and the driving experience of the user is improved.

Description

Technical Field

[0001] This application relates to the field of image processing technology, specifically to a method, apparatus, device, and medium for displaying vehicle images. Background Technology

[0002] With the development of vehicle intelligence, some vehicles are equipped with display screens. These screens can display images of the vehicle and its surroundings. While driving, users can view these images to determine the vehicle's current driving environment.

[0003] For vehicles including trailers, only the image of the vehicle itself can be displayed. Users cannot see the surrounding environment of the trailer through the image, which is inconvenient for the user to drive. Summary of the Invention

[0004] In view of this, this application provides a method, apparatus, device and medium for displaying vehicle images, which can display vehicle images including trailer images, so that users can drive based on the overall vehicle images.

[0005] To solve the above problems, the technical solution provided in this application is as follows:

[0006] In a first aspect, this application provides a method for displaying vehicle images, the method being applied to a vehicle carrying a trailer, the trailer being connected to the vehicle body, the method comprising:

[0007] Obtain the location information of the main body and the location information of the trailer;

[0008] Based on the location information of the main body and the location information of the trailer, a vehicle image is fitted, the vehicle image including the main body image and the trailer image;

[0009] The image of the vehicle is displayed.

[0010] In one possible implementation, the trailer's position information includes the relative position of the trailer to the body, which is determined based on first detection data collected by the detection device.

[0011] In one possible implementation, the method further includes:

[0012] The detection method of the detection device is adjusted according to the location information of the trailer;

[0013] Acquire the second detection data collected by the detection device;

[0014] The trailer's position information is corrected based on the second detection data.

[0015] In one possible implementation, prior to displaying the vehicle image, the method further includes:

[0016] Obtain information about the surrounding environment of the vehicle;

[0017] An environmental image is generated based on the surrounding environmental information;

[0018] The environmental image and the vehicle image are stitched together to obtain a stitched image;

[0019] The display of the vehicle image includes:

[0020] The stitched image is displayed.

[0021] In one possible implementation, stitching the environmental image and the vehicle image to obtain the stitched image includes:

[0022] Adjust the sizes of the environmental image and the vehicle image according to a preset ratio;

[0023] The environmental image and the vehicle image are stitched together according to the preset layout position to obtain a stitched image.

[0024] In one possible implementation, the method further includes:

[0025] The radar warning range is superimposed on the stitched image.

[0026] In one possible implementation, the trailer image is displayed in a transparent manner.

[0027] Secondly, this application provides a display device for vehicle images, the device being applied to a vehicle carrying a trailer, the trailer being connected to the vehicle body, the device comprising:

[0028] The first acquisition unit is used to acquire the location information of the main body and the location information of the trailer;

[0029] A fitting unit is used to fit a vehicle image based on the position information of the body and the position information of the trailer, wherein the vehicle image includes a body image and a trailer image.

[0030] The display unit is used to display the vehicle image.

[0031] In one possible implementation, the trailer's position information includes the relative position of the trailer to the body, which is determined based on first detection data collected by the detection device.

[0032] In one possible implementation, the device further includes:

[0033] An adjustment unit is used to adjust the detection mode of the detection device according to the position information of the trailer;

[0034] The second acquisition unit is used to acquire the second detection data collected by the detection device;

[0035] The correction unit is used to correct the position information of the trailer based on the second detection data.

[0036] In one possible implementation, before displaying the vehicle image, the device further includes:

[0037] The third acquisition unit is used to acquire information about the surrounding environment of the vehicle.

[0038] The generation unit is used to generate environmental images based on the surrounding environmental information;

[0039] A stitching unit is used to stitch together the environmental image and the vehicle image to obtain a stitched image;

[0040] The display unit is used to display the spliced ​​image.

[0041] In one possible implementation, the stitching unit is used to adjust the size of the environmental image and the vehicle image according to a preset ratio; and to stitch the adjusted environmental image and vehicle image according to a preset layout position to obtain a stitched image.

[0042] In one possible implementation, the device further includes:

[0043] The overlay unit is used to overlay the radar warning range onto the stitched image.

[0044] In one possible implementation, the trailer image is displayed in a transparent manner.

[0045] Thirdly, this application provides a display device for vehicle images, including: a processor, a memory, and a system bus;

[0046] The processor and the memory are connected via the system bus;

[0047] The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform the vehicle image display method described in the first aspect above.

[0048] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the vehicle image display method described in the first aspect.

[0049] Fifthly, this application provides a vehicle that includes a vehicle image display device as described in the third aspect. Therefore, this application has the following beneficial effects:

[0050] This application provides a method, apparatus, device, and medium for displaying vehicle images, applied to a vehicle carrying a trailer connected to the vehicle body. The method involves acquiring the position information of the vehicle body and the trailer, and based on these positions, fitting a vehicle image that includes both the vehicle body image and the trailer image. Finally, the vehicle image is displayed. Based on the displayed vehicle image, including the trailer image, the user can understand the relative position of the trailer and the vehicle body, clarify the trailer's movement, facilitate driving, and improve the user's driving experience. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 A schematic diagram of a vehicle including a trailer, provided for an embodiment of this application;

[0053] Figure 2 A schematic flowchart illustrating a method for displaying vehicle images provided in an embodiment of this application;

[0054] Figure 3 A schematic diagram of a vehicle image provided in an embodiment of this application;

[0055] Figure 4 A schematic diagram of a stitched image provided in an embodiment of this application;

[0056] Figure 5 A schematic diagram of a stitched image overlaid with radar early warning range provided in an embodiment of this application;

[0057] Figure 6 A schematic flowchart illustrating a method for displaying vehicle images provided in an embodiment of this application;

[0058] Figure 7 This is a schematic diagram of the structure of a vehicle image display device provided in an embodiment of this application. Detailed Implementation

[0059] To facilitate understanding and explanation of the technical solutions provided in the embodiments of this application, the background technology of this application will be described first.

[0060] Vehicles typically have a screen in the driver's cab. While the driver is driving, the screen displays an image of the vehicle. This allows the driver to understand the vehicle's movement. For example, when turning, both the vehicle's image and the surrounding environment are displayed, enabling the driver to understand the current road conditions and make a safe turn. However, some vehicles capable of towing trailers only display an image of the vehicle itself. The driver cannot see the trailer's movement through the image, which can be dangerous.

[0061] Based on this, a method, apparatus, device, and medium for displaying vehicle images are provided, applied to a vehicle carrying a trailer connected to the vehicle body. The method involves acquiring the position information of the vehicle body and the trailer, and based on these positions, fitting a vehicle image that includes both the vehicle body image and the trailer image, corresponding to the positions of the vehicle body and the trailer. Finally, the vehicle image is displayed. Based on the displayed vehicle image, including the trailer image, the user can understand the relative positions of the vehicle body and the trailer, as well as the trailer's driving status, facilitating driving and improving the user's driving experience.

[0062] To facilitate understanding of the technical solutions provided in the embodiments of this application, a method for displaying vehicle images provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0063] First, it should be noted that the vehicle image display method provided in this application embodiment is applied to vehicles including trailers. See also Figure 1 This figure is a schematic diagram of a vehicle including a trailer according to an embodiment of this application. The vehicle body 101 can be connected to the trailer 102, driving the trailer 102 to move. This application embodiment does not limit the specific type of the vehicle body; for example, it can be a light-duty towing trailer, a car, a pickup truck, a motorhome cab, or other vehicles with towing capabilities. A trailer is a vehicle or vehicle component that can be towed, such as a flatbed truck or a motorhome body.

[0064] See Figure 2 As shown in the figure, this figure is a flowchart illustrating a method for displaying vehicle images provided in an embodiment of this application. The method specifically includes steps S201-S203.

[0065] S201: Obtain the location information of the main body and the location information of the trailer.

[0066] The location information of the vehicle body refers to the location information of the vehicle body itself. In one possible implementation, the location information of the vehicle body is determined by a positioning device configured on the vehicle body. As an example, the location information of the vehicle body is its position coordinates. The coordinate system corresponding to the vehicle body's position coordinates can be a coordinate system established based on the environment.

[0067] The trailer's location information refers to the location of the trailer. In one possible implementation, the trailer's location information includes the position coordinates determined by a positioning device installed on the trailer itself. As an example, the trailer is equipped with a positioning device. The trailer's positioning device can connect wirelessly to the vehicle's control system. The trailer's positioning device can determine the trailer's current position coordinates and send the position coordinates to the vehicle's control system. In another possible implementation, the trailer's location information can include the relative position of the trailer and the vehicle body. As an example, the vehicle body is equipped with a detection device. The detection device can detect the environment around the vehicle body and also detect the trailer connected to the vehicle body. The detection device collects first detection data for the trailer and sends the first detection data to the vehicle's control system. By using the detection device installed on the vehicle body to collect the first detection data of the trailer, the equipment installed on the vehicle body can be fully utilized, reducing the equipment cost for detecting the trailer. The vehicle's control system calculates the relative position of the trailer and the vehicle body based on the first detection data. The detection device may be one or more of a camera, radar, and scanning device. The scanning device may be, for example, an on-board scanning device or an on-board laser scanning system installed on the top of the vehicle body. The first type of detection data can be, for example, an image of the trailer captured by a camera. Based on the trailer image, the relative position of the trailer and the main body can be determined by comparing the dimensions of the image with those of the actual object. Another example of first-order detection data is radar detection results. Based on these results, the size of the trailer, the distance to the main body, and the relative angle between the trailer and the main body can be determined, thus establishing the relative position of the trailer and the main body. Yet another example of first-order detection data is a scanned image captured by a scanning device. Based on this scanned image, the relative position of the trailer and the main body can be determined.

[0068] It should be noted that the embodiments of this application do not limit the triggering method for obtaining the location information of the main body and the location information of the trailer.

[0069] In one possible implementation, the vehicle's location information is acquired in real time after the vehicle is started.

[0070] Regarding obtaining the trailer's location information, as an example, the trailer's location information is obtained after the vehicle enters trailer mode. Trailer mode refers to the mode where the vehicle itself carries the trailer. This application does not limit the specific implementation of activating trailer mode. In one possible implementation, trailer mode is activated after detecting a connection between the trailer and the vehicle body. As an example, the vehicle body and trailer are connected via a tow hook. When connecting the vehicle body and trailer, the tow hook is in the extended state. After the vehicle starts, the tow hook status is obtained. If the tow hook status is extended, it is determined that the tow hook is in use, and trailer mode is activated. If the tow hook status is normal, it is determined that the tow hook is not in use, and normal mode is maintained. In another possible implementation, trailer mode is activated by the user. The user activates trailer mode after connecting the vehicle body and trailer. For example, the user activates trailer mode by pressing a button configured on the vehicle.

[0071] In some possible implementations, after activating trailer mode, a trailer check is performed. If a trailer exists, trailer mode is maintained. If a trailer is detected as not present, trailer mode is deactivated. As an example, after detecting a missing trailer, a confirmation message indicating the presence of a trailer is displayed, prompting the user to check if the trailer is present. By checking the trailer, it is possible to verify whether the vehicle itself is carrying a trailer, preventing accidental activation of trailer mode due to user error or system detection malfunction.

[0072] S202: Fit a vehicle image based on the position information of the main body and the position information of the trailer.

[0073] Vehicle images include images of the vehicle itself and images of the trailer. Based on the location information of the vehicle itself and the trailer, it is possible to determine vehicle images that include both the vehicle itself and the trailer.

[0074] In one possible implementation, images of the entity and the trailer are first generated. Specifically, the size and shape data of the entity are acquired. An entity image is generated using the entity's size and shape data. As an example, a distortion correction algorithm can be used to generate the entity image. The size and shape data of the trailer are then acquired, and an image of the trailer is generated based on the trailer's size and shape data.

[0075] In another possible implementation, a preset body image is acquired, and a preset corresponding trailer image is acquired based on the trailer type. The trailer type can be determined based on user-inputted type information or based on detection data for the trailer.

[0076] After obtaining the vehicle image and trailer image, the vehicle image is stitched together based on the location information of the vehicle and the trailer to obtain the vehicle image.

[0077] This application does not limit the specific form of the vehicle image. For example, in one possible implementation, the vehicle image is a top-down view of the body model and the trailer model. The body model and the trailer model are pre-stored vehicle models. See also... Figure 3 As shown, this figure is a schematic diagram of a vehicle image provided in an embodiment of this application. For example, in one possible implementation, the vehicle image is a side-view image of the vehicle model and the trailer model.

[0078] Specifically, as one example, the location information of the subject includes its coordinates, and the location information of the trailer includes its coordinates. Based on the coordinates of the subject and the trailer, the positions of the subject and trailer relative to the vehicle as a whole can be determined, thus determining the positions of the subject image and trailer image within the vehicle image. The subject image and trailer image are then stitched together to form the vehicle image. As another example, the location information of the subject includes its coordinates, and the location information of the trailer includes the relative position of the trailer to the subject. Based on the coordinates of the subject and the relative position of the trailer to the subject, the positions of the subject and trailer relative to the vehicle as a whole can be determined, thus determining the positions of the subject image and trailer image within the vehicle image. The subject image and trailer image are then stitched together to form the vehicle image.

[0079] It should be noted that in some possible implementations, before stitching the body image and trailer image, the sizes of the body image and trailer image are adjusted based on their size ratio. For example, the trailer's size information can be obtained in advance, and the size of the trailer image can be determined based on this information. Specifically, a target correspondence between the body image size and trailer image size can be established based on the body's and trailer's size information. The sizes of the body image and trailer image are then adjusted based on this target correspondence. Another example is obtaining the trailer type. The trailer type is categorized based on its shape and size. For example, trailer types include small trailers, medium trailers, large trailers, and extra-large trailers. Based on the trailer type, a pre-set target correspondence between the body image size and trailer image size can be determined. Furthermore, the sizes of the body image and trailer image are adjusted based on this target correspondence. The trailer size information and trailer type can be determined based on detection data collected by the detection device or on trailer information input by the user.

[0080] S203: Display the image of the vehicle.

[0081] After obtaining the fitted vehicle image, the vehicle image is displayed. Specifically, the vehicle image can be displayed on a screen in the driver's cab.

[0082] This application does not limit the triggering conditions for displaying vehicle images. For example, vehicle images can be displayed when the vehicle is running in trailer mode. Or, vehicle images can be displayed when the vehicle starts or stops. This allows users to understand the driving status of both the vehicle and the trailer based on vehicle images, improving the user's driving experience.

[0083] In one possible implementation, the trailer image within the vehicle image can be made transparent to distinguish the vehicle body from the trailer. For example, the trailer image could be displayed with 50% transparency.

[0084] Based on the above-described S201-S203, it is clear that by utilizing the position information of the main body and the trailer, a vehicle image reflecting the positions of the main body and the trailer can be fitted. Based on the displayed vehicle image, the user can understand the current driving status of the trailer. Compared to the method of observing the trailer's driving status through a rearview mirror, the vehicle image display method provided in this application embodiment allows the user to conveniently and comprehensively understand the trailer's driving status based on the vehicle image.

[0085] In one possible implementation, the trailer's position information includes the relative position of the trailer to the main body. This relative position is determined based on first detection data collected by the detection device. After obtaining the trailer's position information using the first detection data, the detection device can be adjusted to obtain more accurate detection data.

[0086] Based on this, this application provides a method for displaying vehicle images, which, in addition to the steps described above, includes the following three steps:

[0087] A1: Adjust the detection mode of the detection device according to the location information of the trailer.

[0088] The trailer's location information reflects its current position. In one possible implementation, the trailer's location information includes its relative position to the main body. Based on the relative position of the trailer and the main body, the detection method of the detection device on the main body is adjusted to better detect the trailer.

[0089] The embodiments of this application do not limit the specific detection method to be adjusted. For example, the detection method includes detection frequency, detection angle, and detection direction.

[0090] As an example, the detection device includes cameras. When the trailer is relatively far from the vehicle body, the upward angle of the left / right surround-view cameras is increased to obtain a wider shooting range. For example, if the trailer is a campervan, due to its large size and potentially long length, the upward and outward angles of the left and right surround-view cameras can be increased to obtain a wider monitoring width. When the trailer is relatively close to the vehicle body, the upward angle of the left / right surround-view cameras is decreased to obtain a more suitable shooting range. For example, if the trailer is a flatbed trailer, which may be shorter and lower, the upward and outward angles of the left and right surround-view cameras can be decreased to obtain a suitable camera angle.

[0091] As another example, the detection device includes radar. The radar's detection range is increased when the relative distance between the trailer and the vehicle body is greater.

[0092] In one possible implementation, the specific implementation of the adjustment detection method can be pre-set. The pre-configured adjustment detection method is obtained based on the relative position of the trailer and the vehicle body. In another possible implementation, the first detection data can be input into a pre-trained adjustment model to obtain the detection method output by the adjustment model.

[0093] By adjusting the detection method of the detection device, it is possible to make the detection method more suitable for the detection of trailers, thereby obtaining more accurate detection data for trailers.

[0094] A2: Obtain the second detection data collected by the detection device.

[0095] After adjusting the detection device, the second detection data of the trailer collected by the detection device is acquired. The second detection data may be more accurate than the first detection data.

[0096] A3: Correct the trailer's position information based on the second detection data.

[0097] Based on the second detection data, the trailer's location information can be re-determined. This allows for the correction of the trailer's location information, resulting in more accurate location data. Based on the corrected trailer location information, a more accurate vehicle image can be obtained.

[0098] In one possible implementation, users need to know not only the location of the vehicle and the trailer, but also the environmental information surrounding the vehicle.

[0099] Based on this, this application provides a method for displaying vehicle images, which, in addition to the steps described above, includes the following three steps before displaying the vehicle images:

[0100] B1: Obtain information about the surrounding environment of the vehicle.

[0101] Vehicle surrounding environment information is used to describe the driving environment around the vehicle.

[0102] This application does not limit the source of information about the vehicle's surrounding environment. For example, the information about the vehicle's surrounding environment may be detected by a detection device installed on the vehicle itself, or it may be obtained from a navigation system or a map system.

[0103] As an example, information about the vehicle's surrounding environment can be obtained from cameras or radar installed on the vehicle itself. Cameras, for example, are surround-view cameras. Radar, for example, is millimeter-wave radar. Cameras capture images of the environment around the vehicle. Radar detects whether other objects exist around the vehicle and their distance from the vehicle, thus obtaining detection results.

[0104] As another example, the vehicle's surrounding environment information can be obtained from a navigation system or map system based on the vehicle's current location. The navigation system or map system pre-stores environmental information about the roads the vehicle might travel on. After obtaining the vehicle's location, the corresponding environmental information is retrieved from the navigation system or map system.

[0105] B2: Generate environmental images based on the surrounding environment information.

[0106] Information about the vehicle's surrounding environment reflects its driving conditions. Based on this information, environmental images can be generated. These environmental images are then overlaid on the vehicle images to present the vehicle's driving environment to the user.

[0107] In one possible implementation, the vehicle's surrounding environment information includes environmental images captured by a camera. These environmental images are then processed using a distortion correction algorithm to obtain an environmental image.

[0108] B3: Stitch the environmental image and the vehicle image to obtain a stitched image.

[0109] By stitching together environmental and vehicle images, a stitched image can be obtained. This stitched image displays the vehicle and its surrounding environment, allowing users to understand the vehicle's driving environment.

[0110] See Figure 4 As shown, this figure is a schematic diagram of a stitched image provided in an embodiment of this application. The environmental image is a road image.

[0111] Specifically, during the stitching process, the generated environmental and vehicle images are first resized according to a preset ratio to ensure size matching. This preset ratio can be pre-set based on the dimensions of the environmental and vehicle images. Then, the adjusted environmental and vehicle images are stitched together according to a preset layout position to obtain a stitched image. This preset layout position refers to the pre-defined placement of the vehicle and environmental images within the stitched image. The preset layout position can be set based on vehicle driving conditions or user habits. For example, the vehicle image is positioned in the center, while the environmental image is positioned at the edge. Another example is when the vehicle is in reverse gear and may be reversing; in this case, the vehicle image is positioned slightly to the left of the center, while the environmental image is positioned elsewhere.

[0112] In some possible implementations, radar warning ranges can be overlaid on the stitched image, allowing users to confirm driving safety based on the radar warning range. See also Figure 5 As shown in the figure, this is a schematic diagram of a stitched image of a superimposed radar warning range provided in an embodiment of this application. The thin dashed line represents the radar warning range.

[0113] The radar warning range can include a warning range and an alert range. For example, the warning range could be within 40 centimeters of the vehicle, while the alert range could be within 80 centimeters. As some examples, the radar warning range can differ for different parts of the vehicle. For instance, a larger radar warning range may be used for areas where there might be blind spots behind the vehicle, further improving driving safety. Different radar warning ranges can be displayed in different colors for easy differentiation.

[0114] Correspondingly, in one possible implementation, S204 above: displaying the vehicle image specifically means: displaying the stitched image.

[0115] It should be noted that the embodiments of this application do not limit the method of triggering the display of the stitched image. For example, when it is detected that the vehicle is about to turn or reverse, the stitched image is displayed so that the user can understand the driving status of the vehicle and the trailer, as well as the driving environment, through the stitched image, thereby improving the user's driving safety.

[0116] In one possible implementation, the following describes a method for displaying vehicle images provided by an embodiment of this application, in conjunction with a specific scenario.

[0117] See Figure 6 As shown in the figure, this figure is a flowchart illustrating a method for displaying vehicle images provided in an embodiment of this application.

[0118] After the vehicle starts running, the driving domain controller activates trailer mode. The driving domain controller activates detection devices, including a rearview camera, rear detection radar, left-side surround-view camera, and right-side surround-view camera, to detect a trailer. It determines whether a trailer is present. If a trailer is detected, trailer mode is maintained. If no trailer is detected, it switches to normal mode. After maintaining trailer mode, the driving domain controller acquires the vehicle's position information and the trailer's position information. The vehicle's position information is generated by its positioning device. The trailer's position information, including the relative position of the trailer to the vehicle, is obtained based on the first detection data collected by the detection devices. Based on the vehicle's and trailer's position information, the driving domain controller fits together a vehicle image including both vehicle and trailer images. The driving domain controller then acquires information about the vehicle's surrounding environment and creates an environmental image. The driving domain controller stitches the environmental and vehicle images together according to a preset scale and layout to obtain a stitched image. The driving domain controller then overlays the radar warning range onto the stitched image. The driving domain controller controls the display of a stitched image overlaid with the radar warning range on the in-vehicle screen, so that users can understand the vehicle's driving status and driving environment.

[0119] Based on the vehicle image display method provided in the above method embodiments, this application also provides a vehicle image display device, which will be described below with reference to the accompanying drawings.

[0120] See Figure 7 This figure is a schematic diagram of the structure of a vehicle image display device provided in an embodiment of this application. Figure 7 As shown, the display device for the vehicle image includes:

[0121] The first acquisition unit 701 is used to acquire the position information of the main body and the position information of the trailer;

[0122] The fitting unit 702 is used to fit a vehicle image based on the position information of the body and the position information of the trailer, wherein the vehicle image includes a body image and a trailer image.

[0123] Display unit 703 is used to display the vehicle image.

[0124] In one possible implementation, the trailer's position information includes the relative position of the trailer to the body, which is determined based on first detection data collected by the detection device.

[0125] In one possible implementation, the device further includes:

[0126] An adjustment unit is used to adjust the detection mode of the detection device according to the position information of the trailer;

[0127] The second acquisition unit is used to acquire the second detection data collected by the detection device;

[0128] The correction unit is used to correct the position information of the trailer based on the second detection data.

[0129] In one possible implementation, before displaying the vehicle image, the device further includes:

[0130] The third acquisition unit is used to acquire information about the surrounding environment of the vehicle.

[0131] The generation unit is used to generate environmental images based on the surrounding environmental information;

[0132] A stitching unit is used to stitch together the environmental image and the vehicle image to obtain a stitched image;

[0133] The display unit 703 is used to display the spliced ​​image.

[0134] In one possible implementation, the stitching unit is used to adjust the size of the environmental image and the vehicle image according to a preset ratio; and to stitch the adjusted environmental image and vehicle image according to a preset layout position to obtain a stitched image.

[0135] In one possible implementation, the device further includes:

[0136] The overlay unit is used to overlay the radar warning range onto the stitched image.

[0137] In one possible implementation, the trailer image is displayed in a transparent manner.

[0138] Based on the vehicle image display method provided in the above method embodiments, this application embodiment also provides a vehicle image display device, including: a processor, a memory, and a system bus;

[0139] The processor and the memory are connected via the system bus;

[0140] The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform the vehicle image display method described in any of the above embodiments.

[0141] Based on the vehicle image display method provided in the above method embodiments, this application provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the vehicle image display method described in any of the above embodiments.

[0142] Based on the vehicle image display method provided in the above embodiments, this application provides a vehicle, which includes the vehicle image display device described in the above embodiments.

[0143] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0144] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0145] It should also 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 apparatus 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 apparatus. 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 apparatus that includes said element.

[0146] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0147] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for displaying vehicle images, characterized in that, The method is applied to a vehicle carrying a trailer, the trailer being connected to the vehicle body, and the method includes: Acquire the location information of the main body, the location information of the trailer, the image of the main body, and the image of the trailer; Based on the target correspondence between the size of the body image and the size of the trailer image, the size of the body image and the size of the trailer image are adjusted. The target correspondence is based on the trailer type, or, based on the size information of the body and the size information of the trailer, the size correspondence between the body image and the trailer image is constructed. Based on the position information of the main body and the position information of the trailer, the adjusted images of the main body and the trailer are stitched together to obtain a vehicle image, which includes the main body image and the trailer image. Display the vehicle image; Prior to displaying the vehicle image, the method further includes: Obtain information about the surrounding environment of the vehicle; An environmental image is generated based on the surrounding environmental information; Adjust the sizes of the environmental image and the vehicle image according to a preset ratio; According to the preset layout position, the adjusted environmental image and the vehicle image are stitched together to obtain a stitched image. The preset layout position is determined according to the vehicle's driving situation. The display of the vehicle image includes: Display the stitched image; The display of the stitched image includes: When the system detects that the vehicle is about to turn or reverse, it displays a stitched image so that the user can understand the driving status of the vehicle and the trailer, as well as the driving environment. The method further includes: The radar warning range is superimposed on the stitched image. The radar warning range includes a warning range and an alert range. Different parts of the vehicle have different radar warning ranges, and different ranges of radar warning ranges are displayed in different colors. The method further includes: The trailer image is processed to achieve a preset transparency, thus distinguishing it from the main image. The methods for determining the trailer image include: Acquire a preset image of the vehicle body, and acquire a preset corresponding image of the trailer based on the type of the trailer. The type of the trailer is determined based on the type information input by the user, or based on the detection data of the trailer.

2. The method according to claim 1, characterized in that, The location information of the trailer includes the relative position of the trailer and the main body, which is determined based on the first detection data collected by the detection device.

3. The method according to claim 2, characterized in that, The method further includes: The detection method of the detection device is adjusted according to the location information of the trailer; Acquire the second detection data collected by the detection device; The trailer's position information is corrected based on the second detection data.

4. The method according to claim 1, characterized in that, The method further includes: The radar warning range is superimposed on the stitched image.

5. The method according to any one of claims 1-4, characterized in that, The trailer image is displayed in a transparent manner.

6. A display device for vehicle images, characterized in that, The device is applied to a vehicle carrying a trailer, the trailer being connected to the vehicle body, and the device includes: The first acquisition unit is used to acquire the location information of the main body, the location information of the trailer, the image of the main body and the image of the trailer; The fitting unit is used to adjust the size of the body image and the trailer image based on a target correspondence between the size of the body image and the size of the trailer image. The target correspondence is based on the trailer type, or it is a size correspondence between the body image and the trailer image constructed based on the size information of the body and the size information of the trailer. Based on the position information of the body and the position information of the trailer, the adjusted body image and the trailer image are stitched together to obtain a vehicle image, which includes the body image and the trailer image. The display unit is used to display the vehicle image; Prior to displaying the vehicle image, the device further includes: Obtain information about the surrounding environment of the vehicle; An environmental image is generated based on the surrounding environmental information; Adjust the sizes of the environmental image and the vehicle image according to a preset ratio; According to the preset layout position, the adjusted environmental image and the vehicle image are stitched together to obtain a stitched image. The preset layout position is determined according to the vehicle's driving situation. The display of the vehicle image includes: Display the stitched image; The display of the stitched image includes: When the system detects that the vehicle is about to turn or reverse, it displays a stitched image so that the user can understand the driving status of the vehicle and the trailer, as well as the driving environment. Also includes: The radar warning range is superimposed on the stitched image. The radar warning range includes a warning range and an alert range. Different parts of the vehicle have different radar warning ranges, and different ranges of radar warning ranges are displayed in different colors. Also includes: The trailer image is processed to achieve a preset transparency, thus distinguishing it from the main image. The methods for determining the trailer image include: Acquire a preset image of the vehicle body, and acquire a preset corresponding image of the trailer based on the type of the trailer. The type of the trailer is determined based on the type information input by the user, or based on the detection data of the trailer.

7. A display device for vehicle images, characterized in that, include: Processor, memory, system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform the vehicle image display method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the vehicle image display method according to any one of claims 1-5.

9. A vehicle, characterized in that, The vehicle includes a vehicle image display device as described in claim 7.

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