A v2x-based image sharing method and device

Abstract

The application relates to the technical field of vehicle communication, and provides an image sharing method and device based on V2X. The method comprises the following steps: receiving an image acquisition request about a target object; determining a first broadcast range with the position of the target object as the center and a first distance as the radius; broadcasting the image acquisition request to each V2X terminal in the first broadcast range, so that each V2X terminal collects images including the target object and sends the images to the vehicle end; receiving the images sent by each V2X terminal; analyzing all the images and determining an image set corresponding to the target object. According to the application, the image acquisition request is broadcast to each V2X terminal through the V2X technology, so that the images about the target object sent by other V2X terminals at their positions are acquired, the vehicle end can acquire more detailed and comprehensive information of the target object, meanwhile, the vehicle end does not need to stop, drive at a low speed or extra detour, and the driving safety is ensured.

Description

Technical Field

[0001] This application relates to the field of vehicle communication technology, and in particular to a V2X-based image sharing method and apparatus. Background Technology

[0002] When driving, drivers may notice objects they want to observe closely, such as specific buildings or landmarks. However, in most cases, drivers cannot stop near these objects. If they are simply driving by, safety requirements and road conditions limit their ability to observe objects near the road, thus preventing them from quickly and accurately capturing a comprehensive image of the object.

[0003] Therefore, how to provide a solution to the above-mentioned technical problems is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, embodiments of this application provide a V2X-based image sharing method and apparatus to solve the problem in the prior art that specific images of the external environment cannot be effectively acquired while driving.

[0005] A first aspect of this application provides a V2X-based image sharing method, executed by a vehicle, comprising:

[0006] Receive an image acquisition request; the image acquisition request is used to request the acquisition of a target image of the target object in the external environment;

[0007] The first broadcast range is determined with the location of the target object as the center and the first distance as the radius;

[0008] The image acquisition request is broadcast to each V2X terminal within the first broadcast range, so that each V2X terminal acquires an image including the target object and sends it to the vehicle.

[0009] Receive the images sent by each of the V2X terminals;

[0010] Analyze all the images and the positional relationship between each V2X terminal and the target object to determine the target image of one or more of the target objects, and organize all the target images into a target image set.

[0011] A second aspect of this application provides a V2X-based image sharing device applied to a vehicle, comprising:

[0012] A receiving module is used to receive an image acquisition request; the image acquisition request is used to request the acquisition of a target image of the target object in the external environment;

[0013] The range determination module is used to determine a first broadcast range with the location of the target object as the center and a first distance as the radius;

[0014] A broadcast module is used to broadcast the image acquisition request to each V2X terminal within the first broadcast range, so that each V2X terminal can acquire an image including the target object and send it to the vehicle.

[0015] A receiving module is used to receive the images sent by each of the V2X terminals;

[0016] An integration module is used to analyze all the images and the positional relationship between each V2X terminal and the target object, determine the target image of one or more of the target objects, and organize all the target images into a target image set.

[0017] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0018] A fourth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0019] The beneficial effects of this application embodiment compared with the prior art include at least the following: This application embodiment receives an image acquisition request for a target object, determines a first broadcast range based on the location of the target object, and broadcasts the image acquisition request to V2X terminals within the first broadcast range, thereby acquiring images collected by each V2X terminal and determining a target image set based on relative position and image content. This solution broadcasts the image acquisition request to each V2X terminal through V2X technology to obtain images of the target object sent by other V2X terminals based on their location. Thus, the vehicle terminal can obtain more detailed and comprehensive information about the target object, while the vehicle terminal does not need to stop, slow down, or take extra detours, ensuring driving safety. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, 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.

[0021] Figure 1 This is a schematic diagram illustrating one application scenario of this application.

[0022] Figure 2 This is a flowchart illustrating a V2X-based image sharing method provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the structure of a V2X-based image sharing device provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0026] The following describes in detail, with reference to the accompanying drawings, a V2X-based image sharing method and apparatus according to embodiments of this application.

[0027] Figure 1 This is a schematic diagram illustrating an application scenario according to an embodiment of this application. The application scenario may include a first terminal device 101, a second terminal device 102, a third terminal device 103, a server 104, and a network 105.

[0028] The first terminal device 101 can be either hardware or software. When the first terminal device 101 is hardware, it can be various electronic devices with a display screen that support communication with the server 104, including but not limited to in-vehicle systems, smartphones, tablets, laptops, and desktop computers. When the first terminal device 101 is software, it can be installed in the aforementioned electronic devices. The first terminal device 101 can be implemented as multiple software programs or software modules, or as a single software program or software module; this application embodiment does not impose any limitations on this. Furthermore, various applications can be installed on the first terminal device 101, such as data processing applications, instant messaging tools, social platform software, search applications, shopping applications, etc.

[0029] The second terminal device 102 can be either hardware or software. When the second terminal device 102 is hardware, it can be various electronic devices with a display screen that support communication with the server 104, including but not limited to in-vehicle systems, smartphones, tablets, laptops, and desktop computers. When the second terminal device 102 is software, it can be installed in the aforementioned electronic devices. The second terminal device 102 can be implemented as multiple software programs or software modules, or as a single software program or software module; this application embodiment does not impose any limitations on this. Furthermore, various applications can be installed on the second terminal device 102, such as data processing applications, instant messaging tools, social platform software, search applications, shopping applications, etc.

[0030] The third terminal device 103 can be either hardware or software. When the third terminal device 103 is hardware, it can be various electronic devices with a display screen that support communication with the server 104, including but not limited to vehicle infotainment systems, smartphones, tablets, laptops, and desktop computers. When the third terminal device 103 is software, it can be installed in the aforementioned electronic devices. The third terminal device 103 can be implemented as multiple software programs or software modules, or as a single software program or software module; this application embodiment does not impose any limitations on this. Furthermore, various applications can be installed on the third terminal device 103, such as data processing applications, instant messaging tools, social platform software, search applications, shopping applications, etc.

[0031] Server 104 can be a server that provides various services, such as a backend server that receives requests sent by terminal devices with which it has established communication connections. This backend server can receive and analyze the requests sent by the terminal devices and generate processing results. Server 104 can be a single server, a server cluster consisting of several servers, or a cloud computing service center. This application embodiment does not limit this.

[0032] It should be noted that the server 104 can be either hardware or software. When the server 104 is hardware, it can be various electronic devices that provide various services to the first terminal device 101, the second terminal device 102, and the third terminal device 103. When the server 104 is software, it can be multiple software programs or software modules that provide various services to the first terminal device 101, the second terminal device 102, and the third terminal device 103, or it can be a single software program or software module that provides various services to the first terminal device 101, the second terminal device 102, and the third terminal device 103. This application embodiment does not impose any limitations on this.

[0033] Network 105 can be a wired network using coaxial cable, twisted pair, and fiber optic connection, or it can be a wireless network that enables interconnection of various communication devices without wiring, such as Bluetooth, Near Field Communication (NFC), and Infrared. This application embodiment does not limit this.

[0034] It should be noted that the specific types, quantities and combinations of the first terminal device 101, the second terminal device 102, the third terminal device 103, the server 104 and the network 105 can be adjusted according to the actual needs of the application scenario, and this application embodiment does not impose any restrictions on this.

[0035] Figure 2 This is a flowchart illustrating a V2X-based image sharing method provided in an embodiment of this application. Figure 2 The V2X-based image sharing method can be executed by the vehicle, which can then... Figure 1 This is achieved through a first terminal device, a second terminal device, or a third terminal device. For example... Figure 2 As shown, this V2X-based image sharing method includes:

[0036] S201: Receive image acquisition request; the image acquisition request is used to request the acquisition of a target image of a target object in the external environment;

[0037] S202: Determine the first broadcast range with the target object's position as the center and the first distance as the radius;

[0038] S203: Broadcast the image acquisition request to each V2X terminal within the first broadcast range, so that each V2X terminal can acquire an image including the target object and send it to the vehicle terminal;

[0039] S204: Receive images sent by each V2X terminal;

[0040] S205: Analyze all images and the positional relationship between each V2X terminal and the target object, determine the target image of one or more target objects, and organize all target images into a target image set.

[0041] Specifically, regarding the image acquisition request in step S201, it is issued by the user to the vehicle. The specific method for issuing the image acquisition request can be either by selecting the target object within an image already captured locally on the vehicle and generating an image acquisition request for the target object, or by the user issuing the request directly to the vehicle via voice command. Specifically, receiving the image acquisition request may include:

[0042] Receives a selection command for a local area of ​​the initial image; the initial image is an image obtained by the vehicle-side image acquisition device from the external environment.

[0043] The selection command determines the specified image within a local image that includes the target object.

[0044] Generate the corresponding image retrieval request based on the specified image.

[0045] Understandably, the system acquires initial images of the external environment using image acquisition devices on the vehicle, such as dashcams or other cameras located on the vehicle. These initial images are then displayed on a touchscreen. The system receives selection instructions from the touchscreen, which specify the selection of a local area within the initial image. Further, upon receiving the selection instructions, a designated image containing the target object is determined within the local image. This designated image can be selected through intelligent matting of objects within the local image. Specifically, the relationship between the initial image, the local image, and the designated image is as follows: the local image is a part of the initial image, determined by the selection instructions; the designated image is part or all of the local image, and its content or object is the target object. A corresponding image acquisition request is then generated based on the designated image. This request may include information such as the location of the designated image and the target object; however, this is not limited and can be adjusted or added to as needed.

[0046] Similarly, receiving an image acquisition request may include:

[0047] Receive voice commands;

[0048] The voice commands are analyzed to obtain the command content;

[0049] Determine if the instruction content is to acquire an image of a certain object;

[0050] If so, the object is taken as the target and a request to acquire the corresponding image of the target object is generated.

[0051] It is understandable that the in-vehicle intelligent cockpit continuously monitors the voice of the users inside the vehicle. In this embodiment, the monitored voice of the users inside the vehicle is obtained through an interface. This voice of the users inside the vehicle is also known as voice commands. The voice commands are subjected to speech recognition to obtain text information, and then the text information is analyzed to obtain the command content. It is determined whether the command content is to obtain an image of a certain object. If so, an image acquisition request is generated. For example, if the command content is "get an image of the red tall building on the left side of the road", then the target object is confirmed to be the red tall building on the left side of the road, and then a corresponding image acquisition request is generated. The image acquisition request may include the descriptive information about the target object in the command content, and may also include the image information of the target object collected by the local image acquisition module. This image information is obtained from the most recent images of the local image acquisition module according to the command content.

[0052] Furthermore, based on the position of the specified image in the initial image acquired by the local image acquisition module, the distance between the local image acquisition module and the target object can be calculated. This allows determination of the relative position between the vehicle and the target object at the time of initial image acquisition. This relative position includes the acquisition distance and relative orientation between the vehicle and the target object at that time. Based on the relative position between the vehicle and the target object and the position of the vehicle at that time, the position of the target object can be determined. Here, the position is an absolute position, meaning it can be located using specific latitude and longitude values. Therefore, before determining the first broadcast range using the target object's position as the center and the first distance as the radius in this embodiment, the method may further include:

[0053] Based on the specified image in the initial image, determine the acquisition time and acquisition distance between the vehicle and the target object;

[0054] The location of the target object is determined based on the orientation and acquisition distance of the image acquisition device at the time of initial image acquisition.

[0055] Since the purpose of this embodiment is to obtain more image information about the target object, a first broadcast range is determined with the target object's location as the center and a first distance as the radius. The image acquisition request is broadcast to all V2X terminals within the first broadcast range to request each V2X terminal to collect an image including the target object and send it to the vehicle terminal.

[0056] The communication method between the vehicle and each V2X terminal here is V2X (Vehicle-to-Everything). V2X is a near-field communication technology that includes various application scenarios such as vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N). Currently, there are two main international technical solutions: DSRC (Dedicated Short Range Communications) and C-V2X (Cellular V2X). DSRC consists of the physical layer standard IEEE 802.11P and the network layer standard IEEE 1609, with information content and structure defined by SAE's SAE J2735 and SAE 2945 standards. DSRC is a bidirectional, half-duplex, short-range wireless communication technology with a communication distance typically in the tens of meters (10m-30m). It enables high-speed data transmission with bandwidths ranging from 3 to 27 Mb / s. It allows for designated authorized bandwidth, ensuring secure and reliable communication. It can quickly acquire network access, enabling rapid updates for proactive safety applications. Communication latency is at the millisecond level, meeting the time requirements for vehicle information exchange. Its high reliability allows for operation even at high speeds and its performance is unaffected by extreme weather conditions. It supports V2V and V2I communication, facilitating widespread deployment. Although DSRC technology has been developed early and has undergone extensive practical verification and application, it also has limitations: DSRC uses a carrier sense multiple access protocol, which may lead to packet decoding failures in high-density traffic conditions; the orthogonal frequency division multiplexing (OFDM) technology in DSRC's physical components limits the maximum transmission power and range; and as a line-of-sight transmission technology, DSRC faces challenges in urban environments with numerous obstacles.

[0057] To address potential issues with DSRC technology, the telecommunications industry has proposed the C-V2X solution. C-V2X is an information technology that leverages and enhances the features and network elements of existing Long Term Evolution (LTE) technologies. It is part of the 3GPP Realease-14 specification, which initially focused on V2V communication and gradually expanded support for other V2X operating scenarios. Currently, the 3GPP organization has completed research and standardization on LTE-V2X service requirements, network architecture, radio access technologies, and V2V / V2X services, and has submitted the LTE-V2X standard proposal to the international standards organization ISO. In November 2018, the ISO / DIS 17515-3 standard for LTE-V2X applications in intelligent transportation systems entered the final international standard draft stage.

[0058] Compared to DSRC technology, C-V2X has unique advantages and characteristics. First, the C-V2X physical layer uses frequency division multiplexing technology, which improves link budget gain and can provide longer warning time and twice the communication range compared to DSRC. Second, the introduction of 5G technology and the improvement of the mobile ecosystem will provide a clear technical evolution roadmap for C-V2X. In addition, by utilizing mobile cellular technology, the commercialization of C-V2X systems can be achieved quickly, and by combining it with in-vehicle telematics services, efficiency can be further improved and costs reduced.

[0059] Based on the characteristics of V2X technology, when a vehicle broadcasts a request to each V2X terminal through V2X technology, its maximum broadcast range is a circle with the vehicle's location as the radius and the maximum broadcast distance as the radius. Since the maximum broadcast range of the vehicle and the first broadcast range are not the same, in order to realize the feedback of image acquisition request more efficiently and accurately, the first broadcast range can be updated to the intersection of the first broadcast range and the maximum broadcast range.

[0060] After the vehicle sends an image acquisition request to each V2X terminal within the first broadcast range, if the V2X terminal responds to the image acquisition request, the vehicle will receive the image sent by the V2X. The received images are then analyzed, processed, and organized. Specifically, analysis refers to analyzing the image content and the acquisition angle of the target object; processing refers to filtering or adjusting the images based on the analysis results to obtain the target images; finally, all target images are organized into a target image set for user browsing and querying. Specifically, the process of analyzing all images and the positional relationship between each V2X terminal and the target object, determining the target image of one or more target objects, and organizing all target images into a target image set includes:

[0061] Based on the positional relationship between each V2X terminal and the target object, the acquisition angle of the target object relative to each V2X terminal is determined;

[0062] Based on the angle intervals of all the collected angles, all images are grouped to obtain image groups that correspond one-to-one with each angle interval.

[0063] Based on the selection criteria, one image is selected as the target image from each image group; the selection criteria include: the image contains the complete target object, the size of the target object in the image reaches one or more of the preset sizes;

[0064] All target images are organized based on the corresponding acquisition angle to obtain a target image set.

[0065] Specifically, the target object's measurable angle range includes 0-360 degrees. This range is divided into several angle intervals according to preset intervals. For example, if the preset interval is 90 degrees, the angle intervals are 0-90, 90-180, 180-270, and 270-360 degrees; or, if the preset interval is 60 degrees, the angle intervals are 0-60, 60-120, 120-180, 180-240, 240-300, and 300-360 degrees. All angle values ​​are in degrees. Of course, the measurable angle range can be divided into multiple angle intervals according to other rules; specific partitioning rules are not limited here.

[0066] Furthermore, for each image group, one image is selected as the target image. The selection criteria are that the image includes the complete target object, the size of the target object in the image reaches the preset size, that is, the image of the target object in the selected target image is clear, complete, and within a specific angle range. Taking 90° as the preset interval as an example, the front view, left view, rear view, and right view of the target object can be obtained. After organizing all the target images and adding angle labels, they are organized into a target image set.

[0067] In addition to the 360° of the plane, the target object's collectable angles can also take into account the influence of the vertical direction in three-dimensional space. For example, if a V2X terminal is located diagonally above the target object, the relative position in the vertical direction can also be added to the angle range setting, thereby obtaining target images of the target object with richer image acquisition angles.

[0068] In an exemplary embodiment, to enhance the user's awareness of the progress of the image sharing method, the position and status of various elements in the image sharing process can be displayed on the cockpit display screen. These elements include the target object, the vehicle itself, and each V2X terminal. Statuses include whether the request was successfully sent, whether the request was received, and whether an image was returned. Therefore, the method in this embodiment may further include:

[0069] A location map is drawn based on the location of the target, the location of all V2X terminals, and the current location of the vehicle. The location map is marked with the location of the target, the location of all V2X terminals, and the current location of the vehicle.

[0070] The drawn location map is sent to the cockpit display screen so that the location map is displayed on the cockpit display screen.

[0071] Furthermore, on the location map, the location of the target is marked in the first form, the current location of the vehicle is marked in the second form, the location of the V2X terminal that has not sent an image is marked in the third form, and the location of the V2X terminal that has sent an image is marked in the fourth form. Specifically, the first, second, third, and fourth forms can be distinguished by differences in the icon shape, color, flashing frequency, or other display methods of each element.

[0072] In an exemplary embodiment, the target images in the target image set can be further processed to achieve three-dimensional reconstruction of the target object's stereoscopic image. That is, the method in this embodiment further includes:

[0073] Using a target image set, the target object is reconstructed in three dimensions to generate a stereoscopic image of the target object;

[0074] Send the stereoscopic image to the cockpit display screen so that the cockpit display screen shows the stereoscopic image;

[0075] When a position adjustment command is received, the display angle or size of the stereoscopic image displayed on the cockpit display screen is adjusted accordingly.

[0076] 3D reconstruction can be achieved by using multiple target images in a target image set to recover depth information using binocular or multi-view vision algorithms, thereby determining the stereo image of the target object. Of course, in addition to binocular or multi-view vision algorithms, deep learning can also be used for 3D reconstruction. The specific choice can be made based on computing resources and computational needs, and no restrictions are imposed here.

[0077] Furthermore, after generating the stereoscopic image, it is displayed on the cockpit display screen. Users can issue position adjustment commands by touching the cockpit display screen to adjust the display angle or display size of the stereoscopic image, thereby providing users with a more intelligent and user-friendly image service.

[0078] This application embodiment receives an image acquisition request for a target object, determines a first broadcast range based on the location of the target object, and broadcasts the image acquisition request to V2X terminals within the first broadcast range, thereby acquiring images collected by each V2X terminal and determining a target image set based on relative position and image content. This solution broadcasts the image acquisition request to each V2X terminal through V2X technology to obtain images of the target object sent by other V2X terminals at their locations. Thus, the vehicle can obtain more detailed and comprehensive information about the target object, while the vehicle does not need to stop, slow down, or take extra detours, ensuring driving safety.

[0079] All the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here. It should be understood that the sequence number of each step in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0080] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0081] Figure 3 This is a schematic diagram of a V2X-based image sharing device provided in an embodiment of this application. Figure 3 As shown, this V2X-based image sharing device is applied to the vehicle side and includes:

[0082] The receiving module 301 is used to receive an image acquisition request; the image acquisition request is used to request the acquisition of a target image of a target object in the external environment;

[0083] The range determination module 302 is used to determine the first broadcast range with the position of the target object as the center and the first distance as the radius;

[0084] The broadcast module 303 is used to broadcast an image acquisition request to each V2X terminal within the first broadcast range, so that each V2X terminal can acquire an image including the target object and send it to the vehicle.

[0085] The receiving module 304 is used to receive images sent by each V2X terminal;

[0086] The integration module 305 is used to analyze all images and the positional relationship between each V2X terminal and the target object, determine the target image of one or more target objects, and organize all target images into a target image set.

[0087] This application embodiment receives an image acquisition request for a target object, determines a first broadcast range based on the location of the target object, and broadcasts the image acquisition request to V2X terminals within the first broadcast range, thereby acquiring images collected by each V2X terminal and determining a target image set based on relative position and image content. This solution broadcasts the image acquisition request to each V2X terminal through V2X technology to obtain images of the target object sent by other V2X terminals at their locations. Thus, the vehicle can obtain more detailed and comprehensive information about the target object, while the vehicle does not need to stop, slow down, or take extra detours, ensuring driving safety.

[0088] In one exemplary embodiment, receiving an image acquisition request includes:

[0089] Receives a selection command for a local area of ​​the initial image; the initial image is an image obtained by the vehicle-side image acquisition device from the external environment.

[0090] The selection command determines the specified image within a local image that includes the target object.

[0091] Generate the corresponding image retrieval request based on the specified image.

[0092] In an exemplary embodiment, before determining the first broadcast range with the target object's location as the center and the first distance as the radius, the range determination module 302 is further configured to:

[0093] Based on the specified image in the initial image, determine the acquisition time and acquisition distance between the vehicle and the target object;

[0094] The location of the target object is determined based on the orientation and acquisition distance of the image acquisition device at the time of initial image acquisition.

[0095] In one exemplary embodiment, receiving an image acquisition request includes:

[0096] Receive voice commands;

[0097] The voice commands are analyzed to obtain the command content;

[0098] Determine if the instruction content is to acquire an image of a certain object;

[0099] If so, the object is taken as the target and a request to acquire the corresponding image of the target object is generated.

[0100] In one exemplary embodiment, the device further includes a display module for:

[0101] A location map is drawn based on the location of the target, the location of all V2X terminals, and the current location of the vehicle. The location map is marked with the location of the target, the location of all V2X terminals, and the current location of the vehicle.

[0102] The drawn location map is sent to the cockpit display screen so that the location map is displayed on the cockpit display screen.

[0103] In one exemplary embodiment, on the location map, the location of the target object is marked in a first form, the current location of the vehicle is marked in a second form, the location of the V2X terminal that has not sent an image is marked in a third form, and the location of the V2X terminal that has sent an image is marked in a fourth form.

[0104] In an exemplary embodiment, the process of analyzing all images and the positional relationship between each V2X terminal and the target object, determining target images of one or more target objects, and organizing all target images into a target image set includes:

[0105] Based on the positional relationship between each V2X terminal and the target object, the acquisition angle of the target object relative to each V2X terminal is determined;

[0106] Based on the angle intervals of all the collected angles, all images are grouped to obtain image groups that correspond one-to-one with each angle interval.

[0107] Based on the selection criteria, one image is selected as the target image from each image group; the selection criteria include: the image contains the complete target object, the size of the target object in the image reaches one or more of the preset sizes;

[0108] All target images are organized based on the corresponding acquisition angle to obtain a target image set.

[0109] In one exemplary embodiment, the device further includes a three-dimensional module for:

[0110] Using a target image set, the target object is reconstructed in three dimensions to generate a stereoscopic image of the target object;

[0111] Send the stereoscopic image to the cockpit display screen so that the cockpit display screen shows the stereoscopic image;

[0112] When a position adjustment command is received, the display angle or size of the stereoscopic image displayed on the cockpit display screen is adjusted accordingly.

[0113] Figure 4 This is a schematic diagram of the electronic device 4 provided in an embodiment of this application. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, it implements the steps in the various method embodiments described above. Alternatively, when the processor 401 executes the computer program 403, it implements the functions of each module / unit in the various device embodiments described above.

[0114] Electronic device 4 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 4 may include, but is not limited to, processor 401 and memory 402. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or different components.

[0115] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0116] The memory 402 can be an internal storage unit of the electronic device 4, such as a hard disk or RAM of the electronic device 4. The memory 402 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 4. The memory 402 can also include both internal and external storage units of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0118] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium, such as a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0119] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A V2X-based image sharing method, characterized in that, Executed by the vehicle, including: Receive an image acquisition request; the image acquisition request is used to request the acquisition of a target image of a target object in the external environment; The first broadcast range is determined with the location of the target object as the center and the first distance as the radius; The image acquisition request is broadcast to each V2X terminal within the first broadcast range, so that each V2X terminal acquires an image including the target object and sends it to the vehicle. Receive the images sent by each of the V2X terminals; Analyze all the images and the positional relationship between each V2X terminal and the target object to determine the target image of one or more of the target objects, and group all the target images into a target image set based on the image acquisition angle; Using the target image set, the target object is reconstructed in three dimensions to generate a stereoscopic image of the target object; based on the location of the target object, the locations of all the V2X terminals, and the current location of the vehicle, a location map is drawn, on which the location map is marked with the location of the target object, the locations of all the V2X terminals, and the current location of the vehicle.

2. The method according to claim 1, characterized in that, Receiving an image acquisition request includes: Receives a selection command for a portion of the initial image; the initial image is the image acquisition device at the vehicle end. Images obtained through image acquisition of the external environment; The specified image containing the target object is determined according to the box selection instruction; Generate a corresponding image retrieval request based on the specified image.

3. The method according to claim 2, characterized in that, Before determining the first broadcast range using the location of the target object as the center and the first distance as the radius, the method further includes: Based on the specified image in the initial image, determine the acquisition distance between the vehicle and the target object at the acquisition time of the initial image; The location of the target object is determined based on the orientation of the image acquisition device and the acquisition distance at the time of acquisition of the initial image.

4. The method according to claim 1, characterized in that, Receiving an image acquisition request includes: Receive voice commands; The voice command is analyzed to obtain the command content; Determine whether the instruction content is to acquire an image of a certain object; If so, the object is taken as the target object, and an image acquisition request corresponding to the target object is generated.

5. The method according to claim 1, characterized in that, Also includes: The drawn location map is sent to the cockpit display screen so that the cockpit display screen shows the location map.

6. The method according to claim 5, characterized in that, On the location map, the location of the target object is marked in a first form, the current location of the vehicle is marked in a second form, the location of the V2X terminal that has not sent the image is marked in a third form, and the location of the V2X terminal that has sent the image is marked in a fourth form.

7. The method according to claim 1, characterized in that, The process of analyzing all the images and the positional relationship between each V2X terminal and the target object, determining the target image of one or more of the target objects, and grouping all the target images into a target image set based on the image acquisition angle includes: Based on the positional relationship between each V2X terminal and the target object, the acquisition angle of the target object relative to each V2X terminal is determined; Based on the angle intervals in which all the acquired angles are located, all the images are grouped to obtain image groups that correspond one-to-one with each of the angle intervals. Based on the selection criteria, one image is selected from each image group as the target image; the selection criteria include: the image includes the complete target object, the size of the target object in the image reaches one or more of the preset sizes; Based on the corresponding acquired angle, all the target images are organized to obtain a target image set.

8. The method according to any one of claims 1 to 7, characterized in that, Also includes: The stereoscopic image is sent to the cockpit display screen so that the cockpit display screen displays the stereoscopic image; When a position adjustment command is received, the display angle or display size of the stereoscopic image displayed on the cockpit display screen is adjusted according to the position adjustment command.

9. A V2X-based image sharing device, characterized in that, Applications in vehicles include: The receiving module is used to receive an image acquisition request; the image acquisition request is used to request the acquisition of a target image of a target object in the external environment; The range determination module is used to determine a first broadcast range with the location of the target object as the center and a first distance as the radius; A broadcast module is used to broadcast the image acquisition request to each V2X terminal within the first broadcast range, so that each V2X terminal can acquire an image including the target object and send it to the vehicle. A receiving module is used to receive the images sent by each of the V2X terminals; An integration module is used to analyze all the images and the positional relationship between each V2X terminal and the target object, determine the target image of one or more target objects, and group all the target images into a target image set based on the image acquisition angle; use the target image set to perform three-dimensional reconstruction of the target object to generate a stereo image of the target object; and draw a location map based on the position of the target object, the position of all V2X terminals, and the current position of the vehicle, with the position of the target object, the position of all V2X terminals, and the current position of the vehicle marked on the location map.

10. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 8.

Images