Surround view image determination method, apparatus, device, medium, product, and vehicle

Abstract

The application discloses a kind of determination methods, devices, equipment, medium, product and vehicle of all-around view image. The method comprises: in the imaging condition that the first image collected by camera includes the wheel of vehicle, first deflection angle is obtained, first deflection angle is the first deflection angle of steering wheel of vehicle at first time, and first time is the collection time of first image;The first ratio of second deflection angle and first deflection angle is calculated, and the first cutting region corresponding to first deflection angle is calculated using the wheel size of vehicle and the first ratio, and second deflection angle is the deflection angle when steering wheel of vehicle is full;The first cutting region in first image is cut;The first image after cutting and the model image of vehicle are spliced, to obtain all-around view image.According to the embodiment of the application, the wheel can be avoided to appear in all-around view image and influence the field of vision of driver, and the safety of driving is improved.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202210977351.2, filed on August 15, 2022, entitled “Method, Apparatus, Equipment, Medium, Product and Vehicle for Determining a Surround View Image”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application belongs to the field of vehicles, and particularly relates to a method, apparatus, equipment, medium, product and vehicle for determining a surround view image. Background Technology

[0004] Intelligentization is one of the important trends in the development of the automotive industry, and vision systems are being used more and more widely in the field of active safety. 360-degree in-vehicle surround view systems are one of the advanced vehicle safety assistance systems. Such systems can provide drivers with information about the vehicle's surroundings at low speeds, providing visual assistance for low-speed operations (such as parking), and have become standard equipment in many mass-produced models.

[0005] A vehicle surround view system typically has four cameras installed on the vehicle. An onboard processor stitches together the vehicle model image and the environmental images captured by the cameras, and displays the stitched surround view image on the vehicle's screen, providing the driver with a view of the vehicle's surroundings and thus improving driving safety.

[0006] However, since the cameras in a vehicle surround view system are usually mounted on the vehicle's rearview mirrors, if the driver turns the steering wheel, the wheels will protrude from under the vehicle and be captured by the camera. The wheels will then appear in the surround view image, resulting in a loss of vision and reducing driving safety. Summary of the Invention

[0007] This application provides a method, apparatus, device, medium, product, and vehicle for determining a surround view image, which can solve the problem that the presence of wheels in the surround view image leads to a loss of visibility and thus affects driving safety.

[0008] In a first aspect, embodiments of this application provide a method for determining a panoramic image, the method comprising:

[0009] If the first image captured by the camera on the vehicle includes an image of the vehicle's wheels, a first deflection angle is obtained. The first deflection angle is the first deflection angle of the vehicle's steering wheel at a first moment, and the first moment is the moment when the first image is captured.

[0010] Calculate the first ratio of the second deflection angle to the first deflection angle, and use the wheel size of the vehicle and the first ratio to calculate the first cutting area corresponding to the first deflection angle. The second deflection angle is the deflection angle when the steering wheel of the vehicle is turned to the full position.

[0011] The first cropping region in the first image is cropped.

[0012] By stitching and cropping the first image and the model image of the vehicle, a surround view image is obtained.

[0013] In some embodiments, calculating the first cutting area corresponding to the first deflection angle using the vehicle's wheel size and the first ratio includes:

[0014] The first cutting width corresponding to the first deflection angle is calculated using the first ratio and the wheel size of the vehicle;

[0015] A first cropping boundary line is determined in the first image at a position relative to the first cropping width;

[0016] The area enclosed by the first cutting boundary line is defined as the first cutting area.

[0017] In some embodiments, calculating the first cut width corresponding to the first deflection angle using the first ratio and the wheel size of the vehicle includes:

[0018] Calculate the sine value corresponding to the second deflection angle;

[0019] The second basic cutting width corresponding to the sine value is calculated using the second ratio of the wheel width to the sine value;

[0020] The product of the second basic cutting width and the first ratio is determined as the first basic cutting width;

[0021] Query the first compensation crop width corresponding to the first image;

[0022] The sum of the first basic cutting width and the first compensated cutting width is determined as the first cutting width.

[0023] In some embodiments, the formula for calculating the second basic cutting width is:

[0024] tw=(Rk / 2sinft-k / 2tanft)×sinft

[0025] Where tw represents the second basic cutting width, R represents the wheel radius, k represents the wheel width, and ft represents the second deflection angle.

[0026] In some embodiments, determining the first cropping boundary line at a position in the first image at a distance from the first cropping width includes:

[0027] Obtain the inner trimming boundary line of the vehicle;

[0028] The outer cutting boundary line, front cutting boundary line, and rear cutting boundary line of the vehicle are determined at positions that are a distance from the inner cutting boundary line and the first cutting width.

[0029] The inner cropping boundary line, the outer cropping boundary line, the front cropping boundary line, and the rear cropping boundary line are defined as the first cropping boundary line of the first image.

[0030] In some embodiments, obtaining the inner trimming boundary line of the vehicle includes:

[0031] The first cropping length of the first image is determined based on the first deflection angle and the wheel size;

[0032] The inner cutting boundary line of the wheel is determined based on the first cutting length;

[0033] The formula for calculating the first cutting length is:

[0034] nh=(Rk / 2tantt)×costt-k / 2tantt+k / sintt

[0035] Where R represents the wheel radius, k represents the wheel width, tt represents the first deflection angle, and nh represents the first cutting length.

[0036] In some embodiments, before obtaining a surround view image by stitching and cropping the first image and the model image of the vehicle, the method further includes:

[0037] Obtain the vehicle body cropping area in the first image, the vehicle body cropping area including the area covered by the model image in the first image and the area of ​​the vehicle body in the first image;

[0038] The vehicle body cropping area is cropped in the first image.

[0039] Secondly, embodiments of this application provide a device for determining a panoramic image, the device comprising:

[0040] The acquisition module is used to obtain a first deflection angle when the first image acquired by the camera on the vehicle includes the image of the vehicle's wheels. The first deflection angle is the first deflection angle of the vehicle's steering wheel at a first moment, and the first moment is the acquisition time of the first image.

[0041] The determination module is used to calculate a first ratio between the second deflection angle and the first deflection angle, and to calculate a first cutting area corresponding to the first deflection angle using the wheel size of the vehicle and the first ratio. The second deflection angle is the deflection angle when the steering wheel of the vehicle is turned to the full position.

[0042] The cropping module is used to crop the first cropping region in the first image;

[0043] The stitching module is used to stitch together the cropped first image and the model image of the vehicle to obtain a surround view image.

[0044] Thirdly, embodiments of this application provide a device for determining a surround view image, the device including: a processor and a memory storing computer program instructions;

[0045] The processor implements the above method for determining the panoramic image when executing computer program instructions.

[0046] Fourthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the above-described method for determining a panoramic image.

[0047] Fifthly, embodiments of this application provide a computer program product, the computer program product including computer program instructions, which, when executed by a processor, implement the above-described method for determining a panoramic image.

[0048] Sixthly, embodiments of this application provide a vehicle, the vehicle including the aforementioned surround view image determining device and surround view image determining equipment.

[0049] This application improves driving safety by determining the first cropping area affected by the imaging of the wheel in the first image and cropping the wheel in the first image according to the first cropping area, thus avoiding the wheel appearing in the surround view image and affecting the driver's vision. Attached Figure Description

[0050] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application 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.

[0051] Figure 1 This is a flowchart illustrating a method for determining a panoramic image according to an embodiment of this application;

[0052] Figure 2This is a schematic diagram of a scenario illustrating a method for determining a panoramic image provided in another embodiment of this application;

[0053] Figure 3 This is a schematic diagram of a scenario illustrating a method for determining a panoramic image provided in another embodiment of this application;

[0054] Figure 4 This is a schematic diagram of a scenario illustrating a method for determining a panoramic image provided in another embodiment of this application;

[0055] Figure 5 This is a schematic diagram of the hardware structure of a device for determining a surround view image according to an embodiment of this application;

[0056] Figure 6 This is a schematic diagram of the structure of a device for determining a panoramic image according to an embodiment of this application. Detailed Implementation

[0057] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples of this application.

[0058] It should be noted that, in this document, relational terms such as "first" and "second" are used merely 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..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0059] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0060] Intelligentization is one of the important trends in the development of the automotive industry, and vision systems are being used more and more widely in the field of active safety. 360-degree in-vehicle surround view systems are one of the advanced vehicle safety assistance systems. Such systems can provide drivers with information about the vehicle's surroundings at low speeds, providing visual assistance for low-speed operations (such as parking), and have become standard equipment in many mass-produced models.

[0061] A vehicle surround view system typically has four cameras installed on the vehicle. An onboard processor stitches together the vehicle model image and the environmental images captured by the cameras, and displays the stitched surround view image on the vehicle's screen, providing the driver with a view of the vehicle's surroundings and thus improving driving safety.

[0062] However, because the cameras in in-vehicle surround view systems are typically fisheye cameras, which can capture images exceeding 180°, and are generally mounted on the vehicle's rearview mirrors, theoretically, the surround view image can be completely blind-spot-free if the driver does not turn the steering wheel. But if the driver turns the steering wheel, the wheels will protrude from under the vehicle and be captured by the camera. According to the principle of camera projection, the position of the wheels, as objects with height, will be inaccurate, causing the wheels to appear in the surround view image, which will affect the driver's field of vision.

[0063] In related technologies, in order to avoid the wheels and part of the vehicle body appearing in the surround view image, a large blind spot can be set around the vehicle model in the surround view image, or the vehicle model in the surround view image can be enlarged to block the wheels and part of the vehicle body captured by the camera. However, this reduces the driver's field of vision in the surround view image and reduces driving safety.

[0064] Specifically, in order to solve the problems of the prior art, embodiments of this application provide a method, apparatus, device, medium, product, and vehicle for determining a surround view image. The method for determining a surround view image provided in the embodiments of this application will be described first below.

[0065] Figure 1 A flowchart illustrating a method for determining a panoramic image according to an embodiment of this application is shown. The method includes the following steps:

[0066] S110, if the first image captured by the camera on the vehicle includes an image of the vehicle's wheels, a first deflection angle is obtained. The first deflection angle is the first deflection angle of the vehicle's steering wheel at a first moment, and the first moment is the moment when the first image is captured.

[0067] In this embodiment, the camera on the vehicle surround view system can capture real-time images of the vehicle's environment, obtaining first images at different times. Furthermore, at different times, the vehicle's steering wheel is at different deflection angles, and the first images corresponding to different steering wheel deflection angles are different.

[0068] S120, calculate the first ratio of the second deflection angle to the first deflection angle, and use the wheel size of the vehicle and the first ratio to calculate the first cutting area corresponding to the first deflection angle, wherein the second deflection angle is the deflection angle when the steering wheel of the vehicle is turned to the full position.

[0069] In this embodiment, since the width of the wheel protruding from the bottom of the vehicle is different under different first deflection angles, the area to be cropped in the first image, i.e. the first cropping area, is also different. The first cropping area is the area covered by the wheel protruding in the first image.

[0070] The first cropping area is related to the vehicle's wheel size, which includes wheel width and radius. Given a fixed wheel deflection angle, a larger wheel width results in a larger first cropping area, and vice versa. Furthermore, the maximum steering wheel angle and the steering wheel's initial deflection angle affect the wheel deflection angle, which in turn influences the area of ​​the first cropping area. Therefore, the first cropping area in the first image needs to be determined based on the first and second steering wheel deflection angles and the wheel size.

[0071] Specifically, since the second deflection angle mentioned above is the maximum deflection angle of the steering wheel, the basic cutting width corresponding to the deflection angle of each steering wheel can be calculated through the second deflection angle and the second basic cutting width corresponding to the second deflection angle. The first ratio is the ratio of the maximum deflection angle to the first deflection angle. The first cutting area corresponding to each first deflection angle can be determined by the first ratio and the wheel size.

[0072] S130, crop the first cropping region in the first image.

[0073] In this embodiment, after determining the first cropping region in the first image, the region to be cropped can be further cropped based on the determined first cropping region.

[0074] S140, the first image after being stitched and cropped and the model image of the vehicle are combined to obtain a surround view image.

[0075] In this embodiment, the cropped first image and the vehicle model image can be stitched together to obtain a surround view image, which is then displayed on the vehicle's infotainment screen. The surround view image displays both the vehicle's surrounding environment and its position within that environment, providing the driver with a view of the vehicle's surroundings and assisting in locating the vehicle.

[0076] This application improves driving safety by determining the first cropping area affected by the imaging of the wheel in the first image and cropping the wheel in the first image according to the first cropping area, thus avoiding the wheel appearing in the surround view image and affecting the driver's vision.

[0077] As an optional embodiment, the above-described S120 may include:

[0078] The first cutting width corresponding to the first deflection angle is calculated using the first ratio and the wheel size of the vehicle;

[0079] A first cropping boundary line is determined in the first image at a position relative to the first cropping width;

[0080] The area enclosed by the first cutting boundary line is defined as the first cutting area.

[0081] In this embodiment, the first cropping width is the width of the first cropping area. Since the length of the first cropping area is fixed given the position and size of the wheel, determining the first cropping width allows us to determine the boundary line of the first cropping area, i.e., the first cropping boundary line. Then, cropping is performed along the first cropping boundary line to remove the first cropping area from the first image.

[0082] Furthermore, the first cutting length is related to the wheel deflection angle and wheel size. When the wheel size is constant, the larger the wheel deflection angle, the larger the first cutting width. When the wheel deflection angle is constant, the larger the wheel width, the larger the first cutting width. Alternatively, when the wheel deflection angle is constant, the larger the wheel radius, the larger the first cutting width.

[0083] As an optional embodiment, calculating the first cut width corresponding to the first deflection angle using the first ratio and the wheel size of the vehicle includes:

[0084] Calculate the sine value corresponding to the second deflection angle;

[0085] The second basic cutting width corresponding to the sine value is calculated using the second ratio of the wheel width to the sine value.

[0086] In this embodiment, after determining the steering wheel angle, the cutting width of the area to be cut is also related to the wheel size, which includes the wheel radius and wheel width. With a fixed steering wheel deflection angle, the wider the wheel, the larger the required cutting width; conversely, the larger the wheel radius, the larger the wheel circumference, and therefore the larger the required cutting width.

[0087] like Figure 2 As shown, in an optional embodiment, the formula for calculating the second basic cutting width is as follows:

[0088] tw=(Rk / 2sinft-k / 2tanft)×sinft

[0089] Where tw represents the second basic cutting width, R represents the wheel radius, k represents the wheel width, and ft represents the second deflection angle.

[0090] The product of the second basic cutting width and the first ratio is determined as the first basic cutting width.

[0091] In this embodiment, the greater the steering wheel deflection angle, the greater the wheel rotation angle; and the greater the wheel rotation angle, the greater the required cutting width. Therefore, there is a one-to-one correspondence between the steering wheel deflection angle and the required cutting width.

[0092] After determining the first ratio of the first deflection angle and the second deflection angle, it is also necessary to determine the second basic clipping width corresponding to the second deflection angle. This will determine the position of the wheel in the first image at the first deflection angle and further determine the first basic clipping width.

[0093] In one embodiment, after determining the second deflection angle, the corresponding base width to be cropped in the first image is the second base cropping width; a first ratio of the first deflection angle and the second deflection angle can be determined, and the product of the second base cropping width and the first ratio is determined as the first base cropping width.

[0094] For example, if the second basic cutting width is determined to be tw when the second deflection angle is ft degrees, then the corresponding first basic cutting width is kw when the first deflection angle is tt. Where kw = (tt / ft) * tw.

[0095] Through the above calculation process, the first basic cutting width can be accurately determined.

[0096] Query the first compensation crop width corresponding to the first image;

[0097] The sum of the first basic cutting width and the first compensated cutting width is determined as the first cutting width.

[0098] In this embodiment, to avoid the calculated first basic clipping width from not conforming to the actual wheel imaging, a first compensation clipping width is set. The first compensation clipping width is a compensation value for the first basic clipping width. The first image is a real-time acquired environmental image of the vehicle. The first image can reflect the vehicle's external environment and driving state. Therefore, under different first images, i.e., when the vehicle is in different external environments or different driving states, there are different first compensation clipping widths.

[0099] In one embodiment, the requirements for the surround view image differ under different first images. Therefore, the external environment or driving state of the vehicle can be determined based on the first image, and a first compensation clipping width can be further determined. When the external environment is rainy, snowy, or foggy, or when the driving state is driving on a narrow curve, in order to avoid excessive clipping area causing significant loss of vision, a smaller first compensation clipping width can be determined, and a relatively small area can be clipped on the first image to help the driver obtain more near vision.

[0100] When the external environment is sunny or cloudy, or when driving on a wide and straight road, the driver has more time to observe the field of vision and operate the vehicle. Therefore, the first priority is to ensure that the wheels are not imaged in the surround view image. A larger first compensation clipping width can be determined, and a relatively large area can be clipped from the first image to ensure the integrity and harmony of the surround view image.

[0101] By determining different first compensation cropping widths based on the first image, the cropping strategy for the surround view image can be further adjusted based on the environment and the vehicle's driving state, in order to match the needs of different environments and driving states.

[0102] As an optional embodiment, to ensure the accuracy of cropping, determining the first cropping boundary line at a position in the first image at a distance from the first cropping width may include:

[0103] Obtain the inner trimming boundary line of the vehicle;

[0104] The outer cutting boundary line, front cutting boundary line, and rear cutting boundary line of the vehicle are determined at positions that are a distance from the inner cutting boundary line and the first cutting width.

[0105] The inner cropping boundary line, the outer cropping boundary line, the front cropping boundary line, and the rear cropping boundary line are defined as the first cropping boundary line of the first image.

[0106] In this embodiment, the inner clipping boundary line of the vehicle can be determined according to the position of the wheel in the model image of the vehicle. The first clipping width is the vertical length between the inner clipping boundary line and the outer clipping boundary line. The front clipping boundary line and the rear clipping boundary line are used to connect the inner clipping boundary line and the outer clipping boundary line. Accordingly, the position of the first clipping boundary line on the first image can be determined. By clipping along the first clipping boundary line, the position where the wheel protrudes from the vehicle body in the first image can be clipped out. Clipping based on the first clipping boundary line corresponding to the position of the wheel in the first image can ensure the clipping accuracy at the position where the wheel is located.

[0107] As an optional embodiment, in order to ensure the clipping accuracy, the above step of clipping the first image according to the first clipping boundary line may include:

[0108] determining an area enclosed by the first clipping boundary line as a first clipping area;

[0109] clipping the first clipping area in the first image.

[0110] In this embodiment, the area enclosed by the first clipping boundary line on the first image may be determined as the first clipping area, and then the first clipping area is clipped from the first image.

[0111] In an embodiment, a rectangular coordinate system may be established on the first image to determine the function corresponding to the first clipping boundary line, and the first clipping area may be determined according to the function corresponding to the first clipping boundary line.

[0112] For example, the rectangular coordinate system may be established on the first image according to the position of the model image of the vehicle relative to the first image, the origin of the rectangular coordinate system may be the center of the rear axle of the model image, the longitudinal axis direction of the rectangular coordinate system may be the length direction of the model image, and the transverse axis direction of the rectangular coordinate system may be the width direction of the model image.

[0113] as Figure 3 shown, when the width of the model image is cw / 2, the first clipping width is nw, the maximum value of the wheel in the y direction in the rectangular coordinate system is ymax, and the minimum value is ymin; the function of the straight line passing through the inner clipping boundary line can be determined as x = cw / 2; the function of the straight line passing through the outer clipping boundary line is x = cw / 2 + nw, the function of the straight line passing through the front clipping boundary line is y = ymax, and the function of the straight line passing through the rear clipping boundary line is y = ymin.

[0114] Then, the first clipping area can be determined as cw / 2 < x < (cw / 2 + nw) and ymin < y < ymax.

[0115] By defining the cutting area as described above, the accuracy of the cutting at the wheel's location can be ensured.

[0116] like Figure 4 As shown, as an optional embodiment, obtaining the inner trimming boundary line of the vehicle may include:

[0117] The first cropping length of the first image is determined based on the first deflection angle and the wheel size;

[0118] The inner cutting boundary line of the wheel is determined based on the first cutting length;

[0119] The formula for calculating the first cutting length is:

[0120] nh=(Rk / 2tantt)×costt-k / 2tantt+k / sintt

[0121] Where R represents the wheel radius, k represents the wheel width, tt represents the first deflection angle, and nh represents the first cutting length.

[0122] In this embodiment, the determination of the inner cutting boundary line is related to the first cutting length, which is determined by the first deflection angle and the wheel size. The first cutting length is the length of the area to be cut along the long axis of the vehicle when the steering wheel angle is the first deflection angle.

[0123] With a fixed steering wheel deflection angle, the wider the wheel, the greater the required cutting length; the larger the wheel radius, the greater the wheel circumference, and therefore the greater the required cutting length.

[0124] In addition, as another optional embodiment, since the change in the cutting length to be cut is small when the steering wheel is at different deflection angles, and the maximum value of the cutting length to be cut is the wheel radius, the wheel radius can be directly determined as the first cutting length.

[0125] As an optional embodiment, prior to S140 above, the method may further include:

[0126] Obtain the vehicle body cropping region in the first image, the vehicle body cropping region including the area covered by the model image in the first image and the area where the vehicle body part is imaged in the first image;

[0127] The vehicle body cropping area is cropped in the first image.

[0128] In this embodiment, since the fisheye camera can capture images exceeding 180° and is generally mounted on the rearview mirror of a vehicle, some parts of the vehicle body may also be captured by the camera and appear in the first image. Therefore, it is also necessary to crop the area corresponding to the location of the model image in the first image. The vehicle body cropping area corresponding to the location of the model image in the first image can be obtained and the vehicle body cropping area can be cropped out of the first image.

[0129] In one embodiment, the vehicle is equipped with four cameras, namely a first camera, a second camera, a third camera, and a fourth camera. The first camera and the second camera are respectively installed below the side mirrors on both sides of the vehicle body, and the third camera and the fourth camera are installed on both sides of the rear of the vehicle body. The vehicle body cropping area to be cropped can be estimated in a first image by the positions of the four cameras and the images of the vehicle body captured by the four cameras. The vehicle body cropping area is composed of the coverage area of ​​the vehicle model image in the first image and the area of ​​the vehicle body outside the wheels that may appear in the first image.

[0130] By using the methods described above, some vehicle body details can be avoided from appearing in the surround view image, thereby preventing the vehicle body details in the surround view image from interfering with the driver.

[0131] Based on the method for determining the panoramic image provided in the above embodiments, this application also provides specific implementations of the apparatus for determining the panoramic image. Please refer to the following embodiments.

[0132] First see Figure 5 The device 500 for determining a panoramic image provided in this application embodiment includes the following modules:

[0133] The acquisition module 501 is used to acquire a first deflection angle when the first image acquired by the camera on the vehicle includes the image of the vehicle's wheels. The first deflection angle is the first deflection angle of the vehicle's steering wheel at a first moment, and the first moment is the acquisition time of the first image.

[0134] The determining module 502 is used to calculate a first ratio between the second deflection angle and the first deflection angle, and to calculate a first cutting area corresponding to the first deflection angle using the wheel size of the vehicle and the first ratio. The second deflection angle is the deflection angle when the steering wheel of the vehicle is turned to the full position.

[0135] The cropping module 503 is used to crop the first cropping region in the first image;

[0136] The stitching module 504 is used to stitch together the cropped first image and the model image of the vehicle to obtain a surround view image.

[0137] The device can determine the first cropping area affected by the imaging of the wheel in the first image, and crop the wheel in the first image according to the first cropping area, thereby avoiding the wheel appearing in the surround view image and affecting the driver's vision, thus improving driving safety.

[0138] As one implementation, the determining module 502 may include:

[0139] A width determination unit is used to calculate the first cutting width corresponding to the first deflection angle using the first ratio and the wheel size of the vehicle;

[0140] A boundary line determination unit is used to determine a first cropping boundary line in the first image at a position distanced from the first cropping width;

[0141] A trimming unit is used to define the area enclosed by the first trimming boundary line as the first trimming area.

[0142] As one implementation, the width determination unit mentioned above may include:

[0143] The ratio determination subunit is used to calculate the sine value corresponding to the second deflection angle;

[0144] The parameter determination subunit is used to calculate the second basic cutting width corresponding to the sine value using the second ratio of the wheel width and the sine value;

[0145] The product determination subunit is used to determine the first basic cutting width as the product of the second basic cutting width and the first ratio.

[0146] The compensation value determination subunit is used to query the first compensation cropping width corresponding to the first image;

[0147] The sum value determination subunit is used to determine the sum value of the first basic cutting width and the first compensated cutting width as the first cutting width.

[0148] As one implementation of this application, to ensure the accuracy of the trimming, the boundary line determination unit may include:

[0149] The first acquisition subunit is used to acquire the inner cutting boundary line of the vehicle;

[0150] The first determining subunit is used to determine the outer cutting boundary line, the front cutting boundary line, and the rear cutting boundary line of the vehicle at a position that is a distance from the inner cutting boundary line and the first cutting width.

[0151] The second determining subunit is used to determine the inner cropping boundary line, the outer cropping boundary line, the front cropping boundary line, and the rear cropping boundary line as the first cropping boundary line of the first image.

[0152] As one implementation of this application, to ensure the accuracy of the cutting, the first acquisition unit may further include:

[0153] The first determining subunit is used to determine the first cropping length of the first image based on the first cropping width, the first deflection angle and the wheel size;

[0154] The second determining subunit is used to determine the inner cutting boundary line of the wheel based on the first cutting length.

[0155] As one implementation of this application, to avoid the vehicle body content in the surround view image interfering with the driver, the surround view image determining device 500 may further include:

[0156] The acquisition module is used to acquire the vehicle body cropping area in the first image, the vehicle body cropping area including the coverage area of ​​the model image in the first image and the area of ​​the vehicle body part imaged in the first image;

[0157] The vehicle body cropping module is used to crop the vehicle body cropping area in the first image.

[0158] The device for determining the panoramic image provided in this embodiment of the invention can implement the steps in the above-described method embodiments, and will not be repeated here to avoid repetition.

[0159] Figure 6 A schematic diagram of the hardware structure of the device for determining the panoramic image provided in an embodiment of this application is shown.

[0160] The device for determining the panoramic image may include a processor 601 and a memory 602 storing computer program instructions.

[0161] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0162] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

[0163] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0164] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement any of the methods for determining the panoramic image in the above embodiments.

[0165] In one example, the device for determining the panoramic image may further include a communication interface 603 and a bus 610. Wherein, as Figure 6 As shown, the processor 601, memory 602, and communication interface 603 are connected through bus 610 and complete communication with each other.

[0166] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0167] Bus 610 includes hardware, software, or both, that couples components of a defined device in a surround-view image together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0168] The device for determining the panoramic image can be based on the above embodiments, thereby realizing the method and apparatus for determining the panoramic image described above.

[0169] Furthermore, in conjunction with the method for determining the panoramic image in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any one of the methods for determining the panoramic image in the above embodiments and achieve the same technical effect. To avoid repetition, further details are omitted here. The aforementioned computer-readable storage medium may include non-transitory computer-readable storage media, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, etc., and is not limited thereto.

[0170] In addition, this application also provides a computer program product, including computer program instructions, which, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0171] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0172] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0173] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0174] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0175] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for determining a panoramic image, characterized in that, The method includes: If the first image captured by the camera on the vehicle includes an image of the vehicle's wheels, a first deflection angle is obtained. The first deflection angle is the first deflection angle of the vehicle's steering wheel at a first moment, and the first moment is the moment when the first image is captured. Calculate a first ratio of the first deflection angle and the second deflection angle, and use the vehicle's wheel size and the first ratio to calculate a first trimming area corresponding to the first deflection angle. The second deflection angle is the deflection angle when the vehicle's steering wheel is fully turned, and the second deflection angle is the maximum deflection angle of the steering wheel. The width of the first trimming area is positively correlated with the first deflection angle. When the first deflection angle is constant, the width of the first trimming area is positively correlated with the wheel size, and the length of the trimming area is positively correlated with the wheel size. The first cropping region in the first image is cropped. By stitching and cropping the first image and the model image of the vehicle, a surround view image is obtained.

2. The method for determining a panoramic image according to claim 1, characterized in that, The step of calculating the first cutting area corresponding to the first deflection angle using the vehicle's wheel size and the first ratio includes: The first cutting width corresponding to the first deflection angle is calculated using the first ratio and the wheel size of the vehicle; The first cutting boundary line is determined in the first image at a position that is a distance from the first cutting width from the inner cutting boundary line of the vehicle; The area enclosed by the first cutting boundary line is defined as the first cutting area.

3. The method for determining a panoramic image according to claim 2, characterized in that, The wheel size includes the wheel width, and the calculation of the first cut width corresponding to the first deflection angle using the first ratio and the vehicle's wheel size includes: Calculate the sine value corresponding to the second deflection angle; The second basic cutting width corresponding to the sine value is calculated using the second ratio of the wheel width to the sine value; The product of the second basic cutting width and the first ratio is determined as the first basic cutting width; Query the first compensation crop width corresponding to the first image; The sum of the first basic cutting width and the first compensated cutting width is determined as the first cutting width.

4. The method for determining the panoramic image according to claim 3, characterized in that, The wheel dimensions also include the wheel radius, and the formula for calculating the second basic cutting width is: tw=(Rk / 2sinft-k / 2tanft)×sinft Where tw represents the second basic cutting width, R represents the wheel radius, k represents the wheel width, and ft represents the second deflection angle.

5. The method for determining a panoramic image according to claim 2, characterized in that, Determining the first cropping boundary line in the first image at a position that is a distance from the first cropping width from the inner cropping boundary line of the vehicle includes: Obtain the inner trimming boundary line of the vehicle; The outer cutting boundary line, front cutting boundary line, and rear cutting boundary line of the vehicle are determined at positions that are a distance from the inner cutting boundary line and the first cutting width. The inner cropping boundary line, the outer cropping boundary line, the front cropping boundary line, and the rear cropping boundary line are defined as the first cropping boundary line of the first image.

6. The method for determining a panoramic image according to claim 5, characterized in that, The step of obtaining the inner trimming boundary line of the vehicle includes: The first cropping length of the first image is determined based on the first deflection angle and the wheel size; The inner cutting boundary line of the wheel is determined based on the first cutting length; The formula for calculating the first cutting length is: nh=(Rk / 2tantt)×costt-k / 2tantt+k / sintt Where R represents the wheel radius, k represents the wheel width, tt represents the first deflection angle, and nh represents the first cutting length.

7. The method for determining a panoramic image according to claim 1, characterized in that, Before obtaining the surround view image by stitching and cropping the first image and the vehicle model image, the method further includes: Obtain the vehicle body cropping region in the first image, the vehicle body cropping region including the area covered by the model image in the first image and the area of ​​the vehicle body portion imaged in the first image; The vehicle body cropping area is cropped in the first image.

8. A device for determining a panoramic image, characterized in that, The device includes: The acquisition module is used to obtain a first deflection angle when the first image acquired by the camera on the vehicle includes the image of the vehicle's wheels. The first deflection angle is the first deflection angle of the vehicle's steering wheel at a first moment, and the first moment is the acquisition time of the first image. The determining module is used to calculate a first ratio of the first deflection angle and the second deflection angle, and to calculate a first trimming area corresponding to the first deflection angle using the vehicle's wheel size and the first ratio. The second deflection angle is the deflection angle when the vehicle's steering wheel is fully turned, and the second deflection angle is the maximum deflection angle of the steering wheel. The width of the first trimming area is positively correlated with the first deflection angle. When the first deflection angle is constant, the width of the first trimming area is positively correlated with the wheel size, and the length of the trimming area is positively correlated with the wheel size. The cropping module is used to crop the first cropping region in the first image; The stitching module is used to stitch together the cropped first image and the model image of the vehicle to obtain a surround view image.

9. A device for determining a panoramic image, characterized in that, The device for determining the panoramic image includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the method for determining the panoramic image as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed by a processor, implement the method for determining the panoramic image as described in any one of claims 1-7.

11. A computer program product, characterized in that, The computer program product includes computer program instructions, which, when executed by a processor, implement the method for determining the panoramic image according to any one of claims 1-7.

12. A vehicle, characterized in that, The vehicles include: The apparatus for determining a panoramic image as described in claim 8 or the device for determining a panoramic image as described in claim 9.

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