Electronic rear-view reversing image display method, system and vehicle

Abstract

The present application relates to the technical field of vehicle-mounted equipment control, and particularly relates to an electronic rear-view reversing picture display method, which comprises the following steps: obtaining a reversing picture of a whole vehicle, a left rear-view picture, a right rear-view picture and a rotation angle of a front wheel of the whole vehicle during the process that the whole vehicle is in a reversing mode; performing splicing processing on the reversing picture, the left rear-view picture and the right rear-view picture to obtain a spliced reversing picture; obtaining an adjustment angle of the spliced reversing picture according to the rotation angle, and performing cutting processing on the spliced reversing picture based on the adjustment angle to obtain a target reversing picture; and outputting and displaying the target reversing picture on a central control display screen of a central control system of the whole vehicle. The method displays a larger reversing display picture and a larger display range, and improves the safety of reversing.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted equipment control technology, and in particular to an electronic rearview reversing screen display method, system, and vehicle. Background Technology

[0002] Today, both traditional and smart cars feature reversing displays, with image resolution increasing from 300,000 pixels to at least 1 million pixels, or even higher. This improved image clarity significantly enhances the safety and accuracy of reversing displays, and the viewing angle has also improved, allowing drivers to see a wider rear view while reversing. Even so, the display range and field of view of a single reversing camera in a vehicle remain limited. Beyond a certain range, the displayed image becomes distorted, hindering the driver's accurate judgment of road conditions. Therefore, blind spots still exist in the reversing field of view of a single camera, contributing to overall low reversing safety. Summary of the Invention

[0003] This application provides an electronic rearview reversing image display method, system, and vehicle, which solves the technical problem in the prior art that blind spots still exist in the reversing field of view of a single reversing camera, resulting in low reversing safety of the entire vehicle. It achieves the technical effects of displaying a larger reversing image and display range, thereby improving reversing safety.

[0004] In a first aspect, embodiments of the present invention provide a method for displaying an electronic rearview reversing image, comprising:

[0005] While the vehicle is in reverse mode, the reversing view, left rear view, right rear view, and the rotation angle of the front wheels of the vehicle are acquired.

[0006] The reversing view, the left rearview view, and the right rearview view are stitched together to obtain the stitched reversing view;

[0007] The adjustment angle of the stitched reversing image is obtained based on the rotation angle, and the stitched reversing image is cropped based on the adjustment angle to obtain the target reversing image.

[0008] The target reversing image is displayed on the central control screen of the vehicle's central control system.

[0009] Preferably, the step of stitching together the reversing view, the left rearview view, and the right rearview view to obtain the stitched reversing view includes:

[0010] The reversing view, the left rearview view, and the right rearview view are cropped according to a preset ratio to obtain the cropped reversing view, the cropped left rearview view, and the cropped right rearview view.

[0011] The cropped reversing view, the cropped left rear view, and the cropped right rear view are stitched together to obtain the stitched reversing view.

[0012] Preferably, obtaining the adjustment angle of the stitched reversing image based on the rotation angle includes:

[0013] The adjustment angle is obtained according to the formula β=Kα, where β is the adjustment angle, K is the weighting coefficient, and α is the rotation angle.

[0014] Preferably, the step of cropping the stitched reversing image based on the adjusted angle to obtain the target reversing image includes:

[0015] The cutting length is obtained based on the adjusted angle and the focal length of the vehicle's reversing camera;

[0016] According to the stated cutting length, the display range of the central control display screen is moved from its original position onto the spliced ​​reversing image to obtain the target reversing image. The original position is the position where the center point of the display range of the central control display screen coincides with the center point of the spliced ​​reversing image, and the target reversing image is the image corresponding to the moved display range of the central control display screen.

[0017] Preferably, the step of moving the display area of ​​the central control display screen from its original position onto the spliced ​​reversing image according to the cropping length to obtain the target reversing image includes:

[0018] If the rotation angle is the angle at which the front wheel turns to the left, then the display range of the central control display screen is controlled to shift to the left by the cropped length from the original position on the spliced ​​reversing image to obtain the target reversing image.

[0019] Preferably, the step of moving the display area of ​​the central control display screen from its original position onto the spliced ​​reversing image according to the cropping length to obtain the target reversing image includes:

[0020] If the rotation angle is the angle at which the front wheel turns to the right, then the display range of the central control display screen is shifted to the right by the cropped length from the original position on the spliced ​​reversing image to obtain the target reversing image.

[0021] Preferably, the step of moving the display area of ​​the central control display screen from its original position onto the spliced ​​reversing image according to the cropping length to obtain the target reversing image includes:

[0022] If the rotation angle is the angle at which the front wheels are not turning, then the display range of the central control display screen is controlled to be in the original position to obtain the target reversing image.

[0023] Preferred options also include:

[0024] While the vehicle is in driving mode, the front rear view, left rear view, and right rear view of the vehicle are acquired.

[0025] The left rearview image is output and displayed on the left rearview display screen of the vehicle, the right rearview image is output and displayed on the right rearview display screen of the vehicle, and the front rearview image is not displayed.

[0026] Based on the same inventive concept, in a second aspect, the present invention also provides an electronic rearview reversing image display system, comprising: a SOC module, and a left rearview camera, a right rearview camera, and a reversing camera connected to the SOC module, wherein the SOC module performs the steps of the electronic rearview reversing image display method as described in the first aspect.

[0027] Based on the same inventive concept, in a third aspect, the present invention provides a vehicle including an electronic rearview reversing screen display system as described in the second aspect.

[0028] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0029] In this embodiment of the invention, while the vehicle is in reverse mode, the reversing image, the left rearview image, the right rearview image, and the rotation angle of the front wheels are first acquired. Then, the reversing image, the left rearview image, and the right rearview image are stitched together to obtain a stitched reversing image. The stitched reversing image expands the display range of the target reversing image, enhances the display quality of the target reversing image, improves reversing safety, and ensures the driver's driving safety.

[0030] Then, the adjustment angle of the stitched reversing image is obtained based on the rotation angle, and the stitched reversing image is cropped based on the adjustment angle to obtain the target reversing image. Finally, the target reversing image is output and displayed on the central control display screen of the vehicle's central control system. In this way, because the displayable range of the stitched reversing image is greatly expanded, while the range of the output target reversing image remains unchanged, the corresponding target reversing image is displayed according to the front wheel rotation angle, enriching the display range of the rearview camera. Furthermore, the clarity of the target reversing image is not affected. The application of this rich reversing image enhances reversing safety and ensures the driver's driving safety. Attached Figure Description

[0031] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0032] Figure 1 A flowchart illustrating the steps of the electronic rearview reversing screen display method in an embodiment of the present invention is shown;

[0033] Figure 2 A schematic diagram of the electronic rearview reversing screen display system in an embodiment of the present invention is shown;

[0034] Figure 3 This diagram illustrates how a cropped reversing image is generated from a reversing image in an embodiment of the present invention.

[0035] Figure 4 The diagram shows the left rear view, the reverse view, and the right rear view after being spliced ​​and cropped in an embodiment of the present invention.

[0036] Figure 5 This diagram illustrates the display range of the target reversing image when the steering wheel is returned to center, according to an embodiment of the present invention.

[0037] Figure 6 A schematic diagram illustrating the principle of obtaining the cutting length in an embodiment of the present invention is shown;

[0038] Figure 7 This diagram illustrates the display range of the target reversing image when the steering wheel is turned to the left, according to an embodiment of the present invention.

[0039] Figure 8 This diagram illustrates the display range of the target reversing image when the steering wheel is turned to the right in an embodiment of the present invention. Detailed Implementation

[0040] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0041] Example 1

[0042] The first embodiment of the present invention provides a method for displaying an electronic rearview reversing image, such as... Figure 1 As shown, it includes:

[0043] S101, while the vehicle is in reverse mode, acquires the reversing view, left rear view, right rear view and the rotation angle of the front wheels of the vehicle.

[0044] S102, stitch together the reversing view, the left rearview view and the right rearview view to obtain the stitched reversing view;

[0045] S103, based on the rotation angle, obtain the adjustment angle of the stitched reversing image, and based on the adjustment angle, crop the stitched reversing image to obtain the target reversing image;

[0046] S104 outputs the target reversing image to the central control display screen of the vehicle's central control system.

[0047] The electronic rearview reversing image display method of this embodiment is applied to the electronic rearview reversing image display system of the whole vehicle, specifically to the SOC module 201 of the display system, so that the SOC module 201 executes the steps of the electronic rearview reversing image display method of this embodiment. The electronic rearview reversing image display system is essentially an electronic rearview mirror display system. For example... Figure 2As shown, the electronic rearview reversing display system includes: a SOC (System on Chip) module 201, and a left rearview camera 204, a right rearview camera 203, a reversing camera 202, a left rearview display screen 205, and a right rearview display screen 206 connected to the SOC module 201. The in-vehicle camera 202 is positioned directly in front of the driver's seat, such as above the steering wheel. The left rearview camera 204 is positioned on the left side of the vehicle, in the location of the physical left rearview mirror in a traditional vehicle. The left rearview camera 204 captures the left rearview image of the entire vehicle, i.e., the left rearview view of the vehicle. The right rearview camera 203 is positioned on the right side of the vehicle, in the location of the physical right rearview mirror in a traditional vehicle. The right rearview camera 203 captures the right rearview image of the entire vehicle, i.e., the right rearview view of the vehicle. The left rearview display screen 205 is positioned to the left of the steering wheel inside the vehicle and is used to display the left rearview image. The right rearview display screen 206 is located on the right side of the steering wheel inside the vehicle and is used to display the right rearview image. The reversing camera 202 is located at the rear of the vehicle and is used to capture the front rearview image of the vehicle, that is, the image of the traffic situation directly behind the vehicle. The front rearview image is referred to as the reversing image when the vehicle is in reversing mode.

[0048] Since the left rearview camera 204 and the right rearview camera 203 are located on opposite sides of the vehicle exterior, replacing traditional physical rearview mirrors, the images captured by these cameras must be displayed in real-time or near real-time. To meet standard latency requirements, the signal transmission of the left and right rearview cameras 204 and 203 must minimize delay to satisfy the driver's real-time observation needs. Therefore, these two cameras must employ digital transmission to minimize signal transmission latency. Furthermore, the resolution of the left and right rearview cameras 204 and 203 must be no less than 1280 (width) × 720 (height), and their field of view must be greater than 60 degrees in both the horizontal and vertical directions.

[0049] The reversing camera 202 is primarily used to acquire the rear-view image of the entire vehicle. In the vehicle's reversing mode, to stitch the images from the front and rear views together to obtain the target reversing image, the resolution of the reversing camera 202 needs to be consistent with that of the left rear-view camera 204 and the right rear-view camera 203. Therefore, the resolution of the reversing camera 202 is no less than 1280×720. A high resolution also ensures the clarity of the rear-view image. Furthermore, the reversing camera 202 uses digital transmission. As long as the vehicle is running, the reversing camera 202 remains operational, outputting the rear-view image to the SOC module 201, but displaying it is disabled. Only when the vehicle is in reversing mode will the SOC module 201 stitch the front and rear views together to obtain the target reversing image and output it to the central control display screen of the vehicle's central control system. The following text uses the reversing camera 202, the left rearview camera 204, and the right rearview camera 203, all with a resolution of 1280×720, as examples to illustrate the corresponding images.

[0050] SOC module 201 includes a CPU (Central Processing Unit) module, a GPU (Graphics Processing Unit) module, and an NPU (Neural Network Processing Unit) module. The rearview camera 203, the in-vehicle camera 202, the rearview mirror display 204, and the body controller 207, connected to SOC module 201 via MCU (Motor Control Unit) module, all perform different functions through different functional modules within SOC module 201.

[0051] The GPU module receives signals from the camera, processes the image signals, and outputs them to the left rearview display 205 and the right rearview display 206 respectively. The GPU module also outputs the target reversing image corresponding to the reversing view to the vehicle's central control system. The NPU module runs a stitching algorithm to stitch the left rearview, reversing, and right rearview images together and outputs the stitched image to the GPU module. The CPU module receives information from the NPU, runs a control strategy, and controls the GPU module to process the stitched image, either the left or right rearview image, and outputs the processed image to the corresponding display. The specific control strategy is the display method of this embodiment. The MCU module handles the interaction between the SOC module 201 and the vehicle, acquiring vehicle signals and receiving some driving information, such as reversing, left turn, right turn, and steering wheel angle information, to assist the SOC module 201 in controlling the output of the reversing image display content.

[0052] The working principle of the electronic rearview mirror reversing image display system is as follows: During normal forward driving, the images from the left rearview camera 204 and the right rearview camera 203 are transmitted to the left rearview display screen 205 and the right rearview display screen 206 respectively, ensuring the use of the electronic rearview mirror function during driving. The image signal from the reversing camera 202 is input to the SOC module 201, but since the vehicle is in forward driving at this time, there is no need to output a reversing image. Therefore, during forward driving, there is no need to stitch the reversing images together, and this system does not need to output the target reversing image to the central control display screen. When the SOC module 201 receives the reverse gear signal from the vehicle via the CAN bus, the vehicle is in reverse mode, and the system's function of stitching the reversing image is activated. The NPU module of the SOC module 201 runs the stitching algorithm to stitch the images received from the left and right rearview cameras 203 and the reversing camera 202 to obtain the stitched reversing image. The stitched reversing image is then output to the GPU module. The GPU module outputs the corresponding video signal (i.e., the target reversing image) to the central control display screen according to the instructions of the CPU module to display a wide-view reversing image, making it easier for the driver to observe the situation behind the vehicle.

[0053] In this embodiment, the reversing image is acquired through an electronic rearview mirror display system and then stitched together with the left and right rearview images to obtain the target reversing image. This removes the traditional reversing image from the vehicle's central control system, avoiding direct transmission of the reversing image to the central control system. Instead, the reversing image signal is combined with the electronic rearview mirror display system before the target reversing image is transmitted to the central control display screen. Furthermore, compared to the traditional reversing image, the target reversing image significantly expands the display range, improving the overall safety of reversing the vehicle and enhancing driver safety.

[0054] Below, in conjunction with Figure 1 and Figure 2 The following details the specific implementation steps of the electronic rearview reversing image display method provided in this embodiment:

[0055] First, execute step S101, while the vehicle is in reverse mode, to acquire the vehicle's reversing image, left rear view image, right rear view image, and the rotation angle of the vehicle's front wheels.

[0056] Specifically, in reversing mode, the SOC module 201 acquires the reversing image through the reversing camera 202, the left rearview image through the left rearview camera 204, and the right rearview image through the right rearview camera 203. The SOC module 201 obtains the rotation angle of the vehicle's front wheels through the MCU module. The rotation angle of the front wheels is determined by the MCU module based on the steering wheel angle information θ.

[0057] Next, step S102 is executed to stitch the reversing image, the left rearview image, and the right rearview image together to obtain the stitched reversing image.

[0058] Specifically, the reversing view, left rearview view, and right rearview view are cropped according to a preset ratio to obtain cropped reversing view, cropped left rearview view, and cropped right rearview view. The preset ratio can be set according to actual needs. Then, the cropped reversing view, cropped left rearview view, and cropped right rearview view are stitched together to obtain the stitched reversing view.

[0059] like Figure 3 As shown, taking a reversing camera as an example, assuming the reversing camera 202 has a resolution of 1280×720, and the left rearview camera 204 and right rearview camera 203 have the same resolution as the reversing camera 202, then the size of the reversing image obtained by the reversing camera 202 is 1280×720. The reversing image is then cropped at a preset ratio 'a' to obtain the cropped reversing image. During the cropping process, the center points of the original reversing image and the cropped reversing image must coincide. Figure 3 In this context, 'a%' represents the width ratio of the cropped reversing view to the original reversing view, also known as the cropping ratio. The left and right rearview views are cropped at a preset ratio of 'a%', resulting in cropped left and right rearview views. These cropped left and right rearview views are then sequentially stitched together to obtain the stitched reversing view, as shown below. Figure 4 As shown. Clearly, the display area of ​​the stitched reversing image will be larger than 1280×720. The width H of the stitched reversing image... total =1280×3×a%.

[0060] The principle behind acquiring the stitched reversing image is that the center of the image captured by a camera is usually sharper than the edges. Therefore, stitching algorithms almost always select the center portion of the image based on a preset ratio, discarding the edges. Thus, the reversing camera 202 does not capture the entire reversing image; it crops a certain proportion. This improves the sharpness of the stitched reversing image, providing a solid foundation for subsequently acquiring the target reversing image. While expanding the display area of ​​the target reversing image, it also enhances the display quality, improving reversing safety and ensuring driver safety.

[0061] Then, step S103 is executed to obtain the adjustment angle of the spliced ​​reversing image based on the rotation angle, and the spliced ​​reversing image is cropped based on the adjustment angle to obtain the target reversing image.

[0062] Specifically, in reversing mode, when the driver is reversing and the steering wheel is in the straight position, the resolution of the reversing screen is 1280×720. The effective display area of ​​the reversing screen is 1280 pixels, with the entire H... total Using the specified range as a guide, center and crop the image from the stitched reversing view to obtain the target reversing image. At this point, the center of the field of view of the stitched reversing image remains the center of the reversing camera 202; it does not need to be moved left or right. Figure 5 As shown, the dashed box indicates the display area of ​​the central control screen of the central control system. The display area of ​​the central control screen is located in its original position on the spliced ​​reversing screen, such as... Figure 5 As shown. The original position is where the center point of the central control display screen's display area coincides with the center point of the stitched reversing image. During reversing, when the steering wheel is straightened, the central control display screen's display area is directly at the original position. The corresponding image is then cropped from the stitched reversing image based on the central control display screen's display area to obtain the target reversing image. At this point, the target reversing image is the image corresponding to the central control display screen's display area.

[0063] If the driver turns the steering wheel to the left or right while reversing, the SOC module 201 receives the real-time steering wheel angle information θ transmitted from the vehicle via the MCU module. The MCU module calculates the rotation angle α of the front wheels based on the rotation information θ and sends this angle α to the CPU module. The CPU module calculates the adjustment angle β of the stitched reversing image based on the rotation angle α and according to pre-set calculation rules. The relationship between β and α is shown in the formula β = Kα. Therefore, according to the formula β = Kα, the adjustment angle of the stitched reversing image is obtained, where β is the adjustment angle of the stitched reversing image, K is a weighting coefficient (which can be set according to actual needs), and α is the rotation angle of the front wheels.

[0064] After determining the adjustment angle of the stitched reversing image, the stitched reversing image is cropped based on the adjustment angle to obtain the target reversing image.

[0065] Specifically, the cropping length is first determined based on the adjusted angle and the focal length of the vehicle's reversing camera 202. For example... Figure 6 As shown, a coordinate system is established with the center point of the vehicle as the origin, the length of the vehicle as the vertical axis, and the width as the horizontal axis. In this coordinate system, the rotation angle α of the front wheels is the angle between the direction of the front wheels and the vertical axis, and the adjustment angle β of the stitched reversing image is the angle corresponding to the distance the stitched reversing image needs to move. According to the formula... As shown, Δd is the cropping length, and L is the focal length of the reversing camera 202. It should be noted that the cropping length is the distance the central control display screen moves left or right, or remains stationary, from its original position.

[0066] Next, based on the trimmed length, the display area of ​​the central control screen is moved from its original position onto the stitched reversing image to obtain the target reversing image. At this point, the target reversing image is the image corresponding to the moved display area of ​​the central control screen.

[0067] like Figure 6 and Figure 7 As shown, if the rotation angle is the angle at which the front wheels turn to the left, it means the steering wheel of the entire vehicle is turned to the left. The trimming length is the distance the display area of ​​the central control screen needs to be moved to the left from its original position. Therefore, the display area of ​​the central control screen is moved to the left by the trimming length from its original position on the stitched reversing image to obtain the target reversing image. Figure 7 In the center, the dashed line frame represents the display area of ​​the central control display screen after it has been moved. From Figure 7 As can be seen, the display range of the central control screen (i.e., the display range of the target reversing image when the steering wheel is straightened) is moved Δd to the left from its original position to determine the display range of the central control screen after the movement, which is the display range of the target reversing image when the steering wheel is turned to the left. The image in the stitched reversing image corresponding to the display range of the central control screen after the movement is the target reversing image corresponding to the display range of the central control screen after the movement.

[0068] based on Figure 6 The principle and trimming length are as follows: if the rotation angle is the angle at which the front wheels turn to the right, it means the steering wheel of the entire vehicle is turned to the right. The trimming length is the distance the display range of the central control screen needs to move to the right from its original position. Therefore, the display range of the central control screen is shifted to the right by the trimming length from its original position onto the stitched reversing image to obtain the target reversing image. From... Figure 8 As can be seen, the display range of the central control screen (i.e., the display range of the target reversing image when the steering wheel is straightened) is moved Δd to the right from its original position to determine the display range of the central control screen after the movement, which is the display range of the target reversing image when the steering wheel is turned to the right. The image in the stitched reversing image corresponding to the display range of the central control screen after the movement is the target reversing image corresponding to the display range of the central control screen after the movement.

[0069] If the rotation angle is the angle at which the front wheels are not turning, it means that the steering wheel of the whole vehicle is straightened, the rotation angle of the front wheels is 0, and Δd is also 0. The trimming length is the display range of the central control screen needs to be moved zero distance from the original position. Then the display range of the central control screen is controlled to be in the original position. That is, the display range of the central control screen does not need to be moved to the left or right, but only needs to be centered to get the target reversing image.

[0070] In this embodiment, when the vehicle is in reverse mode, the display range of the stitched reversing image is greatly expanded while the range of the output target reversing image remains unchanged. This allows the electronic rearview reversing image display system to display the corresponding target reversing image based on the steering wheel angle information, enriching the display range of the rearview camera. Furthermore, the clarity of the target reversing image is not affected. The application of rich reversing images enhances reversing safety and ensures driver safety.

[0071] S104, the target reversing image is output and displayed on the central control display screen of the vehicle's central control system. Specifically, the SOC module 201 outputs the target reversing image to the central control system, so that the central control system displays the target reversing image to the driver through the central control display screen, ensuring that the driver can obtain the vehicle's rear view image information in real time during the reversing process, realizing a larger reversing display screen and display range, and improving reversing safety.

[0072] In this embodiment, when the vehicle is in driving mode, that is, when the vehicle is moving forward, the front rear view, left rear view, and right rear view of the vehicle are first acquired; the left rear view is output and displayed on the left rear view display screen 205 of the vehicle, and the right rear view is output and displayed on the right rear view display screen 206 of the vehicle, while the front rear view is not displayed.

[0073] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0074] In this embodiment of the invention, while the vehicle is in reverse mode, the reversing image, the left rearview image, the right rearview image, and the rotation angle of the front wheels are first acquired. Then, the reversing image, the left rearview image, and the right rearview image are stitched together to obtain a stitched reversing image. The stitched reversing image expands the display range of the target reversing image, enhances the display quality of the target reversing image, improves reversing safety, and ensures the driver's driving safety.

[0075] Then, the adjustment angle of the stitched reversing image is obtained based on the rotation angle, and the stitched reversing image is cropped based on the adjustment angle to obtain the target reversing image. Finally, the target reversing image is output and displayed on the central control display screen of the vehicle's central control system. In this way, because the displayable range of the stitched reversing image is greatly expanded, while the range of the output target reversing image remains unchanged, the corresponding target reversing image is displayed according to the front wheel rotation angle, enriching the display range of the rearview camera. Furthermore, the clarity of the target reversing image is not affected. The application of this rich reversing image enhances reversing safety and ensures the driver's driving safety.

[0076] Example 2

[0077] Based on the same inventive concept, the second embodiment of the present invention also provides an electronic rearview reversing screen display, such as... Figure 2 As shown, it includes: a SOC module 201, and a left rearview camera 204, a right rearview camera 203, and a reversing camera 202 connected to the SOC module 201. The SOC module 201 performs the steps of the electronic rearview reversing screen display method as described in Embodiment 1.

[0078] Since the electronic rearview reversing screen display system described in this embodiment is the system used to implement the electronic rearview reversing screen display method in Embodiment 1 of this application, those skilled in the art can understand the specific implementation method and various variations of the electronic rearview reversing screen display system in this embodiment based on the electronic rearview reversing screen display method described in Embodiment 1 of this application. Therefore, how this electronic rearview reversing screen display system implements the method in Embodiment 1 of this application will not be described in detail here. Any system used by those skilled in the art to implement the electronic rearview reversing screen display method in Embodiment 1 of this application falls within the scope of protection of this application.

[0079] Example 3

[0080] Based on the same inventive concept, the third embodiment of the present invention also provides a vehicle, including the electronic rearview reversing screen display system described in embodiment two.

[0081] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0083] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0084] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0085] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0086] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for displaying an electronic rearview reversing image, characterized in that, include: While the vehicle is in reverse mode, the reversing view, left rear view, right rear view, and the rotation angle of the front wheels of the vehicle are acquired. The reversing view, the left rearview view, and the right rearview view are stitched together to obtain a stitched reversing view, including: The reversing image, the left rearview image, and the right rearview image are cropped according to a preset ratio to obtain the cropped reversing image, the cropped left rearview image, and the cropped right rearview image. The cropped reversing view, the cropped left rear view, and the cropped right rear view are stitched together to obtain the stitched reversing view. The adjustment angle of the stitched reversing image is obtained based on the rotation angle, including: The adjustment angle is obtained according to the formula β=Kα, where β is the adjustment angle, K is the weighting coefficient, and α is the rotation angle; Based on the adjusted angle, the stitched reversing image is cropped to obtain the target reversing image, including: The cutting length is obtained based on the adjusted angle and the focal length of the vehicle's reversing camera; According to the cutting length, the display range of the central control display screen of the vehicle's central control system is moved from its original position onto the spliced ​​reversing screen to obtain the target reversing screen. The original position is the position where the center point of the display range of the central control display screen coincides with the center point of the spliced ​​reversing screen, and the target reversing screen is the screen corresponding to the moved display range of the central control display screen. The target reversing image is displayed on the central control screen of the vehicle's central control system.

2. The method as described in claim 1, characterized in that, The step of moving the display area of ​​the central control display screen from its original position onto the spliced ​​reversing image according to the trimmed length to obtain the target reversing image includes: If the rotation angle is the angle at which the front wheel turns to the left, then the display range of the central control display screen is controlled to shift to the left by the cropped length from the original position on the spliced ​​reversing image to obtain the target reversing image.

3. The method as described in claim 1, characterized in that, The step of moving the display area of ​​the central control display screen from its original position onto the spliced ​​reversing image according to the trimmed length to obtain the target reversing image includes: If the rotation angle is the angle at which the front wheel turns to the right, then the display range of the central control display screen is shifted to the right by the cropped length from the original position on the spliced ​​reversing image to obtain the target reversing image.

4. The method as described in claim 1, characterized in that, The step of moving the display area of ​​the central control display screen from its original position onto the spliced ​​reversing image according to the trimmed length to obtain the target reversing image includes: If the rotation angle is the angle at which the front wheels are not turning, then the display range of the central control display screen is controlled to be in the original position to obtain the target reversing image.

5. The method as described in claim 1, characterized in that, Also includes: While the vehicle is in driving mode, the front rear view, left rear view, and right rear view of the vehicle are acquired. The left rearview image is output and displayed on the left rearview display screen of the vehicle, the right rearview image is output and displayed on the right rearview display screen of the vehicle, and the front rearview image is not displayed.

6. An electronic rearview reversing image display system, characterized in that, include: The SOC module, and the left rearview camera, right rearview camera, and reversing camera connected to the SOC module, wherein the SOC module performs the steps of the electronic rearview reversing screen display method as described in any one of claims 1-5.

7. A vehicle, characterized in that, include: The electronic rearview reversing screen display system as described in claim 6.

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