Vehicle surround view display method

Abstract

A vehicle panoramic image display method includes capturing surrounding environment images of a vehicle when the vehicle is moving by a plurality of cameras installed on the vehicle to generate continuous image frames, generating a first image corresponding to a region outside the vehicle by real-time images of the continuous image frames, calculating driving data to obtain delayed images of the continuous image frames, and generating a second image corresponding to a chassis region of the vehicle by gain operation, and generating and displaying a vehicle panoramic image in real time by splicing the first image and the second image.

Description

Technical Field

[0001] This invention relates to the field of vehicle imaging technology, specifically to a method for displaying vehicle surround view images. Background Technology

[0002] Ordinary vehicles may also be equipped with additional cameras in various locations. For example, cameras can be installed at the front, sides, and rear of the vehicle to capture images of different areas of the surrounding environment. For different driving environments or parking lots, a wider field of view is needed to provide the driver with more information. However, the camera's installation location is limited by the vehicle itself, which can obstruct the view. Adding additional cameras to capture the entire surrounding environment often incurs high costs. Furthermore, due to ambient light, the vehicle itself casts shadows on the ground, or headlights create glare. If these images are used to generate a surround-view image, the image quality is often poor, especially when used to generate images where the camera's field of view is obstructed. Moreover, if artificial intelligence is used to identify and improve vehicle shadows or glare caused by headlights, a large amount of image training data is required, which may lead to misjudgments or the deletion of important environmental information. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide a method for displaying vehicle surround view images.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] This invention provides a method for displaying a vehicle surround view image, comprising:

[0006] Multiple cameras mounted on a vehicle capture images of the surrounding environment as the vehicle moves to generate continuous image frames.

[0007] The real-time images of the continuous image frames form a first image corresponding to the outer region of the vehicle.

[0008] Receive the vehicle's driving data.

[0009] The driving data is used to obtain the delayed image of the continuous image frames.

[0010] A second image corresponding to the chassis region of the vehicle is formed by performing gain calculations on the delayed images of the consecutive image frames.

[0011] A vehicle surround view image is generated in real time by stitching together the first image and the second image.

[0012] The vehicle surround view image is displayed.

[0013] The outer region of the vehicle also includes an image comparison area, whereby the first image or the second image is adjusted by comparing the real-time image of the continuous image frames with the delayed image of the continuous image frames in the image comparison area.

[0014] It also includes converting the coordinates of the continuous image frames from a first perspective to a second perspective.

[0015] The vehicle's driving data includes at least the vehicle's steering angle, speed, and gear.

[0016] The image comparison area is adjacent to the chassis area of ​​the vehicle.

[0017] The gain operation includes adjusting the image transparency variation of the delayed image in each frame of the consecutive image frames.

[0018] The present invention has the following advantages:

[0019] 1. By performing gain calculations on the delayed images of continuous image frames captured by cameras mounted on the outside of the vehicle, an image corresponding to the chassis area of ​​the vehicle can be generated. This eliminates the need to add cameras mounted under the vehicle chassis, allowing the vehicle to drive as if the camera's field of view were unobstructed. It also reduces the impact of vehicle shadows or light spots caused by headlights on the composition of the vehicle's surround view image.

[0020] 2. By comparing specific areas during image stitching, the image stitching difference between the external area of ​​the vehicle and the corresponding vehicle chassis image caused by the time sequence of vehicle movement can be reduced. This can also be used to adjust the image of the external area of ​​the vehicle, reducing shadows caused by the vehicle and light spots caused by headlights in this area. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a vehicle surround view image display system according to the present invention;

[0022] Figure 2 This is a flowchart of a method for displaying a vehicle surround view image according to the present invention;

[0023] Figure 3 This is a schematic diagram illustrating an embodiment of the vehicle surround view image display area of ​​the present invention;

[0024] Figure 4 This is a schematic diagram illustrating the implementation of the present invention in performing coordinate transformation of perspective in consecutive image frames;

[0025] Figure 5 This is a schematic diagram illustrating the process of calculating driving data to obtain delayed images of continuous image frames.

[0026] Figure 6This is a schematic diagram illustrating the implementation of the present invention by performing gain calculation on the delayed images of consecutive image frames;

[0027] Figure 7 This is a schematic diagram illustrating an embodiment of the present invention that includes an image comparison area in the outer region of the vehicle. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0030] In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0033] Please refer to Figure 1The present invention discloses a vehicle surround view image display system 100 installed on a vehicle, including an image information receiving module 101, a camera 102, a processing unit 103, a vehicle information assembly interface 104, and a storage module 105.

[0034] The image information receiving module 101 is used to acquire continuous image frames from multiple cameras 102 installed on the vehicle, particularly to acquire image frames of the surrounding environment when the vehicle is moving, in order to generate continuous image frames. The image information receiving module 101 typically has an image processing unit (ISP, Image Signal Processor) capable of handling functions such as lens correction, pixel correction, color interpolation, Bayer noise removal, white balance correction, color correction, gamma correction, and color space conversion. The image information receiving module 101 generally has an LVDS (Low Voltage Differential Signaling) or MIPI CSI transmission interface (not indicated). To obtain better image quality, the image information can be in LVDS format.

[0035] A plurality of cameras 102 are mounted on the vehicle, such as a front camera mounted on the front side of the vehicle (e.g., the front surface), a rear camera mounted on the opposite rear side of the vehicle, and left and right cameras on the left and right outer sides of the vehicle. These cameras 102 typically have image sensors and receive images from the environment through wide-angle or fisheye lenses. The image sensors contain horizontal and vertical columns of pixels, each capturing light to generate image data. Image data from the pixels can be combined to form a series of image frames. In this invention, the plurality of cameras 102 are positioned on different sides of the vehicle, capturing images of the surrounding environment outside the vehicle with different fields of view. Overall, these images with different fields of view constitute a complete image field of view of the surrounding environment outside the vehicle and are transmitted to the processing unit 103 via the image information receiving module 101.

[0036] The processing unit 103 of this invention is the main computing unit of this invention, such as one or more general-purpose processors, dedicated processors such as digital signal processors (DSPs), or other digital processing circuits. The processing unit 103 is connected to the image information receiving module 101, and can receive and process continuous image frames received from a plurality of cameras 102, and perform calculations on the continuous image frames converted by the image information receiving module 101. Simultaneously, the processing unit 103 can communicate with the vehicle control system via a communication path (e.g., one or more cables to facilitate the implementation of a controller area network bus communication bus), and further, connect to the vehicle CAN bus via the vehicle information assembly interface 104 to receive vehicle data from the vehicle control system, such as vehicle speed, steering angle, and other vehicle-related driving data. The storage module 105 can be used to store images. For example, the processing unit 103 can maintain one or more image buffer memories and store the continuous image frames received from the plurality of cameras 102 in the storage module 105. In addition, the storage module 105 can store various sensing information from the vehicle or other vehicle-related driving data. The storage module 104 can be a built-in integrated circuit memory or an external storage device, such as an SSD or SD card.

[0037] Please refer to this as well. Figures 1 to 7 According to an embodiment of the present invention, a vehicle surround view image display system 100 is installed on a vehicle and operates. The system 100 can generate a vehicle surround view image 300, which can be further divided into an image of the outer area 301 of the vehicle (the first image of the present invention) and an image of the chassis area 302 of the vehicle (the second image of the present invention). The method by which the system 100 of the present invention generates these two area images includes the following steps:

[0038] Step S01: Capture images of the surrounding environment while the vehicle is moving to generate continuous image frames and form a first image corresponding to the outer region of the vehicle.

[0039] A plurality of cameras 102 are installed at various locations on the vehicle, for example, at the front, rear, and / or sides of the vehicle, each with a different mounting angle to capture images of the surrounding environment as the vehicle moves, thus generating continuous image frames. Since these cameras 102 with different mounting angles are installed on the outer side of the vehicle, the continuous image frames captured by each camera in this invention primarily constitute the image of the outer region 301 of the vehicle, i.e., the first image corresponding to the outer region 301 of the vehicle, such as... Figure 3As shown. Furthermore, the images captured by individual cameras 102 are typically front-view images taken along the optical axis of the camera. Corresponding to the front-view images from different cameras, before combining all the first images corresponding to the outer region 301 of the vehicle, the processing unit 103 of this invention must perform coordinate conversion on the first-view (i.e., the front-view of the individual camera) of the surrounding environment image frames captured by each camera 102 during vehicle movement to a second-view (i.e., a common view). The second-view is typically a top-down view of the vehicle, or a bird's-eye view. This allows the driver to easily observe the images around the vehicle from the common view after coordinate conversion from the different camera views. Of course, the continuous image frames captured by these cameras 102 from different viewpoints are synchronized and captured in real-time. It is worth mentioning that, in order to reflect the real-time images during vehicle movement and the actual surrounding environment, phenomena such as shadows cast by the vehicle on the ground or light spots produced by the headlights are removed from the first image corresponding to the outer region 301 of the vehicle without image processing or artificial intelligence processing.

[0040] The specific steps by which the processing unit 103 converts the first-view (i.e., the front view of individual cameras) of the surrounding environment image frames captured by each camera 102 during vehicle movement into a second-view (i.e., a common view) are detailed in the following text: Figure 4 .like Figure 4 As shown, taking one of the cameras 102 as an example, the image captured by the camera can be contained in a coordinate system, such as image data (e.g., pixels) along a point X1 on vector 403 in the front-view plane 401 of the camera. Vector 403 extends between point X1 in plane 401 and the corresponding point Xπ in the target plane 402 corresponding to the bird's-eye view, where the target plane 402 is the ground plane in this invention. Since vector 403 is drawn between a point on the front-view plane 401 of the camera and the target plane 402, vector 403 can represent the angle at which the camera is mounted on the vehicle and facing the ground.

[0041] The continuous image frames captured by the camera on the front-view plane 401 can be transformed (e.g., projected) onto the target plane 402 according to the matrix formula Xπ = H*X1. The matrix "H" can be calculated and determined through a calibration procedure for the camera. For example, the camera can be mounted at a desired location on a vehicle, and the calibrated image can be used to generate an image of the known environment. In this case, several pairs of corresponding points in plane 401 and target plane 402 can be obtained (e.g., points X1 and Xπ can form a pair), and "H" can be calculated based on the known points.

[0042] As an example, point X1 can be defined using the coordinate system of plane 401 as X1 = (xi ,y i ,ω i The point Xπ can be defined as Xπ = (x1′, y1′, ω) through the coordinate system of the target plane 402. i In this case, matrix "H" can be defined as shown in Equation 1, and the relationship between point X1 and point Xπ can be defined as shown in Equation 2.

[0043] Equation 1:

[0044]

[0045] Equation 2:

[0046]

[0047] Each camera 102 installed in the vehicle can be converted from the front view plane 401 of each camera 102 to the target plane 402 by the processing unit 103 using matrices "H", and then corrected to be converted onto the target plane 402. That is, when multiple cameras 102 are installed at the front, rear, and sides of the vehicle, the processing unit 103 can correct them according to the pre-determined transformation matrices of each camera, and then use these multiple transformation matrices to convert the continuous image frames captured by the multiple cameras 102 from the first view (i.e., the front view of individual cameras) to the second view (i.e., the common view), and then stitch the images together to obtain a common planar image, as described in this invention. Figure 3 The image 300 corresponds to the bird's-eye view of the vehicle. The final processing unit 103 combines these coordinate-transformed continuous image frames into a first image corresponding to the outer region 301 of the vehicle, and stores these coordinate-transformed continuous image frames in the storage module 105 for use in subsequent steps of the present invention.

[0048] Obviously, since the plurality of cameras 102 in this invention are mounted on the outside of the vehicle, even if they are equipped with wide-angle lenses or fisheye lenses, their field of vision is still obstructed by the vehicle itself, thus resulting in obstruction. Figure 3 The area where the vehicle is located, or more specifically, in Figure 3 In the bird's-eye view, the area projected onto the ground plane by the region obscured by the vehicle itself from the plurality of cameras 102 is the corresponding chassis region 302 of the vehicle. Therefore, in the subsequent steps S02 to S04, the present invention generates an image of the region (chassis region 302 of the vehicle) obscured by the vehicle itself (the second image of the present invention) by storing the coordinate-transformed continuous image frames in step S01.

[0049] Step S02: Receive vehicle driving data.

[0050] In this step, vehicle driving data can be provided through a control and / or monitoring system (e.g., via a communication path such as a controller area network bus, CAN bus), and finally transmitted to the processing unit 103 via the vehicle information assembly interface 104. Driving data, such as the vehicle's steering angle, speed, gear position, etc., which are sufficient to identify the vehicle's movement status, will be calculated by the processing unit to determine which part of the continuous image frames previously captured and stored in step S01 can be used to generate an image of the area obscured by the vehicle itself (the vehicle's chassis area 302).

[0051] Step S03: Calculate driving data to obtain delayed images of continuous image frames.

[0052] Figure 5 This diagram illustrates an implementation of calculating driving data to obtain a delayed image of consecutive image frames. Here, Φ is the steering angle (e.g., average front wheel angle), V is the vehicle speed, and L is the vehicle wheelbase length (i.e., the length between the front and rear wheels). This step primarily involves calculating the vehicle's movement. The vehicle's position at a future time point can be obtained from the driving data, and a delayed image of the consecutive image frames is generated from the previously captured and stored consecutive image frames based on the calculated vehicle position. This delayed image is then used to generate an image corresponding to the vehicle's chassis region 302.

[0053] The angular velocity of a vehicle can be calculated based on the current vehicle speed V, wheelbase length L, and steering angle Φ (for example, as shown in Equation 3).

[0054] Equation 3:

[0055]

[0056] For each location, the corresponding future location can be calculated based on the predicted movement Δyi. The predicted movement Δyi can be based on the center O of the vehicle's rotation radius. i The X-axis distance r of the position xi and Y-axis distance L xi And the vehicle's angular velocity is used to calculate (for example, according to Equation 4).

[0057] Equation 4:

[0058]

[0059] For each position within the image of the area obscured by the vehicle itself (the vehicle's chassis area 302), the predicted movement amount Δyi can be used to determine whether the predicted future position falls within the currently visible area of ​​the vehicle's surrounding environment (e.g., the vehicle's outer outer area 301). If the predicted vehicle movement position is within the currently visible area, then when the vehicle moves to the predicted position, according to the present invention, the processing unit 103 can calculate the block corresponding to the predicted movement amount Δyi in the continuous image frames of the surrounding environment captured and stored by the plurality of cameras 102 in step S01 when the vehicle is moving, and the continuous image frames corresponding to the block can be used to generate an image of the area obscured by the vehicle itself (i.e., the vehicle's chassis area 302). Therefore, when the vehicle moves to a future point in time, the image of the outer area 301 of the vehicle (the first image) is composed of real-time images of continuous image frames captured by the camera 102. These images, which are used to generate the images of the blocks corresponding to the area covered by the vehicle itself (i.e., the chassis area 302 of the vehicle), can be regarded as delayed images of the aforementioned continuous image frames, that is, the stored continuous image frames corresponding to the prediction of the vehicle's movement.

[0060] Similarly, since these pre-stored continuous image frames corresponding to vehicle movement may still contain shadows cast by the vehicle itself on the ground or light spots produced by the headlights, if used to generate an image of the vehicle's chassis area 302, it will cause poor image quality in that area 302. This could result in discontinuities in the shadows from the original continuous image frames, overexposure of the light spots, further causing adverse visual interference to the driver, or misjudging that there are obstacles on the ground in that area 302. Therefore, in the next step, these pre-stored continuous image frames will be processed.

[0061] Step S04: Perform gain calculation on the delayed images of consecutive image frames to form a second image corresponding to the chassis area of ​​the vehicle.

[0062] Based on the previous step S03, in order to process the pre-stored continuous image frames (i.e., delayed images of the continuous image frames) used to generate the chassis region 302 of the vehicle, in order to reduce the impact of vehicle shadows or headlights on image quality, the processing unit 103 of the present invention can perform gain calculations on these pre-stored continuous image frames to form an image (second image) corresponding to the chassis region 302 of the vehicle. For a clear explanation of the gain calculation method, please refer to [reference needed]. Figure 6 The pre-stored delayed images of consecutive image frames correspond to the outer region 301 of the vehicle. At this time, there may be shadows caused by the vehicle itself or light spots caused by the headlights in region 301. The processing unit 103 of the present invention performs gain calculation on the delayed images of the consecutive image frames. Taking the image gain calculation in the side direction of the vehicle as an example (A-A' direction), the gain calculation method can be exemplified as follows: Figure 6In (a), the image within the range formed by the outward extension distance s of the vehicle body is excluded in advance, that is, the gain w is 0. In other words, the part of the delayed image of the continuous image frame within the range of the distance s from the vehicle body, that is, the area where the shadows caused by the vehicle itself or the light spots caused by the headlights are most likely to occur, is not used to generate the image of the vehicle's chassis area 302 after the vehicle moves. When the gain w is not 0, it can be regarded as adjusting the weight value of the delayed image of the continuous image frame, for example, adjusting the image transparency change of the delayed image of the continuous image frame in each frame, until the gain w is 1 (at which point the transparency is 0). Generally speaking, s can be a distance of 40 cm to 60 cm from the outer side of the vehicle body, or it can be further adjusted according to the vehicle's driving status, such as day or night, ambient light brightness, outdoor or indoor, GPS positioning signal, etc., by the preset value built into the processing unit 103. Figure 6 In approach (a), to mitigate the effects of vehicle shadows or headlight glare, in addition to pre-excluding portions of delayed images from consecutive image frames within a distance *s* from the vehicle body, Figure 6 In example (b), the gain w increases linearly in the direction away from the vehicle body; Figure 6 The gain w in (c) increases in a quadratic curve away from the vehicle body. Similarly, these gain calculations can be built into the processing unit 103 as preset values. In detail, when the vehicle moves to the next position, each frame of the delayed image of the continuous image frames used during this period can reduce the impact of vehicle shadows or headlights on image quality through the aforementioned gain calculation. Finally, the processing unit 103 combines these delayed images of the continuous image frames after gain calculation into an image corresponding to the chassis area of ​​the vehicle (i.e., the second image of the present invention) and stores it in the storage unit 105. The gain calculation of the present invention described above is only an example of this embodiment and is not limited to the aforementioned gain calculation method. For the delayed image of the pre-stored continuous image frames, a global gain calculation can be performed based on the outer region 301 of the vehicle. In other words, the gain calculation is performed not only on the area in the side direction of the vehicle but also on the entire image corresponding to the outer region 301 of the vehicle.

[0063] Step S05: A vehicle surround view image is generated in real time by stitching together the first image and the second image.

[0064] In this step, the processing unit 103 stitches together the first and second images to form the vehicle surround view image 300 of the present invention, which is composed of real-time images of continuous image frames corresponding to the outer region 301 of the vehicle while the vehicle is moving, and a second image corresponding to the chassis region 302 of the vehicle by performing gain calculation on the delayed images of the continuous image frames. Since the present invention can generate the image corresponding to the chassis region 302 of the vehicle by combining the previously stored continuous image frames during step S01 and predicting the vehicle position based on driving data, the present invention can achieve the following at any time: in addition to displaying the image of the outer region 301 of the vehicle in real time when the vehicle is moving, even if the vehicle blocks part of the camera's field of view (i.e., the chassis region 302 of the vehicle), it is as if the camera's field of view is unobstructed during the vehicle's movement, through steps S01 to S05 of the present invention. In this invention, considering the quality of image stitching, the first image corresponding to the outer region 301 of the vehicle is a real-time image of the current continuous image frames of the vehicle in motion, while the second image corresponding to the chassis region 302 of the vehicle is a delayed image of the continuous image frames, that is, continuous image frames pre-stored at a slightly earlier position of the vehicle. Because the two images have a difference in temporal order, image stitching may cause discontinuities, especially when the vehicle is moving and there are vehicle shadows or significant glare from the vehicle's headlights. Specifically, the first image may have vehicle shadows or glare from the headlights, while the second image in this invention softens these shadows or glare. Therefore, in this invention, the processing unit 103 can further compare the image differences between the first and second images and adjust the images, such as brightness, contrast, or gamma value and other related image parameters. Specific implementation details are as follows: Figure 7 The processing unit 103 can calculate the image values ​​of the first image and the second image in the area near the stitching point. For example, the outer vehicle region 301 also includes an image comparison region 303, which is adjacent to the chassis region 302 of the vehicle. In this embodiment of the invention, the area can be formed by extending outward from the side of the vehicle body within 30 cm. By comparing the real-time image and the delayed image of the continuous image frames in the image comparison region 303, the first image of the outer vehicle region 301 or the second image of the chassis region 302 of the vehicle is adjusted so that the first image and the second image do not produce too much image difference when stitching. It can even adjust the image when the first image has vehicle shadows or light spots caused by headlights due to the comparison in this step, thereby improving the quality of the vehicle surround view image.

[0065] Step S06: Display the vehicle surround view image.

[0066] After the processing unit 103 has completed the image stitching through the aforementioned steps S01 to S05, it can connect a display module (not shown) to display the vehicle surround view image 300 as an output. In practice, the display module can be an LCD, OLED, PLED, or Micro LED monitor. Preferably, the display module can also have interactive touch functionality. In addition to displaying the stitched vehicle surround view image 300, the image can also display the vehicle's frame. This can be a semi-transparent display or a completely undisplayed vehicle frame, selectable by the driver through the display module according to their preference.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the methods and techniques disclosed above without departing from the scope of the present invention to create equivalent embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for displaying a vehicle surround view image, characterized in that, Include: Multiple cameras mounted on a vehicle capture images of the surrounding environment as the vehicle moves to generate continuous image frames. The real-time images from the continuous image frames are used to compose a first image corresponding to the outer region of the vehicle. Receive the vehicle's driving data. The driving data is used to obtain a delayed image of consecutive image frames. The vehicle's future position is obtained from the driving data, and the delayed image of the consecutive image frames is derived from the previously captured and stored consecutive image frames based on the calculated vehicle position. For each position within the image of the vehicle's chassis area, a predicted movement amount Δyi is used to determine whether the predicted future position falls within the currently visible area of ​​the vehicle's surrounding environment. If the predicted vehicle movement position is within the currently visible area, when the vehicle moves to the predicted position, the block corresponding to the predicted movement amount Δyi is calculated in the consecutive image frames of the surrounding environment captured and stored by multiple cameras. The consecutive image frames corresponding to this block are used to generate an image of the vehicle's chassis area, and the image of the corresponding block is the delayed image of the consecutive image frames. A second image corresponding to the chassis region of the vehicle is formed by performing gain calculations on the delayed images of the continuous image frames. The gain calculation includes: pre-excluding images within the range formed by the outward extension distance *s* of the vehicle body, i.e., when the gain *w* is not 0; adjusting the weight values ​​of the delayed images of the continuous image frames to adjust the image transparency changes in each frame until the gain *w* is 1; and increasing the gain *w* linearly or quadratically away from the vehicle body. A vehicle surround view image is generated in real time by stitching together the first image and the second image. The vehicle surround view image is displayed.

2. The vehicle surround view image display method according to claim 1, characterized in that, The outer region of the vehicle also includes an image comparison area, whereby the first image or the second image is adjusted by comparing the real-time image of the continuous image frames with the delayed image of the continuous image frames in the image comparison area.

3. The vehicle surround view image display method according to claim 1, characterized in that, The coordinates of the continuous image frames are converted from the first perspective to the second perspective.

4. The vehicle surround view image display method according to claim 1, characterized in that, The vehicle's driving data includes at least the vehicle's steering angle, speed, and gear.

5. The vehicle surround view image display method according to claim 2, characterized in that, The image comparison area is adjacent to the chassis area of ​​the vehicle.

6. The vehicle surround view image display method according to claim 1, characterized in that, The distance s is the distance from 40 cm to 60 cm measured from the outer side of the vehicle body.

Images