Calibration method of reverse image track line, controller and vehicle

Abstract

The application discloses a kind of calibration methods of reversing image trajectory, controller, vehicle. Among them, method includes: when receiving calibration instruction, the vehicle terminal of calibration vehicle to be calibrated is controlled to display calibration interface, wherein, calibration interface shows reversing image and multiple calibration points, reversing image is obtained by the reversing camera of calibration vehicle to be calibrated;Multiple calibration points are moved to multiple mark points on calibration site in reversing image one by one, and the pixel coordinates after the movement of each calibration point are determined;The world coordinates of each mark point and the internal parameter of reversing camera are obtained, and the external parameter of reversing camera is obtained according to the pixel coordinates after the movement of each calibration point, the world coordinates of each mark point and the internal parameter of reversing camera.The method can realize the calibration of new style reversing image dynamic trajectory line.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method for calibrating reversing image trajectory lines, a controller, and a vehicle. Background Technology

[0002] In related technologies, to draw the reversing image trajectory line, the vehicle to be calibrated needs to be driven into the calibration area and the calibration program needs to be started. See the calibration interface for details. Figure 1 There are six transparent white boxes. Drag these six boxes to the vicinity of the designated black circles, then click the left-hand drawing button. The software will calculate the slope of the left-hand vertical reversing trajectory line based on the pixel coordinates of the centers of the three left-hand transparent white boxes, and draw the vertical reversing trajectory line using these three coordinates and slopes. Similarly, clicking the right-hand drawing button will draw the right-hand vertical reversing trajectory line based on the pixel coordinates of the centers of the three right-hand transparent white boxes. Simultaneously, based on the relationship between the coordinates and the horizontal reversing trajectory line, horizontal reversing trajectory lines will be extended from the left-hand vertical reversing trajectory line to the right horizontally or from the right-hand vertical reversing trajectory line to the left horizontally. The drawn trajectory lines are then manually compared to ensure they match the actual trajectory. After drawing the static trajectory line, the software uses Bézier curve theory to generate the coordinates of a simulated smooth curve using the input control points, thus drawing the dynamic trajectory line, such as... Figure 2 As shown.

[0003] However, the implementation method of the reversing image dynamic trajectory line in the related technologies is different from the drawing principle of the reversing image dynamic trajectory line under the new technology. Therefore, the above-mentioned related technologies cannot meet the requirements of the new style of reversing image dynamic trajectory line. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a method for calibrating reversing image trajectory lines, so as to realize the drawing of dynamic trajectory lines for reversing images.

[0005] The second objective of this invention is to provide a controller.

[0006] The third objective of this invention is to provide a vehicle.

[0007] To achieve the above objectives, a first aspect of the present invention provides a method for calibrating a reversing image trajectory line. The method comprises: upon receiving a calibration command, controlling the vehicle-mounted terminal of the vehicle to be calibrated to display a calibration interface, wherein the calibration interface displays a reversing image and multiple calibration points, the reversing image being acquired by a reversing camera of the vehicle to be calibrated; moving the multiple calibration points one-to-one to multiple marker points on the calibration site in the reversing image, and determining the pixel coordinates of each calibration point after the movement is completed; acquiring the world coordinates of each marker point and the intrinsic parameters of the reversing camera, and obtaining the extrinsic parameters of the reversing camera based on the pixel coordinates of each calibration point after the movement, the world coordinates of each marker point, and the intrinsic parameters of the reversing camera.

[0008] To achieve the above objectives, a second aspect of the present invention provides a controller, characterized in that it includes a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, it implements the above-described method for calibrating the reversing image trajectory line.

[0009] To achieve the above, a third aspect of the present invention provides a vehicle, characterized in that it includes: an on-board terminal and the controller described above.

[0010] The reversing image trajectory calibration method, controller, and vehicle of this invention, upon receiving a calibration command, control the vehicle's on-board terminal to display a calibration interface. The calibration interface displays a reversing image and multiple calibration points. The reversing image is acquired by the reversing camera of the vehicle. The multiple calibration points are moved one-to-one to multiple marker points on the calibration field in the reversing image, and the pixel coordinates of each calibration point after the movement are determined. The world coordinates of each marker point and the intrinsic parameters of the reversing camera are obtained, and the extrinsic parameters of the reversing camera are obtained based on the pixel coordinates of each calibration point after the movement, the world coordinates of each marker point, and the intrinsic parameters of the reversing camera. Thus, a new style of dynamic trajectory line calibration for reversing images can be achieved.

[0011] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0012] Figure 1 This is a calibration diagram of a reversing image trajectory line in related technologies;

[0013] Figure 2 This is a calibration diagram of a reversing image trajectory line in related technologies;

[0014] Figure 3 This is a flowchart of a method for calibrating the trajectory line of a reversing image according to an embodiment of the present invention;

[0015] Figure 4 This is a flowchart of a method for calibrating the trajectory line of a reversing image, as exemplified by the present invention.

[0016] Figure 5 This is a flowchart of a method for calibrating the reversing image trajectory line, which is another example of the present invention;

[0017] Figure 6 This is a schematic diagram of a method for calibrating the reversing image trajectory line, as an example of the present invention;

[0018] Figure 7 This is a structural block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0019] The following description, with reference to the accompanying drawings, describes a method for calibrating reversing image trajectory lines, a controller, and a vehicle according to embodiments of the present invention. Throughout the description, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. The embodiments described with reference to the accompanying drawings are exemplary and should not be construed as limiting the present invention.

[0020] Figure 3 This is a flowchart of a method for calibrating the reversing image trajectory line according to an embodiment of the present invention.

[0021] like Figure 3 As shown, the calibration method for the reversing image trajectory line includes:

[0022] S11, when a calibration command is received, the vehicle terminal of the vehicle to be calibrated is controlled to display a calibration interface, which displays a reversing image and multiple calibration points. The reversing image is obtained through the reversing camera of the vehicle to be calibrated.

[0023] Specifically, when calibration is required, the vehicle is first driven into a marked calibration area. Upon receiving the calibration command via the desktop settings interface displayed on the in-vehicle terminal, the calibration process begins. The vehicle's reversing camera takes a picture, and the captured image is displayed on the calibration interface of the in-vehicle terminal. When driving the vehicle into the calibration area, the reversing camera must be able to capture the marks within the calibration area so that the corresponding marks can be displayed on the calibration interface. A wide-angle camera can be selected as the reversing camera.

[0024] S12, move multiple calibration points one by one to multiple marker points on the calibration site in the reversing image, and determine the pixel coordinates of each calibration point after the movement is completed.

[0025] For each calibration point, a movement command can be received via the calibration interface, and the calibration point can be moved to the corresponding marker point on the calibration site in the reversing camera according to the movement command. These movement commands can include dragging the calibration point, selecting a camera manufacturer, etc.

[0026] The process of moving multiple calibration points one-to-one to the corresponding markers on the calibration field in the reversing camera can be done manually or automatically. If done manually, after multiple calibration points are displayed on the calibration interface, the user can drag them to the markers. For example, with the Hikvision camera selected by default, eight red calibration points are displayed on the interface. Users can drag the eight transparent white boxes on the calibration interface to move the red points to near the markers on the field, and then click "Exit." If done automatically, the calibration points are moved to the markers automatically. For example, eight red dots appear on the calibration interface, each landing near a marker on the field. After observing whether the red dots are near the markers on the field, click "Exit."

[0027] S13, obtain the world coordinates of each marker point and the intrinsic parameters of the reversing camera, and obtain the extrinsic parameters of the reversing camera based on the pixel coordinates of each calibration point after the movement is completed, the world coordinates of each marker point and the intrinsic parameters of the reversing camera.

[0028] The user can move multiple calibration points one by one to the corresponding marker points on the calibration site in the reversing image, and then issue an exit and save command. The user can receive the exit and save command through the calibration interface and obtain the world coordinates of each marker point and the internal parameters of the reversing camera in response to the exit and save command.

[0029] The world coordinates mentioned above are the actual coordinates of the marked points. The intrinsic parameters of the reversing camera can be calibrated by a calibration board or calibration box and can be preset in the program directory.

[0030] Therefore, the extrinsic parameters of the reversing camera can be obtained, and the coordinates on the reversing path can be converted into pixel coordinates on the display in the car based on the extrinsic parameters, thereby drawing static and dynamic trajectory lines.

[0031] In one embodiment of the present invention, before receiving the calibration command, the calibration method for the reversing image trajectory line further includes: determining whether the vehicle to be calibrated is in a parking gear or a neutral gear.

[0032] As an example, before receiving the calibration command, first enter P or N gear: double-click the system settings on the desktop 6 times.

[0033] In one embodiment of the present invention, the method for calibrating the reversing image trajectory line further includes: when the vehicle to be calibrated is in reverse gear, acquiring the vehicle body parameters of the vehicle to be calibrated; using a bicycle model of the vehicle to be calibrated to obtain the world coordinates on the reversing path of the vehicle to be calibrated based on the vehicle body parameters; obtaining the pixel coordinates on the reversing path based on the world coordinates on the reversing path, the intrinsic and extrinsic parameters of the reversing camera; drawing the reversing image trajectory line based on the pixel coordinates on the reversing path, and displaying it on the vehicle terminal.

[0034] In one embodiment of the present invention, the method for calibrating the reversing image trajectory line further includes: after determining that the reversing image trajectory line calibration is successful, controlling the vehicle terminal to display calibration success information on the display interface of the reversing image trajectory line; and after determining that the reversing image trajectory line calibration fails, controlling the vehicle terminal to display calibration failure information on the display interface of the reversing image trajectory line.

[0035] In one embodiment of the present invention, the method for calibrating the reversing image trajectory line further includes: receiving an exit and save command through the calibration interface, controlling the vehicle terminal to exit the calibration interface and display the desktop settings interface in response to the exit and save command; and controlling the vehicle terminal to display calibration completion information on the desktop settings interface after obtaining the external parameters of the reversing camera.

[0036] In one embodiment of the present invention, the calibration method for the reversing image trajectory line further includes: determining whether the reversing image trajectory line conforms to the indicator line of the calibration site; if it conforms, the reversing image trajectory line calibration is determined to be successful; otherwise, the reversing image trajectory line calibration is determined to be unsuccessful, and the calibration procedure is re-entered. That is, if the calibration is successful, the reverse gear is engaged, and the dynamic trajectory line of the reversing image is checked to see if it conforms to the site indicator line; if the calibration fails, the calibration procedure is re-entered.

[0037] As an example, see Figure 4 First, enter P or N gear: Double-click the system settings on the desktop 6 times; Calibration interface: Select the camera manufacturer on the interface, and manually move the red dot (i.e., the calibration point) to the point to be calibrated on the field (i.e., the marked point mentioned above); Data saving: Observe the fine-tuning calibration point, and click exit to save the data; Failure / success: After exiting and saving, observe the desktop pop-up window to determine whether the calibration was successful; Verification: Shift into R gear, check whether the trajectory line is within the range of the drawn calibration point, determine whether it fits the field indicator line, and whether it is smooth and without bends.

[0038] Or see Figure 5First, enter P or N gear: Double-click the system settings on the desktop 6 times; Calibration interface: Select the camera manufacturer on the interface, and the program will automatically identify the calibration point on the field (i.e., the marked point mentioned above); Data saving: Observe the fine-tuning calibration point, and click exit to save the data; Failure / Success: After exiting and saving, observe the desktop pop-up window to determine whether the calibration was successful; Verification: Shift into R gear and check whether the trajectory line is within the range of the drawn calibration point, determine whether it fits the field knowledge line, and whether it is smooth and without curves.

[0039] In one embodiment of the present invention, the method for calibrating the reversing image trajectory line further includes: receiving a selection instruction through a calibration interface, and determining a reversing camera for acquiring the reversing image in response to the selection instruction.

[0040] In one embodiment of the present invention, the method for calibrating the reversing image trajectory line further includes: determining whether the vehicle to be calibrated is at a preset position in the calibration site; if so, performing the step of moving multiple calibration points one by one to multiple marker points on the calibration site in the reversing image.

[0041] In one embodiment of the present invention, the vehicle body parameters include vehicle length and inner wheel diameter.

[0042] In one embodiment of the present invention, the plurality of marking points include: two calibration points at point 0, two calibration points extending horizontally from point 0 to a first preset distance, two calibration points extending horizontally from point 0 to a second preset distance, and two calibration points extending horizontally from point 0 to a third preset distance, wherein point 0 is a point at a fourth preset distance from the rear of the vehicle to be calibrated, the first preset distance is less than the second preset distance, the second preset distance is less than the third preset distance, and the fourth preset distance is less than the first preset distance.

[0043] As an example, see Figure 6 According to the design requirements of the reversing image dynamic trajectory line, a reversing warning line 30cm (or 45cm) away from the outer edge of the rear bumper of the actual vehicle is set as the starting point (i.e., point 0) of the calibration point:

[0044] (1) The two calibration points of point 0;

[0045] (2) Two calibration points extending horizontally from point 0 to 50cm;

[0046] (3) Two calibration points extending horizontally from point 0 to 100cm;

[0047] (4) Two calibration points extending horizontally from point 0 to 300cm.

[0048] Eight calibration points were marked on the calibration site. These points were chosen because they are all key points used to draw the reversing image trajectory line. Specifically, the red line of the reversing image trajectory line extends horizontally from 0 point to 50cm, requiring four key points (two calibration points at 0 point and two calibration points extending horizontally from 0 point to 50cm). Similarly, the yellow line of the reversing image trajectory line extends horizontally from 50cm to 100cm, requiring four key points (two calibration points extending horizontally from 0 point to 50cm and two calibration points extending horizontally from 0 point to 100cm). Finally, the green line of the reversing image trajectory line extends horizontally from 100cm to 300cm, again requiring four key points (two calibration points extending horizontally from 0 point to 100cm and two calibration points extending horizontally from 0 point to 300cm). Using these key points ensures that the drawn trajectory line is smooth and without curves.

[0049] Preset parameters:

[0050] The program uses preset parameters including the intrinsic parameters of the wide-angle camera and eight site markers to establish a world coordinate system with the center point of the actual vehicle as the origin, the direction of the vehicle's forward movement as the x-axis, the left side of the forward movement direction as the y-axis, and the vertical upward direction from the ground as the z-axis.

[0051] The intrinsic parameters of the wide-angle camera are obtained through calibration using a calibration board or calibration box and are preset in the program directory; while the world coordinates of the site markers are calculated from the inner wheel diameter and length of the actual vehicle and the actual site data, and are also stored in the program directory. The specific calculation method is as follows:

[0052] (1) The two calibration points of point 0:

[0053]

[0054] (2) Two calibration points extending horizontally from point 0 to a point 50cm away:

[0055]

[0056] (3) Two calibration points extending horizontally from point 0 to 100cm:

[0057]

[0058] (4) Two calibration points extending horizontally from point 0 to 300cm.

[0059]

[0060] (All units of measurement are cm.)

[0061] In summary, the reversing image trajectory line calibration method of this invention, when receiving a calibration command, controls the vehicle terminal of the vehicle to be calibrated to display a calibration interface, wherein the calibration interface displays a reversing image and multiple calibration points, the reversing image being acquired by the reversing camera of the vehicle to be calibrated; the multiple calibration points are moved one by one to multiple marker points on the calibration site in the reversing image, and the pixel coordinates of each calibration point after the movement are determined; the world coordinates of each marker point and the intrinsic parameters of the reversing camera are obtained, and the extrinsic parameters of the reversing camera are obtained based on the pixel coordinates of each calibration point after the movement, the world coordinates of each marker point, and the intrinsic parameters of the reversing camera. Therefore, a new style of reversing image dynamic trajectory line calibration can be achieved. A bicycle model can be selected to create a digital model of the vehicle's motion. The actual vehicle's body data is then substituted into this model. In a world coordinate system established with the center point of the actual vehicle as the origin, the coordinates along the reversing path of the actual vehicle can be calculated. Finally, the coordinates along the reversing path are converted into pixel coordinates on the in-vehicle display screen using the intrinsic and extrinsic parameters of the wide-angle camera, thus drawing static and dynamic trajectory lines. The calibration program in related technologies serves the old reversing image dynamic trajectory lines, while the new calibration program in this application is designed for the new reversing image dynamic trajectory lines. The old reversing image dynamic trajectory lines utilize Bessel theory, while the new reversing image dynamic trajectory lines utilize a bicycle model. The calibration program in related technologies essentially draws the reversing image trajectory line directly on the screen using the input coordinates, while the new calibration program in this application essentially calculates the extrinsic parameters of the reversing camera based on the input coordinates. The new reversing camera dynamic trajectory line style can be updated online through system version updates, while the old reversing camera dynamic trajectory line style is fixed and cannot be changed online through system version updates; the new reversing camera dynamic trajectory line more closely matches the actual trajectory of vehicle movement than the old reversing camera dynamic trajectory line. The environmental requirements for the calibration site are simple; only indicators need to be placed, and a manual calibration scheme can be used to recalibrate the new reversing camera dynamic trajectory line.

[0062] Furthermore, the present invention proposes a controller.

[0063] In this embodiment of the invention, the controller includes a memory, a processor, and a computer program stored in the memory. When the computer program is executed by the processor, it implements the above-described method for calibrating the reversing image trajectory line.

[0064] The controller in this embodiment of the invention, by implementing the above-described reversing image trajectory calibration method, when receiving a calibration command, controls the vehicle terminal of the vehicle to be calibrated to display a calibration interface. The calibration interface displays a reversing image and multiple calibration points. The reversing image is acquired by the reversing camera of the vehicle to be calibrated. The multiple calibration points are moved one-to-one to multiple marker points on the calibration field in the reversing image, and the pixel coordinates of each calibration point after the movement are determined. The world coordinates of each marker point and the intrinsic parameters of the reversing camera are obtained, and the extrinsic parameters of the reversing camera are obtained based on the pixel coordinates of each calibration point after the movement, the world coordinates of each marker point, and the intrinsic parameters of the reversing camera. Thus, a new style of dynamic trajectory line calibration for reversing images can be achieved.

[0065] Furthermore, the present invention proposes a vehicle.

[0066] Figure 7 This is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0067] like Figure 7 As shown, the vehicle 100 includes: an on-board terminal 101 and the aforementioned controller 102.

[0068] In this embodiment of the invention, the vehicle, upon receiving a calibration command via the aforementioned controller, controls its on-board terminal to display a calibration interface. This interface displays a reversing image and multiple calibration points. The reversing image is acquired by the reversing camera of the vehicle. The multiple calibration points are moved one-to-one to corresponding marker points on the calibration area within the reversing image, and the pixel coordinates of each calibration point after the movement are determined. The world coordinates of each marker point and the intrinsic parameters of the reversing camera are obtained, and the extrinsic parameters of the reversing camera are derived based on the pixel coordinates of each calibration point after movement, the world coordinates of each marker point, and the intrinsic parameters of the reversing camera. This allows for the calibration of a novel dynamic trajectory line for the reversing image.

[0069] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein can be considered as a ordered list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0070] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0071] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0072] In the description of this specification, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and should not be construed as limiting the present invention.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0074] In this specification, unless otherwise stated, the terms "installation," "connection," "joining," 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, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0075] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0076] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for calibrating the trajectory lines of a reversing image, characterized in that, The method includes: When a calibration command is received, the vehicle terminal of the vehicle to be calibrated is controlled to display a calibration interface, wherein the calibration interface displays a reversing image and multiple calibration points, and the reversing image is acquired by the reversing camera of the vehicle to be calibrated. The multiple calibration points are moved one by one to the multiple marker points on the calibration site in the reversing image, and the pixel coordinates of each calibration point after the movement is completed are determined. Obtain the world coordinates of each of the marked points and the intrinsic parameters of the reversing camera, and obtain the extrinsic parameters of the reversing camera based on the pixel coordinates of each of the calibration points after movement, the world coordinates of each of the marked points, and the intrinsic parameters of the reversing camera; wherein, the intrinsic parameters are obtained by the calibration board or calibration box and preset in the program directory; The method further includes: When the vehicle to be calibrated is in reverse gear, the vehicle body parameters of the vehicle to be calibrated are obtained; Using the bicycle model of the vehicle to be calibrated, the world coordinates on the reversing path of the vehicle to be calibrated are obtained according to the vehicle body parameters; The pixel coordinates on the reversing path are obtained based on the world coordinates on the reversing path and the intrinsic and extrinsic parameters of the reversing camera. The reversing image trajectory line is drawn based on the pixel coordinates on the reversing path and displayed on the vehicle terminal.

2. The method for calibrating the reversing image trajectory line according to claim 1, characterized in that, Before receiving the calibration command, the method further includes: Determine whether the vehicle to be calibrated is in park or neutral.

3. The method for calibrating the reversing image trajectory line according to claim 1, characterized in that, The method further includes: Determine whether the reversing image trajectory line conforms to the indicator line of the calibration site; If the alignment is successful, the reversing image trajectory line calibration is considered successful; otherwise, the reversing image trajectory line calibration is considered unsuccessful.

4. The method for calibrating the reversing image trajectory line according to claim 1, characterized in that, The method further includes: The calibration interface receives a selection command and, in response to the selection command, determines the reversing camera used to acquire the reversing image.

5. The method for calibrating the reversing image trajectory line according to claim 1, characterized in that, The method further includes: Determine whether the vehicle to be calibrated is at a preset position in the calibration site; If so, then the step of moving the multiple calibration points one by one to the multiple marker points on the calibration site in the reversing image is performed.

6. The method for calibrating the reversing image trajectory line according to claim 1, characterized in that, The calibration command is received through the desktop settings interface displayed on the vehicle terminal.

7. The method for calibrating the reversing image trajectory line according to claim 1, characterized in that, The step of moving the multiple calibration points one-to-one to the multiple marker points on the calibration site in the reversing image includes: For each calibration point, a movement command for that calibration point is received through the calibration interface, and the calibration point is moved to the corresponding marker point on the calibration site in the reversing image according to the movement command.

8. The method for calibrating the reversing image trajectory line according to claim 4, characterized in that, The method further includes: After determining that the reversing image trajectory line has been successfully calibrated, the vehicle terminal is controlled to display a calibration success message on the reversing image trajectory line display interface; After determining that the reversing image trajectory line calibration has failed, the vehicle terminal is controlled to display calibration failure information on the reversing image trajectory line display interface.

9. The method for calibrating the reversing image trajectory line according to claim 1, characterized in that, The method further includes: The system receives an exit and save command through the calibration interface, and in response to the exit and save command, controls the vehicle terminal to exit the calibration interface and display the desktop settings interface; and After obtaining the external parameters of the reversing camera, the vehicle terminal is controlled to display calibration completion information on the desktop settings interface.

10. The method for calibrating the reversing image trajectory line according to claim 1, characterized in that, The vehicle body parameters include vehicle length and inner wheel diameter.

11. The method for calibrating the reversing image trajectory line according to claim 10, characterized in that, The plurality of marker points include: two calibration points at point 0, two calibration points extending horizontally from point 0 to a first preset distance, two calibration points extending horizontally from point 0 to a second preset distance, and two calibration points extending horizontally from point 0 to a third preset distance. The point 0 is a point at a fourth preset distance from the rear of the vehicle to be calibrated. The first preset distance is less than the second preset distance, the second preset distance is less than the third preset distance, and the fourth preset distance is less than the first preset distance.

12. A controller, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, it implements the method for calibrating the reversing image trajectory line as described in any one of claims 1-11.

13. A vehicle, characterized in that, include: The vehicle-mounted terminal and the controller as described in claim 12.

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