Real-time display method, device, vehicle, and storage medium for vehicle chassis images

Abstract

This application relates to the field of vehicle technology, and in particular to a method, device, vehicle, and storage medium for real-time display of vehicle chassis images. The method includes: acquiring a first real-time image and a second real-time image of the vehicle chassis; performing three-dimensional reconstruction by combining the preprocessed first real-time image with first parameter information from a first acquisition device and the second real-time image with second parameter information from a second acquisition device to obtain a first real-time three-dimensional image and a second real-time three-dimensional image of the vehicle chassis; converting the pixels of the first and second real-time three-dimensional images into three-dimensional spatial coordinate points and mapping them to obtain pixel coordinate mapping points of the first and second real-time images respectively; and then stitching the first and second real-time images together to obtain a two-dimensional image of the bottom of the vehicle chassis. This solves the problem that related technologies cannot reflect a panoramic image of the vehicle chassis in real time.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, device, vehicle, and storage medium for real-time display of vehicle chassis images. Background Technology

[0002] With the development of vehicle intelligence, real-time monitoring of the vehicle's undercarriage has become a key factor in ensuring driving safety. Currently, transparent chassis technology is widely used in the market. Besides aesthetic considerations, it is also crucial to prevent obstacles from affecting important chassis components (such as fuel lines and batteries) during driving.

[0003] In related technologies, most transparent chassis technologies use a small segment of footage captured by a dashcam or front-facing camera, and then composite this small segment of footage onto the same location to form an image. At this point, the image of the vehicle's undercarriage displayed is actually the previously captured image, which is then filled under the chassis to form a panoramic image.

[0004] However, the aforementioned transparent chassis technologies mostly rely on pre-recorded image synthesis, which cannot reflect the actual condition of the vehicle's underside in real time, resulting in information lag and inaccuracy. In addition, due to the limitations of the camera's installation position and viewing angle, it is often difficult to fully cover the blind spots under the vehicle, thereby reducing the user's ability to warn of potential risks, which urgently needs to be addressed. Summary of the Invention

[0005] This application provides a method, device, vehicle, and storage medium for real-time display of vehicle chassis images, in order to solve the problems that related technologies cannot reflect the panoramic image of the vehicle chassis in real time.

[0006] The first aspect of this application provides a method for real-time display of vehicle chassis images, comprising the following steps:

[0007] Acquire a first real-time image captured by a first acquisition device of the vehicle chassis and a second real-time image captured by a second acquisition device of the vehicle chassis;

[0008] The first real-time image and the second real-time image are preprocessed, and the preprocessed first real-time image is combined with the first parameter information of the first acquisition device to perform three-dimensional reconstruction to obtain the first real-time three-dimensional image of the vehicle chassis. The preprocessed second real-time image is combined with the second parameter information of the second acquisition device to perform three-dimensional reconstruction to obtain the second real-time three-dimensional image of the vehicle chassis.

[0009] The pixels of the first real-time 3D image and the second real-time 3D image are converted into 3D spatial coordinates, and the 3D spatial coordinates are mapped to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image. The first real-time image and the second real-time image are then stitched together using the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image to obtain the bottom 2D image of the vehicle chassis.

[0010] According to one embodiment of this application, before acquiring the first real-time image acquired by the first acquisition device of the vehicle chassis and the second real-time image acquired by the second acquisition device of the vehicle chassis, the method further includes:

[0011] Determine whether the current speed of the vehicle meets a preset speed threshold;

[0012] When the vehicle meets the preset speed threshold, the first and second acquisition devices of the vehicle chassis are controlled to rotate and extend, and after the first and second acquisition devices rotate and extend, it is determined whether the first acquisition device and / or the second acquisition device touches the target obstacle.

[0013] If the first acquisition device and / or the second acquisition device touches the target obstacle, the first acquisition device and / or the second acquisition device are controlled to activate the active obstacle avoidance function to control the first acquisition device and / or the second acquisition device to retract. Within a preset time after the first acquisition device and / or the second acquisition device are retracted, the first acquisition device and / or the second acquisition device are controlled to rotate and extend again, and the step of judging whether the first acquisition device and / or the second acquisition device touches the target obstacle continues to be executed until the first acquisition device and the second acquisition device acquire the real-time image of the vehicle chassis.

[0014] According to one embodiment of this application, determining whether the first acquisition device and / or the second acquisition device has touched the target obstacle includes:

[0015] Obtain the operating parameters of the vehicle motor;

[0016] Based on the operating parameters of the vehicle motor, determine whether the first acquisition device and / or the second acquisition device have touched the target obstacle.

[0017] According to one embodiment of this application, the step of converting the pixels of the first real-time 3D image and the pixels of the second real-time 3D image into 3D spatial coordinate points, and mapping the 3D spatial coordinate points to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image, respectively, includes:

[0018] The three-dimensional spatial coordinate points of the first real-time three-dimensional image are projected onto the first real-time image, and the three-dimensional spatial coordinate points of the second real-time three-dimensional image are projected onto the second real-time image. The pixels projected onto the first real-time image and the second real-time image are then fused to obtain the fused pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image.

[0019] According to one embodiment of this application, after acquiring the first real-time image captured by the first acquisition device of the vehicle chassis and the second real-time image captured by the second acquisition device of the vehicle chassis, the method further includes:

[0020] Acquire third real-time images and third parameters of the other acquisition devices of the vehicle;

[0021] The third real-time image is preprocessed, and the preprocessed third real-time image is combined with the third parameter information of the other acquisition devices to perform three-dimensional reconstruction, thereby obtaining multi-directional three-dimensional real-time images of the vehicle in other directions.

[0022] The pixels of the multi-directional three-dimensional real-time image are converted into three-dimensional spatial coordinates, and the three-dimensional spatial coordinates are projected onto the third real-time image. The pixels projected onto the third real-time image are then fused to obtain multi-directional two-dimensional real-time images of the vehicle in other directions.

[0023] By stitching together the multi-directional two-dimensional real-time images of the vehicle in other directions and the bottom two-dimensional real-time image of the vehicle chassis, a surround view image of the vehicle within a preset angle is obtained.

[0024] According to one embodiment of this application, the above-described real-time display method for vehicle chassis images further includes:

[0025] Receive cleaning instructions from the vehicle's first data acquisition device, second data acquisition device, and other data acquisition devices;

[0026] The first acquisition device, the second acquisition device, and the other acquisition devices are cleaned according to the cleaning instruction.

[0027] According to the real-time display method for vehicle chassis images in this application, a first real-time image and a second real-time image of the vehicle chassis are acquired. The preprocessed first real-time image is combined with first parameter information from a first acquisition device, and the second real-time image is combined with second parameter information from a second acquisition device to perform three-dimensional reconstruction, resulting in a first real-time three-dimensional image and a second real-time three-dimensional image of the vehicle chassis. The pixels of the first and second real-time three-dimensional images are converted into three-dimensional spatial coordinate points and mapped, resulting in pixel coordinate mapping points for the first and second real-time images, respectively. Finally, the first and second real-time images are stitched together to obtain a two-dimensional bottom image of the vehicle chassis. This solves the problem that related technologies cannot reflect a panoramic image of the vehicle chassis in real time.

[0028] A second aspect of this application provides a real-time display device for vehicle chassis images, comprising:

[0029] The acquisition module is used to acquire a first real-time image acquired by a first acquisition device of the vehicle chassis and a second real-time image acquired by a second acquisition device of the vehicle chassis.

[0030] The three-dimensional reconstruction module is used to preprocess the first real-time image and the second real-time image, and to perform three-dimensional reconstruction by combining the preprocessed first real-time image with the first parameter information of the first acquisition device to obtain the first real-time three-dimensional image of the vehicle chassis, and to perform three-dimensional reconstruction by combining the preprocessed second real-time image with the second parameter information of the second acquisition device to obtain the second real-time three-dimensional image of the vehicle chassis.

[0031] The image stitching module is used to convert the pixels of the first real-time 3D image and the second real-time 3D image into 3D spatial coordinates, and to map the 3D spatial coordinates to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image, respectively. The first real-time image and the second real-time image are stitched together using the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image to obtain a 2D bottom image of the vehicle chassis.

[0032] According to one embodiment of this application, before acquiring the first real-time image acquired by the first acquisition device of the vehicle chassis and the second real-time image acquired by the second acquisition device of the vehicle chassis, the acquisition module is further configured to:

[0033] Determine whether the current speed of the vehicle meets a preset speed threshold;

[0034] When the vehicle meets the preset speed threshold, the first and second acquisition devices of the vehicle chassis are controlled to rotate and extend, and after the first and second acquisition devices rotate and extend, it is determined whether the first acquisition device and / or the second acquisition device touches the target obstacle.

[0035] If the first acquisition device and / or the second acquisition device touches the target obstacle, the first acquisition device and / or the second acquisition device are controlled to activate the active obstacle avoidance function to control the first acquisition device and / or the second acquisition device to retract. Within a preset time after the first acquisition device and / or the second acquisition device are retracted, the first acquisition device and / or the second acquisition device are controlled to rotate and extend again, and the step of judging whether the first acquisition device and / or the second acquisition device touches the target obstacle continues to be executed until the first acquisition device and the second acquisition device acquire the real-time image of the vehicle chassis.

[0036] According to one embodiment of this application, the acquisition module is specifically used for:

[0037] Obtain the operating parameters of the vehicle motor;

[0038] Based on the operating parameters of the vehicle motor, determine whether the first acquisition device and / or the second acquisition device have touched the target obstacle.

[0039] According to one embodiment of this application, the image stitching module is specifically used for:

[0040] The three-dimensional spatial coordinate points of the first real-time three-dimensional image are projected onto the first real-time image, and the three-dimensional spatial coordinate points of the second real-time three-dimensional image are projected onto the second real-time image. The pixels projected onto the first real-time image and the second real-time image are then fused to obtain the fused pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image.

[0041] According to one embodiment of this application, after acquiring a first real-time image acquired by a first acquisition device of the vehicle chassis and a second real-time image acquired by a second acquisition device of the vehicle chassis, the acquisition module is further configured to:

[0042] Acquire third real-time images and third parameters of the other acquisition devices of the vehicle;

[0043] The third real-time image is preprocessed, and the preprocessed third real-time image is combined with the third parameter information of the other acquisition devices to perform three-dimensional reconstruction, thereby obtaining multi-directional three-dimensional real-time images of the vehicle in other directions.

[0044] The pixels of the multi-directional three-dimensional real-time image are converted into three-dimensional spatial coordinates, and the three-dimensional spatial coordinates are projected onto the third real-time image. The pixels projected onto the third real-time image are then fused to obtain multi-directional two-dimensional real-time images of the vehicle in other directions.

[0045] By stitching together the multi-directional two-dimensional real-time images of the vehicle in other directions and the bottom two-dimensional real-time image of the vehicle chassis, a surround view image of the vehicle within a preset angle is obtained.

[0046] According to one embodiment of this application, the above-mentioned real-time display device for vehicle chassis images is further used for:

[0047] Receive cleaning instructions from the vehicle's first data acquisition device, second data acquisition device, and other data acquisition devices;

[0048] The first acquisition device, the second acquisition device, and the other acquisition devices are cleaned according to the cleaning instruction.

[0049] According to the real-time display device for vehicle chassis images according to embodiments of this application, a first real-time image and a second real-time image of the vehicle chassis are acquired. The pre-processed first real-time image is combined with first parameter information from a first acquisition device, and the second real-time image is combined with second parameter information from a second acquisition device to perform three-dimensional reconstruction, obtaining a first real-time three-dimensional image and a second real-time three-dimensional image of the vehicle chassis. The pixels of the first and second real-time three-dimensional images are converted into three-dimensional spatial coordinate points and mapped, obtaining pixel coordinate mapping points for the first and second real-time images respectively. Then, the first and second real-time images are stitched together to obtain a two-dimensional bottom image of the vehicle chassis. This solves the problem that related technologies cannot reflect a panoramic image of the vehicle chassis in real time.

[0050] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the real-time display method of vehicle chassis image as described in the above embodiments.

[0051] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to execute the real-time display method of vehicle chassis images as described in the above embodiments.

[0052] A fifth aspect of this application provides a computer program product, including a computer program that is executed to implement the real-time display method for vehicle chassis images described in the above embodiments.

[0053] Additional aspects and advantages of this application 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 this application. Attached Figure Description

[0054] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0055] Figure 1 This is a flowchart illustrating a real-time display method for vehicle chassis images according to an embodiment of this application;

[0056] Figure 2 This is a schematic diagram of the installation of a camera assembly according to an embodiment of this application;

[0057] Figure 3 This is a block diagram of a real-time display device for vehicle chassis images according to an embodiment of this application;

[0058] Figure 4 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0059] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0060] The following description, with reference to the accompanying drawings, describes a method, apparatus, vehicle, and storage medium for real-time display of vehicle chassis images according to embodiments of this application. Addressing the problem mentioned in the background art that related technologies cannot reflect a panoramic image of the vehicle chassis in real time, this application provides a method for real-time display of vehicle chassis images. In this method, a first real-time image and a second real-time image of the vehicle chassis are acquired. The pre-processed first real-time image is combined with first parameter information from a first acquisition device, and the second real-time image is combined with second parameter information from a second acquisition device to perform three-dimensional reconstruction, obtaining a first real-time three-dimensional image and a second real-time three-dimensional image of the vehicle chassis, respectively. The pixels of the first and second real-time three-dimensional images are converted into three-dimensional spatial coordinate points and mapped, obtaining pixel coordinate mapping points for the first and second real-time images, respectively. Finally, the first and second real-time images are stitched together to obtain a two-dimensional bottom image of the vehicle chassis. This solves the problem that related technologies cannot reflect a panoramic image of the vehicle chassis in real time.

[0061] Specifically, Figure 1This is a flowchart illustrating a method for real-time display of vehicle chassis images provided in an embodiment of this application.

[0062] like Figure 1 As shown, the real-time display method of the vehicle chassis image includes the following steps:

[0063] In step S101, the first real-time image acquired by the first acquisition device of the vehicle chassis and the second real-time image acquired by the second acquisition device of the vehicle chassis are obtained.

[0064] According to one embodiment of this application, before acquiring the first real-time image acquired by the first acquisition device of the vehicle chassis and the second real-time image acquired by the second acquisition device of the vehicle chassis, the method further includes: determining whether the current vehicle speed meets a preset speed threshold; when the vehicle meets the preset speed threshold, controlling the first acquisition device and the second acquisition device of the vehicle chassis to rotate and extend, and after the first acquisition device and the second acquisition device rotate and extend, determining whether the first acquisition device and / or the second acquisition device touches a target obstacle; if the first acquisition device and / or the second acquisition device touches a target obstacle, controlling the first acquisition device and / or the second acquisition device to activate an active obstacle avoidance function, thereby controlling the first acquisition device and / or the second acquisition device to retract, and controlling the first acquisition device and / or the second acquisition device to rotate and extend again within a preset time after the first acquisition device and / or the second acquisition device retracts, and continuing to execute the step of determining whether the first acquisition device and / or the second acquisition device touches a target obstacle, until the first acquisition device and the second acquisition device acquire the real-time image of the vehicle chassis.

[0065] According to one embodiment of this application, determining whether the first acquisition device and / or the second acquisition device have touched a target obstacle includes: acquiring the operating parameters of the vehicle motor; and determining whether the first acquisition device and / or the second acquisition device have touched the target obstacle based on the operating parameters of the vehicle motor.

[0066] The preset speed threshold can be set by those skilled in the art based on the actual vehicle driving conditions, and is not specifically limited here.

[0067] Specifically, due to the limitations of the installation location and viewing angle of the acquisition equipment in related technologies, it is often difficult to fully cover the blind spots under the vehicle and to acquire panoramic images of the vehicle chassis in real time, thereby reducing the user's ability to warn of potential risks. In order to solve the problems of not being able to reflect the actual condition under the vehicle in real time and having information lag and inaccuracy, this application combines the acquisition equipment installed on the vehicle chassis, intelligent image processing algorithms and vehicle domain controller to form a complete real-time chassis image acquisition and display system.

[0068] Specifically, in this application embodiment, a dedicated first and second acquisition device are designed on the vehicle chassis, such as a dual-camera assembly 6 on the vehicle chassis, wherein the specific structure is as follows: Figure 2 As shown, it mainly includes a camera rotation mechanism 1, a camera assembly mounting housing 2, and a rotation control ECU (Electronic Control Unit). Unit 3 (electronic control unit), rotating shaft 4, camera clear nozzle 5, and dual camera assembly 6. The fixing and wiring of camera assembly 6 includes the connection of the washer fluid pipe to the vehicle, the connection of the camera to the video processing controller, and the connection of the drive motor to the controller. Secondly, based on the vehicle speed and driving status, when the vehicle meets the preset speed threshold, such as when the vehicle is driving at low speed, the rotation control ECU starts the camera assembly's extension program according to the vehicle status signal. Through precise motor control, the first and second acquisition devices of the vehicle chassis are controlled to rotate and extend. The motor feedback parameters, such as current and speed, are used to monitor whether the first and second acquisition devices touch the target obstacle during the extension process, such as touching the road surface protrusion or low obstacle. If the target obstacle is touched during the extension process, the rapid retrieval mechanism is immediately triggered, and the drive motor immediately retracts the camera to ensure the camera's safety and realize the automation of camera active obstacle avoidance. After the camera is retracted, the system will set a short delay and then try to extend again until the real-time image of the vehicle chassis is successfully acquired.

[0069] In step S102, the first real-time image and the second real-time image are preprocessed, and the preprocessed first real-time image is combined with the first parameter information of the first acquisition device to perform three-dimensional reconstruction to obtain the first real-time three-dimensional image of the vehicle chassis. The preprocessed second real-time image is combined with the second parameter information of the second acquisition device to perform three-dimensional reconstruction to obtain the second real-time three-dimensional image of the vehicle chassis.

[0070] Specifically, after the first and second acquisition devices in this embodiment acquire the first real-time image and the second real-time image respectively, they first preprocess the first and second real-time images through a video processing controller, such as removing image noise and correcting distortion, to ensure image quality. Based on the data from the first and second acquisition devices, the data is transmitted in real time to the central processing unit through the vehicle's internal communication network (such as CAN (Controller Area Network) bus). This unit is responsible for integrating multiple video information from the roof, side, front, rear, and undercarriage of the vehicle. Secondly, the central processing unit uses complex image processing algorithms, combined with the parameters and parallax information of the first and second acquisition devices, to perform three-dimensional reconstruction of the preprocessed first real-time image and the first parameter information of the first acquisition device, to obtain the first real-time three-dimensional image of the vehicle chassis and the second real-time three-dimensional image of the vehicle chassis respectively.

[0071] It should be noted that the first and second acquisition devices used in this application embodiment are a pair of 180° opposite high-definition cameras. The two high-definition cameras respectively acquire the front and rear of the vehicle to realize the acquisition of real-time three-dimensional images of the vehicle chassis.

[0072] In step S103, the pixels of the first real-time 3D image and the second real-time 3D image are converted into 3D spatial coordinates, and the 3D spatial coordinates are mapped to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image. The first real-time image and the second real-time image are stitched together using the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image to obtain the bottom 2D image of the vehicle chassis.

[0073] According to one embodiment of this application, the pixels of the first real-time three-dimensional image and the pixels of the second real-time three-dimensional image are converted into three-dimensional spatial coordinate points, and the three-dimensional spatial coordinate points are mapped to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image, respectively. The method includes: projecting the three-dimensional spatial coordinate points of the first real-time three-dimensional image onto the first real-time image, projecting the three-dimensional spatial coordinate points of the second real-time three-dimensional image onto the second real-time image, and fusing the pixels projected onto the first real-time image and the second real-time image to obtain the fused pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image.

[0074] Specifically, in this embodiment, after obtaining the first real-time 3D image and the second real-time 3D image of the vehicle chassis, stereo matching is performed to find the corresponding pixel pairs in the two images. The 3D spatial coordinates of the first real-time 3D image are reprojected onto the original 2D first real-time image, and the 3D spatial coordinates of the second real-time 3D image are reprojected onto the original 2D second real-time image to ensure that the position of each pixel in the new coordinate system is correct. In order to generate a seamless panoramic image, the pixel values ​​after reprojection need to be fused to obtain the pixel coordinate mapping points of the fused first real-time image and the pixel coordinate mapping points of the second real-time image, so as to achieve accurate stitching of the first real-time image and the second real-time image of the vehicle chassis.

[0075] According to one embodiment of this application, after acquiring a first real-time image acquired by a first acquisition device of the vehicle chassis and a second real-time image acquired by a second acquisition device of the vehicle chassis, the method further includes: acquiring a third real-time image acquired by other acquisition devices of the vehicle and third parameters of other acquisition devices; preprocessing the third real-time image and combining the preprocessed third real-time image with the third parameter information of other acquisition devices to perform three-dimensional reconstruction to obtain multi-directional three-dimensional real-time images of the vehicle in other directions; converting the pixels of the multi-directional three-dimensional real-time images into three-dimensional spatial coordinate points, projecting the three-dimensional spatial coordinate points onto the third real-time image, and fusing the pixels projected onto the third real-time image to obtain multi-directional two-dimensional real-time images of the vehicle in other directions; and stitching the multi-directional two-dimensional real-time images of the vehicle in other directions with the bottom two-dimensional real-time image of the vehicle chassis to obtain a surround-view image of the vehicle within a preset angle.

[0076] The preset angle can be set by those skilled in the art according to actual collection needs, and no specific limitation is made here.

[0077] Specifically, in order to achieve a multi-angle panoramic view, this application embodiment also needs to acquire third real-time images and third parameters of other acquisition devices of the vehicle. In other words, it also needs to perform precise stitching processing on the images acquired by multiple cameras, including parallax correction, geometric correction, color balance adjustment, etc., to ensure that images from different perspectives can be naturally blended to form a continuous and realistic global view.

[0078] Specifically, this application embodiment preprocesses the third real-time images acquired by other acquisition devices of the vehicle and the third parameters of other acquisition devices. Then, it combines the preprocessed third real-time images with the third parameter information of other acquisition devices to perform three-dimensional reconstruction, obtaining multi-directional three-dimensional real-time images of the vehicle in other directions. The pixels of the multi-directional three-dimensional real-time images are converted into three-dimensional spatial coordinate points and projected onto the third real-time images. The pixels projected onto the third real-time images are then fused to obtain multi-directional two-dimensional real-time images of the vehicle in other directions. These multi-directional two-dimensional real-time images of the vehicle in other directions are then stitched together with the bottom two-dimensional real-time images of the vehicle chassis to obtain a surround-view image of the vehicle within a preset angle (e.g., 540°). Based on this 540° surround-view image, data from cameras on the top, sides, and bottom of the vehicle are integrated, providing users with a comprehensive visual assistance tool that greatly enhances the driving experience and safety.

[0079] According to one embodiment of this application, the above-described real-time display method for vehicle chassis images further includes: receiving cleaning instructions from the first acquisition device, the second acquisition device, and other acquisition devices of the vehicle; and cleaning the first acquisition device, the second acquisition device, and other acquisition devices according to the cleaning instructions.

[0080] Specifically, in order to ensure the clarity of the collected image information, this application embodiment uses a cleaning nozzle that is linked with the vehicle washing system to automatically clean the camera when it is retrieved, thereby keeping the lens clean and ensuring image quality.

[0081] Therefore, the embodiments of this application can produce the following beneficial effects through the above embodiments:

[0082] (1) By adding two cameras positioned 180° opposite each other, real-time image information of the vehicle chassis from all directions can be collected.

[0083] (2) By combining software algorithms with images from other cameras collected by the domain controller, a real-time, authentic 540° panoramic image of the entire vehicle is formed.

[0084] (3) Through innovative camera assembly design, real-time image processing technology and automated control system, real-time and intuitive monitoring of the environment under the car is realized, which significantly improves the driver's environmental perception ability and the driving safety of the vehicle.

[0085] (4) By integrating obstacle avoidance and cleaning functions, manual intervention is reduced, and the reliability and convenience of the system are improved.

[0086] According to the real-time display method for vehicle chassis images in this application, a first real-time image and a second real-time image of the vehicle chassis are acquired. The preprocessed first real-time image is combined with first parameter information from a first acquisition device, and the second real-time image is combined with second parameter information from a second acquisition device to perform three-dimensional reconstruction, resulting in a first real-time three-dimensional image and a second real-time three-dimensional image of the vehicle chassis. The pixels of the first and second real-time three-dimensional images are converted into three-dimensional spatial coordinate points and mapped, resulting in pixel coordinate mapping points for the first and second real-time images, respectively. Finally, the first and second real-time images are stitched together to obtain a two-dimensional bottom image of the vehicle chassis. This solves the problem that related technologies cannot reflect a panoramic image of the vehicle chassis in real time.

[0087] Next, referring to the accompanying drawings, a real-time display device for vehicle chassis images according to an embodiment of this application is described.

[0088] Figure 3 This is a block diagram of a real-time display device for vehicle chassis images according to an embodiment of this application.

[0089] like Figure 3As shown, the real-time display device 10 for the vehicle chassis image includes: an acquisition module 100, a three-dimensional reconstruction module 200, and an image stitching module 300.

[0090] The acquisition module 100 is used to acquire the first real-time image acquired by the first acquisition device of the vehicle chassis and the second real-time image acquired by the second acquisition device of the vehicle chassis.

[0091] The 3D reconstruction module 200 is used to preprocess the first real-time image and the second real-time image, and to combine the preprocessed first real-time image with the first parameter information of the first acquisition device to perform 3D reconstruction to obtain the first real-time 3D image of the vehicle chassis, and to combine the preprocessed second real-time image with the second parameter information of the second acquisition device to perform 3D reconstruction to obtain the second real-time 3D image of the vehicle chassis.

[0092] The image stitching module 300 is used to convert the pixels of the first real-time 3D image and the second real-time 3D image into 3D spatial coordinates, and to map the 3D spatial coordinates to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image, so as to stitch the first real-time image and the second real-time image together to obtain a 2D image of the bottom of the vehicle chassis.

[0093] According to one embodiment of this application, before acquiring the first real-time image acquired by the first acquisition device of the vehicle chassis and the second real-time image acquired by the second acquisition device of the vehicle chassis, the acquisition module 100 is further configured to:

[0094] Determine whether the vehicle's current speed meets the preset speed threshold;

[0095] When the vehicle meets the preset speed threshold, the first and second acquisition devices of the vehicle chassis are controlled to rotate and extend, and after the first and second acquisition devices rotate and extend, it is determined whether the first acquisition device and / or the second acquisition device touches the target obstacle.

[0096] If the first acquisition device and / or the second acquisition device touches the target obstacle, the active obstacle avoidance function of the first acquisition device and / or the second acquisition device is activated to control the first acquisition device and / or the second acquisition device to be retracted. After a preset time after the first acquisition device and / or the second acquisition device is retracted, the first acquisition device and / or the second acquisition device are controlled to rotate and extend again, and the step of judging whether the first acquisition device and / or the second acquisition device touches the target obstacle is continued until the first acquisition device and the second acquisition device acquire the real-time image of the vehicle chassis.

[0097] According to one embodiment of this application, the acquisition module 100 is specifically used for:

[0098] Obtain the operating parameters of the vehicle's motor;

[0099] The system determines whether the first and / or second data acquisition devices have come into contact with the target obstacle based on the operating parameters of the vehicle's motor.

[0100] According to one embodiment of this application, the image stitching module 300 is specifically used for:

[0101] The three-dimensional spatial coordinate points of the first real-time three-dimensional image are projected onto the first real-time image, and the three-dimensional spatial coordinate points of the second real-time three-dimensional image are projected onto the second real-time image. The pixels projected onto the first real-time image and the second real-time image are then fused to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image after fusion.

[0102] According to one embodiment of this application, after acquiring the first real-time image acquired by the first acquisition device of the vehicle chassis and the second real-time image acquired by the second acquisition device of the vehicle chassis, the acquisition module 100 is further configured to:

[0103] Acquire third real-time images collected by other acquisition devices on the vehicle and third parameters from other acquisition devices;

[0104] The third real-time image is preprocessed, and the preprocessed third real-time image is combined with the third parameter information of other acquisition devices to perform three-dimensional reconstruction, so as to obtain multi-directional three-dimensional real-time images of the vehicle in other directions.

[0105] The pixels of the multi-directional 3D real-time image are converted into 3D spatial coordinates, and the 3D spatial coordinates are projected onto the third real-time image. The pixels projected onto the third real-time image are then fused to obtain multi-directional 2D real-time images of the vehicle in other directions.

[0106] By stitching together multi-directional two-dimensional real-time images of the vehicle from other directions and the bottom two-dimensional real-time image of the vehicle chassis, a surround view image of the vehicle within a preset angle is obtained.

[0107] According to one embodiment of this application, the real-time display device 10 for the vehicle chassis image described above is further used for:

[0108] Receive cleaning instructions from the vehicle's first data collection device, second data collection device, and other data collection devices;

[0109] The first acquisition device, the second acquisition device, and other acquisition devices are cleaned according to the cleaning instructions.

[0110] According to the real-time display device for vehicle chassis images according to embodiments of this application, a first real-time image and a second real-time image of the vehicle chassis are acquired. The pre-processed first real-time image is combined with first parameter information from a first acquisition device, and the second real-time image is combined with second parameter information from a second acquisition device to perform three-dimensional reconstruction, obtaining a first real-time three-dimensional image and a second real-time three-dimensional image of the vehicle chassis. The pixels of the first and second real-time three-dimensional images are converted into three-dimensional spatial coordinate points and mapped, obtaining pixel coordinate mapping points for the first and second real-time images respectively. Then, the first and second real-time images are stitched together to obtain a two-dimensional bottom image of the vehicle chassis. This solves the problem that related technologies cannot reflect a panoramic image of the vehicle chassis in real time.

[0111] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0112] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0113] When the processor 402 executes the program, it implements the real-time display method of vehicle chassis image provided in the above embodiments.

[0114] Furthermore, the vehicle also includes:

[0115] Communication interface 403 is used for communication between memory 401 and processor 402.

[0116] The memory 401 is used to store computer programs that can run on the processor 402.

[0117] The memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0118] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 4The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0119] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0120] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0121] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for real-time display of vehicle chassis images.

[0122] This embodiment also provides a computer program product, including a computer program, which is executed to implement the real-time display method of vehicle chassis image described in the above embodiment.

[0123] In the description of this specification, the 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 this application. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0124] 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 application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0125] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0126] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied 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). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0127] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, 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.

[0128] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0129] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0130] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for real-time display of vehicle chassis images, characterized in that, Includes the following steps: Acquire a first real-time image captured by a first acquisition device of the vehicle chassis and a second real-time image captured by a second acquisition device of the vehicle chassis; The first real-time image and the second real-time image are preprocessed, and the preprocessed first real-time image is combined with the first parameter information of the first acquisition device to perform three-dimensional reconstruction to obtain the first real-time three-dimensional image of the vehicle chassis. The preprocessed second real-time image is combined with the second parameter information of the second acquisition device to perform three-dimensional reconstruction to obtain the second real-time three-dimensional image of the vehicle chassis. The pixels of the first real-time 3D image and the second real-time 3D image are converted into 3D spatial coordinates respectively, and the 3D spatial coordinates are mapped to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image respectively. The first real-time image and the second real-time image are stitched together using the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image to obtain the bottom 2D image of the vehicle chassis. Before acquiring the first real-time image captured by the first acquisition device of the vehicle chassis and the second real-time image captured by the second acquisition device of the vehicle chassis, the method further includes: determining whether the current speed of the vehicle meets a preset speed threshold; when the vehicle meets the preset speed threshold, controlling the first and second acquisition devices of the vehicle chassis to rotate and extend, and after the first and second acquisition devices rotate and extend, determining whether the first acquisition device and / or the second acquisition device touches a target obstacle; if the first acquisition device and / or the second acquisition device touches the target obstacle, controlling the first acquisition device and / or the second acquisition device to activate the active obstacle avoidance function, thereby controlling the first acquisition device and / or the second acquisition device to retract, and controlling the first acquisition device and / or the second acquisition device to rotate and extend again within a preset time after the first acquisition device and / or the second acquisition device retracts, and continuing to execute the step of determining whether the first acquisition device and / or the second acquisition device touches the target obstacle, until the first acquisition device and the second acquisition device acquire the real-time image of the vehicle chassis.

2. The method according to claim 1, characterized in that, The step of determining whether the first acquisition device and / or the second acquisition device has touched the target obstacle includes: Obtain the operating parameters of the vehicle's motor; The first and / or second data acquisition devices are determined based on the operating parameters of the vehicle's motor to determine whether they have come into contact with the target obstacle.

3. The method according to claim 1, characterized in that, The step of converting the pixels of the first real-time 3D image and the pixels of the second real-time 3D image into 3D spatial coordinates, and mapping the 3D spatial coordinates to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image, includes: The three-dimensional spatial coordinate points of the first real-time three-dimensional image are projected onto the first real-time image, and the three-dimensional spatial coordinate points of the second real-time three-dimensional image are projected onto the second real-time image. The pixels projected onto the first real-time image and the second real-time image are then fused to obtain the fused pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image.

4. The method according to claim 1, characterized in that, After acquiring the first real-time image captured by the first acquisition device of the vehicle chassis and the second real-time image captured by the second acquisition device of the vehicle chassis, the method further includes: Acquire third real-time images and third parameters of the other acquisition devices of the vehicle; The third real-time image is preprocessed, and the preprocessed third real-time image is combined with the third parameter information of the other acquisition devices to perform three-dimensional reconstruction, thereby obtaining multi-directional three-dimensional real-time images of the vehicle in other directions. The pixels of the multi-directional three-dimensional real-time image are converted into three-dimensional spatial coordinates, and the three-dimensional spatial coordinates are projected onto the third real-time image. The pixels projected onto the third real-time image are then fused to obtain multi-directional two-dimensional real-time images of the vehicle in other directions. By stitching together the multi-directional two-dimensional real-time images of the vehicle in other directions and the bottom two-dimensional real-time image of the vehicle chassis, a surround view image of the vehicle within a preset angle is obtained.

5. The method according to claim 1, characterized in that, Also includes: Receive cleaning instructions from the vehicle's first data acquisition device, second data acquisition device, and other data acquisition devices; The first acquisition device, the second acquisition device, and the other acquisition devices are cleaned according to the cleaning instruction.

6. A real-time display device for vehicle chassis images, characterized in that, include: The acquisition module is used to acquire a first real-time image acquired by a first acquisition device of the vehicle chassis and a second real-time image acquired by a second acquisition device of the vehicle chassis. The three-dimensional reconstruction module is used to preprocess the first real-time image and the second real-time image, and to perform three-dimensional reconstruction by combining the preprocessed first real-time image with the first parameter information of the first acquisition device to obtain the first real-time three-dimensional image of the vehicle chassis, and to perform three-dimensional reconstruction by combining the preprocessed second real-time image with the second parameter information of the second acquisition device to obtain the second real-time three-dimensional image of the vehicle chassis. The image stitching module is used to convert the pixels of the first real-time three-dimensional image and the pixels of the second real-time three-dimensional image into three-dimensional spatial coordinates, and to map the three-dimensional spatial coordinates to obtain the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image, so as to stitch the first real-time image and the second real-time image together using the pixel coordinate mapping points of the first real-time image and the pixel coordinate mapping points of the second real-time image to obtain the bottom two-dimensional image of the vehicle chassis. Before acquiring the first real-time image acquired by the first acquisition device of the vehicle chassis and the second real-time image acquired by the second acquisition device of the vehicle chassis, the acquisition module is further configured to: determine whether the current speed of the vehicle meets a preset speed threshold; when the vehicle meets the preset speed threshold, control the first acquisition device and the second acquisition device of the vehicle chassis to rotate and extend, and after the first acquisition device and the second acquisition device rotate and extend, determine whether the first acquisition device and / or the second acquisition device touches the target obstacle; If the first acquisition device and / or the second acquisition device touches the target obstacle, the first acquisition device and / or the second acquisition device are controlled to activate the active obstacle avoidance function to control the first acquisition device and / or the second acquisition device to retract. Within a preset time after the first acquisition device and / or the second acquisition device are retracted, the first acquisition device and / or the second acquisition device are controlled to rotate and extend again, and the step of judging whether the first acquisition device and / or the second acquisition device touches the target obstacle continues to be executed until the first acquisition device and the second acquisition device acquire the real-time image of the vehicle chassis.

7. A vehicle, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the real-time display method for vehicle chassis images as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the real-time display method of vehicle chassis image as described in any one of claims 1-5.

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