Reversing image generation method and system based on digital outside rear-view mirror

Abstract

The invention discloses a reversing image generation method and system based on a digital outside rear-view mirror vehicle. Determining a set area of each frame of image shot by a camera according to the frame rate of the camera of the digital outside rear-view mirror, the longitudinal distance of the rear-view field blind area of the camera and the vehicle speed, and merging the set area into the next frame of image; and when the merged image does not have the rearview blind area, obtaining a reversing image. According to the method, partial areas of the previous frame of image are intercepted and merged into the current frame of image, so that partial blind areas in the current frame are eliminated, and finally, according to the longitudinal distance of the blind areas of the rearview view, the blind areas of the rearview view of the current frame are eliminated by utilizing multiple frames of historical images; compared with a traditional rearview mirror, the rearview mirror has the advantages that the quality of a reversing image is higher, a clearer visual field can be provided at night, and a driver can conduct reversing operation at night or in a low-light environment; and meanwhile, the cost of the whole vehicle is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of digital exterior rearview mirrors, and in particular relates to a method and system for generating a reversing image based on a digital exterior rearview mirror. Background Art

[0002] At present, most domestic cars use traditional mechanical rearview mirrors, and there are also digital exterior rearview mirrors, which use cameras and monitors to replace traditional mechanical exterior rearview mirrors. Digital exterior rearview mirrors can obtain the rear view through the camera. If you use a reversing image, you need to add an additional camera. Summary of the invention

[0003] In order to reduce the cost of the whole vehicle, the present invention proposes a method and system for generating a reversing image based on a digital exterior rearview mirror.

[0004] A method for generating a reversing image based on a digital exterior rearview mirror to achieve one of the purposes of the present invention comprises:

[0005] Determine a set area for each frame of the image captured by the camera according to the frame rate of the camera of the digital exterior rearview mirror, the longitudinal distance of the rearview blind spot of the camera, and the vehicle speed, and merge the set area into the next frame of the image;

[0006] When the merged image has no rear blind spot, a reversing image is obtained.

[0007] In the above method, the method for determining the set area includes:

[0008] Determine a plurality of positioning points according to a blind area of ​​a rearward vision field of a next frame of an image in two consecutive frames of images;

[0009] Positioning the plurality of positioning points in the previous frame of the two consecutive frames of images to obtain a plurality of corresponding matching points in the previous frame of the image;

[0010] A triangular area is defined in the previous frame of the two consecutive images according to the multiple matching points and the longitudinal movement distance of the vehicle during the shooting of the next frame of image; the triangular area is the set area.

[0011] In the above method, the multiple positioning points include:

[0012] The two points at the outer edges of the cameras or the center points of the cameras of the electronic exterior rearview mirrors on the left and right sides of the next frame of the two consecutive frames of images are the first positioning point and the second positioning point among the multiple positioning points;

[0013] Two straight lines are obtained by taking the first positioning point and the second positioning point as starting points and passing through the corresponding side vehicle rear end points; the two straight lines intersect at one point during the extension process, and the intersection point is the third positioning point among the multiple positioning points.

[0014] In the above method, the method for determining the triangular area includes:

[0015] Matching the first positioning point, the second positioning point and the third positioning point to corresponding positions in the previous frame of the two consecutive frames of images to obtain a first matching point, a second matching point and a third matching point;

[0016] In the last frame of the two consecutive frames of images, a first parallel line parallel to the horizontal axis of the vehicle is drawn through the third matching point;

[0017] In the last frame of the two consecutive frames of images, the first parallel line is moved toward the vehicle body by a first set distance to obtain a second parallel line parallel to the first parallel line;

[0018] Two straight lines are drawn with the first matching point and the second matching point as starting points and passing through the third matching point respectively; the two straight lines intersect with the second parallel line to obtain two intersection points, and the two intersection points and the third matching point are the three vertices constituting the triangular area.

[0019] In the above method, the method for determining the first set distance includes:

[0020] The longitudinal movement distance of the vehicle moving backward from the moment of reversing to the shooting of the next frame of the two consecutive frames of images is calculated; when the longitudinal movement distance of the backward movement is greater than or equal to the longitudinal distance of the blind spot of the rear view field of the camera, the first set distance is equal to the longitudinal distance of the blind spot of the rear view field of the camera; otherwise, the first set distance is equal to the longitudinal movement distance of the vehicle moving backward from the moment of reversing.

[0021] In the above method, the method for determining the first set distance also includes:

[0022] When the physical distance corresponding to the vertical pixel distance between the third matching point and the vehicle body is greater than or equal to the longitudinal distance of the rear view blind spot of the camera, the physical distance corresponding to the first set distance is equal to the longitudinal distance of the rear view blind spot of the camera; otherwise, the physical distance corresponding to the first set distance is equal to the longitudinal movement distance of the vehicle from the starting moment of the vehicle reversing to the completion of taking the next frame of the two consecutive frames of images; the vertical direction in the vertical pixel distance is the longitudinal axis direction of the vehicle.

[0023] In the above method, the method for determining the longitudinal distance of the rear blind spot of the camera includes:

[0024] According to the lateral distance between the outer edge of the camera of the electronic exterior rearview mirror and the vehicle body, the width of the vehicle body and the distance from the rear edge of the body bracket of the electronic exterior rearview mirror to the rear of the vehicle, the longitudinal distance of the rear-view blind spot is obtained by using the law of similar triangles. Furthermore, the calculation method includes:

[0025] h=wL / 2d

[0026] d is the lateral distance from the outer edge of the electronic exterior rearview mirror camera to the vehicle body; w is the width of the vehicle body; L is the longitudinal distance from the rear edge of the electronic exterior rearview mirror body bracket to the rear of the vehicle; h is the longitudinal distance of the rear blind spot.

[0027] A reversing image generation system based on a digital exterior rearview mirror for achieving the second objective of the present invention comprises:

[0028] A reversing image generation system based on a digital exterior rearview mirror, comprising:

[0029] Image capture module: used to determine the set area of ​​each frame image taken by the camera according to the frame rate of the camera of the digital exterior rearview mirror, the longitudinal distance of the rearview blind spot of the camera and the vehicle speed, and merge the set area into the next frame image;

[0030] Reversing image confirmation module: used to generate a reversing image; when the merged image has no rear blind spot, a reversing image is obtained.

[0031] In the above system, the image capture module includes:

[0032] A positioning point confirmation module: used to determine multiple positioning points according to the blind area of ​​the rear view field of the next frame of the image in two consecutive frames of images;

[0033] Matching module: used for locating the plurality of positioning points in the previous frame of the two consecutive frames of images, and obtaining the corresponding plurality of matching points in the previous frame of the image;

[0034] A set area determination module is used to define a triangular area in the previous frame of the two consecutive frames according to the multiple matching points and the longitudinal movement distance of the vehicle during the shooting of the next frame of image; the triangular area is the set area.

[0035] In the above system, in the positioning point confirmation module, the multiple positioning points include:

[0036] The two points at the outer edges of the cameras or the center points of the cameras of the electronic exterior rearview mirrors on the left and right sides of the next frame of the two consecutive frames of images are the first positioning point and the second positioning point among the multiple positioning points;

[0037] Two straight lines are obtained by taking the first positioning point and the second positioning point as starting points and passing through the corresponding side vehicle rear end points; the two straight lines intersect at one point during the extension process, and the intersection point is the third positioning point among the multiple positioning points.

[0038] In the above system, the method for determining the triangular area includes:

[0039] Matching the first positioning point, the second positioning point and the third positioning point to corresponding positions in the previous frame of the two consecutive frames of images to obtain a first matching point, a second matching point and a third matching point;

[0040] In the last frame of the two consecutive frames of images, a first parallel line parallel to the horizontal axis of the vehicle is drawn through the third matching point;

[0041] In the last frame of the two consecutive frames of images, the first parallel line is moved toward the vehicle body by a first set distance to obtain a second parallel line parallel to the first parallel line;

[0042] Two straight lines are drawn with the first matching point and the second matching point as starting points and passing through the third matching point respectively; the two straight lines intersect with the second parallel line to obtain two intersection points, and the two intersection points and the third matching point are the three vertices constituting the triangular area.

[0043] The beneficial effects of the present invention include:

[0044] The present invention analyzes the blind spot of the rearview field of the digital exterior rearview mirror, captures part of the area of ​​the previous frame image and merges it into the current frame image to eliminate part of the blind spot of the field of view in the current frame, and finally uses multiple frames of historical images to eliminate the blind spot of the rearview field of the current frame according to the longitudinal distance of the blind spot of the rearview field of view. Compared with traditional rearview mirrors, the reversing image provided by the present invention is of higher quality. At the same time, some digital exterior rearview mirrors are equipped with infrared cameras or night vision functions, which can provide a clearer field of view at night, which helps the driver to perform reversing operations at night or in low light environments; at the same time, it also reduces the cost of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the process of the method of the present invention;

[0046] Figure 2 It is a schematic diagram of the arrangement of the electronic exterior rearview mirror and the entire vehicle;

[0047] Figure 3 It is a schematic diagram of the change of the vehicle's field of view during the movement of the vehicle;

[0048] Figure 4 It is one of the schematic diagrams for calculating the relevant parameters of the vehicle's field of view during the vehicle's movement;

[0049] Figure 5 This is the second schematic diagram of the calculation of the relevant parameters of the vehicle's field of view during the vehicle's movement;

[0050] Figure 6 This is the third schematic diagram of the calculation of relevant parameters of the vehicle's field of view during the movement of the vehicle. DETAILED DESCRIPTION

[0051] The following specific implementations are used to explain the technical solutions of the claims of the present invention so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions of the claims of the present invention made by those skilled in the art but different from the following specific implementations are also within the protection scope of the present invention.

[0052] like Figure 2 The figure shows the arrangement of the electronic exterior rearview mirror and the whole vehicle. The electronic exterior rearview mirror replaces the traditional optical rearview mirror. Since the camera of the electronic exterior rearview mirror extends a certain distance, according to the image of the camera FOV, the electronic exterior rearview mirror can see part of the rear view when static, which makes it possible to replace the reversing rearview mirror. The blind spot of the rear view cannot be seen in static conditions; however, when the whole vehicle is moving, the invisible blind spot can be seen at certain moments before the reversing moment. Figure 3 As shown, t n The vision that can't be seen at any time, n Therefore, the present invention proposes a method for generating a reversing image based on a digital exterior rearview mirror, comprising:

[0053] The set area of ​​each frame image taken by the camera is determined according to the frame rate of the digital exterior rearview mirror camera, the longitudinal distance of the rearview blind spot of the camera and the vehicle speed, and the set area is merged into the next frame image; when the merged image has no rearview blind spot, a reversing image is obtained.

[0054] The above method analyzes the blind spot of the rear view field of the digital exterior rearview mirror, captures the set area of ​​the previous frame image and merges it into the current frame image to eliminate part of the blind spot of the field of view in the current frame, and finally uses multiple frames of historical images to eliminate the blind spot of the rear view field of the current frame. Compared with traditional rearview mirrors, the reversing image provided by the present invention has higher quality; at the same time, some digital exterior rearview mirrors are equipped with infrared cameras or night vision functions, which can provide a clearer view at night, helping the driver to perform reversing operations at night or in low light environments; it also reduces the cost of the entire vehicle.

[0055] In the above method, the longitudinal distance of the rear blind spot of the camera is a calibrated distance when the vehicle is static, and the method includes:

[0056] like Figure 4 As shown, d represents the lateral distance between the outer edge of the camera of the electronic exterior rearview mirror and the vehicle body. It can be understood that d can also represent the lateral distance between the center point of the camera of the electronic exterior rearview mirror and the vehicle body, and the lateral direction is the horizontal axis direction of the vehicle; w represents the width of the vehicle body; L represents the longitudinal distance from the rear edge of the electronic exterior rearview mirror body bracket to the rear edge of the vehicle; according to the similarity law of triangles, the height h of the visual blind area in the current static state can be obtained, that is, the longitudinal distance h=w / 2×L / d of the visual blind area; the vertex angle σ=2arctan(2h / w); the height of the visual blind area is the longitudinal distance between the intersection point of the left and right side visual blind areas of the vehicle and the rear of the vehicle; the intersection point of the left and right side visual blind areas is: the intersection point of the camera outer edge of the left and right side electronic exterior rearview mirrors and the extension line of the corresponding side rear end point; or the intersection point of the camera center point of the left and right side electronic exterior rearview mirrors and the extension line of the corresponding side rear end point. The above longitudinal direction is the longitudinal axis direction of the vehicle.

[0057] In the above method, if the vehicle speed at time t1 is v1, then the longitudinal movement distance of the vehicle when the camera captures a frame of image at time t1 and the vehicle speed is v1 is v1 / f, such as Figure 5 As shown; then when the vehicle speed is v1, the actual physical distance of the longitudinal position of the blind spot compared with the previous frame is v1 / f for each frame change; where f is the frame rate of the camera; according to this rule, assuming that the vehicle is in reverse, it can be inferred that the distance the vehicle moves backwards when each frame is taken. Figure 3 The t shown n At time t1, the reversing image at time t1 can be fully displayed; and at time t n The moving distance of the vehicle at the moment is the longitudinal distance h of the blind spot area calculated above. n-1 The partial field of view corresponding to the blind area during the period is merged into t n time, then t n The reversing image without blind spots can be fully displayed at all times; recursively, t n+1 Time, t n+2 The complete reversing image without blind spots can be displayed from the moment the vehicle is reversing. When the reversing speed is 5-10km / h, the complete reversing image can be displayed within 3-5s.

[0058] The set area of ​​the previous frame image is selected according to the following method, wherein the set area is a triangular area, and the method for selecting the triangular area is as follows: Figure 5 As shown, the following steps are included, wherein the dotted line is a schematic diagram of the vehicle position at the time of the previous frame image, and the solid line is a schematic diagram of the vehicle position at the current time:

[0059] (2.1) Obtain the first positioning point C of the camera outer edge of the electronic exterior rearview mirrors on the left and right sides of the current frame image L ', the second positioning point C R '; Take the first positioning point C L ', the second positioning point C R ' is the starting point, and two lines are connected with the end point of the rear end of the corresponding side, and the two lines are extended and intersected to obtain the third positioning point C';

[0060] (2.2) The first positioning point C L ', the second positioning point C R ' and the third positioning point C' are respectively mapped to the corresponding positions of the image of the previous frame to obtain the first matching point C L , the second matching point C R and the third matching point C; the mapping method is a prior art method, including: camera calibration, image feature matching and other methods, which will not be described in detail here;

[0061] (2.3) Draw a first parallel line L1 through the third matching point C in the previous frame image and parallel to the horizontal axis of the vehicle;

[0062] (2.4) In the previous frame image, a second parallel line L2 is drawn parallel to the first parallel line L1 at a first set distance from the first parallel line L1 in the direction of the vehicle body. The method for determining the value of the first set distance includes:

[0063] When the maximum value of the physical distance that the first parallel line L1 can move toward the vehicle body is greater than or equal to the longitudinal distance h corresponding to the blind spot field of the vehicle, the physical distance between the second parallel line L2 and L1 is equal to the longitudinal distance corresponding to the blind spot field of the vehicle; otherwise, the physical distance between the second parallel line L2 and L1 is equal to the longitudinal movement distance of the vehicle from the start time of the vehicle reversing to the time when the next frame of the two consecutive frames of images is captured;

[0064] (2.5), in the previous frame image, the first matching point C L and the second matching point C R As the starting end, two straight lines are drawn through the third matching point C respectively, and the two straight lines intersect with the second parallel line L2 to obtain two intersection points A and B, whose corresponding mapping points in the current frame are A' and B';

[0065] At this point, the triangular area ΔABC formed by the three points A, B, and C in the previous frame image is the set triangular area of ​​the selected previous frame image;

[0066] The triangular area ΔABC in the previous frame image is merged or matched to the corresponding position in the current frame image to eliminate part of the blind spot in the current frame image, so that the rear view seen by the rearview mirror is wider; when the distance between the two first parallel lines L1 and L2 is greater than or equal to the longitudinal distance corresponding to the blind spot field of the vehicle, the left and right electronic exterior rearview mirrors can provide a complete rear view.

[0067] It can be understood that the set area is merged into the next frame image, that is, the set area (triangle ΔABC) in the previous frame image is mapped or matched to the corresponding position in the current frame image. During the mapping or matching, the third matching point C in the previous frame image coincides with the third positioning point C' in the current frame image, and the line segment AB formed by the two intersection points A and B is parallel to the horizontal axis of the vehicle; Figure 5 It can be seen that the blind area of ​​the current frame image before merging is ΔD'E'C'. After merging the triangular area ΔABC in the previous frame image to the corresponding position of ΔD'E'C', the blind area of ​​the field of view is reduced to a trapezoid D'E'A'B', where D'E' is the edge line of the rear end of the vehicle in the current frame image, and DE is the mapping point of D'E' to the previous frame image.

[0068] In the above method, the calculation method of the moving distance includes:

[0069] If the speed of the vehicle at the next moment is v2, the moving distance of the vehicle in the next frame is v2 / f. At this time, the image of the triangular area of ​​the frame at the previous moment is taken according to the above method, and the height becomes v1 / f+v2 / f, such as Figure 6 As shown, it is merged into the image of the current frame;

[0070] The merging method includes: mapping the triangle ΔABC to a corresponding position in the image of the current frame, wherein the third matching point C thereof coincides with the third positioning point C′ in the image of the current frame.

[0071] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0072] The embodiment of the present invention further provides a method for generating a reversing image based on a digital exterior rearview mirror, comprising:

[0073] The set area of ​​each frame image taken by the camera is determined according to the frame rate of the digital exterior rearview mirror camera, the longitudinal distance of the rearview blind spot of the camera and the vehicle speed, and the set area is merged into the next frame image; when the merged image has no rearview blind spot, a reversing image is obtained.

[0074] In some embodiments, the method for determining the set area includes:

[0075] Determine a plurality of positioning points according to a blind area of ​​a rearward vision field of a next frame of an image in two consecutive frames of images;

[0076] Positioning the plurality of positioning points in the previous frame of the two consecutive frames of images to obtain a plurality of corresponding matching points in the previous frame of the image;

[0077] A triangular area is defined in the previous frame of the two consecutive images according to the multiple matching points and the longitudinal movement distance of the vehicle during the shooting of the next frame of image; the triangular area is the set area.

[0078] In some embodiments, the plurality of positioning points include:

[0079] The two points where the camera outer edges or camera center points of the electronic exterior rearview mirrors on the left and right sides of the next frame of the two consecutive frames are located are the first positioning point and the second positioning point among the multiple positioning points. Figure 4 C shown L ' and C R 'Two o'clock;

[0080] Two straight lines are obtained by taking the first positioning point and the second positioning point as the starting point and passing through the corresponding side vehicle rear end point; the two straight lines intersect during the extension process to obtain an intersection point, such as Figure 4 The point C' shown is the third positioning point C' among the multiple positioning points.

[0081] In some embodiments, the method of determining the triangular area includes:

[0082] The first positioning point, the second positioning point and the third positioning point are matched to the corresponding positions in the previous frame image of the two consecutive frames of images to obtain the first matching point, the second matching point and the third matching point, such as Figure 5 C shown L , C R and C three points;

[0083] In the last frame of the two consecutive frames, a first parallel line parallel to the horizontal axis of the vehicle is drawn through the third matching point, such as Figure 5 L1 shown;

[0084] In the last frame of the two consecutive frames, the first parallel line is moved toward the vehicle body by a first set distance to obtain a second parallel line parallel to the first parallel line, such as Figure 5 L2 shown;

[0085] The first matching point C L and the second matching point C RAs the starting end, two straight lines are drawn through the third matching point C respectively; the two straight lines intersect with the second parallel line L2 to obtain two intersection points A and B. The two intersection points A, B and the third matching point C are the three vertices that constitute the triangular area.

[0086] The method for merging the set area into the next frame image includes: merging the set area into the next frame image by image mapping or image matching, and after merging, the third matching point C of the set area in the previous frame image coincides with the third positioning point C' in the current frame image. Figure 5 As shown, the ΔABC area of ​​the previous frame image is merged into the corresponding position in the current frame image. After the merger, the blind area of ​​the current frame is reduced from ΔDEC' to the trapezoid DEAB. The blind area of ​​ABC is filled with the ΔABC area of ​​the previous frame image, and DE is the edge line of the rear end of the vehicle in the current frame image.

[0087] In some embodiments, the method for determining the first set distance further includes:

[0088] Calculate the longitudinal movement distance of the vehicle from the moment of reversing to the moment of capturing the next frame of the two consecutive frames of images (Assume that the vehicle starts to reverse at time v1, and the speed at time i is v i ; the current moment is n, where f is the frame rate of the electronic exterior rearview mirror camera), when the longitudinal moving distance of the backward movement is greater than or equal to the longitudinal distance of the rearview blind spot of the camera, the first set distance is equal to the longitudinal distance of the rearview blind spot of the camera; otherwise, the first set distance is equal to the longitudinal moving distance of the vehicle moving backward from the moment of reversing.

[0089] It can be understood that, in another embodiment, the method for determining the first set distance further includes:

[0090] When the vertical pixel distance from the third matching point to the vehicle body (such as Figure 5 If the physical distance corresponding to the vertical distance from point C to line segment DE shown in the figure, where DE is the edge line of the rear end of the vehicle in the current frame) is greater than or equal to the longitudinal distance of the rear view blind spot of the camera, then the physical distance corresponding to the first set distance is equal to the longitudinal distance of the rear view blind spot of the camera;

[0091] Otherwise, the physical distance corresponding to the first set distance is equal to the longitudinal movement distance of the vehicle from the start time of the vehicle reversing to the completion of capturing the next frame of the two consecutive frames of images; for example, when the vehicle starts reversing from time V1, the speed at time i is Vi; the current time is n, then Where f is the frame rate of the electronic exterior rearview mirror camera.

[0092] In some embodiments, a method for determining the longitudinal distance of a rear-view blind spot of a camera includes:

[0093] According to the lateral distance between the outer edge of the camera of the electronic exterior rearview mirror and the vehicle body, the width of the vehicle body and the distance from the rear edge of the body bracket of the electronic exterior rearview mirror to the rear of the vehicle, the longitudinal distance of the rear-view blind spot is obtained by using the law of similar triangles. Furthermore, the calculation method includes:

[0094] h=wL / 2d

[0095] d is the lateral distance from the outer edge of the electronic exterior rearview mirror camera to the vehicle body; w is the width of the vehicle body; L is the longitudinal distance from the rear edge of the electronic exterior rearview mirror body bracket to the rear of the vehicle; h is the longitudinal distance of the rear blind spot.

[0096] The embodiment of the present invention further provides a reversing image generation system based on a digital exterior rearview mirror, comprising:

[0097] Image capture module: used to determine the set area of ​​each frame image taken by the camera according to the frame rate of the camera of the digital exterior rearview mirror, the longitudinal distance of the rearview blind spot of the camera and the vehicle speed, and merge the set area into the next frame image;

[0098] Reversing image confirmation module: used to generate a reversing image; when the merged image has no rear blind spot, a reversing image is obtained.

[0099] In some embodiments, the image capture module includes:

[0100] A positioning point confirmation module: used to determine multiple positioning points according to the blind area of ​​the rear view field of the next frame of the image in two consecutive frames of images;

[0101] Matching module: used for locating the plurality of positioning points in the previous frame of the two consecutive frames of images, and obtaining the corresponding plurality of matching points in the previous frame of the image;

[0102] A set area determination module is used to define a triangular area in the previous frame of the two consecutive frames according to the multiple matching points and the longitudinal movement distance of the vehicle during the shooting of the next frame of image; the triangular area is the set area.

[0103] In some embodiments, in the positioning point confirmation module, the multiple positioning points include:

[0104] The two points at the outer edges of the cameras or the center points of the cameras of the electronic exterior rearview mirrors on the left and right sides of the next frame of the two consecutive frames of images are the first positioning point and the second positioning point among the multiple positioning points;

[0105] Two straight lines are obtained by taking the first positioning point and the second positioning point as starting points and passing through the corresponding side vehicle rear end points; the two straight lines intersect at one point during the extension process, and the intersection point is the third positioning point among the multiple positioning points.

[0106] In some embodiments, the method of determining the triangular area includes:

[0107] Matching the first positioning point, the second positioning point and the third positioning point to corresponding positions in the previous frame of the two consecutive frames of images to obtain a first matching point, a second matching point and a third matching point;

[0108] In the last frame of the two consecutive frames of images, a first parallel line parallel to the horizontal axis of the vehicle is drawn through the third matching point;

[0109] In the last frame of the two consecutive frames of images, the first parallel line is moved toward the vehicle body by a first set distance to obtain a second parallel line parallel to the first parallel line;

[0110] Two straight lines are drawn with the first matching point and the second matching point as starting points and passing through the third matching point respectively; the two straight lines intersect with the second parallel line to obtain two intersection points, and the two intersection points and the third matching point are the three vertices constituting the triangular area.

[0111] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the steps of the method described in the present invention are implemented, which will not be repeated here.

[0112] The computer-readable storage medium may be the data transmission device provided in any of the aforementioned embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (smartmedia card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc., provided on the computer device.

[0113] Furthermore, the computer-readable storage medium may include both an internal storage unit of the computer device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data to be output or has been output.

[0114] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0118] An embodiment of the present invention further provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements any step of the method for generating a reversing image based on a digital exterior rearview mirror.

[0119] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A method for generating a reversing image based on a digital exterior rearview mirror, characterized in that: include: Determining a set area for each frame of an image captured by the camera according to a frame rate of the camera of the digital exterior rearview mirror, a longitudinal distance of a rearview blind spot of the camera, and a vehicle speed; The set area is merged into the next frame image; when the merged image has no rear-view blind spot, a reversing image is obtained.

2. The method for generating a reversing image based on a digital exterior rearview mirror according to claim 1, characterized in that: The method for determining the set area includes: Determine a plurality of positioning points according to a blind area of ​​a rearward vision field of a next frame of an image in two consecutive frames of images; Positioning the plurality of positioning points in the previous frame of the two consecutive frames of images to obtain a plurality of corresponding matching points in the previous frame of the image; A triangular area is defined in the previous frame of the two consecutive images according to the multiple matching points and the longitudinal movement distance of the vehicle during the shooting of the next frame of image; the triangular area is the set area.

3. The method for generating a reversing image based on a digital exterior rearview mirror according to claim 2, characterized in that: The multiple positioning points include: The two points at the outer edges of the cameras or the center points of the cameras of the electronic exterior rearview mirrors on the left and right sides of the next frame of the two consecutive frames of images are the first positioning point and the second positioning point among the multiple positioning points; Two straight lines are obtained by taking the first positioning point and the second positioning point as starting points and passing through the corresponding side vehicle rear end points; the two straight lines intersect at one point during the extension process, and the intersection point is the third positioning point among the multiple positioning points.

4. The method for generating a reversing image based on a digital exterior rearview mirror according to claim 3, characterized in that: The method for determining the triangular area includes: Matching the first positioning point, the second positioning point and the third positioning point to corresponding positions in the previous frame of the two consecutive frames of images to obtain a first matching point, a second matching point and a third matching point; In the last frame of the two consecutive frames of images, a first parallel line parallel to the horizontal axis of the vehicle is drawn through the third matching point; In the last frame of the two consecutive frames of images, the first parallel line is moved toward the vehicle body by a first set distance to obtain a second parallel line parallel to the first parallel line; Two straight lines are drawn with the first matching point and the second matching point as starting points and passing through the third matching point respectively; the two straight lines intersect with the second parallel line to obtain two intersection points; the two intersection points and the third matching point are the three vertices constituting the triangular area.

5. The method for generating a reversing image based on a digital exterior rearview mirror according to claim 4, characterized in that: The method for determining the first set distance includes: The longitudinal movement distance of the vehicle moving backward from the moment of reversing to the shooting of the next frame of the two consecutive frames of images is calculated; when the longitudinal movement distance of the backward movement is greater than or equal to the longitudinal distance of the blind spot of the rear view field of the camera, the first set distance is equal to the longitudinal distance of the blind spot of the rear view field of the camera; otherwise, the first set distance is equal to the longitudinal movement distance of the vehicle moving backward from the moment of reversing.

6. A reversing image generation system based on a digital exterior rearview mirror, characterized in that: include: Image capture module: used to determine the set area of ​​each frame image taken by the camera according to the frame rate of the camera of the digital exterior rearview mirror, the longitudinal distance of the rearview blind spot of the camera and the vehicle speed, and merge the set area into the next frame image; Reversing image confirmation module: used to generate a reversing image; when the merged image has no rear blind spot, a reversing image is obtained.

7. The reversing image generation system based on a digital exterior rearview mirror as claimed in claim 6, characterized in that: The image capture module comprises: A positioning point confirmation module: used to determine multiple positioning points according to the blind area of ​​the rear view field of the next frame of the image in two consecutive frames of images; Matching module: used for locating the plurality of positioning points in the previous frame of the two consecutive frames of images, and obtaining the corresponding plurality of matching points in the previous frame of the image; A set area determination module is used to define a triangular area in the previous frame of the two consecutive frames according to the multiple matching points and the longitudinal movement distance of the vehicle during the shooting of the next frame of image; the triangular area is the set area.

8. The reversing image generation system based on a digital exterior rearview mirror as claimed in claim 7, characterized in that: In the positioning point confirmation module, the multiple positioning points include: The two points at the outer edges of the cameras or the center points of the cameras of the electronic exterior rearview mirrors on the left and right sides of the next frame of the two consecutive frames of images are the first positioning point and the second positioning point among the multiple positioning points; Two straight lines are obtained by taking the first positioning point and the second positioning point as starting points and passing through the corresponding side vehicle rear end points; the two straight lines intersect at one point during the extension process, and the intersection point is the third positioning point among the multiple positioning points.

9. The reversing image generation system based on a digital exterior rearview mirror as claimed in claim 8, characterized in that: The method for determining the triangular area includes: Matching the first positioning point, the second positioning point and the third positioning point to corresponding positions in the previous frame of the two consecutive frames of images to obtain a first matching point, a second matching point and a third matching point; In the last frame of the two consecutive frames of images, a first parallel line parallel to the horizontal axis of the vehicle is drawn through the third matching point; In the last frame of the two consecutive frames of images, the first parallel line is moved toward the vehicle body by a first set distance to obtain a second parallel line parallel to the first parallel line; Two straight lines are drawn with the first matching point and the second matching point as starting points and passing through the third matching point respectively; the two straight lines intersect with the second parallel line to obtain two intersection points, and the two intersection points and the third matching point are the three vertices constituting the triangular area.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, any step of the method for generating a reversing image based on a digital exterior rearview mirror as described in claims 1 to 5 is implemented.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for generating a reversing image based on a digital exterior rearview mirror as described in any one of claims 1 to 5 are implemented.

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