Visual field follow-up control method and device, computer equipment and storage medium

Abstract

The invention relates to a visual field follow-up control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a mounting state of a target vehicle, wherein the mounting state comprises a first mounting state and a second mounting state; when the target vehicle is in the first mounting state, the state of the view follow-up function of the target vehicle is controlled according to the steering feedback information of the target vehicle; when the target vehicle is in the second mounting state, the state of the view follow-up function is controlled according to the environment state information of the target vehicle and the target control input. By adopting the method, the visual field follow-up function can be adjusted in real time according to the mounting state of the vehicle and the change of the driving environment, and the universality and accuracy of the visual field follow-up function are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a field of view tracking control method, device, computer equipment, storage medium and computer program product. Background Art

[0002] In the field of vehicle technology, vehicle rearview mirrors mainly provide vision for the driver. However, traditional vehicle rearview mirrors mainly rely on physical reflections, and the driver's field of vision is limited by factors such as the size, position and ambient light of the mirror. Especially at night, in rainy and snowy weather conditions, the field of vision will be seriously affected, increasing driving risks. Therefore, electronic rearview mirrors, as a new indirect field of vision device for vehicles, are gradually gaining attention. Electronic rearview mirrors are a type of vehicle auxiliary equipment that uses a camera device and a display unit to replace traditional rearview mirrors.

[0003] In traditional technology, the field of view tracking function is mainly set based on fixed viewing angle and brightness.

[0004] However, the traditional method considers a relatively single situation. Therefore, in a complex driving environment, the traditional method cannot make real-time adjustments to the field of view tracking function according to the vehicle's mounting status and changes in the driving environment, which reduces the versatility and accuracy of the field of view tracking function. Summary of the invention

[0005] Based on this, it is necessary to provide a field of view following control method, device, computer equipment, computer-readable storage medium and computer program product that can adjust the field of view following function in real time according to the vehicle's mounting status and changes in the driving environment to improve the versatility and accuracy of the field of view following function in response to the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a field of view tracking control method, comprising:

[0007] Acquire the mounting state of the target vehicle, where the mounting state includes a first mounting state and a second mounting state;

[0008] When the target vehicle is in the first mounting state, controlling the state of the field of vision following function of the target vehicle according to the steering feedback information of the target vehicle;

[0009] When the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input.

[0010] In one embodiment, the steering feedback information includes an indication signal and an operation angle, and according to the steering feedback information of the target vehicle, controlling the state of the field of vision following function of the target vehicle includes:

[0011] Acquire an indication signal of the target vehicle, and when the indication signal is in a first target state, determine whether the operation angle is greater than an angle threshold;

[0012] When the operating angle is greater than the angle threshold, the field of view tracking function of controlling the target vehicle is in an activated state.

[0013] In one embodiment, controlling the state of the field of view following function of the target vehicle according to the steering feedback information of the target vehicle further includes:

[0014] When the indication signal is in the second target state, determining whether the operating angle is less than an angle threshold;

[0015] When the operating angle is less than the angle threshold, the field of view tracking function of controlling the target vehicle is in a closed state.

[0016] In one embodiment, the target vehicle includes a display unit, and the method further includes:

[0017] Acquire environmental data of the target vehicle and generate an initial field of view image according to the environmental data;

[0018] Preprocessing the initial visual field image to obtain a preprocessed initial visual field image;

[0019] Generate target video data based on the preprocessed initial field of view image.

[0020] In one embodiment, the method further comprises:

[0021] According to the environmental data, the display parameters of the display unit are adjusted.

[0022] In one embodiment, the method further comprises:

[0023] The priority of the target vehicle's environmental state information is higher than the priority of the target control input.

[0024] In a second aspect, the present application further provides a field of view tracking control device, comprising:

[0025] An acquisition module, used for acquiring a mounting state of a target vehicle, wherein the mounting state includes a first mounting state and a second mounting state;

[0026] A first control module, used for controlling the state of the field of view following function of the target vehicle according to the steering feedback information of the target vehicle when the target vehicle is in the first mounting state;

[0027] The second control module is used to control the state of the field of view following function according to the environmental state information of the target vehicle and the target control input when the target vehicle is in the second mounting state.

[0028] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0029] Acquire the mounting state of the target vehicle, where the mounting state includes a first mounting state and a second mounting state;

[0030] When the target vehicle is in the first mounting state, controlling the state of the field of vision following function of the target vehicle according to the steering feedback information of the target vehicle;

[0031] When the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0033] Acquire the mounting state of the target vehicle, where the mounting state includes a first mounting state and a second mounting state;

[0034] When the target vehicle is in the first mounting state, controlling the state of the field of vision following function of the target vehicle according to the steering feedback information of the target vehicle;

[0035] When the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input.

[0036] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0037] Acquire the mounting state of the target vehicle, where the mounting state includes a first mounting state and a second mounting state;

[0038] When the target vehicle is in the first mounting state, controlling the state of the field of vision following function of the target vehicle according to the steering feedback information of the target vehicle;

[0039] When the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input.

[0040] The above-mentioned field of view following control method, device, computer equipment, storage medium and computer program product obtain the mounting state of the target vehicle, which includes a first mounting state and a second mounting state; when the target vehicle is in the first mounting state, the state of the field of view following function of the target vehicle is controlled according to the steering feedback information of the target vehicle; when the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input. The method can adjust the field of view following function in real time according to the vehicle mounting state and the changes in the driving environment, thereby improving the versatility and accuracy of the field of view following function. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] FIG1 is a diagram showing an application environment of a visual field following control method according to an embodiment;

[0043] FIG2 is a schematic flow chart of a method for visual field tracking control in one embodiment;

[0044] FIG3 is a schematic diagram of a flow chart of controlling the state of the visual field following function in one embodiment;

[0045] FIG4 is a structural block diagram of a visual field following control device in one embodiment;

[0046] FIG. 5 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] The visual field following control method provided in the embodiment of the present application can be applied in the application environment shown in FIG. 1. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The terminal 102 sends a visual field following control request to the server 104, and the server 104 receives the visual field following control request and obtains the mounting state of the target vehicle, and the mounting state includes a first mounting state and a second mounting state; when the target vehicle is in the first mounting state, the state of the visual field following function of the target vehicle is controlled according to the steering feedback information of the target vehicle; when the target vehicle is in the second mounting state, the state of the visual field following function is controlled according to the environmental state information of the target vehicle and the target control input. Among them, the terminal 102 can be, but is not limited to, various vehicles such as trucks, trailers, cars, motorcycles, and aircraft. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The server 104 can be implemented with an independent server or a server cluster composed of multiple servers.

[0049] In an exemplary embodiment, as shown in FIG2 , a field of view tracking control method is provided, which is described by taking the method applied to the server in FIG1 as an example, and includes the following steps 202 to 206. Among them:

[0050] Step 202, obtaining the mounting state of the target vehicle, where the mounting state includes a first mounting state and a second mounting state.

[0051] The target vehicle refers to the vehicle that needs to be controlled by the field of view. The mounting state of the target vehicle refers to the connection between the target vehicle and the trailer or other additional equipment. The additional equipment can be a trailer, a truck, etc.

[0052] For example, the first mounted state refers to the target vehicle being in a trailer state, which means that the target vehicle is mounted with a trailer or other additional equipment. The second mounted state refers to the target vehicle being in an untrailer state, which means that the target vehicle is not mounted with any trailer or other additional equipment.

[0053] Step 204 , when the target vehicle is in the first mounting state, the state of the field of view following function of the target vehicle is controlled according to the steering feedback information of the target vehicle.

[0054] Among them, steering feedback information refers to data related to the vehicle's steering operation. Steering feedback information may include indication signals and operation angle information, and may also include information such as steering rate and the actual steering angle of the vehicle's front wheels. The field of view following function refers to a system that dynamically adjusts the view according to steering or other dynamic information during the driving process of the target vehicle so that the driver always maintains the best field of view. The states of the field of view following function may include an on state, an off state, and a temporary state. Optionally, the temporary state may mean that in certain circumstances (such as sharp turns), the view is dynamically adjusted so that the driver's field of view is temporarily adjusted to a wider range so that the driver can clearly see the surrounding environment.

[0055] For example, when the target vehicle is in the first mounting state, the driving characteristics, vision requirements and safety measures of the target vehicle are different, and the driver needs more attention to cope with the longer body and turning radius. The state of the vision tracking function of the target vehicle is adjusted according to the indication signal, the operation angle information, the steering rate and other information.

[0056] Step 206 , when the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input.

[0057] The environmental status information of the target vehicle refers to data related to the environment around the vehicle, which is used to help determine the current driving conditions. The environmental status information may include obstacle detection, road conditions, weather conditions, etc. The server can adjust the state of the field of view following function of the target vehicle according to the environmental status information. The target control input refers to the driver's control instructions for the field of view following function. Specifically, the driver manually turns on or off the field of view following function through the vehicle terminal interface, or performs control input through buttons or touch screens.

[0058] When the target vehicle is in the second mounting state, the target vehicle is in a normal driving state. According to the environmental state information of the target vehicle and the control instruction of the driver on the field of view following function, the state of the field of view following function of the target vehicle is adjusted.

[0059] In the above-mentioned field of view following control method, the mounting state of the target vehicle is obtained, and the mounting state includes a first mounting state and a second mounting state; when the target vehicle is in the first mounting state, the state of the field of view following function of the target vehicle is controlled according to the steering feedback information of the target vehicle; when the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input, so that the driver can adjust the state of the field of view following function through manual or other interface interactions, thereby improving the flexibility of the field of view following control. And the use of this method can adjust the field of view following function in real time according to the vehicle's mounting state and changes in the driving environment, thereby improving the versatility and accuracy of the field of view following function.

[0060] In an exemplary embodiment, the steering feedback information includes an indication signal and an operation angle, as shown in FIG3 , according to the steering feedback information of the target vehicle, the state of the field of vision following function of the target vehicle is controlled, including steps 302 to 304. Among them:

[0061] Step 302: Acquire an indication signal of the target vehicle, and when the indication signal is in a first target state, determine whether the operating angle is greater than an angle threshold.

[0062] Step 304: When the operating angle is greater than the angle threshold, the field of view tracking function of the target vehicle is controlled to be in an activated state.

[0063] Among them, the indication signal of the target vehicle refers to the turn signal of the target vehicle, including the left turn signal state, the right turn signal state and the emergency light state. The first target state refers to the turn signal being in the left turn signal or the right turn signal. The operating angle of the target vehicle refers to the steering wheel angle signal of the target vehicle. The operating angle of the target vehicle is determined according to the current turning angle and turning rate of the target vehicle. The operating angle of the target vehicle can also be determined according to the sensor. The current turning angle of the target vehicle refers to the actual turning angle of the steering wheel relative to the neutral position, such as the degree of turning to the left or right from the center position, and the turning rate refers to the speed at which the steering wheel turns.

[0064] Optionally, when the target vehicle is in the first mounting state, the server monitors the turn signal of the target vehicle and the steering wheel angle signal of the target vehicle in real time. When it is detected that the turn signal of the target vehicle is the left turn signal or the right turn signal, it is determined whether the steering wheel angle signal of the target vehicle is greater than the angle threshold. If the steering wheel angle signal of the target vehicle is greater than the angle threshold, it is determined that the target vehicle is turning or changing lanes, and the field of view following function of the target vehicle is activated, so that the field of view following function of the target vehicle is in the starting state, and the view is dynamically adjusted to temporarily adjust the driver's field of view to a wider range to help the driver better observe the blind spot.

[0065] In this embodiment, by real-time monitoring of the indication signal and the operating angle, the adjustment of the state of the field of view tracking function can respond to the driver's operation in a timely manner, thereby improving the efficiency of the field of view tracking control, thereby effectively improving driving safety and convenience.

[0066] In an exemplary embodiment, the state of the field of view tracking function of the target vehicle is controlled according to the steering feedback information of the target vehicle, and also includes: when the indication signal is in the second target state, determining whether the operating angle is less than an angle threshold; when the operating angle is less than the angle threshold, controlling the field of view tracking function of the target vehicle to be in an off state.

[0067] The second target state refers to the turn signal off state.

[0068] Exemplarily, when the field of view following function of the target vehicle is activated and the field of view following function of the target vehicle is in the started state, the server continues to monitor the turn signal of the target vehicle and the steering wheel angle signal of the target vehicle in real time. When it is detected that the turn signal of the target vehicle is in the off state, it is determined whether the steering wheel angle signal of the target vehicle falls below the angle threshold. If the steering wheel angle signal of the target vehicle is less than the angle threshold, it is determined that the target vehicle has completed the turning or lane changing operation, and then the field of view following function of the target vehicle is turned off, so that the field of view following function of the target vehicle is in the off state, and the default field of view mode is restored.

[0069] In this embodiment, the turn signal of the target vehicle and the steering wheel angle signal of the target vehicle continue to be monitored in real time. When it is detected that the target vehicle no longer needs the field of view tracking function (expanded field of view), the field of view tracking function is turned off. This can save resources and improve server operating efficiency. At the same time, it can reduce unnecessary information interference, thereby improving driving safety and concentration.

[0070] In an exemplary embodiment, when the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input.

[0071] For example, a software interface (possibly a touch screen or a button) may be provided on the vehicle terminal, and the driver may directly operate the functions of the electronic rearview mirror through the software interface, allowing the driver to manually turn on or off the field of view following function. The driver transmits the target control input (control instructions of the field of view following function) through the software interface.

[0072] When the target vehicle is in the second mounting state, it is determined whether the environmental state information of the target vehicle is in the first environmental state. If the environmental state information of the target vehicle is in the first environmental state, the state of the field of view following function is controlled according to the target control input, so that the driver can freely choose when to turn on or off the field of view following function according to his own needs and preferences, thereby improving driving flexibility. Among them, the first environmental state means that the environment of the target vehicle does not have obstacles, blind spots, etc. The server will record the target control input sent by the driver, and the server can automatically apply these preferences according to the preferences of the target control input sent by the driver when the vehicle is started next time, which can improve the user experience, automatically adjust the settings, reduce repeated operations, and improve convenience.

[0073] In the previous exemplary embodiment, the method further includes: the priority of the environmental state information of the target vehicle is greater than the priority of the target control input.

[0074] The environmental status information of the target vehicle refers to data related to the environment surrounding the vehicle.

[0075] When the target vehicle is in the second mounting state, it is determined whether the environmental state information of the target vehicle is in the second environmental state. If the environmental state information of the target vehicle is in the second environmental state, the state of the field of view following function is controlled through the server. Wherein, the second environmental state refers to the environment of the target vehicle being in the situation of obstacles, blind spots, etc. Exemplarily, the driving environment and vehicle state information of the target vehicle are obtained by sensors or other detection means, and then it is determined that the environmental state information of the target vehicle is in the second environmental state, that is, it is determined whether the environment of the target vehicle is in the situation of obstacles, blind spots, etc. When it is determined that the environment of the target vehicle is in the situation of obstacles, blind spots, etc., although the driver is still allowed to manually turn on or off the field of view following function, the priority of the environmental state information of the target vehicle is greater than the priority of the target control input, that is, when it is determined that the environment of the target vehicle is in the situation of obstacles, blind spots, etc., the server responds to obstacles, blind spots, etc., ignores or covers the driver's manual opening or closing of the field of view following function, and then activates the field of view following function of the target vehicle, so that the field of view following function of the target vehicle is in the on state.

[0076] In this embodiment, when the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input, which can improve the flexibility and convenience of driving, and the priority of the environmental state information of the target vehicle is greater than the priority of the target control input, which can ensure that the field of view following control always puts safety first, automatically responds to environmental changes, reduces human errors and improves reliability.

[0077] In an exemplary embodiment, the target vehicle includes a display unit, and the method includes: acquiring environmental data of the target vehicle and generating an initial field of view image based on the environmental data; preprocessing the initial field of view image to obtain a preprocessed initial field of view image; and generating target video data based on the preprocessed initial field of view image.

[0078] Exemplarily, a target vehicle may be provided with multiple camera devices, which may respectively cover the left side, right side and front and bottom fields of the vehicle, and are used to continuously collect environmental data of the surrounding environment of the target vehicle, including information such as obstacles, pedestrians, road signs and traffic lights. Multiple camera devices may be provided with image sensors (such as CMOS sensors) for converting captured light signals into electrical signals, and processing these electrical signals to form multiple frames of digital image data, which are recorded as multiple frames of initial field of view images. Each camera device transmits the collected multiple frames of initial field of view images to a server, and the server continuously preprocesses the multiple frames of initial field of view images to obtain multiple frames of preprocessed initial field of view images. Among them, preprocessing the initial field of view images may include denoising, image enhancement and segmentation of the initial field of view images. Denoising includes using a smoothing filter (such as a Gaussian filter, a median filter) to remove random noise in the initial field of view image to improve the quality of the initial field of view image. Image enhancement includes adjusting the brightness and contrast of the initial field of view image to make important features easier to identify, especially in low-light environments, and enhancing the edges of the initial field of view image to make the outline of objects clearer, which helps to identify obstacles and other important elements. Segmentation processing includes segmenting the initial field of view image into different areas for separate processing, such as distinguishing different elements such as roads, pedestrians, and vehicles.

[0079] The server preprocesses multiple frames of initial field of view images, obtains multiple frames of preprocessed initial field of view images, and then analyzes each frame of the preprocessed initial field of view images, including target detection, object recognition and classification, etc., to identify important information such as surrounding vehicles, pedestrians, obstacles, etc. Each frame of the preprocessed initial field of view images after analysis and processing is combined in chronological order to form a video sequence, and the video sequence is encoded using a video encoding standard (such as H.264, H.265), and the encoded frame data is used to generate target video data. The server transmits the generated target video data to the on-board display unit in real time so that the driver can instantly view the field of view information of the surrounding environment. Optionally, the target vehicle may include multiple display units, such as a main display unit, a sub-display unit, a rear-view display unit, and an auxiliary display unit, etc. The main display unit can be used to play a real-time front field of view picture, including important information such as the road ahead, driving conditions, and traffic signals. The sub-display unit can be used to play a side field of view picture, display the left or right blind spot conditions, and assist the driver to observe when changing lanes. The rear view display can be used to display the rear view, including the rear traffic and obstacles, especially when reversing. The auxiliary display unit can be used to display specific view images, such as lane departure warning, blind spot monitoring video, etc.

[0080] In this embodiment, target video data is generated based on the environmental data of the target vehicle, and the surrounding environmental data can be obtained in real time, helping the driver to promptly perceive potential dangers, effectively reducing blind spots, improving safety when changing lanes and reversing, and reducing accident risks.

[0081] In an exemplary embodiment, the method further includes: adjusting display parameters of the display unit according to the environmental data.

[0082] The environmental data includes light intensity data, and the display parameters of the display unit may include display brightness and contrast. Exemplarily, the target vehicle may also be provided with a light sensor, which is used to monitor the light intensity data around the target vehicle and transmit the light intensity data to the server. The server automatically adjusts the brightness and contrast of the display unit according to the light intensity data.

[0083] In this embodiment, the display parameters of the display unit are adjusted according to the environmental data, which can ensure that the display unit is clearly visible under different lighting conditions (such as direct sunlight, shadow or night driving), thereby improving the readability of the information. At the same time, by adjusting the display parameters of the display unit, visual fatigue caused by excessive brightness or darkness can be reduced, making the driver more comfortable when driving for a long time.

[0084] In an exemplary embodiment, the method further includes: the multiple cameras of the target vehicle may include an infrared camera or a thermal imaging camera.

[0085] An infrared camera or thermal imaging camera is used to capture the night vision initial field of view image, and the brightness and clarity of the night vision initial field of view image is enhanced through preprocessing technology. The night vision initial field of view image is synthesized with the initial field of view image to provide a more comprehensive low-light field of view and enhance the low-light field of view to improve the safety of low-light driving.

[0086] In another embodiment, a field of view tracking control method is provided, the method comprising:

[0087] Acquire the mounting state of the target vehicle, where the mounting state includes a first mounting state and a second mounting state;

[0088] The steering feedback information includes an indication signal and an operating angle. When the target vehicle is in a first mounting state, the indication signal of the target vehicle is obtained. When the indication signal is in a first target state, it is determined whether the operating angle is greater than an angle threshold. When the operating angle is greater than the angle threshold, the field of view following function of the target vehicle is controlled to be in an activated state.

[0089] The control of the target vehicle's field of view tracking function in the start-up state includes: obtaining the target vehicle's environmental data, and generating an initial field of view image according to the environmental data; preprocessing the initial field of view image to obtain a preprocessed initial field of view image; generating target video data according to the preprocessed initial field of view image. And adjusting the display parameters of the display unit according to the environmental data.

[0090] When the indication signal is in the second target state, it is determined whether the operating angle is less than an angle threshold; when the operating angle is less than the angle threshold, the field of view following function of the target vehicle is controlled to be in an off state.

[0091] When the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input, wherein the priority of the environmental state information of the target vehicle is greater than the priority of the target control input.

[0092] In this embodiment, by real-time monitoring of the indication signal and the operating angle, the adjustment of the state of the field of view following function can respond to the driver's operation in time, improve the efficiency of the field of view following control, and thus effectively improve driving safety and convenience. When it is detected that the target vehicle no longer needs the field of view following function (expanded field of view), the field of view following function is turned off, which can save resources and improve the server operation efficiency. At the same time, it can reduce unnecessary information interference, thereby improving driving safety and concentration. When the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input, which can improve the flexibility and convenience of driving, and the priority of the environmental state information of the target vehicle is greater than the priority of the target control input, which can ensure that the field of view following control always takes safety as the first priority, automatically responds to environmental changes, reduces human errors and improves reliability. According to the environmental data of the target vehicle, the target video data is generated, and the surrounding environment data can be obtained in real time, which helps the driver to perceive potential dangers in time, effectively reduces blind spots, improves safety when changing lanes and reversing, and reduces the risk of accidents.

[0093] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0094] Based on the same inventive concept, the embodiment of the present application also provides a field of view following control device for implementing the field of view following control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more field of view following control device embodiments provided below can refer to the limitations of the field of view following control method above, and will not be repeated here.

[0095] In an exemplary embodiment, as shown in FIG4 , a field of view tracking control device is provided, including: an acquisition module 402 , a first control module 404 and a second control module 406 , wherein:

[0096] An acquisition module 402 is used to acquire a mounting state of a target vehicle, where the mounting state includes a first mounting state and a second mounting state;

[0097] The first control module 404 is used to control the state of the field of view following function of the target vehicle according to the steering feedback information of the target vehicle when the target vehicle is in the first mounting state;

[0098] The second control module 406 is used to control the state of the field of view following function according to the environmental state information of the target vehicle and the target control input when the target vehicle is in the second mounting state.

[0099] In an exemplary embodiment, the steering feedback information includes an indication signal and an operating angle. The first control module 404 is also used to obtain the indication signal of the target vehicle. When the indication signal is in a first target state, it is determined whether the operating angle is greater than an angle threshold. When the operating angle is greater than the angle threshold, the field of view tracking function of the target vehicle is controlled to be in an activated state.

[0100] In an exemplary embodiment, the steering feedback information includes an indication signal and an operating angle. The first control module 404 is also used to determine whether the operating angle is less than an angle threshold when the indication signal is in the second target state; when the operating angle is less than the angle threshold, the field of view tracking function of the target vehicle is controlled to be in an off state.

[0101] In an exemplary embodiment, the target vehicle includes a display unit, and the field of view following control device further includes:

[0102] The generation module is used to obtain the environmental data of the target vehicle and generate an initial field of view image according to the environmental data; preprocess the initial field of view image to obtain a preprocessed initial field of view image; and generate target video data according to the preprocessed initial field of view image.

[0103] In an exemplary embodiment, the visual field tracking control device further includes:

[0104] The adjustment module is used to adjust the display parameters of the display unit according to the environmental data.

[0105] In an exemplary embodiment, the priority of the target vehicle's environmental status information is higher than the priority of the target control input.

[0106] Each module in the above-mentioned field of view tracking control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0107] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG5. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store steering feedback information and environmental status information data of the target vehicle. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a field of view following control method is implemented.

[0108] Those skilled in the art will understand that the structure shown in FIG. 5 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0109] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0110] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0111] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0112] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0113] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0114] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A visual field tracking control method, characterized in that: The method comprises: Acquire a mounting state of a target vehicle, wherein the mounting state includes a first mounting state and a second mounting state; When the target vehicle is in the first mounting state, controlling the state of the field of view following function of the target vehicle according to the steering feedback information of the target vehicle; When the target vehicle is in the second mounting state, the state of the field of view following function is controlled according to the environmental state information of the target vehicle and the target control input.

2. The method according to claim 1, characterized in that The steering feedback information includes an indication signal and an operation angle, and the state of the field of vision following function of the target vehicle is controlled according to the steering feedback information of the target vehicle, including: Acquiring an indication signal of the target vehicle, and when the indication signal is in a first target state, determining whether the operating angle is greater than an angle threshold; When the operating angle is greater than an angle threshold, the field of view following function of controlling the target vehicle is in an activated state.

3. The method according to claim 2, characterized in that The controlling the state of the field of vision following function of the target vehicle according to the steering feedback information of the target vehicle further includes: When the indication signal is in the second target state, determining whether the operating angle is less than the angle threshold; When the operating angle is less than an angle threshold, the field of view following function of controlling the target vehicle is in a closed state.

4. The method according to claim 2, characterized in that: The target vehicle includes a display unit, and the method further includes: Acquiring environmental data of the target vehicle, and generating an initial field of view image according to the environmental data; Preprocessing the initial visual field image to obtain a preprocessed initial visual field image; Generate target video data according to the preprocessed initial field of view image.

5. The method according to claim 4, characterized in that The method further comprises: The display parameters of the display unit are adjusted according to the environmental data.

6. The method according to claim 1, characterized in that The method further comprises: The priority of the environmental state information of the target vehicle is greater than the priority of the target control input.

7. A visual field tracking control device, characterized in that: The device comprises: An acquisition module, used to acquire a mounting state of a target vehicle, wherein the mounting state includes a first mounting state and a second mounting state; A first control module, used for controlling the state of the field of view following function of the target vehicle according to the steering feedback information of the target vehicle when the target vehicle is in the first mounting state; The second control module is used to control the state of the field of view following function according to the environmental state information of the target vehicle and the target control input when the target vehicle is in the second mounting state.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A 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 according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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