Camera sharing method and device, vehicle and storage medium

Abstract

The invention is suitable for the technical field of vehicles, and provides a camera sharing method and device, a vehicle and a storage medium, and the method comprises the steps: detecting at least one vehicle whose distance to a current vehicle is within a preset range; wherein the at least one vehicle is a vehicle of which the camera networking sharing authority is started; if a target vehicle selection instruction is obtained, and the target vehicle selection instruction carries an identifier of a target vehicle, obtaining image data shot by a camera of the target vehicle according to the identifier of the target vehicle; wherein the target vehicle is a vehicle in the at least one vehicle; and controlling the current vehicle to display the image data of the target vehicle. The system can assist a driver in safe driving and parking.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle technology, and in particular relates to a camera sharing method, device, vehicle and storage medium. Background Art

[0002] The Around View Monitor (AVM) system uses multiple (usually four) ultra-wide-angle fisheye lenses to capture images, and uses a special algorithm to correct distortion and stitch the captured images to form a panoramic image around the object.

[0003] In the related technology, most vehicles are equipped with AVM or other external cameras to assist drivers in safely and easily parking the vehicle in complex situations. However, AVM also has certain limitations. It cannot monitor situations that are too close to the vehicle body and does not support precise control scenarios. Therefore, in some complex scenarios, it is still necessary for someone to get off the vehicle to direct, which is very inconvenient. Summary of the invention

[0004] In view of this, embodiments of the present invention provide a camera sharing method, device, vehicle, and storage medium to assist a driver in driving and parking safely.

[0005] A first aspect of an embodiment of the present invention provides a camera sharing method, comprising:

[0006] Detecting at least one vehicle within a preset range of the distance from the current vehicle; wherein the at least one vehicle is a vehicle for which the camera network sharing permission is enabled;

[0007] If a target vehicle selection instruction is obtained, and the target vehicle selection instruction carries an identifier of the target vehicle, then image data captured by a camera of the target vehicle is obtained according to the identifier of the target vehicle; wherein the target vehicle is a vehicle among the at least one vehicle;

[0008] The current vehicle is controlled to display the image data of the target vehicle.

[0009] In combination with the first aspect, in a possible implementation manner of the first aspect, acquiring the image data captured by a camera of the target vehicle includes:

[0010] If the distance between the current vehicle and the target vehicle is less than a preset distance threshold, determining a relative angle relationship between the current vehicle and the target vehicle;

[0011] Determining at least one target camera from each external camera on the target vehicle according to the relative angle relationship;

[0012] Image data captured by the at least one target camera is acquired.

[0013] In combination with the first aspect, in a possible implementation manner of the first aspect, acquiring the image data captured by the at least one target camera includes:

[0014] Detecting the image data captured by the at least one target camera according to a pre-trained image detection algorithm;

[0015] If the current vehicle is detected in the image data taken by any target camera, the image data taken by the target camera is acquired.

[0016] In combination with the first aspect, in a possible implementation manner of the first aspect, controlling the current vehicle to display the image data of the target vehicle includes:

[0017] Controlling the current vehicle arrangement to display the image data captured by each target camera;

[0018] If a selection instruction for the image data taken by any one of the target cameras is received from the current vehicle, the current vehicle is controlled to display the image data taken by the target camera corresponding to the selection instruction.

[0019] In combination with the first aspect, in a possible implementation manner of the first aspect, after controlling the current vehicle to display the image data of the target vehicle, the method further includes:

[0020] If a danger warning signal fed back by the current vehicle is obtained, determining the dangerous part of the current vehicle according to the danger warning signal;

[0021] Determining a vehicle among the at least one vehicle that has photographed the dangerous part according to the dangerous part and a relative angle relationship between the current vehicle and the at least one vehicle;

[0022] The vehicle in which the dangerous part is photographed is marked.

[0023] In combination with the first aspect, in a possible implementation manner of the first aspect, acquiring the image data captured by a camera of the target vehicle includes:

[0024] If the distance between the current vehicle and the target vehicle is greater than or equal to a preset distance threshold, image data captured by all external cameras of the target vehicle are acquired.

[0025] In combination with the first aspect, in a possible implementation manner of the first aspect, controlling the current vehicle to display the image data of the target vehicle includes:

[0026] Controlling the current vehicle arrangement to display the image data captured by each of the external cameras;

[0027] If a selection instruction for the image data taken by any one of the external cameras is received from the current vehicle, the current vehicle is controlled to display the image data taken by the external camera corresponding to the selection instruction.

[0028] A second aspect of an embodiment of the present invention provides a camera sharing device, including:

[0029] A detection module, used to detect at least one vehicle within a preset range from the current vehicle; wherein the at least one vehicle is a vehicle for which camera network sharing permission is enabled;

[0030] an acquisition module, configured to acquire image data captured by a camera of the target vehicle according to the identification of the target vehicle if a target vehicle selection instruction is acquired, the target vehicle selection instruction carrying the identification of the target vehicle; wherein the target vehicle is a vehicle among the at least one vehicle;

[0031] A control module is used to control the current vehicle to display the image data of the target vehicle.

[0032] In conjunction with the second aspect, in a possible implementation manner of the second aspect, the acquisition module is specifically used to:

[0033] If the distance between the current vehicle and the target vehicle is less than a preset distance threshold, determining a relative angle relationship between the current vehicle and the target vehicle;

[0034] Determining at least one target camera from each external camera on the target vehicle according to the relative angle relationship;

[0035] Image data captured by the at least one target camera is acquired.

[0036] In conjunction with the second aspect, in a possible implementation manner of the second aspect, the acquisition module is specifically used to:

[0037] Detecting the image data captured by the at least one target camera according to a pre-trained image detection algorithm;

[0038] If the current vehicle is detected in the image data taken by any target camera, the image data taken by the target camera is acquired.

[0039] In conjunction with the second aspect, in a possible implementation manner of the second aspect, the control module is specifically configured to:

[0040] Controlling the current vehicle arrangement to display the image data captured by each target camera;

[0041] If a selection instruction for the image data taken by any one of the target cameras is received from the current vehicle, the current vehicle is controlled to display the image data taken by the target camera corresponding to the selection instruction.

[0042] In combination with the second aspect, in a possible implementation manner of the second aspect, after controlling the current vehicle to display the image data of the target vehicle, the control module is further used to:

[0043] If a danger warning signal fed back by the current vehicle is obtained, determining the dangerous part of the current vehicle according to the danger warning signal;

[0044] Determining a vehicle among the at least one vehicle that has photographed the dangerous part according to the dangerous part and a relative angle relationship between the current vehicle and the at least one vehicle;

[0045] The vehicle in which the dangerous part is photographed is marked.

[0046] In conjunction with the second aspect, in a possible implementation manner of the second aspect, the acquisition module is specifically used to:

[0047] If the distance between the current vehicle and the target vehicle is greater than or equal to a preset distance threshold, image data captured by all external cameras of the target vehicle are acquired.

[0048] In conjunction with the second aspect, in a possible implementation manner of the second aspect, the control module is specifically configured to:

[0049] Controlling the current vehicle arrangement to display the image data captured by each of the external cameras;

[0050] If a selection instruction for the image data taken by any one of the external cameras is received from the current vehicle, the current vehicle is controlled to display the image data taken by the external camera corresponding to the selection instruction.

[0051] A third aspect of an embodiment of the present invention provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method in the first aspect or any one of the implementations of the first aspect are implemented.

[0052] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the method in the above-mentioned first aspect or any one of the implementation methods of the first aspect.

[0053] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0054] The embodiment of the present invention can detect at least one vehicle with a preset distance from the current vehicle and with camera network sharing permission enabled during vehicle driving. The driver can select image data captured by the camera of the target vehicle that he wants to view from at least one vehicle according to his own needs; the driver can use the image of the vehicle in the cameras of surrounding vehicles to assist in self-vehicle control for safe driving and parking; it can also help the driver view road conditions farther away and realize perception of the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0056] Figure 1 is a schematic diagram of an application scenario of the camera sharing method provided by an embodiment of the present invention;

[0057] Figure 2 The following is a schematic diagram of the implementation process of the camera sharing method provided in the embodiment of the present invention. Figure 1 ;

[0058] Figure 3 The following is a schematic diagram of the implementation process of the camera sharing method provided in the embodiment of the present invention. Figure 2 ;

[0059] Figure 4 is an example diagram of a vehicle driving condition provided by an embodiment of the present invention;

[0060] Figure 5 The following is a schematic diagram of the implementation process of the camera sharing method provided in the embodiment of the present invention. Figure 3 ;

[0061] Figure 6 is a structural schematic diagram of a camera sharing device provided by an embodiment of the present invention;

[0062] Figure 7 It is a schematic diagram of the structure of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0064] In order to illustrate the technical solution of the present invention, a specific embodiment is provided below for illustration.

[0065] The present application is described more clearly below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the effects of the present application, but are not intended to limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present application. These all fall within the scope of protection of the present application.

[0066] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0067] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0068] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0069] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0070] In addition, the “plurality” mentioned in the embodiments of the present application should be interpreted as two or more.

[0071] First reference Figure 1 , Figure 1 Schematic diagram of the application scenario of the camera sharing method provided by the embodiment of the present invention. Figure 1 , the application scenarios of this embodiment are introduced.

[0072] In this embodiment, the camera sharing system can be run on the cloud server, and the shared management of the camera data of each vehicle can be realized through the computing power and storage of the cloud server. The vehicle can choose to join the vehicle camera sharing system. When the vehicle joins the camera sharing system, the camera network sharing permission is authorized.

[0073] Vehicles that join the camera sharing system generally need to meet the following conditions:

[0074] (1) Having networking function;

[0075] (2) Install AVM or external camera.

[0076] In this embodiment, each vehicle can obtain its own geographic location information through the Global Positioning System (GPS), and capture the surrounding image information through AVM or an external camera. Each vehicle can upload its own geographic location information and captured image information to the cloud server through the controller. This embodiment does not limit the type of controller. For example, the controller here can be a vehicle control unit (VCU). The vehicle control unit serves as the "brain" of a pure electric vehicle. It collects the driver's driving signals, receives data on the CAN bus, and makes decisions based on the vehicle's operating status information. It then sends instructions through the CAN bus to control the operation of each component controller to ensure the normal driving of the vehicle.

[0077] The camera sharing system of the cloud server can analyze the geographic location information and camera-captured image information of each vehicle, determine which vehicles can share camera data, and then provide the vehicle with the image data captured by the camera of the corresponding vehicle according to the request of a certain vehicle (the cloud server can provide the image data through transfer, or the cloud server can directly connect two vehicles and transmit the image data directly from vehicle to vehicle). After receiving the image data, the vehicle controls the display to display the image data through the controller. In this scenario, the camera sharing method is executed by the cloud server.

[0078] Alternatively, the cloud server can also serve only as a transfer station. The cloud server receives the geographic location information of each vehicle and the image information captured by the camera, and sends it to a certain vehicle. The controller of the vehicle analyzes it, determines which vehicles' camera data it can share, and controls the display to display the image data according to the instructions input by the user. In this scenario, the camera sharing method is executed by the controller.

[0079] Alternatively, the camera sharing system of the cloud server analyzes the geographic location information of each vehicle to determine the nearby vehicles. For a certain vehicle, the image information captured by the camera of the nearby vehicle is sent to the vehicle, and the controller of the vehicle analyzes the image information, determines which vehicles' camera data can be shared, and controls the display to display the image data. In this scenario, the camera sharing method is partially executed by the cloud server and partially executed by the controller.

[0080] It can be seen that the present application does not limit the execution subject of the camera sharing method, but generally, in order to avoid occupying the computing resources of the vehicle controller, the present method is executed by a cloud server. In the following embodiments, the cloud server is used as the execution subject to explain the present method in detail.

[0081] In related technologies, since AVM cannot monitor situations that are too close to the vehicle body and does not support precise control scenarios, personnel still need to get off the vehicle to direct in some very complex working conditions. However, in many cases, there is a lack of additional commanders, or it is inconvenient for personnel to get off the vehicle to direct in rainy conditions. In addition, even if someone is directing, it is difficult to effectively avoid scratches if the commander is not in a suitable position, and language transmission is more prone to misunderstanding or unclear description, resulting in low interaction efficiency. In addition, in situations such as traffic jams, drivers also need a way to check the road conditions ahead.

[0082] In view of this situation, this application provides a camera sharing method, and the driver can also choose to view the camera data of surrounding vehicles according to his own needs. The images of the self-vehicle in the cameras of surrounding vehicles can be used to assist the self-vehicle control, without the need for verbal description and guidance by personnel outside the vehicle, which has better effect, and each vehicle can borrow from each other at the same time, which is very suitable for driving or parking in complex working conditions. It is also possible to use the cameras of surrounding vehicles to view images farther away, which is convenient for the driver to understand the road conditions.

[0083] Combine the following Figure 1 For application scenarios, refer to Figure 2 To describe the camera sharing method provided according to the exemplary embodiment of the present application. It should be noted that the above application scenarios are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited in this respect. On the contrary, the embodiments of the present application can be applied to any applicable scenario.

[0084] Combine the following Figure 2 As shown, the method of this embodiment is described in detail (for the convenience of description, the vehicles mentioned below are all vehicles that have joined the camera sharing system):

[0085] Step S201, detecting at least one vehicle whose distance from the current vehicle is within a preset range; wherein at least one vehicle is a vehicle for which camera network sharing permission is enabled.

[0086] In this embodiment, the cloud server is used as an example for explanation. When a vehicle is driving, it detects its own geographic location information in real time through GPS and uploads it to the cloud server. Therefore, the cloud server can obtain the geographic location information of all vehicles, and determine the vehicles within the preset range of each vehicle based on the geographic location information. The preset range here is not limited in this embodiment, for example, it can be within 50 meters, 100 meters, etc.

[0087] It can be understood that, for a certain vehicle, the number of vehicles within the preset distance range may be one or more.

[0088] In this embodiment, the cloud server analyzes each vehicle as the current vehicle. The image data of each vehicle can be sent to the cloud server via a wireless network.

[0089] Step S202: If a target vehicle selection instruction is obtained, and the target vehicle selection instruction carries the identification of the target vehicle, image data captured by the camera of the target vehicle is obtained according to the identification of the target vehicle; wherein the target vehicle is a vehicle among the at least one vehicle.

[0090] In this embodiment, after detecting at least one vehicle within a preset range from the current vehicle, the current vehicle can be directly controlled to display image data of one of the vehicles. However, in general, users have different needs. For example, some users want to view images farther away through the camera of the vehicle in front to understand the road conditions, while some users want to use the images of their own vehicle taken by vehicles around the current vehicle to assist in driving or parking. Therefore, the following processing can be performed:

[0091] Control the current vehicle to display an image push sign of at least one vehicle;

[0092] If a target vehicle selection instruction fed back by the current vehicle according to the image push mark is received, the image data captured by the camera of the target vehicle is obtained and displayed.

[0093] In this embodiment, through this process, the cloud server sends the current vehicle that can be used for camera sharing to the controller, and the controller controls the display to display the image push logo of each vehicle, and the image push logo can be displayed on the navigation map. The user can click the image push logo of any vehicle according to his own needs. After receiving the target vehicle selection instruction, the controller sends an image viewing request of the target vehicle to the cloud server, and the cloud server sends the image data of the target vehicle to the controller, and the controller controls the display to display the image data of the target vehicle.

[0094] Step S203, controlling the current vehicle to display the image data of the target vehicle.

[0095] The embodiment of the present invention can detect at least one vehicle with a preset distance from the current vehicle and with camera network sharing permission enabled during vehicle driving. The driver can select image data captured by the camera of the target vehicle that he wants to view from at least one vehicle according to his own needs; the driver can use the image of the vehicle in the cameras of surrounding vehicles to assist in self-vehicle control and perform safe parking; it can also help the driver view road conditions farther away and realize perception of the surrounding environment.

[0096] In the present invention, a more detailed display strategy is designed for the scenarios of assisted driving or parking. Figure 3 , describe the strategy.

[0097] Step S301, detecting at least one vehicle whose distance from the current vehicle is within a preset range; wherein at least one vehicle is a vehicle for which camera network sharing permission is enabled.

[0098] The specific implementation of this step can be found in Figure 2 The description in the embodiments will not be repeated in this embodiment.

[0099] Step S302: If a target vehicle selection instruction is obtained, and the target vehicle selection instruction carries the identification of the target vehicle, the target vehicle is determined according to the identification of the target vehicle, and the target vehicle is a vehicle among at least one vehicle; if the distance between the current vehicle and the target vehicle is less than a preset distance threshold, the relative angle relationship between the current vehicle and the target vehicle is determined; according to the relative angle relationship, at least one target camera is determined from each external camera on the target vehicle.

[0100] In this embodiment, the current driver's intention can be determined by the distance between the current vehicle and the target vehicle. If the distance between the current vehicle and the target vehicle is less than a certain value (e.g., within 10 meters), it means that the current driver is more likely to want to perform assisted parking. At this time, it can be further determined whether the current vehicle is within the camera monitoring range of the target vehicle, because only when the current vehicle is within the camera monitoring range of the target vehicle can the purpose of assisted parking be achieved. Figure 4 For example, vehicle B is a vehicle that is within a preset range from vehicle A. For vehicle A, the cloud server takes vehicle A as the current vehicle, obtains image data taken by the camera of vehicle B, and determines whether vehicle A is within the surveillance range of the camera of vehicle B by analyzing the image data taken by the camera of vehicle B.

[0101] In this embodiment, there are generally more than one external cameras installed on the vehicle.

[0102] For example, the camera distribution in a vehicle AVM usually includes four main positions: front, rear, left and right. These cameras are installed at all corners of the vehicle to provide a 360-degree panoramic view.

[0103] Exemplary:

[0104] Front-view camera: Installed at the front of the vehicle, responsible for capturing environmental information in front of the vehicle.

[0105] Rear view camera: installed at the rear of the vehicle to observe the situation behind the vehicle.

[0106] Left-view camera: installed on the left side of the vehicle to help the driver understand the blind spot on the left.

[0107] Right-view camera: installed on the right side of the vehicle, also used to observe the blind spot on the right side.

[0108] Here, as long as any camera of the target vehicle can capture the current vehicle, the target vehicle is considered to be a vehicle that can be used for camera sharing, and the current vehicle can use the camera of the target vehicle to help park itself.

[0109] In this embodiment, the geographical location information may be used to preliminarily screen the cameras that may have captured the current vehicle.

[0110] For example Figure 4 In the scenario, assuming that car B is the current vehicle, the cameras on car A that may capture car B are the cameras directly in front and on the left, and the cameras on car C that may capture car B are the cameras directly in front and on the right.

[0111] Exemplarily, the judgment logic may be:

[0112] The detection range of each camera on the target vehicle is divided. According to the relative angle between the current vehicle and the target vehicle, as well as the direction of the current vehicle and the target vehicle, it can be determined which cameras of the target vehicle the current vehicle is within the detection range of. These cameras are identified as target cameras, and the cloud server obtains the image data taken by the target camera for detection. Through preliminary screening, the number of images that the cloud server needs to process can be reduced, and the processing speed can be improved.

[0113] Step S303, detecting the image data captured by at least one target camera according to a pre-trained image detection algorithm; if the current vehicle is detected in the image data captured by any target camera, acquiring the image data captured by the target camera.

[0114] The core of the image detection algorithm is to use a deep learning model to automatically learn the features and patterns of images, and to achieve tasks such as image classification, recognition, and detection. In this embodiment, the image detection algorithm used is not limited. For example, the YOLO algorithm, the Faster R-CNN algorithm, etc. can be used. In this embodiment, an image detection algorithm is used to detect the image data captured by each target camera. If the current vehicle is detected in the image data captured by any target camera, the current vehicle can use the image data captured by the target camera to assist in its own driving or parking.

[0115] Step S304, controlling the current vehicle to arrange and display the image data captured by each target camera; if a selection instruction for the image data captured by any target camera is received from the current vehicle, controlling the current vehicle to display the image data captured by the target camera corresponding to the selection instruction.

[0116] In this embodiment, the controller first receives the target vehicle selection instruction of the user and sends it to the cloud server. After receiving the target vehicle selection instruction, the cloud server sends the image data captured by each target camera of the target vehicle to the controller of the current vehicle. The controller arranges and displays the image data captured by each target camera on the multimedia screen of the vehicle. The user can easily browse which image data captured by the target camera is most helpful to him / her, and then click on the image and enter the selection instruction to display the image in full screen.

[0117] Step S305, if a danger alarm signal fed back by the current vehicle is obtained, the dangerous parts of the current vehicle are determined according to the danger alarm signal; the vehicle in at least one vehicle that has captured the dangerous parts is determined according to the dangerous parts and the relative angle relationship between the current vehicle and at least one vehicle; and the vehicle that has captured the dangerous parts is marked.

[0118] In this embodiment, the current vehicle also detects the distance between the vehicle body and surrounding obstacles in real time through radar, AVM, etc., and an alarm is issued when the distance between the vehicle body and surrounding obstacles is less than a certain threshold. This embodiment determines the vehicle that can photograph the dangerous part according to the dangerous part and the relative angle relationship between the current vehicle and each vehicle, and marks the image push mark of the vehicle that can photograph the dangerous part, so as to facilitate the user to switch to the appropriate screen and better assist the user to control the vehicle.

[0119] For example, if the alarm position of the current vehicle is the rear, and the current display shows the camera data of the target vehicle in front of the current vehicle, the situation of the rear cannot be seen. At this time, through the strategy of this embodiment, the current vehicle will mark the image push mark of the vehicle at the rear position, and the user can choose to switch to the camera data of the vehicle at the rear position after seeing the mark. This embodiment does not limit the marking method, for example, it can be flashing, changing color, etc.

[0120] In addition, in this embodiment, after controlling the current vehicle to display the image data of the target vehicle, if the current vehicle cannot be detected in the image data at any time, the current vehicle can be controlled to display a default strategy, such as AVM panoramic image, reversing image, etc.

[0121] Through the solution of this embodiment, by determining the camera that can capture the current vehicle, the image data is used to assist the self-vehicle control, without the need for verbal description and guidance by personnel outside the vehicle. Figure 4 As shown, car B turns and hits car A, so car A needs to back up and car B follows around the corner. Some cameras on cars A and C can see car B, so car B, as the current vehicle, can select the corresponding cameras on cars A and C, and display the image data captured by the corresponding cameras on the car screen in real time, thereby assisting in the control of the car. In addition, the solution of this embodiment can reduce the data processing volume of the cloud server, reduce the pressure on the cloud server, and speed up the processing. Moreover, the camera data can be switched more intelligently to assist in the control of the car, greatly improving the user's car experience.

[0122] In the present invention, for the non-assisted parking scenario, combined with Figure 5 , which is described by the following example.

[0123] Step S501, detecting at least one vehicle whose distance from the current vehicle is within a preset range; wherein at least one vehicle is a vehicle for which camera network sharing permission is enabled.

[0124] The specific implementation of this step can be found in Figure 2 or Figure 3 The description in the embodiments will not be repeated in this embodiment.

[0125] Step S502, if a target vehicle selection instruction is obtained, and the target vehicle selection instruction carries the identification of the target vehicle, the target vehicle is determined according to the identification of the target vehicle, and the target vehicle is a vehicle among at least one vehicle; if the distance between the current vehicle and the target vehicle is greater than or equal to a preset distance threshold, the image data captured by all external cameras of the target vehicle are obtained.

[0126] In this embodiment, if the distance between the current vehicle and the target vehicle is greater than or equal to a preset distance threshold, then the distance between the current vehicle and the target vehicle is far, and the camera of the target vehicle also has difficulty in photographing the current vehicle, it is considered to be a non-assisted parking scenario.

[0127] Step S503, controlling the current vehicle to arrange and display the image data taken by each external camera; if a selection instruction for the image data taken by any external camera is received from the current vehicle, controlling the current vehicle to display the image data taken by the external camera corresponding to the selection instruction.

[0128] The specific implementation of this step can be found in Figure 3 The description in the embodiments will not be repeated in this embodiment.

[0129] In this embodiment, the driver can view images farther away by selecting camera data of surrounding vehicles, which is convenient for the driver to understand the road conditions.

[0130] 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.

[0131] Figure 6 is a schematic diagram of the structure of a camera sharing device 60 provided in an embodiment of the present invention, see Figure 6 As shown, the device comprises:

[0132] A detection module 61 is used to detect at least one vehicle within a preset range from the current vehicle; wherein at least one vehicle is a vehicle for which camera network sharing permission is enabled;

[0133] The acquisition module 62 is used for acquiring the image data captured by the camera of the target vehicle according to the identification of the target vehicle if the target vehicle selection instruction is acquired and the target vehicle selection instruction carries the identification of the target vehicle; wherein the target vehicle is a vehicle among the at least one vehicle;

[0134] The control module 63 is used to control the current vehicle to display the image data of the target vehicle.

[0135] As a possible implementation manner, the acquisition module 62 is specifically used for:

[0136] If the distance between the current vehicle and the target vehicle is less than a preset distance threshold, then determining the relative angle relationship between the current vehicle and the target vehicle;

[0137] Determine at least one target camera from each external camera on the target vehicle according to the relative angle relationship;

[0138] Acquire image data captured by at least one target camera.

[0139] As a possible implementation manner, the acquisition module 62 is specifically used for:

[0140] Detecting image data captured by at least one target camera according to a pre-trained image detection algorithm;

[0141] If the current vehicle is detected in the image data taken by any target camera, the image data taken by the target camera is obtained.

[0142] As a possible implementation manner, the control module 63 is specifically used to:

[0143] Control the current vehicle arrangement to display the image data captured by each target camera;

[0144] If a selection instruction for image data taken by any target camera fed back by the current vehicle is received, the current vehicle is controlled to display the image data taken by the target camera corresponding to the selection instruction.

[0145] As a possible implementation manner, after controlling the current vehicle to display the image data of the target vehicle, the control module 63 is further used to:

[0146] If a danger alarm signal fed back by the current vehicle is obtained, the dangerous part of the current vehicle is determined according to the danger alarm signal;

[0147] Determine, according to the dangerous part and the relative angle relationship between the current vehicle and the at least one vehicle, a vehicle in the at least one vehicle that has photographed the dangerous part;

[0148] Vehicles that are photographed in dangerous areas will be marked.

[0149] As a possible implementation manner, the acquisition module 62 is specifically used for:

[0150] If the distance between the current vehicle and the target vehicle is greater than or equal to a preset distance threshold, image data captured by all external cameras of the target vehicle are obtained.

[0151] As a possible implementation manner, the control module 63 is specifically used to:

[0152] Control the current vehicle arrangement to display the image data captured by each external camera;

[0153] If a selection instruction for image data taken by any external camera fed back by the current vehicle is received, the current vehicle is controlled to display the image data taken by the external camera corresponding to the selection instruction.

[0154] The embodiment of the present invention can detect at least one vehicle with a preset distance from the current vehicle and with camera network sharing permission enabled during vehicle driving. The driver can select image data captured by the camera of the target vehicle that he wants to view from at least one vehicle according to his own needs; the driver can use the image of the vehicle in the cameras of surrounding vehicles to assist in self-vehicle control and perform safe parking; it can also help the driver view road conditions farther away and realize perception of the surrounding environment.

[0155] Figure 7 FIG. 7 is a schematic diagram of a vehicle 70 provided in one embodiment of the present invention. Figure 7 As shown, the vehicle 70 of this embodiment includes: a processor 71, a memory 72, and a computer program 73 stored in the memory 72 and executable on the processor 71, such as a camera sharing program. When the processor 71 executes the computer program 73, the steps in the above-mentioned camera sharing method embodiments are implemented, such as Figure 2 Alternatively, when the processor 71 executes the computer program 73, the functions of the modules in the above-mentioned device embodiments are realized, for example, Figure 6 The functions of modules 61 to 53 are shown.

[0156] Exemplarily, the computer program 73 may be divided into one or more modules / units, which are stored in the memory 72 and executed by the processor 71 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 73 in the vehicle 70. For example, the computer program 73 may be divided into a detection module 61, an acquisition module 62, and a control module 63 (modules in a virtual device), and the specific functions of each module are as follows:

[0157] A detection module 61 is used to detect at least one vehicle within a preset range from the current vehicle; wherein at least one vehicle is a vehicle for which camera network sharing permission is enabled;

[0158] The acquisition module 62 is used for acquiring the image data captured by the camera of the target vehicle according to the identification of the target vehicle if the target vehicle selection instruction is acquired and the target vehicle selection instruction carries the identification of the target vehicle; wherein the target vehicle is a vehicle among the at least one vehicle;

[0159] The control module 63 is used to control the current vehicle to display the image data of the target vehicle.

[0160] The vehicle 70 may include, but is not limited to, a processor 71 and a memory 72. Those skilled in the art will appreciate that Figure 7 This is only an example of the vehicle 70 and does not constitute a limitation of the vehicle 70 . The vehicle 70 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle 70 may also include input and output devices, network access devices, buses, etc.

[0161] The processor 71 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0162] The memory 72 may be an internal storage unit of the vehicle 70, such as a hard disk or memory of the vehicle 70. The memory 72 may also be an external storage device of the vehicle 70, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle 70. Further, the memory 72 may include both an internal storage unit and an external storage device of the vehicle 70. The memory 72 is used to store the computer program and other programs and data required by the vehicle 70. The memory 72 may also be used to temporarily store data that has been output or is to be output.

[0163] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0164] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0165] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0166] In the embodiments provided by the present invention, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0167] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0168] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0169] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0170] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A camera sharing method, characterized in that: include: Detecting at least one vehicle within a preset range of the distance from the current vehicle; wherein the at least one vehicle is a vehicle for which the camera network sharing permission is enabled; If a target vehicle selection instruction is obtained, and the target vehicle selection instruction carries an identifier of the target vehicle, then image data captured by a camera of the target vehicle is obtained according to the identifier of the target vehicle; wherein the target vehicle is a vehicle among the at least one vehicle; The current vehicle is controlled to display the image data of the target vehicle.

2. The camera sharing method according to claim 1, characterized in that: The step of obtaining the image data captured by the camera of the target vehicle includes: If the distance between the current vehicle and the target vehicle is less than a preset distance threshold, determining a relative angle relationship between the current vehicle and the target vehicle; Determining at least one target camera from each external camera on the target vehicle according to the relative angle relationship; Image data captured by the at least one target camera is acquired.

3. The camera sharing method as claimed in claim 2, characterized in that: The acquiring of image data captured by the at least one target camera comprises: Detecting the image data captured by the at least one target camera according to a pre-trained image detection algorithm; If the current vehicle is detected in the image data taken by any target camera, the image data taken by the target camera is acquired.

4. The camera sharing method according to claim 2 or 3, characterized in that: The controlling the current vehicle to display the image data of the target vehicle comprises: Controlling the current vehicle arrangement to display the image data captured by each target camera; If a selection instruction for the image data taken by any one of the target cameras is received from the current vehicle, the current vehicle is controlled to display the image data taken by the target camera corresponding to the selection instruction.

5. The camera sharing method according to claim 1, characterized in that: After controlling the current vehicle to display the image data of the target vehicle, the method further includes: If a danger warning signal fed back by the current vehicle is obtained, determining the dangerous part of the current vehicle according to the danger warning signal; Determining a vehicle among the at least one vehicle that has photographed the dangerous part according to the dangerous part and a relative angle relationship between the current vehicle and the at least one vehicle; The vehicle in which the dangerous part is photographed is marked.

6. The camera sharing method according to claim 1, characterized in that: The step of obtaining the image data captured by the camera of the target vehicle includes: If the distance between the current vehicle and the target vehicle is greater than or equal to a preset distance threshold, image data captured by all external cameras of the target vehicle are acquired.

7. The camera sharing method according to claim 6, characterized in that: The controlling the current vehicle to display the image data of the target vehicle comprises: Controlling the current vehicle arrangement to display the image data captured by each of the external cameras; If a selection instruction for the image data taken by any one of the external cameras is received from the current vehicle, the current vehicle is controlled to display the image data taken by the external camera corresponding to the selection instruction.

8. A camera sharing device, characterized in that: include: A detection module, used to detect at least one vehicle within a preset range from the current vehicle; wherein the at least one vehicle is a vehicle for which the camera network sharing permission is enabled; an acquisition module, configured to acquire image data captured by a camera of the target vehicle according to the identification of the target vehicle if a target vehicle selection instruction is acquired, the target vehicle selection instruction carrying the identification of the target vehicle; wherein the target vehicle is a vehicle among the at least one vehicle; A control module is used to control the current vehicle to display the image data of the target vehicle.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing 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 7 are implemented.

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