360-degree image starting and stopping method, device and equipment and storage medium

Abstract

The invention discloses a 360-degree image starting and stopping method, device and equipment and a storage medium, and relates to the technical field of automobile image control, in the first aspect, the 360-degree image starting and stopping method comprises the steps that a steering broadcast rod triggers a steering signal; after the front radar receives the steering signal, the distance between the vehicle and an obstacle is measured and calculated if the obstacle exists; at any vehicle speed, when no obstacle exists in the front or the distance between the front and the obstacle is larger than the instantaneous vehicle speed distance, the 360-degree image is started; after the steering of the vehicle is completed, when the maximum rotation angle is smaller than a set small angle threshold value and the radars on the left side and the right side recognize that no obstacle exists, the 360-degree image continues to be opened for a first set time period, and then the 360-degree image is automatically closed; and when the maximum rotation angle is greater than a set large angle threshold value and the radars on the left side and the right side recognize that no obstacle exists, the steering wheel is aligned, and the 360-degree image is closed. According to the 360-degree image opening and closing method, device and equipment and the storage medium, the problems that the 360-degree image cannot be opened under the high-speed condition and the 360-degree image cannot exit in time are solved.

Description

Technical Field

[0001] The present application relates to the field of automobile image control technology, and specifically to a 360-degree image on / off method, device, equipment and storage medium. Background Art

[0002] At present, the car's 360-degree panoramic image is an important auxiliary driving technology that uses the on-board display screen to view the 360-degree panoramic fusion, ultra-wide viewing angle, and seamless splicing of timely image information around the car, helping the driver to view the blind spots around the vehicle and improve driving safety.

[0003] In the related technology, there are two common methods for opening and closing the 360-degree image of a car:

[0004] The first type is that when the vehicle turns, the 360-degree image is turned on and off through the turn signal combined with the vehicle speed and gear position. Specifically, the driver turns the steering lever to trigger the turn signal. When the vehicle speed is less than a certain low setting value (usually 10km / h), the vehicle starts the 360-degree image on the corresponding side of the vehicle (displaying the image on the turning side); then when the vehicle speed is higher than a certain high setting value (usually 25km / h), the vehicle turns off the 360-degree image on the corresponding side of the vehicle; if the vehicle has not reached the high setting value, the 360-degree image on the corresponding side of the vehicle is turned off when the vehicle exits the D gear.

[0005] The second type is that the car's 360-degree image is manually turned on and off in combination with the vehicle speed when the vehicle is moving forward. Specifically, when the vehicle is moving forward, the driver attempts to turn on the 360-degree image through a button or voice. When the vehicle speed is not higher than the set high threshold, the 360-degree image is activated (displaying the full-range image), and then the driver turns, and then when the vehicle speed is higher than the set high threshold, the 360-degree image automatically exits; when the vehicle speed is not higher than the set high threshold, the 360-degree image can also be exited by manual or voice command, or when the vehicle exits the D gear, the 360-degree image is exited.

[0006] However, the first method of turning on and off the 360-degree image of the car has the following defects: ① It is related to the vehicle speed. The 360-degree image is only triggered in the case of ultra-low-speed turning. If the turn signal is triggered, when the vehicle is higher than a certain high setting value (generally 25km / h), the 360-degree image will not be turned on, and it cannot meet the image requirements when turning at high speed. ② After the vehicle turns, if it continues to drive at a low speed, it needs to exit the D gear before the 360-degree image can be automatically exited. The navigation interface, music, and video interface of the central control screen are occupied. Otherwise, the user needs to exit manually, which lacks flexibility and intelligence.

[0007] The second method of turning on and off the 360-degree image of a car has the following defects: the 360-degree image cannot meet the user's need to view the 360-degree image to supplement the blind spot when the vehicle is traveling at a speed greater than a set high threshold and wants to change lanes. Summary of the invention

[0008] The present application provides a 360-degree image opening and closing method, device, equipment and storage medium to solve the problem that 360-degree images cannot be opened under high-speed conditions and 360-degree images are not exited in time.

[0009] In a first aspect, an embodiment of the present application provides a 360-degree image opening and closing method, the method comprising the steps of:

[0010] The turn signal is triggered by the turn lever;

[0011] After receiving the turn signal, the front radar identifies the front and measures the distance between the vehicle and the obstacle if there is one. At any speed, when there is no obstacle in front or the distance to the obstacle is greater than the instantaneous vehicle speed, the 360-degree image is activated.

[0012] After the vehicle completes turning, when the maximum steering wheel rotation angle is less than the set small angle threshold and the radars on the left and right sides recognize no obstacles, the 360-degree image continues to be turned on for the first set time period and then automatically turns off; when the maximum steering wheel rotation angle is greater than the set large angle threshold and the radars on the left and right sides recognize no obstacles, the steering wheel returns to the center and the 360-degree image automatically turns off.

[0013] In combination with the first aspect, in one implementation, when the steering wheel is returned to the center position and the radars on the left and right sides identify obstacles, the 360-degree image continues to be turned on until the radars on the left and right sides identify no obstacles, and the 360-degree image is automatically turned off.

[0014] In combination with the first aspect, in one implementation, when the maximum steering wheel rotation angle is less than a set small angle threshold and the left and right radars identify obstacles, the 360-degree image continues to be turned on. After the left and right radars identify no obstacles for a second set time period, the 360-degree image is automatically turned off.

[0015] In combination with the first aspect, in one embodiment, the vehicle steering includes left or right lane changing, left or right turning and U-turn; the set small angle threshold is equal to 15°, and after the vehicle steering is completed, when the maximum rotation angle of the steering wheel is less than 15°, the vehicle steering is vehicle lane changing; the set large angle threshold is equal to 80°, and after the vehicle steering is completed, when the maximum rotation angle of the steering wheel is greater than 80°, the vehicle steering is vehicle left or right turning or vehicle U-turn.

[0016] In combination with the first aspect, in one implementation, when the left and right radars identify that there is always an obstacle for more than a third set time period, the left and right radars obtain information from the navigation system as to whether the vehicle has entered a congested section. If so, the time for automatically shutting down the 360-degree image is delayed by a fourth set time period.

[0017] In a second aspect, an embodiment of the present application provides a 360-degree image opening and closing device, including:

[0018] A turn signal receiving module, used for receiving a turn signal from a turn bar;

[0019] Radar ranging module, used to receive feedback signals from front, rear, left and right radars;

[0020] A steering wheel angle recognition module, used to recognize the maximum steering angle of a single steering wheel;

[0021] Vehicle speed recognition module, used to obtain vehicle speed;

[0022] The opening and closing module is used to start the 360-degree image when the turning signal receiving module obtains the turning signal, the radar ranging module determines that there is no obstacle ahead according to the feedback signal, or the distance between the vehicle and the front obstacle is greater than the instantaneous vehicle speed distance corresponding to the vehicle speed; it is also used to close the 360-degree image after the 360-degree image continues to be turned on for a first set time period after the vehicle turns, when the maximum steering angle is less than the set small angle threshold and the radars on the left and right sides recognize that there are no obstacles; when the maximum steering angle is greater than the set large angle threshold and the radars on the left and right sides recognize that there are no obstacles, the steering wheel returns to the center and the opening and closing module closes the 360-degree image.

[0023] In combination with the second aspect, in one embodiment, the opening and closing module is also used to keep the 360-degree image open when the steering wheel is returned to the center position and the left and right radars identify obstacles, until the radar ranging module determines that there are no obstacles based on the left and right radars, and the opening and closing module closes the 360-degree image.

[0024] In combination with the second aspect, in one embodiment, the opening and closing module is also used to keep the 360-degree image on when the maximum rotation angle of the steering wheel is less than a set small angle threshold and the left and right radars identify obstacles, until the radar ranging module determines that there are no obstacles on the left and right radars based on the left and right radars, and then the opening and closing module turns off the 360-degree image after a second set time period.

[0025] In a third aspect, an embodiment of the present application provides a 360 image opening and closing device, which includes a processor, a memory, and a 360 image opening and closing program stored in the memory and executable by the processor, wherein when the 360 ​​image opening and closing program is executed by the processor, the steps of the above-mentioned 360 image opening and closing method are implemented.

[0026] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a 360-degree image opening and closing program is stored, wherein when the 360-degree image opening and closing program is executed by a processor, the steps of the above-mentioned 360-degree image opening and closing method are implemented.

[0027] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0028] 1. The 360-degree image activation and deactivation method of the present application only needs to confirm that there is a safe distance for turning (no obstacles ahead or the distance to the obstacle is greater than the instantaneous vehicle speed distance) after receiving the turn signal, and the 360-degree image activation and deactivation method of the present application is not affected by the vehicle speed image and can be activated at any vehicle speed, solving the problem that the existing technical solution cannot activate the 360-degree image to supplement the blind spot of the field of vision in high-speed situations; at the same time, when the maximum rotation angle of the steering wheel is less than the set small angle threshold, it means that the vehicle is changing lanes. At this time, if the radars on the left and right sides recognize that there are no obstacles, the 360-degree image will continue to be activated for the first set time period and then automatically closed; the 360-degree image of the present application The opening and closing method closes according to the first set time period, which solves the problem that the 360-degree image cannot be exited in time if the vehicle is in a low speed after changing lanes; when the maximum rotation angle of the steering wheel is greater than the set large-angle threshold, it means that the vehicle is turning left or right or making a U-turn. At this time, if the radars on the left and right sides identify that there are no obstacles, the steering wheel returns to the center and the 360-degree image is automatically closed; the 360-degree image opening and closing method of the present application uses the steering wheel returning to the center as the 360-degree image closing condition, which solves the problem that the 360-degree image cannot be exited in time after turning left or right or making a U-turn; the 360-degree image opening and closing method of the present application, through reasonable design, can exit the 360-degree image in time to avoid occupying the central control screen for a long time, which is more intelligent and more flexible.

[0029] 2. The 360-degree image opening and closing device of the present application, after receiving the turn signal, the turn signal receiving module confirms that there is a safe distance for turning (there is no obstacle ahead or the distance to the obstacle is greater than the instantaneous vehicle speed distance), that is, the 360-degree image is started. The 360-degree image opening and closing device is not affected by the vehicle speed image and can start the 360-degree image at any vehicle speed; at the same time, the steering wheel angle recognition module recognizes the maximum steering angle of the steering wheel for a single turn, and the opening and closing module adopts different strategies to close the 360-degree image according to different maximum steering angles; when the maximum rotation angle of the steering wheel is less than the set small angle threshold, it means that the vehicle is changing lanes. At this time, if the radars on the left and right sides recognize that there are no obstacles, the 360-degree image continues to be opened for the first set time period, and the opening and closing module closes the 360-degree image; the 360-degree image opening and closing method of the present application closes according to the first set time period, which solves the problem that the 360-degree image cannot be exited in time if it has been at a low speed after changing lanes. When the maximum rotation angle of the steering wheel is greater than the set large-angle threshold, it means that the vehicle is turning left or right or making a U-turn. At this time, if the radars on the left and right sides identify that there are no obstacles, the steering wheel returns to the center and the opening and closing module closes the 360-degree image. The 360-degree image opening and closing device of the present application uses the steering wheel returning to the center as the 360-degree image closing condition, which solves the problem of not being able to exit in time after turning left or right or making a U-turn. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1This is a flow chart of an embodiment of the 360-degree image opening and closing method of the present application;

[0031] Figure 2 This is a functional module diagram of an embodiment of the 360-degree image opening and closing device of the present application;

[0032] Figure 3 This is a schematic diagram of the hardware structure of the 360-degree image opening and closing device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0035] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0036] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0037] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0038] In order to make the purpose, technical solution and advantages of this application clearer, the following Figure 1 The implementation methods of the present application are described in further detail.

[0039] In a first aspect, an embodiment of the present application provides a 360-degree image opening and closing method.

[0040] In one embodiment, referring to Figure 1 , Figure 1 FIG. 1 is a flow chart of the first embodiment of the 360-degree image opening and closing method of the present application. Figure 1 As shown, the 360-degree image opening and closing method includes:

[0041] S1. The steering lever triggers the turn signal.

[0042] S2. After receiving the turn signal, the front radar identifies the front and measures the distance between the vehicle and the obstacle if there is one. At any vehicle speed, when there is no obstacle in front or the distance to the obstacle is greater than the instantaneous vehicle speed, the 360-degree image is activated.

[0043] The instantaneous speed distance is the vehicle speed value in km / h as the vehicle distance in meters. For example, when the instantaneous speed is 10 km / h, the instantaneous speed distance is 10 meters. The instantaneous speed distance is used as a reference to determine whether there is a safe distance for turning.

[0044] It is worth noting that at any speed, as long as there is a safe distance for turning, the 360-degree image can be turned on. Different from the existing technical solutions, the 360-degree image cannot be turned on at high speeds, which solves the problem that the 360-degree image cannot be turned on at high speeds.

[0045] S3. After the vehicle completes the turn, the maximum rotation angle of the steering wheel is first identified; when the maximum rotation angle of the steering wheel is less than the set small angle threshold, it means that the vehicle is changing lanes. At this time, if the radars on the left and right sides identify no obstacles, the 360-degree image will continue to be turned on for the first set period of time and then automatically turned off; when the maximum rotation angle of the steering wheel is greater than the set large angle threshold, it means that the vehicle is turning left or right or making a U-turn. At this time, if the radars on the left and right sides identify no obstacles, the steering wheel returns to the center and the 360-degree image is automatically turned off. The steering wheel returns to the center when it returns to zero degrees.

[0046] The small angle threshold is set according to the steering wheel angle of the vehicle in the actual lane change scenario. The large angle threshold is set according to the steering wheel angle of the vehicle in the actual left or right turn and U-turn scenario.

[0047] When changing lanes, the steering wheel turns at a small angle, which is less than the set small angle threshold. After the lane change is completed, the 360-degree image is automatically turned off after the first set time period. When turning left or right or making a U-turn, the steering wheel turns at a large angle, which is greater than the set large angle threshold, the steering wheel returns to the center, and the 360-degree image is automatically turned off.

[0048] Specifically, when the 360-degree image is turned on, the opening range is the same as that of the conventional 360-degree image, that is, when driving straight, the full-range image is turned on; when turning, the corresponding side image is turned on (the left image is turned on when turning left, and the right image is turned on when turning right).

[0049] The 360-degree image on / off method of the present application only needs to confirm that there is a safe distance for turning (no obstacle ahead or the distance to the obstacle is greater than the instantaneous vehicle speed distance) after receiving the turn signal, and the 360-degree image on / off method of the present application is not affected by the vehicle speed image and can be started at any vehicle speed, thus solving the problem that the existing technical solution cannot start the 360-degree image to supplement the blind spot of the field of vision in high-speed situations;

[0050] At the same time, when the maximum steering wheel rotation angle is less than the set small angle threshold, it means that the vehicle is changing lanes. At this time, if the radars on the left and right sides recognize that there are no obstacles, the 360-degree image will continue to be turned on for the first set time period and then automatically turned off. The 360-degree image on-off method of the present application is turned off according to the first set time period, which solves the problem that the 360-degree image cannot be exited in time if it is always at a low speed after changing lanes.

[0051] When the maximum rotation angle of the steering wheel is greater than the set large angle threshold, it means that the vehicle is turning left or right or making a U-turn. At this time, if the radars on the left and right sides recognize that there are no obstacles, the steering wheel returns to the center and the 360-degree image is automatically closed. The 360-degree image opening and closing method of the present application uses the steering wheel returning to the center as the 360-degree image closing condition, which solves the problem of being unable to exit in time after turning left or right or making a U-turn.

[0052] The 360-degree image on-off method of the present application is more intelligent and flexible through reasonable design to exit the 360-degree image in time and avoid occupying the central control screen for a long time.

[0053] Furthermore, in one embodiment, when the steering wheel is returned to the center position and the radars on the left and right sides identify obstacles, the 360-degree image remains on until the radars on the left and right sides identify no obstacles, and the 360-degree image is automatically turned off.

[0054] It is worth mentioning that if there are obstacles on the left and right sides, the opening time will be extended; but if there is an obstacle in front, the time will not be extended. The reason is that the front is not a blind spot, so there is no need to use 360 ​​images to supplement the field of vision, and when there is a risk of collision, it can avoid occupying the central control screen.

[0055] In this embodiment, in the scenarios of left or right turns and U-turns, when the steering wheel returns to the center position but the radars on the left and right sides identify obstacles, the activation time of the 360-degree image is appropriately extended until the radars on the left and right sides identify no obstacles and the 360-degree image is automatically turned off, thereby extending the need for additional field of view and further ensuring steering safety.

[0056] Furthermore, in one embodiment, when the maximum steering wheel rotation angle is less than the set small angle threshold and the left and right radars identify obstacles, that is, in a scenario where there is an obstacle after changing lanes, and the 360-degree image continues to be turned on until the left and right radars identify that there are no obstacles, then after a second set time period, the 360-degree image is automatically turned off.

[0057] Preferably, the second set time period is equal to 5s, the radars on the left and right sides recognize that there are no obstacles, and after a delay of 5 seconds, the 360-degree image is automatically closed.

[0058] In this embodiment, in the lane changing scenario, when the radars on the left and right sides identify obstacles, the activation time of the 360-degree image is appropriately extended until the radars on the left and right sides identify no obstacles. Then, the second set time period is extended and the 360-degree image is automatically turned off. This is set for the scenario of lane changing with obstacles on the left and right sides, which can extend the need for additional field of view and further ensure steering safety.

[0059] Specifically, the radars on the left and right sides identify whether there are obstacles and define whether they are obstacles based on the pre-set left and right safety distances; if they are within the left and right safety distances, they are considered obstacles, and the 360-degree image display time is appropriately extended to supplement the field of view; if they are outside the left and right safety distances, they are not considered obstacles, among which vehicles driving parallel in the center of adjacent lanes are not considered obstacles.

[0060] Furthermore, in one embodiment, vehicle steering includes changing lanes left or right, turning left or right, and turning around.

[0061] The small angle threshold is set to 15°. When the maximum turning angle of the steering wheel is less than the set small angle threshold, the vehicle turns to change lanes left or right.

[0062] The large angle threshold is set to 80°. When the maximum turning angle of the steering wheel is greater than the set large angle threshold, the vehicle turns left or right or turns around.

[0063] Specifically, when the vehicle changes lanes, the steering wheel rotates at an angle generally between 3 and 10 degrees. Specifically, the steering wheel rotation angle when changing lanes will vary depending on the vehicle speed. When the vehicle speed is fast, the steering wheel rotation amplitude should be smaller, generally between 3 and 5 degrees; and when the vehicle speed is slow, the steering wheel rotation amplitude can be appropriately increased, generally between 5 and 10 degrees.

[0064] When the vehicle turns around, the steering wheel usually needs to be rotated more than 90 degrees and adjusted to a half-turn state so that the front of the vehicle is aligned with the center of the road 12.

[0065] When the vehicle turns left or right, the steering wheel rotation angle varies depending on factors such as the turning radius and vehicle speed, but usually the rotation angles for left and right turns are similar, generally between 90 degrees and 180 degrees. Small radius turns: On narrow roads or when a quick U-turn is required, the steering wheel may need to be rotated close to 180 degrees or more. Large radius turns: When turning on wide roads or highways, the steering wheel rotation angle may only be around 90 degrees.

[0066] Furthermore, in one embodiment, when the left and right radars identify that there are obstacles for more than a third set time period, the left and right radars obtain information from the navigation system as to whether the vehicle has entered a congested section. If so, the time for automatically shutting down the 360-degree image is delayed by a fourth set time period.

[0067] Preferably, the fourth set time period is equal to 30 seconds, and the left and right radars obtain from the navigation system that the vehicle has entered a congested road section, and the time for automatically closing the 360-degree image is delayed by 30 seconds.

[0068] In this embodiment, the left and right radars obtain information from the navigation system that the vehicle has entered a congested road section, and the time for the 360-degree image to automatically close is delayed, so that it can adapt to the road scene and supplement the field of vision for a long time.

[0069] In a second aspect, the embodiment of the present application also provides a 360-degree image opening and closing device.

[0070] In one embodiment, referring to Figure 2 , Figure 2 Schematic diagram of the functional modules of an embodiment of the 360-degree image opening and closing device of the present application. Figure 2 As shown, the 360-degree image opening and closing device includes:

[0071] A turn signal receiving module, used for receiving a turn signal from a turn bar;

[0072] The radar ranging module is used to receive feedback signals from the front, rear, left and right radars; the feedback signals include whether there is an obstacle and, if so, the distance to the obstacle;

[0073] A steering wheel angle recognition module is used to recognize the maximum steering angle of the steering wheel in a single turn; wherein a single turn refers to a process from returning to zero degrees to returning to zero degrees, and the steering wheel angle recognition module recognizes the maximum steering angle in the process;

[0074] Vehicle speed recognition module, used to obtain vehicle speed;

[0075] The opening and closing module is used to start the 360-degree image when the turning signal receiving module obtains the turning signal, the radar ranging module determines that there is no obstacle ahead according to the feedback signal, or the distance between the vehicle and the obstacle ahead is greater than the instantaneous vehicle speed distance corresponding to the vehicle speed; specifically, at any vehicle speed, the 360-degree image can be turned on as long as there is a safe distance for turning. Different from the existing technical solutions, the 360-degree image cannot be turned on at high speeds, which solves the problem that the 360-degree image cannot be turned on at high speeds;

[0076] The opening and closing module is also used to, after the vehicle has completed turning, when the maximum steering angle is less than the set small-angle threshold and the radars on the left and right sides recognize that there are no obstacles, it means that the vehicle is changing lanes and there are no obstacles on the left and right. After the 360-degree image continues to be opened for the first set time period, the opening and closing module closes the 360-degree image; when the maximum steering angle is greater than the set large-angle threshold and the radars on the left and right sides recognize that there are no obstacles, it means that the vehicle is turning left or right or turning around and there are no obstacles on the left and right. The steering wheel returns to the center position, and the opening and closing module closes the 360-degree image.

[0077] The 360-degree image opening and closing device of the present application, after receiving the turning signal, the turning signal receiving module confirms that there is a safe distance for turning (no obstacle in front or the distance to the obstacle is greater than the instantaneous vehicle speed distance), that is, the 360-degree image is started. The 360-degree image opening and closing device is not affected by the vehicle speed image and can start the 360-degree image at any vehicle speed;

[0078] At the same time, the steering wheel angle recognition module recognizes the maximum steering angle of the steering wheel for a single turn. According to different maximum steering angles, the opening and closing module uses different strategies to close the 360-degree image. When the maximum rotation angle of the steering wheel is less than the set small angle threshold, it means that the vehicle is changing lanes. At this time, if the radars on the left and right sides recognize that there are no obstacles, the 360-degree image continues to be opened for the first set time period, and the opening and closing module closes the 360-degree image. The 360-degree image opening and closing method of the present application closes according to the first set time period, which solves the problem that the 360-degree image cannot be exited in time if it is always at a low speed after changing lanes. When the maximum rotation angle of the steering wheel is greater than the set large angle threshold, it means that the vehicle is turning left or right or making a U-turn. At this time, if the radars on the left and right sides recognize that there are no obstacles, the steering wheel returns to the center, and the opening and closing module closes the 360-degree image. The 360-degree image opening and closing device of the present application uses the steering wheel returning to the center as the 360-degree image closing condition, which solves the problem that the 360-degree image cannot be exited in time after turning left or right or making a U-turn.

[0079] Furthermore, in one embodiment, the opening and closing module is also used to keep the 360-degree image open when the steering wheel is returned to the center position and the left and right radars identify obstacles, until the radar ranging module determines that there are no obstacles based on the left and right radars, and the opening and closing module closes the 360-degree image.

[0080] In this embodiment, in the scenarios of left or right turns and U-turns, the steering wheel returns to the center position, but when the radars on the left and right sides identify obstacles, the opening time of the 360-degree image is appropriately extended until the radars on the left and right sides identify that there are no obstacles. The opening and closing module turns off the 360-degree image, which can extend the need for additional field of view and further ensure steering safety.

[0081] Furthermore, in one embodiment, the opening and closing module is also used to keep the 360-degree image on when the maximum rotation angle of the steering wheel is less than a set small angle threshold and the left and right radars identify obstacles, until the radar ranging module determines that there are no obstacles based on the left and right radars, and then after a second set time period, the opening and closing module turns off the 360-degree image.

[0082] In this embodiment, in the lane changing scenario, when the radars on the left and right sides identify obstacles, the opening time of the 360-degree image is appropriately extended until the radars on the left and right sides identify no obstacles. Then, the second set time period is extended again, and the opening and closing module turns off the 360-degree image. The scenario of changing lanes with obstacles on the left and right is set, which can extend the need for supplementary field of view and further ensure steering safety.

[0083] In a third aspect, an embodiment of the present application provides a 360-degree image opening and closing device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0084] Reference Figure 3 , Figure 3 Schematic diagram of the hardware structure of the 360-degree image opening and closing device involved in the embodiment of the present application. In the embodiment of the present application, the 360-degree image opening and closing device may include a processor, a memory, a communication interface and a communication bus.

[0085] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0086] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the AAAA device, and the interface used to realize the interconnection between the AAAA device and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0087] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0088] The processor may be a general-purpose processor, which may call the 360-degree image opening and closing program stored in the memory and execute the 360-degree image opening and closing method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the 360-degree image opening and closing program is called may refer to the various embodiments of the 360-degree image opening and closing method of the present application, which will not be repeated here.

[0089] Those skilled in the art will understand that Figure 3 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0090] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0091] The readable storage medium of the present application stores a 360-degree image opening and closing program, wherein when the 360-degree image opening and closing program is executed by a processor, the steps of the 360-degree image opening and closing method as described above are implemented.

[0092] Among them, the method implemented when the 360 ​​image opening and closing program is executed can refer to the various embodiments of the 360 ​​image opening and closing method of the present application, and will not be repeated here.

[0093] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0094] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0095] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A 360-degree image opening and closing method, characterized in that: The method comprises the steps of: The turn signal is triggered by the turn lever; After receiving the turn signal, the front radar identifies the front and measures the distance between the vehicle and the obstacle if there is one. At any speed, when there is no obstacle in front or the distance to the obstacle is greater than the instantaneous vehicle speed, the 360-degree image is activated. After the vehicle completes turning, when the maximum steering wheel rotation angle is less than the set small angle threshold and the radars on the left and right sides recognize no obstacles, the 360-degree image continues to be turned on for the first set time period and then automatically turns off; when the maximum steering wheel rotation angle is greater than the set large angle threshold and the radars on the left and right sides recognize no obstacles, the steering wheel returns to the center and the 360-degree image automatically turns off.

2. The 360-degree image opening and closing method according to claim 1, characterized in that: When the steering wheel is returned to the center position and the radars on the left and right sides identify obstacles, the 360-degree image continues to be turned on until the radars on the left and right sides identify no obstacles, and the 360-degree image is automatically turned off.

3. The 360-degree image opening and closing method according to claim 1, characterized in that: When the maximum steering angle of the steering wheel is less than the set small angle threshold and the radars on the left and right sides identify obstacles, the 360-degree image continues to be turned on. After the radars on the left and right sides identify no obstacles for the second set time period, the 360-degree image is automatically turned off.

4. The 360-degree image opening and closing method according to claim 1, characterized in that: The vehicle steering includes left or right lane change, left or right turn and U-turn; the small angle threshold is set to 15°. After the vehicle steering is completed, when the maximum rotation angle of the steering wheel is less than 15°, the vehicle steering is a lane change; the large angle threshold is set to 80°. After the vehicle steering is completed, when the maximum rotation angle of the steering wheel is greater than 80°, the vehicle steering is a left or right turn or a U-turn.

5. The 360-degree image opening and closing method according to claim 1, characterized in that: When the left and right radars identify that there are obstacles for more than the third set time period, the left and right radars obtain information from the navigation system whether the vehicle has entered a congested section. If so, the time for automatically shutting down the 360-degree image is delayed by the fourth set time period.

6. A 360-degree image opening and closing device, characterized in that: include: A turn signal receiving module, used for receiving a turn signal from a turn bar; Radar ranging module, used to receive feedback signals from front, rear, left and right radars; A steering wheel angle recognition module, used to recognize the maximum steering angle of a single steering wheel; Vehicle speed recognition module, used to obtain vehicle speed; The opening and closing module is used to start the 360-degree image when the turning signal receiving module obtains the turning signal, the radar ranging module determines that there is no obstacle ahead according to the feedback signal, or the distance between the vehicle and the front obstacle is greater than the instantaneous vehicle speed distance corresponding to the vehicle speed; it is also used to close the 360-degree image after the 360-degree image continues to be turned on for a first set time period after the vehicle turns, when the maximum steering angle is less than the set small angle threshold and the radars on the left and right sides recognize that there are no obstacles; when the maximum steering angle is greater than the set large angle threshold and the radars on the left and right sides recognize that there are no obstacles, the steering wheel returns to the center and the opening and closing module closes the 360-degree image.

7. The 360-degree image opening and closing method according to claim 6, characterized in that: The opening and closing module is also used to keep the 360-degree image open when the steering wheel is returned to the center position and the left and right radars identify obstacles, until the radar ranging module determines that there are no obstacles based on the left and right radars, and the opening and closing module closes the 360-degree image.

8. The 360-degree image opening and closing method according to claim 6, characterized in that: The opening and closing module is also used to keep the 360-degree image on when the maximum rotation angle of the steering wheel is less than the set small angle threshold and the left and right radars identify obstacles, until the radar ranging module determines that there are no obstacles on the left and right radars based on the left and right radars, and then the opening and closing module closes the 360-degree image after a second set time period.

9. A 360-degree image opening and closing device, characterized in that: The 360 ​​image opening and closing device includes a processor, a memory, and a 360 image opening and closing program stored in the memory and executable by the processor, wherein when the 360 ​​image opening and closing program is executed by the processor, the steps of the 360 ​​image opening and closing method as described in any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a 360-degree image opening and closing program, wherein when the 360-degree image opening and closing program is executed by a processor, the steps of the 360-degree image opening and closing method as described in any one of claims 1 to 5 are implemented.

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