Vehicle panorama display method, system and device, communication equipment, storage medium and vehicle

Abstract

The invention relates to a vehicle panoramic display method, system and device, communication equipment, a storage medium and a vehicle. The method comprises the following steps: receiving first video stream data and obstacle information sent by a front-view binocular camera unit, and three paths of video stream data sent by a left-view camera unit, a right-view camera unit and a rear-view camera unit at the same moment; performing distortion splicing processing on the first video stream data and the three paths of video stream data to obtain panoramic video data; performing superposition processing on the obstacle contour information and the panoramic video data to obtain superposed panoramic video data; comparing the current chassis height information with the obstacle size information to obtain a comparison result; marking the obstacle according to the comparison result to obtain marking information; and superposing the mark information on the superposed panoramic video data to obtain the target panoramic video data, so that a user can intuitively judge whether the vehicle can safely pass through the obstacle or not.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle panoramic display method, system, device, communication equipment, storage medium and vehicle. Background Art

[0002] The in-vehicle panoramic system supplements the driver's field of vision, eliminates the driver's blind spots to a certain extent, greatly improves driving safety, and has become the most commonly installed advanced driver assistance system application.

[0003] At present, the on-board panoramic system generally uses four panoramic cameras arranged around the vehicle body as image input, and cooperates with certain automatic triggering logic to realize the function of automatic vision assistance. However, in special environments, for example, when facing obstacles such as stones, especially those with a height close to the chassis height, the panoramic system in the prior art can only display the surrounding environment to the vehicle personnel in the form of video, making it impossible for the vehicle personnel to judge whether they can safely pass the obstacles. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle panoramic display method to solve the problem that the panoramic system in the prior art can only display the surrounding environment to vehicle-related personnel in the form of video, resulting in the vehicle-related personnel being unable to judge whether they can safely pass through obstacles.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect of the present invention, a vehicle panoramic display method is provided, which is applied to a panoramic system control unit. The method comprises:

[0007] Receive first video stream data and obstacle information sent by a front binocular camera unit of a first vehicle, and three video stream data sent at the same time by a left camera unit, a right camera unit, and a rear camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle outline information, and the obstacle information is obtained by the front binocular camera unit based on the first video stream data after detecting that an obstacle exists within a preset range of the first vehicle;

[0008] Performing distortion splicing processing on the first video stream data and the three-channel video stream data to obtain panoramic video data;

[0009] Performing superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data;

[0010] Comparing the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result;

[0011] Marking the obstacle according to the comparison result to obtain marking information;

[0012] The marking information is superimposed on the superimposed panoramic video data to obtain target panoramic video data, and is displayed on a preset display screen, so that a user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0013] Furthermore, the obstacle information also includes obstacle distance information; after the step of superimposing the marking information on the superimposed panoramic video data to obtain the target panoramic video data, and displaying it on a preset display screen, the method includes:

[0014] Receiving current vehicle speed information of the first vehicle sent by a vehicle body electronic stability system;

[0015] Obtaining a collision time point according to the current vehicle speed information and the obstacle distance information, wherein the collision time point is a time point when the first vehicle collides with the obstacle;

[0016] When it is detected that the collision point time is within a preset range, a warning message is sent to a warning alarm device, so that the warning alarm device sends the warning message to a user corresponding to the first vehicle.

[0017] Further, after the step of sending the warning information to the warning alarm device when the collision point time is detected to be within a preset range, so that the warning alarm device sends the warning information to the user corresponding to the first vehicle, the method includes:

[0018] Obtaining coordinate information and length information of the road section corresponding to the warning information;

[0019] The coordinate information, the length information and the obstacle size information are sent to a high-precision map, so that the high-precision map sends the coordinate information, the length information and the obstacle size information to a preset cloud, and the user corresponding to the second vehicle updates the high-precision map through the preset cloud to obtain the coordinate information, the length information and the obstacle size information corresponding to the same road section.

[0020] Further, before the step of receiving the first video stream data and obstacle information sent by the front binocular camera unit of the first vehicle, and the three-way video stream data sent by the left camera, the right camera and the rear camera of the first vehicle at the same time, the method includes:

[0021] Receive road condition information sent by a high-precision map to put the forward-looking binocular camera unit of the first vehicle in a working state, wherein the road condition information includes that the first vehicle is on an unpaved road.

[0022] Further, after the step of comparing the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result, the method includes:

[0023] Determining whether to adjust the chassis height corresponding to the first vehicle according to the comparison result;

[0024] If so, a suspension height adjustment instruction is sent to the suspension system of the first vehicle so that the suspension system controls the chassis of the first vehicle.

[0025] In another aspect of the present invention, a vehicle panoramic display method is provided, which is applied to a binocular camera unit, and the method comprises:

[0026] Receive traffic information sent by high-precision maps;

[0027] Acquire first video stream data in front of the vehicle in real time according to the road condition information;

[0028] Determining whether there is an obstacle according to the first video stream data;

[0029] If yes, obtaining the obstacle information, wherein the obstacle information includes obstacle size information and obstacle outline information;

[0030] When it is detected that the obstacle size information is greater than the target threshold, the left view camera unit, the right view camera unit and the rear view camera unit of the first vehicle are controlled to send three video stream data at the same time to the panoramic system control unit, and the first video stream data and the obstacle information are sent to the panoramic system control unit, so that the panoramic system control unit performs distortion splicing processing on the first video stream data and the three video stream data to obtain panoramic video data; performs superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; compares the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result; marks the obstacle according to the comparison result to obtain marking information; superimposes the marking information on the superimposed panoramic video data to obtain target panoramic video data, and displays it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0031] In another aspect of the present invention, a vehicle panoramic display system is provided, the vehicle panoramic display system comprising: a panoramic system control unit, a binocular camera unit, a left-view camera unit, a right-view camera unit, a rear-view camera unit, a preset display screen, a suspension system, a warning alarm device, and a high-precision map;

[0032] The panoramic system control unit is used to receive the first video stream data and obstacle information sent by the front binocular camera unit of the first vehicle, as well as the three-way video stream data sent at the same time by the left camera unit, the right camera unit and the rear camera unit of the first vehicle, perform distortion splicing processing on the first video stream data and the three-way video stream data to obtain panoramic video data; perform superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; perform comparison according to the current chassis height information corresponding to the first vehicle and the obstacle size information to obtain a comparison result; mark the obstacle according to the comparison result to obtain marking information; superimpose the marking information on the superimposed panoramic video data to obtain target panoramic video data, and display it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen;

[0033] The binocular camera unit is used to receive the road condition information sent by the high-precision map; obtain the first video stream data in front of the vehicle in real time according to the road condition information; determine whether there is an obstacle according to the first video stream data; if so, obtain the obstacle information, wherein the obstacle information includes obstacle size information and obstacle outline information; when it is detected that the obstacle size information is greater than a target threshold, control the left-view camera unit, the right-view camera unit and the rear-view camera unit of the first vehicle to send three-way video stream data at the same time to the panoramic system control unit, and send the first video stream data and obstacle information to the panoramic system control unit;

[0034] The suspension system is used to receive a suspension height adjustment instruction sent by the panoramic system control unit, and control the chassis of the first vehicle according to the suspension height adjustment instruction;

[0035] The early warning alarm device is used to receive the early warning information sent by the panoramic system control unit, and send the early warning information to the user in a preset manner;

[0036] The high-precision map is used to obtain road condition information corresponding to the first vehicle, and to send coordinate information, length information and obstacle size information to a preset cloud.

[0037] In another aspect of the present invention, a vehicle panoramic display device is provided, which is applied to a panoramic system control unit, and the device includes:

[0038] A receiving module, configured to receive first video stream data and obstacle information sent by a front-view binocular camera unit of a first vehicle, and three-way video stream data sent at the same time by a left-view camera unit, a right-view camera unit, and a rear-view camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle outline information, and the obstacle information is obtained by the front-view binocular camera unit based on the first video stream data after detecting that an obstacle exists within a preset range of the first vehicle;

[0039] A splicing module, used for performing distortion splicing processing on the first video stream data and the three-channel video stream data to obtain panoramic video data;

[0040] A first superposition module, configured to superimpose the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data;

[0041] A comparison module, used for comparing the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result;

[0042] A marking module, used for marking the obstacle according to the comparison result to obtain marking information;

[0043] The display module is used to superimpose the marking information on the superimposed panoramic video data to obtain target panoramic video data, and display it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0044] Furthermore, the obstacle information also includes obstacle distance information, and the device also includes:

[0045] A vehicle speed information receiving module, used for receiving the current vehicle speed information of the first vehicle sent by the vehicle body electronic stability system;

[0046] A collision time point acquisition module, used to obtain a collision time point according to the current vehicle speed information and the obstacle distance information, wherein the collision time point is a time point when the first vehicle collides with the obstacle;

[0047] The early warning module is used to send early warning information to the early warning alarm device when it is detected that the collision point time is within a preset range, so that the early warning alarm device sends the early warning information to the user corresponding to the first vehicle.

[0048] Furthermore, the device also includes:

[0049] A road section information acquisition module is used to acquire the coordinate information and length information of the road section corresponding to the warning information;

[0050] The second vehicle acquisition module is used to send the coordinate information, the length information and the obstacle size information to the high-precision map, so that the high-precision map sends the coordinate information, the length information and the obstacle size information to a preset cloud, and the user corresponding to the second vehicle updates the high-precision map through the preset cloud to obtain the coordinate information, the length information and the obstacle size information corresponding to the same road section.

[0051] Furthermore, the device also includes:

[0052] A road condition information receiving module is used to receive road condition information sent by a high-precision map so that the forward-looking binocular camera unit of the first vehicle is in a working state, wherein the road condition information includes that the first vehicle is on an unpaved road.

[0053] Furthermore, the device also includes:

[0054] A judgment module, used for judging whether to adjust the chassis height corresponding to the first vehicle according to the comparison result;

[0055] The adjustment module is configured to, if yes, send a suspension height adjustment instruction to the suspension system of the first vehicle so that the suspension system controls the chassis of the first vehicle.

[0056] In another aspect of the present invention, a vehicle panoramic display device is provided, which is applied to a binocular camera unit, and the device includes:

[0057] A receiving module is used to receive traffic information sent by a high-precision map;

[0058] A first acquisition module, used for acquiring first video stream data in front of the vehicle in real time according to the road condition information;

[0059] A judging module, used for judging whether there is an obstacle according to the first video stream data;

[0060] A second acquisition module, configured to acquire the obstacle information if yes, wherein the obstacle information includes obstacle size information and obstacle outline information;

[0061] The display module is used to control the left-view camera unit, the right-view camera unit and the rear-view camera unit of the first vehicle to send three video stream data at the same time to the panoramic system control unit, and send the first video stream data and the obstacle information to the panoramic system control unit, so that the panoramic system control unit performs distortion splicing processing on the first video stream data and the three video stream data to obtain panoramic video data; performs superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; compares the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result; marks the obstacle according to the comparison result to obtain marking information; superimposes the marking information on the superimposed panoramic video data to obtain target panoramic video data, and displays it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0062] In another aspect of the present invention, a communication device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0063] Memory, used to store computer programs;

[0064] The processor is used to implement any of the above-mentioned vehicle panoramic display methods when executing the program stored in the memory.

[0065] In another aspect of the present invention, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the computer executes any of the above-mentioned vehicle panoramic display methods.

[0066] In another aspect of the implementation of the present invention, a vehicle is provided, comprising any one of the above-mentioned vehicle panoramic display devices.

[0067] Beneficial effects of the present invention:

[0068] The vehicle panoramic display method provided by the embodiment of the present invention receives first video stream data and obstacle information sent by a front binocular camera unit of a first vehicle, and three video stream data sent at the same time by a left camera unit, a right camera unit and a rear camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle contour information, and the obstacle information is obtained by the front binocular camera unit based on the first video stream data when detecting that there is an obstacle within a preset range of the first vehicle; the first video stream data and the three video stream data are distorted and spliced ​​to obtain panoramic video data; the obstacle contour information and the panoramic video data are superimposed to obtain superimposed panoramic video data; the current chassis height information corresponding to the first vehicle is compared with the obstacle size information to obtain a comparison result; the obstacle is marked according to the comparison result to obtain marking information; the marking information is superimposed on the superimposed panoramic video data to obtain target panoramic video data, and the target panoramic video data is displayed on a preset display screen, so that a user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen. The present invention utilizes the ability of a binocular camera to measure obstacle sizes, highlights the outlines of obstacles that a vehicle cannot pass through, and presents the outlines of obstacles on the road in the direction of the vehicle's travel on a preset display screen of the vehicle. That is, the obstacle outline is outlined by a binocular camera, and the obstacle size is calculated, and then combined with the vehicle's own parameters, it is determined whether the vehicle can safely pass through the obstacle, and the above information is presented to the user in a visual form, so that the user can intuitively judge whether the vehicle can safely pass through the obstacle ahead on a bumpy road section. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0070] Figure 1 The following is a flow chart showing the steps of the vehicle panoramic display method provided by the embodiment of the present invention. Figure 1 ;

[0071] Figure 2 The following is a flow chart showing the steps of the vehicle panoramic display method provided by the embodiment of the present invention. Figure 2 ;

[0072] Figure 3 The following is a flow chart showing the steps of the vehicle panoramic display method provided by the embodiment of the present invention. Figure 3 ;

[0073] Figure 4 The following is a flow chart showing the steps of the vehicle panoramic display method provided by the embodiment of the present invention. Figure 4 ;

[0074] Figure 5 A block diagram of a vehicle panoramic display system provided by an embodiment of the present invention is shown;

[0075] Figure 6 A schematic diagram showing a vehicle corresponding to a vehicle panoramic display system provided by an embodiment of the present invention;

[0076] Figure 7 A device block diagram of a vehicle panoramic display device provided by an embodiment of the present invention is shown;

[0077] Figure 8 A device block diagram of a vehicle panoramic display device provided by an embodiment of the present invention is shown;

[0078] Fig. 9 A structural block diagram of a communication device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0079] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0080] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable readers to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can also be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0081] Reference Figure 1 , showing the steps of the vehicle panoramic display method provided by the embodiment of the present invention Figure 1 , the method may include:

[0082] Step 101, receiving first video stream data and obstacle information sent by a front-view binocular camera unit of a first vehicle, and three-way video stream data sent at the same time by a left-view camera unit, a right-view camera unit, and a rear-view camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle contour information, and the obstacle information is obtained by the front-view binocular camera unit based on the first video stream data by processing when an obstacle is detected within a preset range of the first vehicle.

[0083] It should be noted that, in the embodiment of the present application, a panoramic system control unit can be used in a panoramic display system of a vehicle, and the panoramic display system of the vehicle includes at least four cameras, namely a front-view binocular camera, a left-view camera, a right-view camera and a rear-view camera. Figure 6 shown.

[0084] Furthermore, before step 101, the method may include: receiving road condition information sent by a high-precision map to put the forward-looking binocular camera unit of the first vehicle in a working state, wherein the road condition information includes that the first vehicle is on an unpaved road.

[0085] The vehicle panoramic display system also includes a high-precision map, which is built into the vehicle computer and can update map information from the cloud at a fixed frequency. The high-precision map stores the type of road section, such as paved / unpaved road type, and road bump data. When the vehicle panoramic display system senses from the high-precision map that the vehicle is on an unpaved and bumpy road section, the system can automatically turn on.

[0086] Therefore, when it is detected that the vehicle is on an unpaved road, the four camera units on the vehicle start working to collect images around the vehicle. The panoramic system control unit can receive four video stream data sent by the four camera units. Specifically, it receives the first video stream data sent by the front binocular camera unit, the second video stream data sent by the left camera unit, the third video stream data sent by the right camera unit, and the fourth video stream information sent by the rear camera unit.

[0087] While receiving the first video stream data sent by the forward-looking binocular camera unit of the first vehicle, obstacle information is also received, wherein the obstacle information includes obstacle size information and obstacle contour information, and the obstacle information is obtained by the forward-looking binocular camera unit based on the first video stream data by processing when an obstacle is detected within a preset range of the first vehicle.

[0088] The obstacle contour information is obtained by performing edge detection on the first video stream data collected in real time by the forward-looking binocular camera unit to trace the outline of the obstacle.

[0089] Step 102: Perform distortion splicing processing on the first video stream data and the three-channel video stream data to obtain panoramic video data.

[0090] It should be noted that in the embodiment of the present application, after obtaining four-channel video data in step 101, the four-channel video data needs to be spliced ​​to complete the 360-degree video data surrounding the vehicle body. Specifically, the panoramic system control unit dedistorts and splices the video stream data input by the front binocular camera unit and the left, right, and rear camera units to form 360-degree video data surrounding the vehicle body.

[0091] Step 103: Overlay the obstacle contour information and the panoramic video data to obtain overlay panoramic video data.

[0092] It should be noted that, in the embodiment of the present application, after the stitched panoramic video data is obtained, the obstacle contour information is superimposed on the panoramic video data to obtain the superimposed panoramic video data.

[0093] Step 104 : Compare the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result.

[0094] It should be noted that in the embodiment of the present application, the current chassis height information corresponding to the first vehicle is obtained, and a comparison is performed based on the chassis height information and the obstacle size information, wherein the obstacle size information includes the obstacle height. Therefore, by comparing the current chassis height of the vehicle with the obstacle height, it can be determined whether the current vehicle can safely pass the obstacle without causing wear and tear on the vehicle chassis.

[0095] Step 105: Mark the obstacle according to the comparison result to obtain marking information.

[0096] It should be noted that, in the embodiment of the present application, the obstacle is marked according to the comparison result in step 104 to obtain marking information.

[0097] Specifically, after determining whether the vehicle's current chassis height can pass, the obstacles can be marked according to their passability. For example, they can be distinguished by color, with obstacles that can be safely passed marked in green and obstacles that cannot be passed marked in red. Alternatively, obstacles of different heights can be distinguished by different colors, thereby improving the applicability of the system function.

[0098] Step 106, superimpose the marking information on the superimposed panoramic video data to obtain target panoramic video data, and display it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0099] It should be noted that in the embodiment of the present application, after the obstacle is marked, the marking information can be superimposed again on the panoramic video data obtained in step 103 to obtain target panoramic video data. Finally, the panoramic system control unit inputs the generated target panoramic video data into the preset display screen of the vehicle, and intuitively displays the obstacle passability information ahead to the user through the display screen.

[0100] It should be noted that, in the embodiment of the present application, after obtaining the obstacle information, superposition based on the obstacle contour information and height comparison based on the obstacle size information can be performed simultaneously.

[0101] The vehicle panoramic display method provided by the embodiment of the present invention receives first video stream data and obstacle information sent by a front binocular camera unit of a first vehicle, and three video stream data sent at the same time by a left camera unit, a right camera unit and a rear camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle contour information, and the obstacle information is obtained by the front binocular camera unit based on the first video stream data when detecting that there is an obstacle within a preset range of the first vehicle; the first video stream data and the three video stream data are distorted and spliced ​​to obtain panoramic video data; the obstacle contour information and the panoramic video data are superimposed to obtain superimposed panoramic video data; the current chassis height information corresponding to the first vehicle is compared with the obstacle size information to obtain a comparison result; the obstacle is marked according to the comparison result to obtain marking information; the marking information is superimposed on the superimposed panoramic video data to obtain target panoramic video data, and the target panoramic video data is displayed on a preset display screen, so that a user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen. The present invention utilizes the ability of a binocular camera to measure obstacle sizes, highlights the outlines of obstacles that a vehicle cannot pass through, and presents the outlines of obstacles on the road in the direction of the vehicle's travel on a preset display screen of the vehicle. That is, the obstacle outline is outlined by a binocular camera, and the obstacle size is calculated, and then combined with the vehicle's own parameters, it is determined whether the vehicle can safely pass through the obstacle, and the above information is presented to the user in a visual form, so that the user can intuitively judge whether the vehicle can safely pass through the obstacle ahead on a bumpy road section.

[0102] Reference Figure 2 , showing the steps of the vehicle panoramic display method provided by the embodiment of the present invention Figure 2 , the method may include:

[0103] Step 201, receiving first video stream data and obstacle information sent by a front binocular camera unit of a first vehicle, and three-way video stream data sent at the same time by a left camera unit, a right camera unit, and a rear camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle contour information, and the obstacle information is obtained by the front binocular camera unit based on the first video stream data by processing when an obstacle is detected within a preset range of the first vehicle;

[0104] Step 202, performing distortion splicing processing on the first video stream data and the three-channel video stream data to obtain panoramic video data;

[0105] Step 203, performing superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data;

[0106] Step 204, comparing the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result;

[0107] Step 205, marking the obstacle according to the comparison result to obtain marking information;

[0108] Step 206, superimpose the marking information on the superimposed panoramic video data to obtain target panoramic video data, and display it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0109] It should be noted that the above steps 201-206 refer to the previous discussion and will not be repeated here.

[0110] Step 207, receiving the current speed information of the first vehicle sent by the vehicle body electronic stability system;

[0111] Step 208, obtaining a collision time point according to the current vehicle speed information and the obstacle distance information, wherein the collision time point is a time point when the first vehicle collides with the obstacle;

[0112] Step 209: When it is detected that the collision point time is within a preset range, a warning message is sent to a warning alarm device, so that the warning alarm device sends the warning message to a user corresponding to the first vehicle.

[0113] It should be noted that, in the embodiment of the present application, the above steps 207-209 can determine the predicted collision time point according to the current vehicle speed information and the distance information to the obstacle, wherein the collision time point is the time when the first vehicle collides with the obstacle. Specifically, the calculation of the collision time point can be performed using the following formula 1:

[0114]

[0115] In the above formula 1, t is the collision time point, s is the obstacle distance information, and v is the current speed information of the first vehicle.

[0116] Then, different levels can be distinguished according to the collision time point, and the warning information can be sent to the warning alarm device, so that the warning alarm device sends the warning information to the user corresponding to the first vehicle, for example, a low-level warning is issued for a collision with an obstacle after 10 seconds, and a high-level warning is issued for a collision with an obstacle after 5 seconds. The panoramic system control unit simultaneously inputs the above warning information into the warning alarm device, and the warning alarm device receives the warning information input by the panoramic system control unit and executes the warning alarm. The warning alarm device includes a speaker for sound warning, a combination of in-vehicle lights for visual warning, and an in-vehicle vibration device for vibration warning.

[0117] Furthermore, after step 209, the method also includes: obtaining coordinate information and length information of the road section corresponding to the warning information; sending the coordinate information, the length information and the obstacle size information to a high-precision map, so that the high-precision map sends the coordinate information, the length information and the obstacle size information to a preset cloud, and the user corresponding to the second vehicle updates the high-precision map through the preset cloud to obtain the coordinate information, the length information and the obstacle size information corresponding to the same road section.

[0118] It should be noted that in the embodiment of the present application, the panoramic system control unit will generate the coordinate information of the warning alarm section, the obstacle size information, and the obstacle section length information, and save it to the high-precision map. The high-precision map can synchronize the above information recorded by the vehicle to the cloud-based high-precision map according to the preset update frequency.

[0119] At this time, when other users (second vehicle users) download updated high-precision maps from the cloud, they can synchronously obtain the obstacle coordinates, size and section length information generated by their own vehicle, that is, obtain the coordinate information, length information and obstacle size information corresponding to the same section.

[0120] The present invention utilizes the ability of a binocular camera to measure obstacle sizes, highlights the outlines of obstacles that a vehicle cannot pass through, and presents the outlines of obstacles on the road in the direction of the vehicle's travel on a preset display screen of the vehicle. That is, the obstacle outline is outlined by a binocular camera, and the obstacle size is calculated, and then combined with the vehicle's own parameters, it is determined whether the vehicle can safely pass through the obstacle, and the above information is presented to the user in a visual form, so that the user can intuitively judge whether the vehicle can safely pass through the obstacle ahead on a bumpy road section.

[0121] In addition, the present invention can issue different levels of warnings to the user according to the distance between the vehicle and the obstacle.

[0122] In addition, by integrating high-precision maps, the present invention can automatically turn on the video acquisition function when the high-precision map data shows that the vehicle enters an unpaved road and the road surface is relatively bumpy. At the same time, the system can also upload the above-mentioned road sections with high obstacles to the high-precision map, enrich the obstacle section information in the high-precision map, and thus realize the self-evolution of the high-precision map.

[0123] Reference Figure 3 , showing the steps of the vehicle panoramic display method provided by the embodiment of the present invention Figure 3 , the method may include:

[0124] Step 301, receiving first video stream data and obstacle information sent by a front-view binocular camera unit of a first vehicle, and three-way video stream data sent at the same time by a left-view camera unit, a right-view camera unit, and a rear-view camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle contour information, and the obstacle information is obtained by the front-view binocular camera unit based on the first video stream data by processing when an obstacle is detected within a preset range of the first vehicle;

[0125] Step 302, performing distortion splicing processing on the first video stream data and the three-channel video stream data to obtain panoramic video data;

[0126] Step 303, performing superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data;

[0127] Step 304 : Compare the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result.

[0128] It should be noted that the above steps 301-304 refer to the previous discussion and will not be repeated here.

[0129] Step 305, determining whether to adjust the chassis height corresponding to the first vehicle according to the comparison result;

[0130] Step 306: If yes, a suspension height adjustment instruction is sent to the suspension system of the first vehicle so that the suspension system controls the chassis of the first vehicle.

[0131] It should be noted that in the above steps 305-206, after the comparison result is determined in step 304, it can be determined whether the chassis height of the first vehicle needs to be adjusted based on the comparison result. If necessary, a suspension height adjustment instruction is sent to the suspension system of the first vehicle so that the suspension system controls the chassis of the first vehicle, for example, raising the vehicle chassis, thereby improving the vehicle's passability on the current road section.

[0132] The present invention utilizes the ability of a binocular camera to measure obstacle sizes, highlights the outlines of obstacles that a vehicle cannot pass through, and presents the outlines of obstacles on the road in the direction of the vehicle's travel on a preset display screen of the vehicle. That is, the obstacle outline is outlined by a binocular camera, and the obstacle size is calculated, and then combined with the vehicle's own parameters, it is determined whether the vehicle can safely pass through the obstacle, and the above information is presented to the user in a visual form, so that the user can intuitively judge whether the vehicle can safely pass through the obstacle ahead on a bumpy road section.

[0133] In addition, the present invention can further provide a liftable suspension system. When the current chassis height information is less than the obstacle height and the maximum adjustable range of the chassis height is greater than the obstacle height, the vehicle suspension system can be controlled to rise and fall to ensure that the vehicle safely passes the obstacle.

[0134] Reference Figure 4 , showing the steps of the vehicle panoramic display method provided by the embodiment of the present invention Figure 4 , applied to a forward-looking binocular camera unit, the method may include:

[0135] Step 401, receiving traffic information sent by a high-precision map;

[0136] Step 402, acquiring first video stream data in front of the vehicle in real time according to the road condition information;

[0137] Step 403, judging whether there is an obstacle according to the first video stream data;

[0138] Step 404: If yes, obtain the obstacle information, wherein the obstacle information includes obstacle size information and obstacle outline information;

[0139] It should be noted that the above steps 401-404 are applied to the front binocular camera unit, and the high-precision map determines in real time whether the current vehicle is on an unpaved road during the vehicle's driving. If the vehicle is on an unpaved road, the front binocular and left, right, and rear cameras are triggered to start working. Otherwise, the high-precision map continues to determine whether the vehicle is on an unpaved road.

[0140] After the forward-looking binocular camera unit starts working, it first identifies and determines whether there is an obstacle in front. If there is an obstacle and the obstacle is large, the binocular camera outputs a video stream data to the panoramic system control unit. At the same time, the output includes the obstacle outline, size and distance information.

[0141] Specifically, the obstacle size information is calculated based on the imaging principle of the binocular camera, and the obstacle size information can be determined by aligning the edge size of the object where the obstacle is located with the left eye and the right eye in the forward-looking binocular.

[0142] Step 405, when it is detected that the obstacle size information is greater than the target threshold, the left view camera unit, the right view camera unit and the rear view camera unit of the first vehicle are controlled to send three video stream data at the same time to the panoramic system control unit, and the first video stream data and the obstacle information are sent to the panoramic system control unit, so that the panoramic system control unit performs distortion splicing processing on the first video stream data and the three video stream data to obtain panoramic video data; performs superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; compares the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result; marks the obstacle according to the comparison result to obtain marking information; superimposes the marking information on the superimposed panoramic video data to obtain target panoramic video data, and displays it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0143] It should be noted that the above step 405 is discussed with reference to the previous section and will not be discussed again here.

[0144] Reference Figure 5 , Figure 5 A block diagram of a vehicle panoramic display system provided by an embodiment of the present invention is shown, wherein the vehicle panoramic display system comprises: a panoramic system control unit, a binocular camera unit, a left-view camera unit, a right-view camera unit, a rear-view camera unit, a preset display screen, a suspension system, an early warning alarm device, and a high-precision map;

[0145] The panoramic system control unit is used to receive the first video stream data and obstacle information sent by the front binocular camera unit of the first vehicle, as well as the three-way video stream data sent at the same time by the left camera unit, the right camera unit and the rear camera unit of the first vehicle, perform distortion splicing processing on the first video stream data and the three-way video stream data to obtain panoramic video data; perform superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; perform comparison according to the current chassis height information corresponding to the first vehicle and the obstacle size information to obtain a comparison result; mark the obstacle according to the comparison result to obtain marking information; superimpose the marking information on the superimposed panoramic video data to obtain target panoramic video data, and display it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen;

[0146] The binocular camera unit is used to receive the road condition information sent by the high-precision map; obtain the first video stream data in front of the vehicle in real time according to the road condition information; determine whether there is an obstacle according to the first video stream data; if so, obtain the obstacle information, wherein the obstacle information includes obstacle size information and obstacle outline information; when it is detected that the obstacle size information is greater than a target threshold, control the left-view camera unit, the right-view camera unit and the rear-view camera unit of the first vehicle to send three-way video stream data at the same time to the panoramic system control unit, and send the first video stream data and obstacle information to the panoramic system control unit;

[0147] The suspension system is used to receive a suspension height adjustment instruction sent by the panoramic system control unit, and control the chassis of the first vehicle according to the suspension height adjustment instruction;

[0148] The early warning alarm device is used to receive the early warning information sent by the panoramic system control unit, and send the early warning information to the user in a preset manner;

[0149] The high-precision map is used to obtain road condition information corresponding to the first vehicle, and to send coordinate information, length information and obstacle size information to a preset cloud.

[0150] Furthermore, the vehicle panoramic display system also includes: a vehicle body electronic stability system.

[0151] The vehicle body electronic stability system is used to send current vehicle speed information of the first vehicle to the panoramic system control unit.

[0152] The present invention utilizes the ability of a binocular camera to measure obstacle sizes, highlights the outlines of obstacles that a vehicle cannot pass through, and presents the outlines of obstacles on the road in the direction of the vehicle's travel on a preset display screen of the vehicle. That is, the obstacle outline is outlined by a binocular camera, and the obstacle size is calculated, and then combined with the vehicle's own parameters, it is determined whether the vehicle can safely pass through the obstacle, and the above information is presented to the user in a visual form, so that the user can intuitively judge whether the vehicle can safely pass through the obstacle ahead on a bumpy road section.

[0153] Reference Figure 7 , Figure 7 A vehicle panoramic display device provided by an embodiment of the present invention is shown, the device comprising:

[0154] The receiving module 701 is used to receive the first video stream data and obstacle information sent by the front binocular camera unit of the first vehicle, and the three-way video stream data sent at the same time by the left camera unit, the right camera unit and the rear camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle contour information, and the obstacle information is obtained by the front binocular camera unit based on the first video stream data after detecting that there is an obstacle within a preset range of the first vehicle;

[0155] A splicing module 702 is used to perform distortion splicing processing on the first video stream data and the three-channel video stream data to obtain panoramic video data;

[0156] A first superposition module 703 is used to perform superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data;

[0157] A comparison module 704 is used to compare the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result;

[0158] A marking module 705, used to mark the obstacle according to the comparison result to obtain marking information;

[0159] The display module 706 is used to superimpose the marking information on the superimposed panoramic video data to obtain target panoramic video data, and display it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0160] Furthermore, the obstacle information also includes obstacle distance information, and the device also includes:

[0161] A vehicle speed information receiving module, used for receiving the current vehicle speed information of the first vehicle sent by the vehicle body electronic stability system;

[0162] A collision time point acquisition module, used to obtain a collision time point according to the current vehicle speed information and the obstacle distance information, wherein the collision time point is a time point when the first vehicle collides with the obstacle;

[0163] The early warning module is used to send early warning information to the early warning alarm device when it is detected that the collision point time is within a preset range, so that the early warning alarm device sends the early warning information to the user corresponding to the first vehicle.

[0164] Furthermore, the device also includes:

[0165] A road section information acquisition module is used to acquire the coordinate information and length information of the road section corresponding to the warning information;

[0166] The second vehicle acquisition module is used to send the coordinate information, the length information and the obstacle size information to the high-precision map, so that the high-precision map sends the coordinate information, the length information and the obstacle size information to a preset cloud, and the user corresponding to the second vehicle updates the high-precision map through the preset cloud to obtain the coordinate information, the length information and the obstacle size information corresponding to the same road section.

[0167] Furthermore, the device also includes:

[0168] A road condition information receiving module is used to receive road condition information sent by a high-precision map so that the forward-looking binocular camera unit of the first vehicle is in a working state, wherein the road condition information includes that the first vehicle is on an unpaved road.

[0169] Furthermore, the device also includes:

[0170] A judgment module, used for judging whether to adjust the chassis height corresponding to the first vehicle according to the comparison result;

[0171] The adjustment module is configured to, if yes, send a suspension height adjustment instruction to the suspension system of the first vehicle so that the suspension system controls the chassis of the first vehicle.

[0172] The present invention utilizes the ability of a binocular camera to measure obstacle sizes, highlights the outlines of obstacles that a vehicle cannot pass through, and presents the outlines of obstacles on the road in the direction of the vehicle's travel on a preset display screen of the vehicle. That is, the obstacle outline is outlined by a binocular camera, and the obstacle size is calculated, and then combined with the vehicle's own parameters, it is determined whether the vehicle can safely pass through the obstacle, and the above information is presented to the user in a visual form, so that the user can intuitively judge whether the vehicle can safely pass through the obstacle ahead on a bumpy road section.

[0173] Reference Figure 8 , Figure 8 Another vehicle panoramic display device provided by an embodiment of the present invention is shown, the device comprising:

[0174] The receiving module 801 is used to receive the traffic information sent by the high-precision map;

[0175] A first acquisition module 802, configured to acquire first video stream data in front of the vehicle in real time according to the road condition information;

[0176] A judging module 803 is used to judge whether there is an obstacle according to the first video stream data;

[0177] A second acquisition module 804 is configured to acquire the obstacle information if yes, wherein the obstacle information includes obstacle size information and obstacle outline information;

[0178] The display module 805 is used to control the left-view camera unit, the right-view camera unit and the rear-view camera unit of the first vehicle to send three video stream data at the same time to the panoramic system control unit, and send the first video stream data and the obstacle information to the panoramic system control unit, so that the panoramic system control unit performs distortion splicing processing on the first video stream data and the three video stream data to obtain panoramic video data; performs superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; compares the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result; marks the obstacle according to the comparison result to obtain marking information; superimposes the marking information on the superimposed panoramic video data to obtain target panoramic video data, and displays it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

[0179] The present invention utilizes the ability of a binocular camera to measure obstacle sizes, highlights the outlines of obstacles that a vehicle cannot pass through, and presents the outlines of obstacles on the road in the direction of the vehicle's travel on a preset display screen of the vehicle. That is, the obstacle outline is outlined by a binocular camera, and the obstacle size is calculated, and then combined with the vehicle's own parameters, it is determined whether the vehicle can safely pass through the obstacle, and the above information is presented to the user in a visual form, so that the user can intuitively judge whether the vehicle can safely pass through the obstacle ahead on a bumpy road section.

[0180] The embodiment of the present invention also provides a communication device, such as Fig. 9 As shown, it includes a processor 901, a communication interface 902, a memory 903 and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904.

[0181] Memory 903, used for storing computer programs;

[0182] The processor 901, when used to execute the program stored in the memory 903, can implement any vehicle panoramic display method.

[0183] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0184] The communication interface is used for communication between the above terminal and other devices.

[0185] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0186] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0187] In another embodiment provided by the present invention, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the vehicle panoramic display method described in any of the above embodiments.

[0188] In another embodiment provided by the present invention, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the vehicle panoramic display method described in any one of the above embodiments.

[0189] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a third database by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or third database. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or a third database that contains one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0190] It should be noted that, in this article, relational terms such as first and first are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0191] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0192] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle panoramic display method, characterized in that: Applied to a panoramic system control unit, the method comprises: Receive first video stream data and obstacle information sent by a front binocular camera unit of a first vehicle, and three video stream data sent at the same time by a left camera unit, a right camera unit, and a rear camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle outline information, and the obstacle information is obtained by the front binocular camera unit based on the first video stream data after detecting that an obstacle exists within a preset range of the first vehicle; Performing distortion splicing processing on the first video stream data and the three-channel video stream data to obtain panoramic video data; Performing superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; Comparing the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result; Marking the obstacle according to the comparison result to obtain marking information; The marking information is superimposed on the superimposed panoramic video data to obtain target panoramic video data, and is displayed on a preset display screen, so that a user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

2. The vehicle panoramic display method according to claim 1, characterized in that: The obstacle information also includes obstacle distance information; After the step of superimposing the marking information on the superimposed panoramic video data to obtain the target panoramic video data, and displaying it on a preset display screen, the method includes: Receiving current vehicle speed information of the first vehicle sent by a vehicle body electronic stability system; Obtaining a collision time point according to the current vehicle speed information and the obstacle distance information, wherein the collision time point is a time point when the first vehicle collides with the obstacle; When it is detected that the collision point time is within a preset range, a warning message is sent to a warning alarm device, so that the warning alarm device sends the warning message to a user corresponding to the first vehicle.

3. The vehicle panoramic display method according to claim 1, characterized in that: After the step of sending warning information to a warning alarm device when the collision point time is detected to be within a preset range, so that the warning alarm device sends the warning information to a user corresponding to the first vehicle, the method includes: Obtaining coordinate information and length information of the road section corresponding to the warning information; The coordinate information, the length information and the obstacle size information are sent to a high-precision map, so that the high-precision map sends the coordinate information, the length information and the obstacle size information to a preset cloud, and the user corresponding to the second vehicle updates the high-precision map through the preset cloud to obtain the coordinate information, the length information and the obstacle size information corresponding to the same road section.

4. The vehicle panoramic display method according to claim 1, characterized in that: Before the step of receiving the first video stream data and obstacle information sent by the front binocular camera unit of the first vehicle, and the three-way video stream data sent by the left camera, the right camera and the rear camera of the first vehicle at the same time, the method includes: Receive road condition information sent by a high-precision map to put the forward-looking binocular camera unit of the first vehicle in a working state, wherein the road condition information includes that the first vehicle is on an unpaved road.

5. The vehicle panoramic display method according to claim 1, characterized in that: After the step of comparing the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result, the method includes: Determining whether to adjust the chassis height corresponding to the first vehicle according to the comparison result; If so, a suspension height adjustment instruction is sent to the suspension system of the first vehicle so that the suspension system controls the chassis of the first vehicle.

6. A vehicle panoramic display method, characterized in that: Applied to a forward-looking binocular camera unit, the method comprises: Receive traffic information sent by high-precision maps; Acquire first video stream data in front of the vehicle in real time according to the road condition information; Determining whether there is an obstacle according to the first video stream data; If yes, obtaining the obstacle information, wherein the obstacle information includes obstacle size information and obstacle outline information; When it is detected that the obstacle size information is greater than the target threshold, the left view camera unit, the right view camera unit and the rear view camera unit of the first vehicle are controlled to send three video stream data at the same time to the panoramic system control unit, and the first video stream data and the obstacle information are sent to the panoramic system control unit, so that the panoramic system control unit performs distortion splicing processing on the first video stream data and the three video stream data to obtain panoramic video data; performs superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; compares the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result; marks the obstacle according to the comparison result to obtain marking information; superimposes the marking information on the superimposed panoramic video data to obtain target panoramic video data, and displays it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

7. A vehicle panoramic display system, characterized in that: The vehicle panoramic display system includes: a panoramic system control unit, a front-view binocular camera unit, a left-view camera unit, a right-view camera unit, a rear-view camera unit, a preset display screen, a suspension system, a warning alarm device, and a high-precision map; The panoramic system control unit is used to receive the first video stream data and obstacle information sent by the front binocular camera unit of the first vehicle, as well as the three-way video stream data sent at the same time by the left camera unit, the right camera unit and the rear camera unit of the first vehicle, perform distortion splicing processing on the first video stream data and the three-way video stream data to obtain panoramic video data; perform superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; perform comparison according to the current chassis height information corresponding to the first vehicle and the obstacle size information to obtain a comparison result; mark the obstacle according to the comparison result to obtain marking information; superimpose the marking information on the superimposed panoramic video data to obtain target panoramic video data, and display it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen; The front binocular camera unit is used to receive the road condition information sent by the high-precision map; obtain the first video stream data in front of the vehicle in real time according to the road condition information; determine whether there is an obstacle according to the first video stream data; if so, obtain the obstacle information, wherein the obstacle information includes obstacle size information and obstacle outline information; when it is detected that the obstacle size information is greater than a target threshold, control the left camera unit, the right camera unit and the rear camera unit of the first vehicle to send three video stream data at the same time to the panoramic system control unit, and send the first video stream data and obstacle information to the panoramic system control unit; The suspension system is used to receive a suspension height adjustment instruction sent by the panoramic system control unit, and control the chassis of the first vehicle according to the suspension height adjustment instruction; The early warning alarm device is used to receive the early warning information sent by the panoramic system control unit, and send the early warning information to the user in a preset manner; The high-precision map is used to obtain road condition information corresponding to the first vehicle, and to send coordinate information, length information and obstacle size information to a preset cloud.

8. A vehicle panoramic display device, characterized in that: Applied to a panoramic system control unit, the device comprises: A receiving module, configured to receive first video stream data and obstacle information sent by a front-view binocular camera unit of a first vehicle, and three-way video stream data sent at the same time by a left-view camera unit, a right-view camera unit, and a rear-view camera unit of the first vehicle, wherein the obstacle information includes obstacle size information and obstacle outline information, and the obstacle information is obtained by the front-view binocular camera unit based on the first video stream data after detecting that an obstacle exists within a preset range of the first vehicle; A splicing module, used for performing distortion splicing processing on the first video stream data and the three-channel video stream data to obtain panoramic video data; A first superposition module, configured to superimpose the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; A comparison module, used for comparing the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result; A marking module, used for marking the obstacle according to the comparison result to obtain marking information; The display module is used to superimpose the marking information on the superimposed panoramic video data to obtain target panoramic video data, and display it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

9. A vehicle panoramic display device, characterized in that: Applied to a binocular camera unit, the device comprises: A receiving module is used to receive traffic information sent by a high-precision map; A first acquisition module, used for acquiring first video stream data in front of the vehicle in real time according to the road condition information; A judging module, used for judging whether there is an obstacle according to the first video stream data; A second acquisition module, configured to acquire the obstacle information if yes, wherein the obstacle information includes obstacle size information and obstacle outline information; The display module is used to control the left-view camera unit, the right-view camera unit and the rear-view camera unit of the first vehicle to send three video stream data at the same time to the panoramic system control unit, and send the first video stream data and the obstacle information to the panoramic system control unit, so that the panoramic system control unit performs distortion splicing processing on the first video stream data and the three video stream data to obtain panoramic video data; performs superposition processing on the obstacle contour information and the panoramic video data to obtain superimposed panoramic video data; compares the current chassis height information corresponding to the first vehicle with the obstacle size information to obtain a comparison result; marks the obstacle according to the comparison result to obtain marking information; superimposes the marking information on the superimposed panoramic video data to obtain target panoramic video data, and displays it on a preset display screen, so that the user corresponding to the first vehicle can determine the obstacle passability of the first vehicle through the marking information corresponding to the obstacle on the preset display screen.

10. A communication device, characterized in that: include: A transceiver, a memory, a processor, and a program stored on the memory and executable on the processor; The processor is used to read the program in the memory to implement the vehicle panoramic display method as described in any one of claims 1 to 5, or to implement the vehicle panoramic display method as described in claim 6.

11. A readable storage medium for storing a program, characterized in that: When the program is executed by a processor, the vehicle panoramic display method as described in any one of claims 1 to 5 is implemented, or the vehicle panoramic display method as described in claim 6 is implemented.

12. A vehicle, characterized in that: The vehicle is provided with the vehicle panoramic display device as claimed in claim 8 or 9.

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