Road condition view restoration method and device, equipment, storage medium and program product

Abstract

The invention relates to a road condition view repairing method and device, equipment, a storage medium and a program product, and relates to the technical field of vehicle control. The method is applied to a vehicle and comprises the steps that a first image and a second image are obtained, the first image is an image of the driving road condition of the vehicle at the outside view angle of the vehicle, and the second image is an image of the driving road condition of the vehicle at the inside view angle of the vehicle; the first image and the second image are recognized, a first type of objects in the first image and a first type of objects in the second image are determined, and the first type of objects are objects with the safety influence degree on vehicle driving larger than a preset influence degree threshold value in the external environment of the vehicle. And determining a target matching degree between the first type of object in the first image and the first type of object in the second image. If the target matching degree is smaller than a first preset threshold value, the first image is displayed on a target display screen in the vehicle. Therefore, the road condition visual field repairing efficiency in the vehicle driving process can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, equipment, storage medium and program product for repairing road condition vision. Background Art

[0002] In recent years, with the popularization of vehicles, people use vehicles more and more frequently in daily life, and the demand for driving vehicles is also increasing. For example, the driver's vision requirement during driving the vehicle.

[0003] At present, in order to meet the driver's vision needs while driving the vehicle, it is necessary to determine whether the driver's view of the road conditions in the car is blocked, and if blocked, clear the blocked part to provide the driver with a safe view of the road conditions.

[0004] However, in the above technical solution, due to the influence of cleaning efficiency, the timeliness of repairing the blocked field of view is poor, which will delay the recovery of the road field of view and cause safety hazards during vehicle driving. Therefore, how to improve the efficiency of repairing the road field of view during vehicle driving has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a method, device, equipment, storage medium and program product for repairing road condition vision, so as to at least solve the technical problem of how to improve the efficiency of repairing road condition vision during vehicle driving in the related art. The technical solution of the present application is as follows:

[0006] According to the first aspect of the present application, a method for repairing road condition vision is provided, which is applied to a vehicle, and includes: acquiring a first image and a second image, wherein the first image is an image of the road condition of the vehicle from an outside perspective, and the second image is an image of the road condition of the vehicle from an inside perspective. The first image and the second image are respectively identified to determine a first type of object in the first image and a first type of object in the second image, wherein the first type of object is an object in the vehicle's outside environment that has a greater impact on the safety of the vehicle's driving than a preset impact threshold. The target matching degree between the first type of object in the first image and the first type of object in the second image is determined. If the target matching degree is less than the first preset threshold, the first image is displayed on a target display screen in the vehicle.

[0007] According to the above technical means, by comparing different road conditions under the perspectives of inside and outside the vehicle, it is determined whether there is a partially blocked view of the road condition seen by the driver in the vehicle, and when it is determined that there is a partially blocked view, the road condition view under the perspective of the outside vehicle is displayed on the display screen in the vehicle to quickly compensate for the blocked road condition view, so as to improve the efficiency of repairing the road condition view, provide the driver with a complete road condition view in time, and safely perform emergency driving operations to avoid accidents. In addition, since there are multiple environmental objects in the driving environment of the vehicle, and different environmental objects have different degrees of impact on the safety of vehicle driving, the efficiency of determining the occlusion of the road condition view is improved by targeted processing of environmental objects that are likely to cause safety impacts in the driving environment of the vehicle.

[0008] In a possible implementation, the method of "determining the target matching degree between the first type object in the first image and the first type object in the second image" includes: determining the matching degree of each first type object, the matching degree of the first type object being the matching degree of the same first type object in the first image and the second image. According to the matching degree of each first type object, determining the second type object from all the first type objects, the matching degree of the second type object being greater than a second preset threshold. According to the ratio between the number of the second type objects and the number of the first type objects, determining the target matching degree.

[0009] According to the above technical means, by counting the matching number of environmental objects that may cause safety impact on vehicle driving from the perspectives inside and outside the vehicle, it is determined whether there is a partially blocked view of the road conditions seen by the driver in the vehicle. In this way, the number ratio can be further referenced at the reference angle of similarity matching to improve the accuracy of occlusion judgment.

[0010] In a possible implementation, the method further includes: if the target matching degree is greater than or equal to a first preset threshold, determining a third type of object from all first type objects, the matching degree of the third type of object being less than or equal to a second preset threshold. Summing the preset weight values ​​corresponding to all third type objects to obtain a target value, the preset weight value being used to indicate the degree of impact on vehicle driving safety. If the target value is greater than the third preset threshold, displaying the first image on a target display screen in the vehicle.

[0011] According to the above-mentioned technical means, by considering that different environmental objects have different degrees of impact on the safety of the vehicle during driving, in the process of occlusion judgment, more attention can be paid to environmental objects with greater safety impact based on the weight value, thereby improving the reference value of the occlusion judgment results for subsequent safe driving.

[0012] In a possible implementation, the method of "summing up the preset weight values ​​of all third-type objects to determine the target value" includes: determining the product result of each third-type object according to the product between the matching degree of each third-type object and the corresponding preset weight value. The product results of all third-type objects are summed to obtain the target value.

[0013] According to the above technical means, the accuracy of the occlusion judgment result can be improved by comprehensively considering the impact of environmental objects on the safety of the vehicle during driving and the similarity between the two images under the perspectives of inside and outside the vehicle.

[0014] In a possible implementation, the above-mentioned method of “displaying a first image on a target display screen in a vehicle” includes: displaying a partial image corresponding to a first type of object in the first image on the target display screen.

[0015] According to the above technical means, in the process of repairing the road condition field of view, targeted compensation can be performed on the blocked part of the field of view to improve the efficiency of repairing the road condition field of view.

[0016] In a possible implementation, the target display screen is a display screen of an onboard display in a vehicle, or the target display screen is a windshield in a vehicle. The method further includes: obtaining display reference information, the display reference information including at least one of the following: the light intensity outside the vehicle, the driver's field of view observation angle, and the distance between the driver and the target display screen. The above-mentioned method of "displaying a first image on a target display screen in a vehicle" includes: displaying the first image on the target display screen according to the display reference information.

[0017] According to the above-mentioned technical means, in the process of repairing the road condition vision, by referring to information such as the light intensity outside the vehicle, the driver's field of vision observation angle, and the distance between the driver and the target display screen, a more realistic and complete road condition vision can be provided to the driver on the target display screen, thereby improving the safety of vehicle driving.

[0018] According to a second aspect provided by the present application, a device for repairing road condition vision is provided, which is applied to a vehicle. The device includes: an acquisition module and a processing module.

[0019] An acquisition module is used to acquire a first image and a second image, wherein the first image is an image of the vehicle's driving conditions from an outside perspective, and the second image is an image of the vehicle's driving conditions from an inside perspective. A processing module is used to identify the first image and the second image, respectively, and determine a first type of object in the first image and a first type of object in the second image, wherein the first type of object is an object in the vehicle's outside environment that has a greater impact on the vehicle's driving safety than a preset impact threshold. The processing module is also used to determine a target matching degree between the first type of object in the first image and the first type of object in the second image. The processing module is also used to display the first image on a target display screen in the vehicle if the target matching degree is less than a first preset threshold.

[0020] In a possible implementation, the processing module is specifically used to determine the matching degree of each first type object, where the matching degree of the first type object is the matching degree of the same first type object in the first image and the second image. The processing module is also used to determine the second type object from all the first type objects based on the matching degree of each first type object, where the matching degree of the second type object is greater than a second preset threshold. The processing module is also used to determine the target matching degree based on the ratio between the number of the second type objects and the number of the first type objects.

[0021] In a possible implementation, the processing module is further configured to determine a third type of object from all first type objects if the target matching degree is greater than or equal to a first preset threshold, and the matching degree of the third type of object is less than or equal to a second preset threshold. The processing module is further configured to sum the preset weight values ​​corresponding to all third type objects to obtain a target value, and the preset weight value is used to indicate the degree of impact on the safety of vehicle driving. The processing module is further configured to display the first image on a target display screen in the vehicle if the target value is greater than a third preset threshold.

[0022] In a possible implementation, the processing module is specifically configured to determine the product result of each third type object according to the product between the matching degree of each third type object and the corresponding preset weight value. The processing module is also configured to sum the product results of all third type objects to obtain a target value.

[0023] In a possible implementation, the processing module is specifically configured to display a partial image corresponding to the first type of object in the first image on a target display screen.

[0024] In a possible implementation, the target display screen is a display screen of an onboard display in a vehicle, or the target display screen is a windshield in a vehicle. The processing module is further used to obtain display reference information, and the display reference information includes at least one of the following: the light intensity outside the vehicle, the driver's field of view observation angle, and the distance between the driver and the target display screen. The processing module is specifically used to display the first image on the target display screen according to the display reference information.

[0025] According to a third aspect provided by the present application, an electronic device is provided, comprising: a processor and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement a method of any possible implementation of the first aspect above.

[0026] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute a method of any possible implementation of the above-mentioned first aspect.

[0027] According to a fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes a method of any possible implementation of the first aspect above.

[0028] Therefore, the above technical features of the present application have the following beneficial effects:

[0029] (1) By comparing the different road conditions from the perspectives inside and outside the vehicle, it is determined whether the road condition vision seen by the driver in the vehicle is partially blocked. If it is determined that there is a partially blocked vision, the road condition vision from the perspective outside the vehicle is displayed on the display screen in the vehicle to quickly compensate for the blocked road condition vision, so as to improve the efficiency of repairing the road condition vision, provide the driver with a complete road condition vision in time, and safely perform emergency driving operations to avoid accidents. In addition, since there are multiple environmental objects in the driving environment of the vehicle, and different environmental objects have different degrees of impact on the safety of vehicle driving, the efficiency of determining the occlusion of the road condition vision is improved by targeted processing of environmental objects in the driving environment of the vehicle that are likely to cause safety impacts.

[0030] (2) By counting the number of matches of environmental objects that may affect the safety of the vehicle from both inside and outside the vehicle, it is determined whether there is any obstruction in the driver's view of the road conditions in the vehicle. In this way, the number ratio can be further referenced at the reference angle of similarity matching to improve the accuracy of occlusion judgment.

[0031] (3) By considering that different environmental objects have different degrees of impact on the safety of the vehicle during driving, the environmental objects with greater impact on safety can be given more attention based on the weight value during the occlusion judgment process, thereby improving the reference value of the occlusion judgment results for subsequent safe driving.

[0032] (4) The accuracy of occlusion discrimination results can be improved by comprehensively considering the impact of environmental objects on vehicle safety during driving and the similarity between the two images taken from the inside and outside perspectives of the vehicle.

[0033] (5) In the process of repairing the road condition vision, targeted compensation can be performed on the blocked part of the vision to improve the efficiency of repairing the road condition vision.

[0034] (6) In the process of repairing the road condition vision, by referring to information such as the light intensity outside the vehicle, the driver's field of vision, and the distance between the driver and the target display screen, a more realistic and complete road condition vision can be provided to the driver on the target display screen, thereby improving the safety of vehicle driving.

[0035] It should be noted that the technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0036] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0038] Figure 1 is a schematic diagram of a communication system according to an exemplary embodiment;

[0039] Figure 2 is a schematic diagram showing the position distribution of different acquisition devices and projection devices in a vehicle according to an exemplary embodiment;

[0040] Figure 3 is a schematic diagram of the architecture of a device for repairing road condition vision according to an exemplary embodiment;

[0041] Figure 4 is a flow chart of a method for repairing road condition vision according to an exemplary embodiment;

[0042] Figure 5 is a schematic diagram showing a matching example of the same object in different images according to an exemplary embodiment;

[0043] Figure 6 is a flow chart of another method for repairing road condition vision according to an exemplary embodiment;

[0044] Figure 7 is a flow chart of another method for repairing road condition vision according to an exemplary embodiment;

[0045] Figure 8 is a flow chart of another method for repairing road condition vision according to an exemplary embodiment;

[0046] Fig. 9 is a flow chart of another method for repairing road condition vision according to an exemplary embodiment;

[0047] Fig.10 is a block diagram of a device for repairing road condition vision according to an exemplary embodiment;

[0048] Fig.11 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] In order to enable ordinary persons in the art to better understand the technical 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 accompanying drawings.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0051] Before introducing in detail the method for repairing the road condition vision of the embodiment of the present application, the implementation environment and application scenarios of the embodiment of the present application are first introduced.

[0052] As the rate of car use increases, drivers will inevitably encounter situations where the windshield is blocked by foreign objects and they cannot see the front view. The foreign objects may be flying paper or plastic, or water splashed by the vehicles next to them. Once this happens, at that critical moment, the driver and the passing vehicles are in an extremely dangerous environment. If the driver makes a mistake in operation, it will bring very serious consequences.

[0053] In the existing technical solution, the grayscale analysis of the image taken by the camera installed on the rearview mirror is used to determine whether an obstruction has occurred. If so, the wipers are started to clear the obstruction, and the double flashes are turned on at the same time to notify neighboring vehicles, and laser radar and acceleration sensors are used to assist driving.

[0054] However, in the above technical solution, the efficiency of using wipers to clear obstructions is also relatively low. After all, not all obstructions can be cleared by wipers, and the clearing time is also very uncertain. In other words, due to the influence of cleaning efficiency, the timeliness of repairing the obstructed vision is poor, which will delay the restoration of the road vision and cause safety hazards during vehicle driving.

[0055] In summary, how to improve the efficiency of repairing the road condition vision during vehicle driving is a technical problem that needs to be solved urgently.

[0056] In order to solve the above problems, the embodiment of the present application provides a method for repairing the road condition vision, which is applied to the scene of managing the road condition vision, including: by targeted processing of environmental objects in the driving environment where the vehicle is located that are likely to cause safety impacts, to determine whether there is an obstruction in the road condition vision, and in the case of obstruction, the scene in front of the vehicle is projected onto the front windshield in a proportional manner through a projection device mounted on the rearview mirror. In this way, the efficiency of repairing the road condition vision during vehicle driving can be improved, so that the driver can safely perform emergency driving operations based on the secondary vision quickly presented by the projection when the vision is limited or lost, so as to avoid accidents.

[0057] The implementation environment of the embodiments of the present application is introduced below.

[0058] Figure 1 FIG. 1 is a schematic diagram of a communication system according to an exemplary embodiment. Figure 1 As shown, the communication system includes: a collection device 101, a management device 102 and a target display screen 103. The collection device 101, the management device 102 and the target display screen 103 are all deployed in a vehicle 104, and the management device 102 can perform wired / wireless communication with the collection device 101 and the target display screen 103.

[0059] Specifically, the acquisition device 101 can acquire a first image of the driving condition of the vehicle 104 from the perspective outside the vehicle, and a second image of the driving condition of the vehicle 104 from the perspective inside the vehicle, and transmit the acquired first image and second image to the management device 102. Then, the management device 102 can perform targeted matching on objects in the first image and the second image that are likely to cause safety impacts (or hidden dangers) on the driving of the vehicle, determine whether the view of the road condition seen by the driver in the vehicle 104 is blocked (or missing), and if it is determined that the view of the road condition is blocked, display the first image through the target display screen 103 to provide the driver with a complete view of the road condition.

[0060] It should be noted that the embodiment of the present application does not limit the acquisition device 101. The acquisition device 101 may be a camera in the vehicle 104, or the acquisition device 101 may be a laser radar in the vehicle 104. If the acquisition device 101 is a camera, the first image and the second image acquired may be color images (such as red, green, blue (RGB) images). If the acquisition device 101 is a laser radar, the first image and the second image acquired may be depth images or infrared images.

[0061] Furthermore, the embodiment of the present application does not limit the number of acquisition devices 101, and one acquisition device 101 may be deployed in the vehicle 104, or multiple acquisition devices 101 may be deployed in the vehicle 104. The multiple acquisition devices 101 may include: acquisition devices partially deployed outside the vehicle for external viewing angles, and acquisition devices partially deployed inside the vehicle for internal viewing angles.

[0062] Optionally, the embodiment of the present application does not limit the management device 102 , and the management device 102 may be an onboard host in the vehicle 104 , or the management device 102 may be an onboard computer in the vehicle 104 .

[0063] In the embodiment of the present application, the target display screen 103 may be a display screen of an onboard display in the vehicle 104 , or the target display screen 103 may be a windshield of the vehicle 104 .

[0064] In some embodiments, if the target display screen 103 is a windshield of the vehicle 104, a projection device may also be deployed in the vehicle 104. In the process of displaying the first image through the target display screen 103, the management device 102 may transmit the first image to the projection device, and project the first image onto the target display screen 103 through the projection device.

[0065] The following is a description of the deployment locations of the acquisition device and the projection device in the vehicle with reference to a specific example. Figure 2As shown, it shows the position distribution of different acquisition devices and projection devices in the vehicle. Among them, 1 is a schematic diagram of the vehicle; 2 is an inner front wide-angle camera mounted on the rearview mirror; 3 is a schematic diagram of the projection device mounted on the rearview mirror; 4 is a schematic diagram of the outer left front wide-angle camera, and 5 is a schematic diagram of the outer right front wide-angle camera. 4 and 5 are mounted on the left and right sides of the roof, close to the edge of the front windshield.

[0066] Optionally, a photosensitive module may be deployed in the vehicle 104, so that in the subsequent display of the first image, the first image displayed on the target display screen 103 may be subjected to distortion correction and contrast adjustment by referring to the data collected by the photosensitive module to improve the display effect. The photosensitive module may be deployed on the rearview mirror of the vehicle 104 together with the projection device and the acquisition device for the in-vehicle perspective.

[0067] For example, in combination with the above examples, Figure 3 As shown, it shows a schematic diagram of the architecture of the road vision repair device. Among them, the outer left and right front wide-angle cameras are connected to the driving computer and are responsible for transmitting the captured image data to the driving computer. The outer left and right front wide-angle cameras are high-definition cameras with a resolution of more than 8 million pixels. Responsible for real-time extraction of images within the 180° visual angle in front of the target vehicle, called image raw data 1 and 2. The loading position is at the relatively highest position of the entire vehicle, which can avoid being covered by foreign objects to the greatest extent. One left and one right dual camera dual acquisition, while the angle and image are complementary, can also provide a certain degree of redundancy. If one camera is abnormal, the other camera can take on all the work of image acquisition. The built-in infrared imaging and fill light source allow the camera to ensure the clarity of the captured image when the external ambient light intensity is insufficient or when driving at night, and restore the real scene to the greatest extent.

[0068] Among them, the internal front-view wide-angle camera is connected to the driving computer and is responsible for transmitting the captured image data to the driving computer. The internal front-view wide-angle camera is a high-definition camera with a resolution of more than 8 million pixels. Because this camera is installed in the car, it only needs to extract the image within the 120° viewing angle directly in front of the target vehicle in real time, which is called the original image data3. The built-in infrared imaging and fill light source allow the camera to ensure the clarity of the captured image when the external ambient light intensity is insufficient or when driving at night, and restore the real scene to the greatest extent.

[0069] The projection device is connected to the on-board computer and is responsible for receiving the reference image and color parameters from the bicycle computer. When foreign objects block the view, the projection device needs to interpret the received reference image and color parameters into light and shadow data and project them onto the front windshield, providing the driver with a clear and visible secondary field of view for emergency driving.

[0070] Among them, the photosensitive module is connected to the on-board computer, which needs to sense the intensity of the external ambient light in real time and transmit this data to the on-board computer. The on-board computer outputs the corresponding color parameters to the projection equipment through analysis and judgment, including key information such as the contrast and brightness of the projected image, to ensure that the projected image is clear and visible.

[0071] Among them, the photosensitive module, the internal front-view wide-angle camera, and the projection equipment are all built into the rearview mirror.

[0072] Among them, the driving computer is the control center of the system architecture, which can be an in-vehicle entertainment terminal or an intelligent driving controller. As the control center of the system, there are multiple input and output links: connected to the external left and right front wide-angle cameras, receiving image data from the external left and right front wide-angle cameras, parsing and fusing this image data, and the generated image is called the reference image, which not only needs to be projected onto the front windshield in an emergency, but also is an important basis for judging whether the front windshield of the target vehicle is blocked; connected to the internal front wide-angle camera, receiving image data from the internal front wide-angle camera, parsing this image, and the generated image is called the target image, which is compared with the reference image to judge whether the front windshield of the target vehicle is blocked; connected to the photosensitive module, receiving the intensity data of the external ambient light from the photosensitive module, and generating color parameters; connected to the projection device, outputting the reference image and color parameters to the projection device.

[0073] For ease of understanding, the method for repairing the road condition vision provided by the present application is specifically introduced below with reference to the accompanying drawings. Figure 4 is a flow chart of a method for repairing a road condition vision according to an exemplary embodiment. Figure 4 As shown, the method comprises the following steps:

[0074] S401. A vehicle acquires a first image and a second image.

[0075] The first image is an image of the vehicle's driving condition from a perspective outside the vehicle, and the second image is an image of the vehicle's driving condition from a perspective inside the vehicle.

[0076] As a possible implementation manner, a collection device is deployed in the vehicle, and the vehicle can obtain the first image and the second image through the collection device.

[0077] It should be noted that using a single acquisition device to collect images for subsequent road condition vision obstruction judgment is easily limited by the single acquisition angle and it is difficult to refer to images collected at other acquisition angles. As a result, the coverage of the scene is relatively low, affecting the accuracy of subsequent occlusion judgment.

[0078] In some embodiments, there may be multiple acquisition devices deployed in the vehicle, and some of the acquisition devices are deployed outside the vehicle to acquire road condition images from the perspective outside the vehicle, while other acquisition devices are deployed inside the vehicle to acquire road condition images from the perspective inside the vehicle.

[0079] In other words, by acquiring images through multiple acquisition devices with different acquisition angles, it is possible to achieve angle and image complementarity while also providing a certain degree of redundancy. If one camera malfunctions, another camera can take on all the work of image acquisition.

[0080] It should be noted that the embodiments of the present application do not limit the deployment position of the acquisition device in the vehicle. For example, the acquisition device can be deployed at the position of the rearview mirror inside the vehicle. For another example, the acquisition device can be deployed at the position of the left and right rearview mirrors outside the vehicle. For another example, the acquisition device can be deployed at the top position outside the vehicle.

[0081] In some embodiments, there are multiple environmental objects in the driving environment of the vehicle, and different environmental objects have different degrees of impact on the safety of the vehicle. The purpose of determining whether the road view is blocked is to determine whether the environmental objects that have a greater impact on the safety of the vehicle are missing, so as to determine whether there are safety hazards in the driver's driving based on the blocked road view. Therefore, in order to quickly determine whether the road view is blocked, the vehicle can perform targeted processing on the environmental objects in the driving environment of the vehicle that are likely to cause safety impacts by executing the following S402-S404, so as to improve the efficiency of determining the blockage of the road view.

[0082] S402: The vehicle recognizes the first image and the second image respectively, and determines a first type of object in the first image and a first type of object in the second image.

[0083] Among them, the first type of object is an object in the vehicle's external environment that has an impact on the vehicle's driving safety greater than a preset impact threshold.

[0084] It should be noted that the embodiments of the present application do not limit the first type of object. For example, the first type of object may be a pedestrian. For another example, the first type of object may be a vehicle. For another example, the first type of object may be a lane marking. For another example, the first type of object may be a road sign.

[0085] In the embodiment of the present application, the vehicle can identify the first image and the second image respectively through the management device to determine the first type of object in the first image and the first type of object in the second image.

[0086] As a possible implementation manner, the management device may pre-store the first type of objects, and the management device may respectively identify the first image and the second image based on the pre-stored first type of objects to determine the first type of objects in the first image and the first type of objects in the second image.

[0087] As another possible implementation, the management device may pre-store a preset impact degree threshold. The management device may identify the first image, determine all environmental objects in the first image, and determine the security impact degree corresponding to each environmental object in the first image. Then, based on the pre-stored preset impact degree threshold, the management device may take environmental objects in the first image whose security impact degree is greater than the preset impact degree threshold as first type objects, so as to obtain first type objects in the first image.

[0088] Similarly, the management device can identify the second image, determine all environmental objects in the second image, and determine the security impact level corresponding to each environmental object in the second image. Then, based on a pre-stored preset impact level threshold, the management device can take environmental objects in the second image whose security impact level is greater than the preset impact level threshold as first-type objects to obtain first-type objects in the second image.

[0089] It should be noted that the management device may store a correspondence between multiple preset objects and multiple preset impact levels, and one preset object corresponds to one preset impact level. In the process of determining the security impact level corresponding to the environmental object, the management device may determine the preset object that is the same as the environmental object from the multiple preset objects, and use the preset impact level corresponding to the preset object that is the same as the environmental object in the multiple preset objects as the security impact level corresponding to the environmental object, so as to determine the security impact level corresponding to the environmental object.

[0090] S403: The vehicle determines a target matching degree between the first type of object in the first image and the first type of object in the second image.

[0091] As a possible implementation, the vehicle may determine the target matching degree between the first type object in the first image and the first type object in the second image through the management device. The target matching degree is used to indicate the matching degree of the same first type object in the first image and the second image, that is, the target matching degree is used to indicate the similarity between the first type object in the first image and the first type object in the second image.

[0092] That is, the target matching degree is used to indicate the completeness of the first type of object in the first image in the second image.

[0093] For example, Figure 5As shown, it shows the matching degree of the same object in two images. Wherein, the first image includes a complete pedestrian, and the second image includes the upper body of the pedestrian, then the target matching degree may be 50%.

[0094] Optionally, when there are multiple first type objects in the first image and the second image, the target matching degree may be a set including the matching degree of each first type object, or the target matching degree may be the cumulative sum of the matching degrees of all first type objects.

[0095] It should be noted that after determining the target matching degree, the vehicle can execute S404 through the management device to determine whether there is any obstruction in the road view.

[0096] S404: The vehicle determines whether the target matching degree is less than a first preset threshold.

[0097] In some embodiments, if the vehicle determines that the target matching degree is greater than or equal to a first preset threshold, the vehicle determines that there is no obstruction in the road condition field of view and there is no need to repair the road condition field of view.

[0098] In other embodiments, if the vehicle determines that the target matching degree is less than a first preset threshold, the vehicle may repair the road view by executing S405.

[0099] S405: The vehicle displays a first image on a target display screen in the vehicle.

[0100] In an embodiment of the present application, the vehicle can call the target display screen through the management device and display the first image on the target display screen.

[0101] It should be noted that the target display screen may be a display screen of an onboard display in a vehicle, or the target display screen may be a windshield in a vehicle.

[0102] As a possible implementation manner, if the target display screen is a display screen of an on-board display, the vehicle may transmit the first image to the on-board display through the management device, so that the on-board display displays the first image on the display screen.

[0103] As another possible implementation manner, if the target display screen is a windshield in a vehicle, the vehicle may transmit the first image to the projection device through the management device, so that the projection device projects the first image onto the windshield.

[0104] It should be noted that, for the process of the projection device projecting the first image onto the windshield, reference may be made to the introduction of augmented reality head-up display (AR-HUD) in the prior art, which will not be described in detail here.

[0105] That is to say, the embodiments of the present application can achieve the restoration of road condition vision through a variety of display methods.

[0106] In some embodiments, in order to improve the display effect of the first image on the target display screen, the vehicle can obtain display reference information before displaying the first image on the target display screen, and display the first image on the target display screen according to the display reference information during the process of displaying the first image on the target display screen.

[0107] The display reference information may include at least one of the following: the light intensity outside the vehicle, the driver's field of view, and the distance between the driver and the target display screen.

[0108] It is understandable that in the process of repairing the road condition vision, by referring to information such as the light intensity outside the vehicle, the driver's field of vision, and the distance between the driver and the target display screen, a more realistic and complete road condition vision can be provided to the driver on the target display screen, thereby improving the safety of vehicle driving.

[0109] In some embodiments, in order to perform targeted repair of the blocked portion of the field of view during the repair process of the road condition field of view, the vehicle may display a portion of the image corresponding to the first type of object in the first image on the target display screen.

[0110] That is to say, in the process of repairing the road condition vision, targeted compensation can be performed on the blocked part of the vision to improve the efficiency of repairing the road condition vision.

[0111] The technical solution provided by the above embodiment brings at least the following beneficial effects: by comparing different road condition vision conditions under the perspectives of inside and outside the vehicle, it is determined whether there is a partially blocked view of the road condition vision seen by the driver in the vehicle, and when it is determined that there is a partially blocked view, the road condition vision under the perspective of the outside vehicle is displayed on the display screen in the vehicle to quickly compensate for the blocked road condition vision, so as to improve the efficiency of repairing the road condition vision, provide the driver with a complete road condition vision in time, and safely perform emergency driving operations to avoid accidents. In addition, since there are multiple environmental objects in the driving environment where the vehicle is located, and different environmental objects have different degrees of impact on the safety of vehicle driving, the efficiency of determining the blockage of the road condition vision is improved by targeted processing of environmental objects that are likely to cause safety impacts in the driving environment where the vehicle is located.

[0112] In some embodiments, if there are multiple first-type objects in the first image, in order to comprehensively consider the similarity between each first-type object in the first image and the second image, Figure 6As shown, the vehicle determining the target matching degree between the first type of object in the first image and the first type of object in the second image (ie S403) may include the following steps:

[0113] S601: The vehicle determines a matching degree of each first type object.

[0114] The matching degree of the first type object is the matching degree of the same first type object in the first image and the second image.

[0115] Exemplarily, the first type of objects in the first image include: a complete pedestrian, a complete vehicle and a complete road sign, and the first type of objects in the second image may include: the upper body of a pedestrian and the front of a vehicle, then the matching degree of the pedestrian is 50%, the matching degree of the vehicle is 20%, and the matching degree of the road sign is 0%.

[0116] S602: The vehicle determines a second type object from all first type objects according to the matching degree of each first type object.

[0117] The matching degree of the second type of objects is greater than a second preset threshold.

[0118] Exemplarily, in combination with the above example, if the second preset threshold is 40%, the pedestrian is a second type of object.

[0119] S603: The vehicle determines a target matching degree according to a ratio between the number of the second type of objects and the number of the first type of objects.

[0120] For example, in combination with the above example, the number of first type objects is 3, and the number of second type objects is 1, then the target matching degree is 3. 1 .

[0121] It is understandable that by counting the number of matches of environmental objects that may affect the driving safety of the vehicle from the perspectives inside and outside the vehicle, it is possible to determine whether the driver's view of the road conditions in the vehicle is partially blocked. In this way, the number ratio can be further referenced at the reference angle of similarity matching to improve the accuracy of occlusion judgment.

[0122] In some embodiments, since different environmental objects have different degrees of impact on the safety of the vehicle during driving, in order to pay more attention to environmental objects with greater safety impact, such as Figure 7 As shown, after the vehicle determines whether the target matching degree is less than the first preset threshold (i.e., S404), if the target matching degree is greater than or equal to the first preset threshold, the method may further include the following steps:

[0123] S701: The vehicle determines a third type of object from all first type of objects.

[0124] The matching degree of the third type of objects is less than or equal to the second preset threshold.

[0125] Exemplarily, in combination with the above example, vehicles and road signs are both third type objects.

[0126] S702: The vehicle sums the preset weight values ​​corresponding to all third-type objects to obtain a target value.

[0127] The preset weight value is used to indicate the degree of impact on the safety of vehicle driving, and the greater the preset weight value, the greater the degree of impact on the safety of vehicle driving.

[0128] Exemplarily, the preset weight value corresponding to pedestrians is 5, the preset weight value corresponding to vehicles is 3, the preset weight value corresponding to road signs is 2, and the preset weight value corresponding to lane markings is 1.

[0129] In the embodiment of the present application, there is a corresponding relationship between the preset weight value and the security impact degree. The preset weight value may be equal to the security impact degree, or the preset weight value may be an index value of the security impact degree.

[0130] It should be noted that, for the process of determining the preset weight value corresponding to the third type of object, reference may be made to the process of determining the security impact degree corresponding to the environmental object in the above embodiment, which will not be described in detail here.

[0131] In some embodiments, after obtaining the target value, the vehicle may further determine whether there is an obstruction in the road view by executing S703 according to the safety impact of the environmental object.

[0132] S703: The vehicle determines whether the target value is greater than a third preset threshold.

[0133] In some embodiments, if the vehicle determines that the target value is less than or equal to the third preset threshold, the vehicle determines that there is no obstruction to the road condition field of view and there is no need to repair the road condition field of view.

[0134] In other embodiments, if the vehicle determines that the target value is greater than a third preset threshold, the vehicle may repair the road view by executing S405.

[0135] It can be understood that by considering that different environmental objects have different degrees of impact on the safety of vehicle driving, in the occlusion judgment process, more attention can be paid to environmental objects with greater safety impact based on the weight value, thereby improving the reference value of the occlusion judgment results for subsequent safe driving.

[0136] In some embodiments, in order to comprehensively consider the impact of environmental objects on the safety of the vehicle during driving and the similarity between the two images under the perspectives of the vehicle inside and outside, such as Figure 8 As shown, the vehicle sums the preset weight values ​​corresponding to all third type objects to obtain the target value (ie, S702) and may include the following steps:

[0137] S801. The vehicle determines a product result of each third type object according to the product between the matching degree of each third type object and the corresponding preset weight value.

[0138] For example, in combination with the above example, the matching degree of pedestrians is 50%, the matching degree of vehicles is 20%, and the matching degree of road signs is 0%. The preset weight value corresponding to pedestrians is 5, the preset weight value corresponding to vehicles is 3, and the preset weight value corresponding to road signs is 2. Then the product result of pedestrians is 2.5, the product result of vehicles is 0.6, and the product result of road signs is 0.

[0139] S802: The vehicle sums the product results of all third-type objects to obtain a target value.

[0140] Exemplarily, in combination with the above example, the target value is 3.1.

[0141] It can be understood that by comprehensively considering the degree of impact of environmental objects on the safety of the vehicle during driving and the similarity between the two images under the perspectives of inside and outside the vehicle, the accuracy of the occlusion judgment result can be improved.

[0142] The following is an introduction to the method for repairing the road condition vision provided by the embodiment of the present application with reference to specific examples. Fig. 9 As shown, the following steps are included:

[0143] The first step is to collect sensor data. The first is the image raw data 1 and image raw data 2 collected by the left and right front wide-angle cameras. The second is the image raw data 3 collected by the inner front wide-angle camera. The third is the data collected by the photosensitive module on the intensity of external ambient light, which is called light intensity.

[0144] The second step is the analysis and processing of data by the control center. The main function of this step is the on-board computer. After all the three major data in the first step are sent to the on-board computer, the on-board computer begins to analyze and process the data. The first is image analysis, which is divided into three small steps:

[0145] The first is to analyze and fuse the original image data 1 and the original image data 2. Because the installation positions of the left and right front wide-angle cameras are different, the original image data 1 and the original image data 2 need to be fused, calculated, and spliced ​​to form a complete image, which is marked as a reference image. In the reference image, multiple prominent reference elements need to be extracted, which can be road signs, pedestrians, vehicles, and even lane markings.

[0146] The second is the analysis of the original image data 3. Since there is only one front-view wide-angle camera installed, the on-board computer only needs to analyze the data and mark it as a target image. Similarly, it needs to extract multiple prominent features, which can be road signs, pedestrians, vehicles, or even lane markings.

[0147] The third is the comparison between the target image and the reference image. By comparing their respective visible features, it is determined whether the front windshield is blocked by foreign objects. When 30% of the visible features cannot be matched, it can be determined that the target vehicle is blocked by foreign objects. At this time, the on-board computer needs to send the reference image to the projection device.

[0148] Secondly, it analyzes the intensity of external ambient light. According to the light intensity, it parses out key color parameters such as optimal contrast and brightness to improve the quality of the projected image and avoid the phenomenon that the projected image is unclear or dazzling.

[0149] The third step is the output of the projected image. First, the on-board computer needs to power on and initialize the projection device, detect whether the distance between the projection device and the windshield of the vehicle body meets the preset value, whether the projection angle meets the driver's field of view, and fine-tune the preset focal length to achieve the optimal projection mode, start the internal self-check, and prepare for data reception and image projection; when the on-board computer determines that the target vehicle is blocked by foreign objects, it will then pass the reference image data and color parameters and other control instructions to the projection device; then the projection device will parse the received reference image data color parameters and other control instructions, generate light and shadow data, and project it onto the front windshield to provide the driver with a secondary field of view for emergency driving. At the same time, the double flash lights will be turned on to remind neighboring cars to pay attention to avoid.

[0150] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the road condition vision repair device or equipment includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0151] The embodiment of the present application can divide the functional modules of the device or equipment for repairing road condition vision according to the above method. For example, the device or equipment for repairing road condition vision can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0152] Fig.10 is a block diagram of a device for repairing a road condition vision according to an exemplary embodiment. The device for repairing a road condition vision is applied to a vehicle and is used to perform Figure 4 , Figure 6 , Figure 7 or Figure 8 The method shown. The road condition vision restoration device 1000 includes: an acquisition module 1001 and a processing module 1002.

[0153] The acquisition module 1001 is used to acquire a first image and a second image, wherein the first image is an image of the vehicle's driving conditions from an outside perspective, and the second image is an image of the vehicle's driving conditions from an inside perspective. The processing module 1002 is used to respectively identify the first image and the second image, and determine a first type of object in the first image and a first type of object in the second image, wherein the first type of object is an object in the vehicle's outside environment that has a greater impact on the vehicle's driving safety than a preset impact threshold. The processing module 1002 is also used to determine a target matching degree between the first type of object in the first image and the first type of object in the second image. The processing module 1002 is also used to display the first image on a target display screen in the vehicle if the target matching degree is less than a first preset threshold.

[0154] In a possible implementation, the processing module 1002 is specifically used to determine the matching degree of each first type object, where the matching degree of the first type object is the matching degree of the same first type object in the first image and the second image. The processing module 1002 is also used to determine the second type object from all the first type objects according to the matching degree of each first type object, where the matching degree of the second type object is greater than a second preset threshold. The processing module 1002 is also used to determine the target matching degree according to the ratio between the number of the second type objects and the number of the first type objects.

[0155] In a possible implementation, the processing module 1002 is further used to determine a third type of object from all first type objects if the target matching degree is greater than or equal to the first preset threshold, and the matching degree of the third type of object is less than or equal to the second preset threshold. The processing module 1002 is further used to sum the preset weight values ​​corresponding to all third type objects to obtain a target value, and the preset weight value is used to indicate the degree of impact on the safety of vehicle driving. The processing module 1002 is further used to display the first image on the target display screen in the vehicle if the target value is greater than the third preset threshold.

[0156] In a possible implementation, the processing module 1002 is specifically configured to determine the product result of each third type object according to the product between the matching degree of each third type object and the corresponding preset weight value. The processing module 1002 is also configured to sum the product results of all third type objects to obtain a target value.

[0157] In a possible implementation, the processing module 1002 is specifically configured to display a partial image corresponding to the first type of object in the first image on a target display screen.

[0158] In a possible implementation, the target display screen is a display screen of an onboard display in a vehicle, or the target display screen is a windshield in a vehicle. The processing module 1002 is further configured to obtain display reference information, where the display reference information includes at least one of the following: the light intensity outside the vehicle, the driver's field of view, and the distance between the driver and the target display screen. The processing module 1002 is specifically configured to display the first image on the target display screen according to the display reference information.

[0159] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0160] Fig.11 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.11 As shown, the electronic device 1100 includes but is not limited to: a processor 1101 and a memory 1102 .

[0161] The memory 1102 is used to store executable instructions of the processor 1101. It can be understood that the processor 1101 is configured to execute instructions to implement the method for repairing the road condition view in the above embodiment.

[0162] It should be noted that those skilled in the art can understand that Fig.11 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.11 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0163] The processor 1101 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1102, and calling data stored in the memory 1102, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1101 may include one or more processing units. Optionally, the processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1101.

[0164] The memory 1102 may be used to store software programs and various data. The memory 1102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a processing unit), etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0165] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1102 including instructions. The above instructions can be executed by the processor 1101 of the electronic device 1100 to implement the method for repairing the road condition view in the above embodiment.

[0166] In actual implementation, Fig.10 The functions of the acquisition module 1001 and the processing module 1002 can be obtained by Fig.11 The processor 1101 in the memory 1102 calls the computer program stored in the memory 1102. The specific execution process can refer to the description of the road condition field of view repair method in the above embodiment, which will not be repeated here.

[0167] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0168] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by a processor of an electronic device to complete the method for repairing the road condition field of view in the above embodiment.

[0169] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned road condition field of view repairing method embodiment are implemented, and the same technical effect as the above-mentioned road condition field of view repairing method can be achieved. To avoid repetition, it will not be repeated here.

[0170] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0171] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0172] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0173] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0174] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0175] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for repairing road condition vision, characterized in that: Applied to a vehicle, the method comprises: Acquire a first image and a second image, wherein the first image is an image of the driving condition of the vehicle from an outside perspective, and the second image is an image of the driving condition of the vehicle from an inside perspective; Recognize the first image and the second image respectively, and determine a first type of object in the first image and a first type of object in the second image, wherein the first type of object is an object in the vehicle's exterior environment, the degree of impact on vehicle driving safety being greater than a preset impact degree threshold; determining a target match between a first type of object in the first image and a first type of object in the second image; If the target matching degree is less than a first preset threshold, the first image is displayed on a target display screen in the vehicle.

2. The method according to claim 1, characterized in that The determining a target matching degree between the first type of object in the first image and the first type of object in the second image includes: Determining a matching degree of each first-type object, where the matching degree of the first-type object is a matching degree of the same first-type object in the first image and the second image; Determine a second type of object from all the first type of objects according to the matching degree of each of the first type of objects, the matching degree of the second type of objects being greater than a second preset threshold; The target matching degree is determined according to a ratio between the number of the second type of objects and the number of the first type of objects.

3. The method according to claim 2, characterized in that The method further comprises: If the target matching degree is greater than or equal to the first preset threshold, determining a third type of object from all the first type of objects, the matching degree of the third type of object being less than or equal to the second preset threshold; Summing the preset weight values ​​corresponding to all the third type objects to obtain a target value, wherein the preset weight value is used to indicate the degree of impact on the safety of vehicle driving; If the target value is greater than a third preset threshold, the first image is displayed on a target display screen in the vehicle.

4. The method according to claim 3, characterized in that The summing up the preset weight values ​​of all the third type objects to determine the target value includes: Determine a product result of each of the third type objects according to the product between the matching degree of each of the third type objects and the corresponding preset weight value; The product results of all the third type objects are summed to obtain the target value.

5. The method according to any one of claims 1 to 4, characterized in that Displaying the first image on the target display screen in the vehicle includes: A partial image corresponding to the first type of object in the first image is displayed on the target display screen.

6. The method according to any one of claims 1 to 4, characterized in that The target display screen is a display screen of an onboard display in the vehicle, or the target display screen is a windshield in the vehicle; Before displaying the first image on the target display screen in the vehicle, the method further includes: Acquiring display reference information, wherein the display reference information includes at least one of the following: light intensity outside the vehicle, a driver's field of view observation angle, and a distance between the driver and the target display screen; The step of displaying the first image on the target display screen in the vehicle comprises: The first image is displayed on the target display screen according to the display reference information.

7. A device for repairing road condition vision, characterized in that: Applied to a vehicle, the device comprises: An acquisition module, used to acquire a first image and a second image, wherein the first image is an image of the driving condition of the vehicle from an external perspective, and the second image is an image of the driving condition of the vehicle from an internal perspective; a processing module, configured to identify the first image and the second image respectively, and determine a first type of object in the first image and a first type of object in the second image, wherein the first type of object is an object in an external environment of the vehicle whose impact on the safety of vehicle driving is greater than a preset impact threshold; The processing module is further used to determine the target matching degree between the first type of object in the first image and the first type of object in the second image; The processing module is further configured to display the first image on a target display screen in the vehicle if the target matching degree is less than a first preset threshold.

8. An electronic device, characterized in that: include: processor; A memory for storing the processor executable instructions; wherein the processor is configured to execute the instructions to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method as claimed in any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises computer program instructions which, when executed, implement the method according to any one of claims 1 to 6.

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