Reversing image generation method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a reversing image generation method and device, electronic equipment and a medium. The method comprises the steps that if it is detected that the gear state of a vehicle is in a reverse gear state, an electronic rearview mirror image and a reversing image of the vehicle are obtained; performing fusion processing on the electronic rearview mirror image and the reversing image to obtain fused image information; state information of the vehicle and size parameters of the vehicle are obtained, the size parameters comprise the wheelbase and the vehicle body size of the vehicle, and a reversing movement track of the vehicle is generated based on the state information, the wheelbase and the vehicle body size; and combining the reversing motion track with the fused image information to obtain a reversing image of the vehicle. According to the embodiment of the invention, the blind areas can be obviously reduced or eliminated, the decision-making ability and safety of a driver can be greatly improved, and the use experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a method, device, electronic device, and computer-readable storage medium for generating a reversing image. Background Art

[0002] With the development of technology, the safety and accuracy of reversing operations are indeed crucial. In view of the application and limitations of traditional reversing image systems and CMS electronic rearview mirrors in reversing operations, the largest application scenario of the reversing image system is when reversing into or out of a garage. It can clearly display the distance between the obstacles behind the vehicle and the vehicle to avoid collisions. For novice drivers or those with insufficient driving experience, it is undoubtedly a tool to boost confidence. However, its limitations are also obvious, that is, it only covers the field of view behind the vehicle, and is powerless for the blind spots on the side and front of the vehicle.

[0003] Although the CMS electronic rearview mirror performs well in expanding the field of view, there is still room for improvement in the presentation of reversing trajectory information. Therefore, there is an urgent need for a way to combine the reversing trajectory with the rearview mirror image to enhance the user experience. Summary of the invention

[0004] To solve the above technical problems, the embodiments of the present application provide a method and device for generating a reversing image, an electronic device, a computer-readable storage medium, and a computer program product.

[0005] According to one aspect of an embodiment of the present application, a reversing image generation method is provided, comprising: if it is detected that the gear state of the vehicle is in reverse gear, obtaining an electronic rearview mirror image and a reversing image of the vehicle; fusing the electronic rearview mirror image and the reversing image to obtain fused image information; obtaining the state information of the vehicle and the size parameters of the vehicle, the size parameters including the wheelbase and body size of the vehicle, and generating a reversing motion trajectory of the vehicle based on the state information, the wheelbase and the body size; combining the reversing motion trajectory with the fused image information to obtain a reversing image of the vehicle.

[0006] According to one aspect of an embodiment of the present application, the electronic rearview mirror image and the reversing image are fused to obtain fused image information, including: determining an overlapping area image and a non-overlapping area image between the electronic rearview mirror image and the reversing image; smoothly blending the overlapping area images so that the pixel values ​​between the overlapping area images are smoothly blended to obtain a blended overlapping area image; and determining the fused image information based on the blended overlapping area image and the non-overlapping area image.

[0007] According to one aspect of an embodiment of the present application, the method also includes: obtaining the central control display screen parameters of the vehicle, dividing the central control display screen into multiple display areas according to a preset ratio and the central control display screen parameters; outputting the fused image information to the multiple display areas for display, wherein the image contents displayed in the multiple display areas are different.

[0008] According to one aspect of an embodiment of the present application, the method also includes: obtaining real-time status information and operation information of the vehicle, the real-time position information including the reversing status of the vehicle; determining the number and area sizes of the multiple display areas based on the reversing status and / or the operation information.

[0009] According to one aspect of an embodiment of the present application, the status information includes a vehicle speed and a steering wheel angle, and generating a reversing motion trajectory of the vehicle based on the status information, the wheelbase and the body size includes: establishing a vehicle coordinate system corresponding to the vehicle based on the wheelbase and the body size, wherein the origin of the vehicle coordinate system is the center of the vehicle; and determining the reversing motion trajectory of the vehicle based on the vehicle speed, the steering wheel angle and the vehicle coordinate system.

[0010] According to one aspect of an embodiment of the present application, determining the reversing motion trajectory of the vehicle based on the vehicle speed, the steering wheel angle and the vehicle coordinate system includes: determining the real-time position information of the vehicle based on the vehicle speed and the steering wheel angle; and updating the reversing motion trajectory of the vehicle in real time based on the real-time position information and the vehicle coordinate system.

[0011] According to one aspect of an embodiment of the present application, the method also includes: determining the proportional relationship between the vehicle coordinate system and the world coordinate system by using the reversing motion trajectory and the fused image information; determining obstacles in the environmental information corresponding to the vehicle based on the fused image information; determining the distance value between the obstacle and the vehicle based on the proportional relationship, and determining the early warning strategy of the vehicle based on the relationship between the distance value and a preset safety threshold.

[0012] According to one aspect of an embodiment of the present application, a reversing image generating device is provided, comprising: an acquisition module, for acquiring an electronic rearview mirror image and a reversing image of the vehicle if it is detected that the gear state of the vehicle is in reverse gear; a fusion module, for fusing the electronic rearview mirror image and the reversing image to obtain fused image information; a generation module, for acquiring the state information of the vehicle and the size parameters of the vehicle, the size parameters including the wheelbase and body size of the vehicle, and generating a reversing motion trajectory of the vehicle based on the state information, the wheelbase and the body size; a determination module, for combining the reversing motion trajectory with the fused image information to obtain a reversing image of the vehicle.

[0013] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the reversing image generation method as described above.

[0014] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the reversing image generation method as described above.

[0015] According to one aspect of an embodiment of the present application, a computer program product is also provided, including a computer program, which implements the steps in the reversing image generation method as described above when executed by a processor.

[0016] In the technical solution provided in the embodiment of the present application, by acquiring the electronic rearview mirror image and the reversing image of the vehicle and performing fusion processing, a wider and more comprehensive field of view coverage can be obtained. The electronic rearview mirror usually has a wider viewing angle. Combined with the image provided by the reversing camera, these blind spots can be significantly reduced or eliminated, and the vehicle's driving status information and size parameters are combined to generate the reversing motion trajectory. This means that the driver can see the vehicle's expected motion path in real time during the reversing process, which is crucial to avoiding potential dangers in the blind spot, especially when reversing in a complex environment. This real-time dynamic feedback can greatly improve the driver's decision-making ability and safety, and enhance the user experience.

[0017] 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

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 is a schematic diagram of an implementation environment for generating a reversing image during vehicle driving, shown in an exemplary embodiment of the present application;

[0020] Figure 2 is a flow chart of a method for generating a reversing image shown in an exemplary embodiment of the present application;

[0021] Figure 3 is a flow chart of a method for generating a reversing image shown in another exemplary embodiment of the present application;

[0022] Figure 4 is a flow chart of a method for generating a reversing image shown in another exemplary embodiment of the present application;

[0023] Figure 5 is a schematic diagram of generating a reversing image according to an exemplary embodiment;

[0024] Figure 6 is a flow chart of a method for generating a reversing image shown in another exemplary embodiment of the present application;

[0025] Figure 7 is a flow chart of a method for generating a reversing image shown in another exemplary embodiment of the present application;

[0026] Figure 8 is a flow chart of a method for generating a reversing image shown in another exemplary embodiment of the present application;

[0027] Fig. 9 is a flow chart of a method for generating a reversing image shown in another exemplary embodiment of the present application;

[0028] Fig.10 It is a schematic diagram of a brief process of generating a reversing image in an exemplary application scenario;

[0029] Fig.11 is a block diagram of a reversing image generating device shown in an exemplary embodiment of the present application;

[0030] Fig.12 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0032] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0033] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0034] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0035] First of all, it should be noted that the reversing image, also known as the parking assist image or reversing visual system, is a device that assists the driver in reversing through the vehicle's camera and display. When the driver puts the car into gear, the system automatically starts the rear camera and displays the real-time image behind the vehicle on the display inside the car. In this way, the driver can clearly see the situation behind the vehicle through the screen, including obstacles, pedestrians, parking lines, etc., to avoid collisions or scratches when reversing. The camera of the reversing image system is usually installed at the rear of the vehicle, such as the rear bumper or trunk lid, to ensure that the widest field of view can be captured. The display screen is usually installed on the center console or rearview mirror for the driver's observation.

[0036] Reversing trajectory is an advanced feature of the reversing imaging system, which can display the vehicle's expected driving path in the form of dynamic lines on the display. These lines are usually calculated in real time based on parameters such as the steering wheel rotation angle and vehicle speed, so they can very accurately reflect the vehicle's reversing trajectory.

[0037] There are many ways to display the reversing trajectory. Some systems will use green, yellow and red colors to distinguish different safe distances to remind the driver. For example, a green line may indicate a safe distance, a yellow line indicates a distance that requires caution, and a red line may indicate a dangerous distance that requires immediate stopping.

[0038] The electronic rearview mirror uses a wide-angle camera to capture the images behind the vehicle. Compared with traditional rearview mirrors, it can provide a wider field of view, effectively reduce blind spots, and improve driving safety. The combination of the electronic rearview mirror and the reversing image allows the driver to fully cover the blind spots around the vehicle, and can get clear vision support whether it is behind the side or the rear. After the two are combined, more intelligent functions can be further integrated, such as automatic parking assistance, 360-degree panoramic imaging, etc., to provide drivers with a more convenient and safe driving experience.

[0039] Figure 1 FIG. 1 is a schematic diagram of an implementation environment for generating a reversing image during vehicle operation, shown in an exemplary embodiment of the present application. Figure 1 As shown, during the driving of the vehicle, if the smart terminal 110 detects that the gear state of the vehicle is in reverse gear, the electronic rearview mirror image and the reversing image of the vehicle can be obtained. Thereafter, the electronic rearview mirror image and the reversing image can be fused to obtain fused image information, and the driving status information of the vehicle and the size parameters of the vehicle can be obtained. Then, the reversing motion trajectory of the vehicle can be determined according to the driving status information of the vehicle and the size parameters of the vehicle, and then the reversing motion trajectory is combined with the fused image information to obtain a reversing image without blind spots, thereby improving the user's driving experience.

[0040] in, Figure 1 The smart terminal 110 shown can be any terminal device that supports data collection, such as a smart phone, a car computer, a tablet computer, a laptop computer, or a wearable device, but is not limited thereto.

[0041] The safety and accuracy of reversing operations are indeed crucial. In view of the application and limitations of traditional reversing image systems and CMS electronic rearview mirrors in reversing operations, the largest application scenario of reversing image systems is when reversing into or out of a garage, but they are powerless for the blind spots on the side and front of the vehicle.

[0042] The problems pointed out above are generally applicable in general travel scenarios. It can be seen that there will be blind spots in the field of vision when reversing into or out of a garage only through reversing images, which will affect the user experience. In order to solve these problems, the embodiments of the present application respectively propose a reversing image generation method, a reversing image generation device, an electronic device, a computer-readable storage medium and a computer program product. These embodiments will be described in detail below.

[0043] See also Figure 2 , Figure 2 is a flowchart of a method for generating a reversing image according to an exemplary embodiment of the present application. The method can be applied to Figure 1 The implementation environment shown is specifically executed by the smart terminal 110 in the implementation environment. It should be understood that the method can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0044] like Figure 2 As shown, in an exemplary embodiment, the reversing image generation method includes at least steps S210 to S240, which are described in detail as follows:

[0045] Step S210: If it is detected that the gear state of the vehicle is in reverse gear, an electronic rearview mirror image and a reverse image of the vehicle are acquired.

[0046] Specifically, when the vehicle is detected to be in reverse gear, the vehicle system will perform a series of intelligent responses to improve driving safety and convenience. In this scenario, obtaining the vehicle's electronic rearview mirror image and the reverse image are two key actions, which together provide the driver with a more comprehensive and clear field of view, helping to avoid potential dangers caused by blind spots.

[0047] First, regarding the acquisition of electronic rearview mirror images, this mainly relies on the electronic rearview mirror system (also known as camera rearview mirror or digital rearview mirror) installed on modern vehicles. These systems capture images on both sides of the vehicle through high-definition cameras and display them in real time on the display screen inside the car. Compared with traditional rearview mirrors, electronic rearview mirrors are not limited by the shape of the vehicle, window pollution or weather conditions (such as rain, fog), and can provide a wider, clearer and undisturbed field of view. When the vehicle is in reverse gear, the images of the electronic rearview mirror are particularly important because they can help the driver better observe the dynamics behind the vehicle, including potential obstacles, pedestrians or other vehicles. Secondly, the acquisition of reversing images usually relies on the camera at the rear of the vehicle. This camera captures the real-time picture behind the vehicle and displays it on the display screen inside the car (usually part of the center console or electronic rearview mirror display). The reversing image provides the driver with an intuitive perspective, allowing them to more easily judge the distance between the vehicle and the objects behind, thereby avoiding collisions. During the reversing process, these images are usually supplemented with data from reversing radar or ultrasonic sensors to provide additional sound or visual warnings to further increase safety. Combining these two functions, when the vehicle is in reverse gear, the driver can view the electronic rearview mirror image and the reversing image at the same time, thus obtaining a 360-degree (or nearly 360-degree) field of view. This not only improves the driver's awareness of the surrounding environment, but also significantly reduces the risk when reversing.

[0048] In summary, when the vehicle is detected to be in reverse gear, obtaining the electronic rearview mirror image and the reversing image is an important part of the intelligent vehicle safety system. These functions help the driver to perform reversing operations more safely and confidently by providing a comprehensive and clear field of view.

[0049] Step S220, fusing the electronic rearview mirror image and the reversing image to obtain fused image information.

[0050] Specifically, after acquiring the electronic rearview mirror image and the reversing image of the vehicle, since the images are acquired by different image acquisition devices, it is necessary to fuse the electronic rearview mirror image and the reversing image to obtain fused image information.

[0051] Exemplarily, first, the electronic rearview mirror image and the reversing image are preprocessed, including denoising, contrast enhancement, color correction, etc., to ensure that the image quality is optimal. Taking into account the differences in camera viewing angles and focal lengths, it may also be necessary to perform geometric correction on the images to ensure that the images can be seamlessly connected after fusion. Image registration is a key step in the fusion process, which involves aligning the two images in space so that they can accurately reflect the same scene. This is usually achieved through algorithms such as feature point matching and image transformation (such as affine transformation and perspective transformation). Based on the image registration, an appropriate fusion algorithm is used to merge the electronic rearview mirror image and the reversing image. The fusion algorithm may include weighted averaging, multi-resolution analysis (such as wavelet transform), Laplace pyramid, etc., to generate a fused image that contains both the wide field of view of the electronic rearview mirror and detailed information of the reversing image.

[0052] Optionally, in some feasible embodiments, the fused image information may be further post-processed, for example, edge enhancement, color balance adjustment, etc., or some auxiliary functions may be added, such as distance measurement, obstacle detection, etc., to enhance the practicality of the fused image.

[0053] Step S230, obtaining the state information of the vehicle and the size parameters of the vehicle, the size parameters including the wheelbase and body size of the vehicle, and generating the reversing motion trajectory of the vehicle based on the state information, the wheelbase and the body size.

[0054] Specifically, the current driving status information of the vehicle and the corresponding size parameters of the vehicle can be obtained, wherein the size parameters of the vehicle include the wheelbase, track width, body size and other parameters of the vehicle, and the driving status of the vehicle includes the current position of the vehicle, the speed of the vehicle, acceleration, steering wheel steering angle and other driving status of the vehicle. Then, a motion model of the vehicle is established according to the driving status of the vehicle and the size parameters of the vehicle, and then the reversing motion trajectory of the vehicle can be determined according to the motion model.

[0055] Exemplarily, the vehicle driving state information is obtained, wherein the vehicle driving state information includes: gear state: confirm that the vehicle has been engaged in reverse gear, vehicle speed: although the vehicle speed is usually slow when reversing, obtaining the current vehicle speed helps to evaluate the dynamic response of the vehicle, steering angle: the steering angle of the steering wheel is a key parameter for determining the direction of the vehicle, acceleration / deceleration: understanding the acceleration or deceleration of the vehicle helps to predict the future position of the vehicle. It is also necessary to obtain the vehicle size parameters, wherein the vehicle size parameters include the body length that affects the turning radius and required space when the vehicle is reversing, the vehicle width required when reversing in a narrow space, and the wheelbase, wheelbase, etc. of the vehicle. Then, a kinematic model is established based on the vehicle driving state information and size parameters. This model will take into account factors such as the vehicle's turning radius, driving speed, acceleration, etc. to predict the vehicle's future position. Using the kinematic model, combined with the vehicle's current position and target position (such as a parking space), a feasible reversing path is planned. This path should avoid obstacles as much as possible, while taking into account the size limitations of the vehicle, and convert the results of path planning into a specific reversing motion trajectory, which usually includes a series of time points, vehicle position, speed, steering angle and other information.

[0056] Step S240, combining the reversing motion trajectory with the fused image information to obtain a reversing image of the vehicle.

[0057] Specifically, first, a kinematic model or path planning algorithm is used to generate a reversing motion trajectory based on the vehicle's driving status information (such as vehicle speed, steering angle, acceleration, etc.) and size parameters (such as vehicle length, width, etc.). This trajectory usually includes a series of time points, vehicle position, speed, steering angle and other information. At the same time, the electronic rearview mirror image and the reversing image are obtained after preprocessing, registration and fusion. These images provide a comprehensive and intuitive view of the vehicle's surroundings. Next, the generated reversing motion trajectory is superimposed on the fused image information. This usually involves the following steps: Coordinate transformation: Ensure that the coordinate system of the reversing motion trajectory is consistent with the coordinate system of the fused image. This may require some geometric transformations such as translation, rotation or scaling; Trajectory drawing: On the fused image, the reversing motion trajectory is drawn using appropriate color, line width and transparency. The display of the trajectory should be clear and easy to understand, and avoid confusion with other elements in the image; Dynamic update: As the vehicle moves, the reversing motion trajectory and the fused image are updated in real time to maintain the accuracy and real-time nature of the information, and the combined reversing image is displayed on the display screen inside the car for the driver to view. To improve the user experience, you can add some interactive features, such as zooming, panning, and rotating the track view, as well as adjusting the display parameters of the track (such as color, line width, etc.).

[0058] In this embodiment, by acquiring the electronic rearview mirror image and the reversing image of the vehicle and performing fusion processing, a wider and more comprehensive field of view coverage can be obtained. The electronic rearview mirror usually has a wider viewing angle. Combined with the image provided by the reversing camera, these blind spots can be significantly reduced or eliminated, and the vehicle's driving status information and size parameters are combined to generate the reversing motion trajectory. This means that the driver can see the vehicle's expected motion path in real time during the reversing process, which is crucial to avoiding potential dangers in the blind spot, especially when reversing in a complex environment. This real-time dynamic feedback can greatly improve the driver's decision-making ability and safety, and enhance the user experience.

[0059] Further, based on the above embodiment, please refer to Figure 3 In one of the exemplary embodiments provided in the present application, the above-mentioned specific implementation process of fusing the electronic rearview mirror image and the reversing image to obtain the fused image information may also include steps S310 to S330, which are described in detail as follows:

[0060] Step S310, determining the overlapping area image and the non-overlapping area image between the electronic rearview mirror image and the reversing image.

[0061] Specifically, the electronic rearview mirror image includes the left electronic rearview mirror image of the vehicle and the right electronic rearview mirror image of the vehicle. First, ensure that the electronic rearview mirror image and the reversing image have been properly preprocessed, including denoising, contrast enhancement, etc., to improve image quality. Next, image registration is performed, that is, the spatial positions of the two images are adjusted so that they can accurately reflect the same scene. This usually involves technical processes such as feature point extraction, matching, and image transformation. Then, after the electronic rearview mirror image and the reversing image are registered, the overlapping area of ​​the electronic rearview mirror image and the reversing image can be detected. This process can be achieved by comparing the pixel values ​​between the electronic rearview mirror image and the reversing image. Specifically, a threshold can be defined. When the difference in pixel values ​​of the two images in a certain area is less than the threshold, the area is considered to be overlapping. Another method is to use image correlation analysis to calculate the similarity of the two images in different areas to determine the overlapping area.

[0062] After determining the overlapping area, it is necessary to distinguish the overlapping area image from the non-overlapping area image, and then to crop or mask the original electronic rearview mirror image and the reversing image, and then extract the overlapping part from the two images. This part of the image contains the common information of the two perspectives. During the fusion process, special attention should be paid to the processing of this part of the image to ensure that the fused image has consistency and coherence in the overlapping area. For the non-overlapping area, it can be directly extracted from the original image. These areas contain information unique to each perspective, so they should be retained during the fusion process.

[0063] Step S320 , performing smooth blending processing on the overlapping area images so that the pixel values ​​between the overlapping area images are smoothly blended to obtain a blended overlapping area image.

[0064] Specifically, after the overlapping area images in the electronic rearview mirror image and the reversing image are extracted, the overlapping area images may be mixed to obtain overlapping area images with consistent image parameters.

[0065] For example, Alpha blending or other blending techniques can be used, which is a key step to achieve a smooth transition between two images. Alpha blending is a commonly used image processing technique that uses the Alpha channel (i.e., transparency channel) to control the degree of blending of two images in the overlapping area. First, an Alpha value needs to be determined for each pixel in the overlapping area. This value determines the degree of contribution of the pixels from the two images in the final fused image. The Alpha value is usually between 0 and 1, where 0 means completely transparent (i.e., only the pixels of the other image are displayed) and 1 means completely opaque (i.e., only the pixels of the current image are displayed).

[0066] In practical applications, the alpha value can be determined in many ways, such as based on the difference in pixel values, image correlation, depth information (if available), etc. A simple method is to use linear interpolation or weighted average to calculate the alpha value so that the pixels of the two images gradually transition at the edge of the overlapping area.

[0067] Then, using the Alpha blending formula: Imixed = αI1 + (1-α)I2

[0068] Where I1 and I2 are the pixel values ​​of the two images to be compared, and α is the transparency coefficient. The value of α can be adjusted according to the position and importance of the overlapping area. For example, a higher α can be set in the center area of ​​the image, while a lower α can be set in the edge area.

[0069] At the edge of the overlapping area, due to the change of Alpha value, edge effects such as color mutation or blur may occur. In order to alleviate these effects, some smoothing techniques such as Gaussian blur and bilateral filtering can be used to process the edge area. These techniques can reduce color mutation and blur while maintaining image details.

[0070] Step S330: determining fused image information based on the mixed overlapping area image and the non-overlapping area image.

[0071] Specifically, the non-overlapping area image is spliced ​​with the mixed overlapping area image. During the splicing process, special attention should be paid to the boundary between the overlapping area and the non-overlapping area to ensure that the spliced ​​image maintains visual consistency and coherence. Since different image sources may have differences in color and brightness, it is necessary to perform color and brightness correction on the spliced ​​image. This can be achieved by adjusting parameters such as image saturation, brightness, and contrast to ensure that the entire fused image is visually consistent. During the splicing process, splicing gaps or color mutations may occur due to differences in image resolution, color space, or shooting angle. In order to eliminate these effects, the spliced ​​image can be smoothed. Commonly used smoothing techniques include Gaussian blur, mean filtering, etc. These techniques can reduce splicing gaps and color mutations to a certain extent, and then obtain fused image information.

[0072] In this embodiment, by accurately determining the overlapping area between the electronic rearview mirror image and the reversing image and performing mixing processing on the area, the traces produced when the images are stitched together can be significantly reduced or eliminated, and the fused image information is more consistent in color, brightness, contrast, etc., reducing the visual differences caused by different image sources. On the other hand, by fusing the electronic rearview mirror image and the reversing image, the blind spot of the field of vision behind the vehicle can be significantly reduced, and the fused image information provides richer environmental information, which helps the driver to more accurately judge the distance and position relationship between the vehicle and surrounding obstacles.

[0073] Further, based on the above embodiments, please refer to Figure 4 In one of the exemplary embodiments provided in the present application, the specific implementation process of the above-mentioned reversing image generation method may further include step S410 and step S420, which are described in detail as follows:

[0074] Step S410, obtaining parameters of a central control display screen of the vehicle, and dividing the central control display screen into a plurality of display areas according to a preset ratio and the parameters of the central control display screen;

[0075] Step S420: output the fused image information to multiple display areas for display, wherein the image contents displayed in the multiple display areas are different.

[0076] Specifically, the fused image information can be sent to the central control display screen for display, wherein the fused image information includes the non-overlapping area image of the left electronic rearview mirror of the vehicle, the non-overlapping area image of the right electronic rearview mirror of the vehicle, and the reversing image after the overlapping area image is fused. The three images can then be sent to the central control screen for display, and the central control screen can be divided into multiple display areas, each display area displaying a different image. For example, the non-overlapping area image of the left electronic rearview mirror of the vehicle can be displayed on the left side of the central control screen, the non-overlapping area image of the right electronic rearview mirror of the vehicle can be displayed on the right side of the central control screen, and the reversing image after the overlapping area image is fused can be displayed in the middle area of ​​the central control screen.

[0077] For example, Figure 5 As shown, the field of view of the left electronic rearview mirror of the vehicle is displayed on the left side of the central control display screen, the field of view of the right electronic rearview mirror of the vehicle is displayed on the right side of the central control display screen, and the reversing image of the vehicle is displayed in the middle of the central control screen. Figure 5 , where image 1 is the image of the left electronic rearview mirror, image 2 is the image of the right electronic rearview mirror, and image 3 is the reversing image of the vehicle. The fused images are then sent to the central control screen for display. The central control screen can be divided into three areas, with images 1 and 2 each occupying 1 / 4. As an auxiliary, image 3 occupies 1 / 2, which is still the main field of view. Ensure that the most basic reversing field of view is not affected. Adapt images 1 and 2 to the corresponding areas. Adjust the image size according to the resolution of the central control screen. In order to make the 3-way video screen adapt to the central control screen in their respective areas, the proportion of the image can be adjusted according to the actual situation. At the same time, according to the importance and priority of different content, the size and position of each area can be dynamically adjusted to achieve the best display effect.

[0078] In this embodiment, by reasonably dividing the display area of ​​the central control display screen, the screen size can be fully utilized to avoid wasting screen resources. When the fused image information is displayed in different display areas, it can be optimized according to the characteristics of each area, thereby improving the reliability of the reversing image system and enhancing the user experience.

[0079] Further, based on the above embodiments, please refer to Figure 6 In one of the exemplary embodiments provided in the present application, the specific implementation process of the above-mentioned reversing image generation method may also include step S610 and step S620, which are described in detail as follows:

[0080] Step S610, acquiring real-time status information and operation information of the vehicle, wherein the real-time location information includes the reversing status of the vehicle;

[0081] Step S620: determining the number and size of the plurality of display areas based on the reversing state and / or the operation information.

[0082] In some feasible embodiments, during the reversing process of the vehicle, the real-time position information of the vehicle can be used, for example, the position information of the vehicle in the current environment during the reversing process, the positional relationship between the vehicle and the target parking space, etc., as well as the driver's operation information on the vehicle's central control screen, such as zooming in, zooming out, clicking, continuous clicking, etc., and then the number of multiple display areas divided on the central control screen and the area size of each display area can be determined according to the reversing status of the vehicle and the driver's operation information.

[0083] For example, if the driver zooms in, the system will recognize it and divide the central control screen into multiple display areas, one of which will zoom in to display the current focus point (such as the intersection of the rear of the car and the target parking space), and the remaining areas will remain normally displayed to facilitate the driver to observe the overall environment. If the driver clicks on an area continuously, the system can intelligently determine that the area is an important observation point and automatically adjust the area of ​​the area to occupy more screen space. The driver can adjust the boundaries of each display area by sliding to achieve a personalized layout. Combined with historical data and AI algorithms, the driver's possible operation path is predicted and the display area layout is adjusted in advance. In addition, multi-mode switching can also be used. For example, display mode selection under different driving habits is provided, such as the novice mode emphasizes detail display, and the old driver mode pays more attention to the overall field of view. And voice control: Add voice command recognition function, allowing the driver to adjust the display area through voice commands to further improve the convenience of operation.

[0084] Through the above embodiments, the central control screen display during the vehicle reversing process can be dynamically optimized, which not only improves the reversing safety, but also greatly enhances the user experience.

[0085] Further, based on the above embodiment, please refer to Figure 7 In one of the exemplary embodiments provided in the present application, the above-mentioned basic state information includes vehicle speed and steering wheel angle, and the specific implementation process of generating the vehicle's reverse motion trajectory based on the state information, wheelbase and vehicle body size may also include step S710 and step S720, which are described in detail as follows:

[0086] Step S710, establishing a vehicle coordinate system corresponding to the vehicle based on the wheelbase and the body size, where the origin of the vehicle coordinate system is the center of the vehicle;

[0087] Step S720, determining the reverse motion trajectory of the vehicle based on the vehicle speed, the steering wheel angle and the vehicle coordinate system.

[0088] Specifically, a vehicle coordinate system can be established based on the vehicle's dimensional parameters (such as length, width, height, etc.). The origin of this coordinate system is set at the center of the vehicle, which makes it easier for us to analyze and describe the vehicle's motion. Then, we need to obtain the vehicle's driving state information, which may include vehicle speed, steering angle, wheel speed, etc. This information is crucial for understanding and predicting the vehicle's motion state. Next, we combine this driving state information with the established vehicle coordinate system, and use relevant mathematical and physical principles to analyze and calculate the vehicle's motion trajectory during the reversing process.

[0089] Exemplarily, the vehicle center of the vehicle is determined according to the parameters such as the wheelbase, track width, and body size of the vehicle, and a vehicle coordinate system corresponding to the vehicle is established with the vehicle center as the origin. Then, the reverse motion trajectory of the vehicle is determined according to the driving state of the vehicle, and the position coordinates corresponding to the vehicle can be determined according to the following formula:

[0090] x=x0+r*sin(θ+β)

[0091] y=y0+r*cos(θ+β)

[0092] Where x and y represent the horizontal and vertical positions of the vehicle, respectively; x0 and y0 represent the initial positions of the vehicle; r represents the turning radius of the vehicle; θ represents the heading angle of the vehicle; and β represents the steering angle of the vehicle.

[0093] In this embodiment, the vehicle coordinate system can be used to accurately calculate the motion trajectory of the vehicle during the reversing process. This calculation method takes into account the vehicle's dimensional parameters, such as length, width, wheelbase, etc., so that the vehicle's driving path at different steering angles can be more accurately predicted, and the accurate reversing trajectory calculation helps the driver to promptly detect and avoid potential collision risks during the reversing process. By displaying the vehicle's reversing trajectory in real time, the driver can more intuitively understand the distance and position relationship between the vehicle and surrounding obstacles, so as to make safer driving decisions.

[0094] Further, based on the above embodiments, please refer to Figure 8 In one of the exemplary embodiments provided in the present application, the specific implementation process of determining the reverse motion trajectory of the vehicle based on the vehicle speed, the steering wheel angle and the vehicle coordinate system may also include step S810 and step S820, which are described in detail as follows:

[0095] Step S810, determining the real-time position information of the vehicle based on the vehicle speed and the steering wheel angle;

[0096] Step S820: updating the vehicle's reverse motion trajectory in real time based on the real-time position information and the vehicle coordinate system.

[0097] Specifically, usually, this requires the use of a positioning system (such as GPS) or other sensors (such as wheel speed sensors, steering angle sensors, etc.) installed on the vehicle to obtain the position and motion state of the vehicle in real time. In order to understand the current position of the vehicle in real time, so as to carry out subsequent trajectory updates and predictions. In this process, the accuracy of the positioning system is crucial. If the positioning system can provide high-precision position information, the subsequent trajectory updates and predictions will also be more accurate. The real-time position information and the established vehicle coordinate system use mathematical and physical principles, combined with the vehicle's size parameters, driving status information and real-time position information, to calculate and update the reversing motion trajectory, in order to reflect the vehicle's motion path during reversing in real time and help the driver better control the vehicle. It is necessary to continuously input new real-time position information into the trajectory calculation model to update and correct the reversing motion trajectory. In this way, a more accurate and reliable reversing motion trajectory can be obtained to provide better driving assistance for the driver.

[0098] In this embodiment, updating the vehicle's reversing motion trajectory based on real-time position information can ensure that the driver always has the latest dynamics of the vehicle. This dynamic update helps the driver make timely adjustments to avoid potential collision risks, thereby improving reversing safety.

[0099] Further, based on the above embodiments, please refer to Fig. 9 In one of the exemplary embodiments provided in the present application, the specific implementation process of the above-mentioned reversing image generation method may also include steps S910 to S930, which are described in detail as follows:

[0100] Step S910, determining the proportional relationship between the vehicle coordinate system and the world coordinate system by using the reversing motion trajectory and the fused image information;

[0101] Step S920, determining obstacles in the environment information corresponding to the vehicle based on the fused image information;

[0102] Step S930, determining the distance value between the obstacle and the vehicle based on the proportional relationship, and determining the vehicle's early warning strategy based on the relationship between the distance value and a preset safety threshold.

[0103] Specifically, this is usually the movement path of the vehicle when reversing, captured by the vehicle's sensors (such as radar, camera or lidar, etc.). This trajectory is relative to the vehicle's own coordinate system. This refers to the integration of images or data information from different sensors (such as cameras, radars, etc.) to form a more comprehensive and accurate view of the vehicle's surroundings. This view is usually represented in a fixed, global world coordinate system. By combining the reversing motion trajectory and the fused image information, the proportional relationship between the vehicle coordinate system and the world coordinate system can be determined. This proportional relationship describes the actual size, position and orientation of the vehicle in the world coordinate system. Once we have determined the proportional relationship between the vehicle coordinate system and the world coordinate system, we can use this relationship and the corresponding environmental information of the vehicle to determine the warning strategy. Among them, environmental information, this includes information such as obstacles around the vehicle, road markings, the position and speed of other vehicles. This information is usually captured by the vehicle's sensors and has been fused into the world coordinate system. Among them, the vehicle's warning strategies may include collision warning: if the distance between the vehicle and the obstacle is detected to be less than a certain safety threshold, a collision warning is issued; lane departure warning: if the vehicle is detected to be deviating from its lane, a lane departure warning is issued; blind spot monitoring: if other vehicles or obstacles are detected in the blind spot area of ​​the vehicle, a blind spot monitoring warning is issued.

[0104] In this embodiment, by integrating the reversing motion trajectory and image information, the position of the vehicle in the world coordinate system can be determined more accurately, thereby improving the positioning accuracy, and combined with the proportional relationship between the vehicle coordinate system and the world coordinate system, the vehicle's surrounding environment can be more comprehensively perceived, including obstacles, road markings, and traffic signs, to improve the vehicle's intelligent obstacle avoidance function.

[0105] Optionally, in another feasible embodiment, the raw data from different sensors are preprocessed and calibrated to ensure that they can be fused in a unified spatiotemporal framework. This step is crucial for eliminating noise and improving data accuracy. The fused image information provides a high-precision three-dimensional reconstruction of the vehicle's surroundings, including obstacles and road elements such as roads, pedestrians, other vehicles, and traffic signs. After obtaining detailed information about the vehicle's surroundings, the system needs to calculate the actual distance between the vehicle and each obstacle. This usually involves analyzing the proportional relationship between the size of the obstacle in the image and the known size. For example, if the actual size of an obstacle is known and its pixel size can be accurately measured in the image, the actual distance between the obstacle and the vehicle can be calculated through the proportional relationship.

[0106] In addition, the distance measurement capabilities of sensors such as radar or lidar can be used to directly obtain the precise distance value between the vehicle and the obstacle. These sensors can usually provide centimeter-level ranging accuracy, which is crucial to ensure driving safety.

[0107] After obtaining the actual distance between the vehicle and the obstacle, the system needs to compare these distance values ​​with the preset safety thresholds. These safety thresholds are usually set based on a combination of factors such as traffic regulations, vehicle performance, and road conditions.

[0108] If the distance value of an obstacle is lower than the corresponding safety threshold, the system will trigger the corresponding warning strategy. These warning strategies may include but are not limited to sound alarms, visual prompts (such as warning icons on the display), vibration seats, etc. to alert the driver to potential dangers. In more advanced autonomous driving systems, these warning strategies may also include active safety measures such as automatic deceleration, emergency braking or obstacle avoidance.

[0109] In this embodiment, by accurately calculating the distance between the vehicle and the obstacle, the system can issue a warning signal in advance before the potential danger occurs, providing the driver with sufficient reaction time, thereby effectively avoiding the occurrence of collision accidents. The timeliness and accuracy of the warning strategy can reduce the driver's driving burden and improve driving comfort and safety. At the same time, the diversified warning methods can also make it easier for the driver to cope with complex traffic environments.

[0110] Fig.10 It is a simple flow chart of reversing image generation in an exemplary application scenario. In the application scenario shown in 10, if it is detected that the gear state of the vehicle is in reverse gear, the electronic rearview mirror image and the reversing image of the vehicle are obtained; the overlapping area image and the non-overlapping area image between the electronic rearview mirror image and the reversing image are determined; the overlapping area image is smoothly mixed to obtain the mixed overlapping area image; the fused image information is determined based on the mixed overlapping area image and the non-overlapping area image. A vehicle coordinate system corresponding to the vehicle is established based on the wheelbase and body size of the vehicle, and the origin of the vehicle coordinate system is the center of the vehicle; the reversing motion trajectory of the vehicle is determined based on the vehicle speed and steering wheel angle and the vehicle coordinate system. The real-time position information of the vehicle is determined based on the driving state information of the vehicle; the reversing motion trajectory of the vehicle is updated in real time based on the real-time position information and the vehicle coordinate system. The reversing motion trajectory is combined with the fused image information to obtain the reversing image of the vehicle. For the detailed implementation process, please refer to the records in the aforementioned embodiments, which will not be repeated here.

[0111] Fig.11 is a block diagram of a reversing image generation device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1The implementation environment shown is specifically configured in the intelligent terminal 110. The device may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment applicable to the device.

[0112] like Fig.11 As shown, the exemplary reversing image generating device 1000 includes: an acquisition module 1110, which is used to acquire the electronic rearview mirror image and the reversing image of the vehicle if it is detected that the gear state of the vehicle is in the reverse gear; a fusion module 1120, which is used to fuse the electronic rearview mirror image and the reversing image to obtain fused image information; a generation module 1130, which is used to acquire the state information of the vehicle and the size parameters of the vehicle, the size parameters include the wheelbase and body size of the vehicle, and generate the reversing motion trajectory of the vehicle based on the state information, wheelbase and body size; a determination module 1140, which is used to combine the reversing motion trajectory with the fused image information to obtain the reversing image of the vehicle.

[0113] According to one aspect of an embodiment of the present application, the above-mentioned fusion module 1120 is also used to determine the overlapping area image and the non-overlapping area image between the electronic rearview mirror image and the reversing image; perform smooth blending processing on the overlapping area images so that the pixel values ​​between the overlapping area images are smoothly blended to obtain a blended overlapping area image; and determine the fused image information based on the blended overlapping area image and the non-overlapping area image.

[0114] According to one aspect of an embodiment of the present application, the above-mentioned fusion module 1120 is also used to obtain the central control display screen parameters of the vehicle, divide the central control display screen into multiple display areas according to a preset ratio and the central control display screen parameters; output the fused image information to multiple display areas for display, wherein the image contents displayed in the multiple display areas are different.

[0115] According to one aspect of an embodiment of the present application, the above-mentioned fusion module 1120 is also used to obtain real-time status information and operation information of the vehicle, and the real-time position information includes the reversing status of the vehicle; the number and area size of multiple display areas determined based on the reversing status and / or operation information.

[0116] According to one aspect of an embodiment of the present application, the above-mentioned generation module 1130 is also used to generate the reversing motion trajectory of the vehicle based on the status information, wheelbase and body size, where the status information includes vehicle speed and steering wheel angle, including: establishing a vehicle coordinate system corresponding to the vehicle based on the wheelbase and body size, where the origin of the vehicle coordinate system is the center of the vehicle; determining the reversing motion trajectory of the vehicle based on the vehicle speed, steering wheel angle and vehicle coordinate system.

[0117] According to one aspect of the embodiment of the present application, the generation module 1130 is also used to determine the vehicle's reverse motion trajectory based on the vehicle speed, the steering wheel angle, and the vehicle coordinate system, including: determining the vehicle's real-time position information based on the vehicle speed and the steering wheel angle; and updating the vehicle's reverse motion trajectory in real time based on the real-time position information and the vehicle coordinate system. According to one aspect of the embodiment of the present application, the reversing image generation device also includes:

[0118] The early warning module is used to determine the proportional relationship between the vehicle coordinate system and the world coordinate system based on the reversing motion trajectory and the fused image information; determine the obstacles in the environmental information corresponding to the vehicle based on the fused image information; determine the distance value between the obstacle and the vehicle based on the proportional relationship, and determine the vehicle's early warning strategy based on the relationship between the distance value and a preset safety threshold.

[0119] It should be noted that the reversing image generation device provided in the above embodiment and the reversing image generation method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the reversing image generation device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0120] An embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the reversing image generation method provided in the above-mentioned embodiments.

[0121] Fig.12 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Fig.12 The computer system 1200 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0122] like Fig.12As shown, the computer system 1200 includes a central processing unit (CPU) 1201, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1202 or the program loaded from the storage part 1208 to the random access memory (RAM) 1203, such as executing the method in the above embodiment. In the RAM 1203, various programs and data required for system operation are also stored. The CPU 1201, the ROM 1202 and the RAM 1203 are connected to each other through the bus 1204. The input / output (I / O) interface 1205 is also connected to the bus 1204.

[0123] The following components are connected to the I / O interface 1205: an input section 1206 including a keyboard, a mouse, etc.; an output section 1207 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the I / O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed so that a computer program read therefrom is installed into the storage section 1208 as needed.

[0124] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1209, and / or installed from a removable medium 1211. When the computer program is executed by a central processing unit (CPU) 1201, various functions defined in the system of the present application are executed.

[0125] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0126] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0127] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not constitute limitations on the units themselves in some cases.

[0128] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the method for generating a reversing image as described above is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0129] Another aspect of the present application further provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the reversing image generation method provided in each of the above embodiments.

[0130] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A method for generating a reversing image, characterized in that: include: If it is detected that the gear state of the vehicle is in reverse gear, acquiring an electronic rearview mirror image and a reverse image of the vehicle; Fusing the electronic rearview mirror image and the reversing image to obtain fused image information; Acquiring state information of the vehicle and dimension parameters of the vehicle, the dimension parameters including the wheelbase and body size of the vehicle, and generating a reversing motion trajectory of the vehicle based on the state information, the wheelbase and the body size; The reversing motion trajectory is combined with the fused image information to obtain a reversing image of the vehicle.

2. The method according to claim 1, characterized in that The fusing the electronic rearview mirror image and the reversing image to obtain fused image information includes: Determine an overlapping area image and a non-overlapping area image between the electronic rearview mirror image and the reversing image; The overlapping area images are smoothly mixed so that the pixel values ​​between the overlapping area images are smoothly mixed to obtain a mixed overlapping area image; and fused image information is determined based on the mixed overlapping area image and the non-overlapping area image.

3. The method according to claim 2, characterized in that The method further comprises: Acquire parameters of a central control display screen of the vehicle, and divide the central control display screen into a plurality of display areas according to a preset ratio and the parameters of the central control display screen; The fused image information is output to the multiple display areas for display, wherein the multiple display areas display different image contents.

4. The method according to claim 3, characterized in that The method further comprises: Acquiring real-time status information and operation information of the vehicle, wherein the real-time position information includes the reversing status of the vehicle; The number and size of the plurality of display areas are determined based on the reversing state and / or the operation information.

5. The method according to claim 1, characterized in that The state information includes a vehicle speed and a steering wheel angle, and generating a reversing motion trajectory of the vehicle based on the state information, the wheelbase, and the vehicle body size includes: Establishing a vehicle coordinate system corresponding to the vehicle based on the wheelbase and the body size, wherein the origin of the vehicle coordinate system is the center of the vehicle; A reverse motion trajectory of the vehicle is determined based on the vehicle speed, the steering wheel angle, and the vehicle coordinate system.

6. The method according to claim 5, characterized in that The determining the reverse motion trajectory of the vehicle based on the vehicle speed, the steering wheel angle and the vehicle coordinate system includes: Determining the real-time position information of the vehicle based on the vehicle speed and the steering wheel angle; The reverse motion trajectory of the vehicle is updated in real time based on the real-time position information and the vehicle coordinate system.

7. The method according to claim 6, characterized in that The method further comprises: Determine the proportional relationship between the vehicle coordinate system and the world coordinate system by using the reversing motion trajectory and the fused image information; Determine obstacles in the environment information corresponding to the vehicle based on the fused image information; A distance value between the obstacle and the vehicle is determined based on the proportional relationship, and a warning strategy for the vehicle is determined based on a relationship between the distance value and a preset safety threshold.

8. A reversing image generating device, characterized in that: The device comprises: An acquisition module, for acquiring an electronic rearview mirror image and a reverse image of the vehicle if it is detected that the gear state of the vehicle is in reverse gear; A fusion module, used for fusing the electronic rearview mirror image and the reversing image to obtain fused image information; A generating module, configured to obtain the state information of the vehicle and the size parameters of the vehicle, wherein the size parameters include the wheelbase and the body size of the vehicle, and to generate a reversing motion trajectory of the vehicle based on the state information, the wheelbase and the body size; The determination module is used to combine the reversing motion trajectory with the fused image information to obtain a reversing image of the vehicle.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the reversing image generation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is enabled to execute the reversing image generating method according to any one of claims 1 to 7.

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