Display method of electronic rearview mirror and electronic rearview mirror system

Abstract

The invention provides a display method of an electronic rearview mirror and an electronic rearview mirror system. The display method comprises the steps of obtaining an image of a target area; according to the first display area of the image, obtaining a display view and displaying the display view on the electronic rearview mirror; transmitting a detection wave to the target area, receiving an echo formed by reflecting the detection wave by an object, generating point cloud data, and determining whether the object exists in the display blind area; and when the object exists in the display blind area, adjusting the display view. According to the display method and the electronic rearview mirror system, the display view can be automatically adjusted when it is detected that the object exists in the display blind area. The problem that an electronic rearview mirror in the prior art is fixed in display range and cannot automatically adapt to driving environment changes is solved, the flexibility and practicability of the electronic rearview mirror are improved, and the driving safety is enhanced.

Description

Technical Field

[0001] The present invention generally relates to the technical field of rearview mirrors, and in particular to a display method of an electronic rearview mirror and an electronic rearview mirror. Background Art

[0002] The rearview mirror is an important device on the vehicle to help the driver observe the rear situation and assist in safe driving, lane changing, reversing and other operations. As an innovative product in the field of rearview mirrors, the electronic rearview mirror (Camera Monitor System, CMS) includes a camera installed on the outside of the vehicle and a display installed on the inside of the vehicle. The camera is used to obtain image data within its field of view, and the display is used to display the video image derived from the image data obtained by the camera. Usually, the shooting range of the camera is larger than the display range of the display.

[0003] At present, electronic rearview mirrors are not proactive enough in selecting the display range and are overly dependent on the driver's external input instructions. Specifically, under normal driving conditions, the display range of the display screen cannot be automatically adjusted according to changes in the driving environment, and the driver must manually operate to change the display range of the display screen. This display range selection method that relies on the driver's manual input not only adds additional operating burden to the driver, but may also cause traffic accidents due to delayed or inaccurate operation, posing certain safety hazards.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0005] In view of one or more defects in the prior art, the present invention provides a display method of an electronic rearview mirror, wherein the electronic rearview mirror is arranged on a vehicle, and the display method comprises:

[0006] Acquire an image of the target area;

[0007] According to the first display area of ​​the image, a display view is obtained and displayed on the electronic rearview mirror;

[0008] Send detection waves to the target area, receive the echo formed by the detection waves reflected by the object and generate point cloud data;

[0009] Determining whether there is an object in the display blind area according to the point cloud data; and

[0010] When there is an object in the display blind area, the display view is adjusted.

[0011] According to one aspect of the present invention, the step of adjusting the display view comprises:

[0012] Enlarge the first display area.

[0013] According to one aspect of the present invention, when there is an object in the display blind area, the motion information of the object is determined based on the image and / or the point cloud data;

[0014] The motion information includes the relative motion relationship and relative distance between the object and the vehicle.

[0015] According to one aspect of the present invention, the step of adjusting the display view comprises:

[0016] The first display area is enlarged or reduced within a preset range according to the relative distance between the object and the vehicle.

[0017] According to one aspect of the present invention, when the relative distance between the object and the carrier is greater than a first threshold, the smaller the relative distance between the object and the carrier, the larger the first display area;

[0018] When the relative distance between the object and the vehicle is less than or equal to a first threshold, the first display area is a maximum value of a preset range.

[0019] According to one aspect of the present invention, when the relative distance between the object and the carrier is greater than a second threshold, the first display area is the minimum value of a preset range;

[0020] When the relative distance between the object and the vehicle is less than a second threshold, the first display area is a maximum value of a preset range;

[0021] According to one aspect of the present invention, the step of adjusting the display view comprises:

[0022] If the object gradually approaches the vehicle, and the relative distance between the object and the vehicle is less than a third threshold, the first display area is increased to a maximum value of a preset range;

[0023] If the object gradually moves away from the vehicle, and the relative distance between the object and the vehicle is greater than a fourth threshold, the first display area is reduced to a minimum value of a preset range.

[0024] According to one aspect of the present invention, the step of adjusting the display view comprises:

[0025] generating a second display area of ​​the image according to the motion information of the object;

[0026] According to the first display area and the second display area, two display views are obtained and displayed in an overlapping manner, in different areas, or on a split screen.

[0027] According to one aspect of the present invention, the display method further includes: based on the image or based on the image and the point cloud data, determining motion information of an object in the first display area and outputting the information to the outside.

[0028] The present invention also provides an electronic rearview mirror system, comprising:

[0029] An image acquisition module configured to acquire an image of a target area;

[0030] A radar detection module is configured to transmit a detection wave to a target area, receive an echo formed by the detection wave being reflected by an object, and generate point cloud data;

[0031] a control module, coupled to the image acquisition module and the radar detection module respectively, and configured to obtain a display view according to the first display area of ​​the image; and configured to determine whether there is an object in the display blind area according to the point cloud data; and when there is an object in the display blind area, adjust the display view; and

[0032] The display module is coupled to the control module and is configured to receive and display the display view.

[0033] According to one aspect of the present invention, the control module is configured to increase the first display area when there is an object in the display blind area.

[0034] According to one aspect of the present invention, the control module is configured to determine motion information of the object based on the image and / or the point cloud data when there is an object in the display blind area;

[0035] The motion information includes the relative motion relationship and relative distance between the object and the vehicle.

[0036] According to one aspect of the present invention, the control module is configured to increase or decrease the first display area within a preset range according to the relative distance between the object and the vehicle.

[0037] According to one aspect of the present invention, the control module is configured as follows:

[0038] If the object gradually approaches the vehicle, and the relative distance between the object and the vehicle is less than a third threshold, the first display area is increased to a maximum value of a preset range;

[0039] If the object gradually moves away from the vehicle, and the relative distance between the object and the vehicle is greater than a fourth threshold, the first display area is reduced to a minimum value of a preset range.

[0040] According to one aspect of the present invention, the control module is configured to generate a second display area of ​​the image according to the motion information of the object; obtain two display views according to the first display area and the second display area,

[0041] The display module displays the display views in an overlapping manner, in different regions, or in a split screen.

[0042] According to one aspect of the present invention, the control module is configured to determine motion information of an object in the first display area based on the image or based on the image and the point cloud data, and output the information to the outside.

[0043] The embodiments of the present invention provide a display method of an electronic rearview mirror and an electronic rearview mirror system, which can automatically adjust the display view when an object is detected in a display blind area. The problem that the display range of the electronic rearview mirror in the prior art is fixed and cannot automatically adapt to changes in the driving environment is solved, the flexibility and practicality of the electronic rearview mirror are improved, and the driving safety is enhanced. In addition, the present invention generates point cloud data using the echo formed by the reflection of the detection wave by the object, and determines whether there is an object in the display blind area based on the point cloud data. Compared with the method of only using the image of the target area to detect whether there is an object in the display blind area, the computing power resources consumed are lower, and the fusion detection result is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0045] Figure 1 A flow chart showing a display method of an electronic rearview mirror according to an embodiment of the present invention is shown;

[0046] Figure 2 An application scenario of an electronic rearview mirror according to an embodiment of the present invention is shown;

[0047] Figure 3 A schematic diagram showing an image and a first display area according to an embodiment of the present invention is shown;

[0048] Figure 4 An application scenario of an electronic rearview mirror according to an embodiment of the present invention is shown;

[0049] Figure 5 A schematic diagram showing an image, a first display area, and a second display area according to an embodiment of the present invention;

[0050] Figure 6 A schematic diagram showing two display views being superimposed and displayed according to an embodiment of the present invention is shown;

[0051] Figure 7 A schematic diagram showing two display views displayed in different regions according to an embodiment of the present invention is shown;

[0052] Figure 8 A schematic diagram showing split-screen display of two display views according to an embodiment of the present invention is shown;

[0053] Fig. 9 A schematic diagram of an electronic rearview mirror system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0054] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0056] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0058] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0059] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0060] Figure 1 FIG. 1 is a flow chart showing a display method 100 of an electronic rearview mirror according to an embodiment of the present invention. Figure 1 As shown, the display method 100 includes the following steps, and each step is described in detail below.

[0061] In step S110: an image of the target area is acquired.

[0062] Figure 2 FIG. 4 shows an application scenario of an electronic rearview mirror according to an embodiment of the present invention. Figure 2 As shown, the electronic rearview mirror includes a camera and a display screen, wherein the camera is arranged outside the car to collect images of the target area. Figure 2In the application scenario shown, three electronic rearview mirrors are provided, and the cameras of the three electronic rearview mirrors are respectively installed on the left side, right side and rear side of the car, for collecting images of the left rear area / right rear area / rear area of ​​the car. The display screen is arranged inside the car, for displaying at least a part of the content of the image collected by the corresponding camera. One or more radars are also arranged on the car, and the radar is used to detect the target area. The radar can be a millimeter wave radar, a laser radar, etc., and the millimeter wave radar is used as an example for explanation below. It should be noted that the radar can be set independently of the electronic rearview mirror, or it can be integrated in the electronic rearview mirror. It is easy for those skilled in the art to understand that the application scenario of the electronic rearview mirror is not limited to automobiles, and the electronic rearview mirror can also be used on vehicles such as motorcycles, ships, and airplanes.

[0063] In a specific implementation, the camera can capture images of the target area (or preset area) at a preset frequency (for example, 30fps, 45fps, 60fps, etc.). The target area can be, for example, the left rear area, right rear area, or rear area of ​​the vehicle.

[0064] In step S120: a display view is obtained according to the first display area of ​​the image and displayed on the electronic rearview mirror.

[0065] like Figure 2 As shown, the shooting range of the camera can be divided into a display range and a display blind area, wherein the display range refers to an area that can be captured by the camera and can be displayed by the display screen. In the present invention, the display range is adjustable. Specifically, the display range can change according to the change of the driving environment (detailed in detail later) to provide users with a field of view that matches the driving environment, help drivers observe the surrounding conditions of the vehicle, and improve driving safety. In some embodiments, the display blind area refers to an area that can be captured by the camera but not displayed on the display screen. The display blind area and the display range are mutually exclusive. Specifically, when the display range increases, part of the area originally in the display blind area will be included in the display range, thereby reducing the display blind area accordingly; conversely, when the display range is reduced, part of the area originally in the display range will be included in the display blind area, resulting in a corresponding increase in the display blind area. It is easy for those skilled in the art to understand that in other embodiments, the display blind area can also be set as a fixed area within the shooting range, which corresponds to a specific display range. For example, the display blind area can correspond to the minimum display range, and when the display range changes, the display blind area remains unchanged. Figure 3 FIG. 4 is a schematic diagram showing an image and a first display area according to an embodiment of the present invention. Figure 3As shown, the first display area can be understood as the area in the image that needs to be focused on and displayed. In some embodiments, the size of the first display area is fixed to meet the needs of some users for a stable field of view. In other embodiments, the size of the first display area can be flexibly adjusted within a preset range (detailed below) to provide users with a field of view that matches the driving environment, help drivers observe the surroundings of the vehicle, and improve driving safety.

[0066] In a specific implementation, the image may be cropped based on the first display area, and the image content within the first display area may be used as a display view, and the display view may be displayed on the display screen of the electronic rearview mirror.

[0067] In step S130 , a detection wave is transmitted to the target area, an echo formed by the detection wave being reflected by the object is received, and point cloud data is generated.

[0068] In a specific embodiment, Figure 2 As shown in the figure, the radar transmitter can emit a detection wave to the target area. When the detection wave encounters an object, the detection wave will be reflected by the object and form an echo. The radar receiver can receive these echoes and generate point cloud data. Taking the millimeter wave radar as an example, the received electromagnetic wave echo signal is amplified, mixed and filtered by the RF front end, converted into an intermediate frequency signal or a baseband signal, and then converted into a digital signal through ADC sampling. Subsequently, the digital signal is processed by the radar underlying algorithm, such as FFT, to generate point cloud data of the target. Point cloud data can be understood as a collection of scattered points on the target surface, where each point contains information such as distance, Doppler velocity, angle, and echo intensity.

[0069] In step S140: determining whether there is an object in the display blind area based on the point cloud data.

[0070] In a specific embodiment, in order to accurately identify a specific target from the point cloud data, a clustering algorithm (such as DBSCAN or a model based on deep learning) can be used to group the point cloud, wherein each point cloud cluster represents a potential target. After clustering is completed, feature extraction and analysis can be performed on each point cloud cluster, such as calculating speed, size, average echo intensity, etc., to obtain instant feature information of the target. In addition, according to application requirements, algorithms such as Kalman filtering can be combined for target tracking, and the image information of the camera can be fused to improve accuracy. At the same time, the extracted features are screened and verified in combination with the display blind area and the target feature threshold. If the features of the target meet the preset conditions, it can be determined that there is an object in the display blind area, otherwise it can be determined that there is no object in the display blind area. The objects involved here include but are not limited to pedestrians, vehicles, roadblocks, etc. It is easy for those skilled in the art to understand that in other embodiments, other methods for determining whether there is an object in the preset display blind area based on point cloud data processing can also be used, and the present invention does not specifically limit this.

[0071] In step S150: when there is an object in the display blind area, the display view is adjusted.

[0072] In some embodiments, when there is an object in the display blind area, the first display area is enlarged, for example, the first display area is enlarged to include the object in the display blind area, or the first display area is enlarged to the maximum value of a preset range. The advantages of this are small delay and timely response, and the object originally in the display blind area can be included in the display range (display view) in a timely manner and quickly presented on the display screen of the electronic rearview mirror (such as Figure 4 This helps the driver to immediately detect objects in the blind spot, allowing the driver to have a more comprehensive and timely perception of the vehicle's surroundings, thereby reducing the risk of accidents and enhancing driving safety.

[0073] In addition, when the first display area is enlarged, Figure 3 Each side of the first display area shown in FIG. 1 is extended outward in proportion to increase the first display area. Alternatively, one side, two sides, or three sides may be extended outward to increase the first display area. For example, when an object exists Figure 3 When the left part of the blind area is displayed in the middle, the left side of the first display area can be moved to the left, while the other sides remain stationary, so that the object is included in the first display area.

[0074] In other embodiments, when there is an object in the display blind area, first, the image collected by the camera and / or the point cloud data generated by the radar can be processed and analyzed in real time to obtain the motion information of the object in the display blind area, and the motion information at least includes the relative distance between the object and the vehicle. Then, according to the relative distance between the object and the vehicle, the first display area can be increased or reduced within a preset range, thereby expanding or reducing the display range of the display view, so that the object originally in the display blind area appears in the display view. Specifically, when the relative distance between the object and the vehicle is greater than a first threshold (for example, 2m, 3m, 4m, 5m, etc.), the size of the first display area increases as the relative distance between the object and the vehicle decreases; when the relative distance between the object and the vehicle is less than or equal to the first threshold, the size of the first display area is the maximum value of the preset range. For example: when the relative distance between the object and the vehicle is greater than 3 meters, the smaller the relative distance between the object and the vehicle, the larger the size of the first display area; when the relative distance between the object and the vehicle is less than or equal to 3 meters, the size of the first display area is the same as the size of the image collected by the camera. In other words, when the relative distance between the object and the vehicle is greater than a second threshold value (e.g., 2m, 3m, 4m, 5m, 6m, 7m, etc.), the size of the first display area is the minimum value of the preset range; when the relative distance between the object and the vehicle is less than or equal to the second threshold value, the size of the first display area is the maximum value of the preset range. For example: when the relative distance between the object and the vehicle is greater than 7m, the size of the first display area is the minimum value of the preset range; when the relative distance between the object and the vehicle is less than or equal to 7m, the size of the first display area is the maximum value of the preset range.

[0075] In some other embodiments, when there is an object in the display blind area, first, the image collected by the camera and / or the point cloud data generated by the radar can be processed and analyzed in real time to obtain the motion information of the object in the display blind area, and the motion information includes the relative motion relationship and relative distance between the object and the vehicle. Then, according to the relative motion relationship and relative distance between the object and the vehicle, the first display area can be increased or reduced within a preset range, thereby expanding or reducing the display range of the display view, so that the object originally in the display blind area appears in the display view. Specifically, when the object gradually approaches the vehicle and the relative distance between the object and the vehicle is less than the third threshold value (for example, 8m, 9m, 10m, 15m, etc.), the first display area is increased to the maximum value of the preset range; when the object gradually moves away from the vehicle and the relative distance between the object and the vehicle is greater than the fourth threshold value (for example, 8m, 9m, 10m, 15m, etc.), the first display area is reduced to the minimum value of the preset range. For example, when the object approaches the vehicle at a uniform speed and the relative distance between the object and the vehicle is less than 3 meters, the size of the first display area is the same as the size of the image collected by the camera. When the object gradually approaches the vehicle and the relative distance between the object and the vehicle is less than 10 meters, the size of the first display area is the same as the size of the image captured by the camera. When the object gradually moves away from the vehicle and the relative distance between the object and the vehicle is greater than 10 meters, the size of the first display area is reduced to 2 / 5 of the image size.

[0076] In some other embodiments, when there is an object in the display blind area, first, the image captured by the camera and / or the point cloud data generated by the radar can be processed and analyzed in real time to obtain the motion information of the object in the display blind area, and the motion information includes the relative motion relationship and relative distance between the object and the vehicle. Then, the second display area of ​​the image can be generated according to the motion information of the object. Figure 5 FIG. 4 is a schematic diagram showing an image, a first display area, and a second display area according to an embodiment of the present invention. Figure 5 As shown, the second display area can also be understood as an area in the image that needs to be focused on and displayed. The second display area can partially overlap with the first display area. Compared with the first display area, the second display area focuses more on displaying blind spots, especially objects in the blind spots. It should be noted that the position of the second display area in the image is related to the position of the objects in the blind spots in the image. The size of the second display area can be fixed or automatically adjusted according to the motion information of the object (for example, the smaller the relative distance between the object and the vehicle, the larger the size of the second display area).

[0077] Two display views can be obtained based on the first display area and the second display area and displayed in an overlapping manner, in different areas, or in a split screen. Specifically, the image can be cropped based on the first display area and the second display area, respectively, with the image content in the first display area as one display view and the image content in the second display area as another display view. In a specific implementation, if Figure 6 As shown, the display view b generated based on the second display area can be superimposed on the display view a generated based on the first display area, and displayed on the display screen of the electronic rearview mirror to achieve superimposed display of the two display views. Figure 7 As shown, a display view a generated based on the first display area can be displayed on a part of the display screen of the electronic rearview mirror, and a display view b generated based on the second display area can be displayed on another part of the display screen of the electronic rearview mirror, so as to realize the sub-regional display of the two display views. Figure 8 As shown, the display screen of the electronic rearview mirror can also display the display view a generated based on the first display area, and the other display screens in the vehicle (such as the central control screen) can display the display view b generated based on the second display area, so as to realize the split-screen display of the two display views; for the electronic rearview mirror with the camera arranged at the rear side of the vehicle, when an object crosses from the rear of the vehicle at a close distance or in some reversing scenarios (there is an object in the display blind spot behind the vehicle), the display view a can be generated based on the first display area, and the display view a can be displayed on the display screen of the electronic rearview mirror to provide the main field of view behind the vehicle; the display view b can be generated based on the second display area, and the display view b can be displayed on other display screens in the vehicle (such as the central control screen) to highlight the objects in the blind spot and ensure driving safety.

[0078] According to one embodiment of the present invention, the display method 100 may further include: determining the motion information of the object in the first display area based on the image or based on the fusion information of the image and the radar and outputting it to the outside. In a specific implementation, the image captured by the camera can be processed and analyzed in real time to obtain the motion information of the object in the first display area, and can be fused with the radar information as needed to improve the accuracy, and the motion information of the object in the first display area can be output to the automatic driving assistance system for optimizing the driving strategy of the vehicle and warning of potential risks in advance. Preferably, when there is an object in the display blind spot, the motion information of the object in the display blind spot can also be output to the automatic driving assistance system to further optimize the driving strategy of the vehicle and warn of potential risks in advance.

[0079] Fig. 9 A schematic diagram of an electronic rearview mirror system 200 according to an embodiment of the present invention is shown below. Fig. 9 Describe in detail.

[0080] like Fig. 9 As shown, the electronic rearview mirror system 200 includes an image acquisition module 210, a radar detection module 220, a display module 230 and a control module 240. The image acquisition module 210 can be, for example, a camera, which is configured to acquire an image of a target area. The radar detection module 220 is configured to transmit a detection wave to the target area, receive an echo formed by the detection wave being reflected by an object, and generate point cloud data. The control module 240 is coupled to the image acquisition module 210, the radar detection module 220, and the display module 230, respectively. The control module 240 is configured to obtain a display view according to the first display area of ​​the image; and is configured to determine whether there is an object in a preset display blind area according to the point cloud data; when there is an object in the display blind area, adjust the display view. The display module 230 may include one or more display screens, and the display module 230 is configured to receive and display the display view.

[0081] According to one embodiment of the present invention, Fig. 9 As shown, the control module 240 can be configured to increase the first display area when there is an object in the display blind area, for example, to increase the first display area to the maximum value of the preset range. The advantages of this are small delay and timely response, and the object originally in the display blind area can be included in the display view in a timely manner and quickly presented on the display screen of the electronic rearview mirror. This helps the driver to perceive the object in the blind area at the first time, allowing the driver to perceive the surrounding environment of the vehicle more comprehensively and timely, thereby reducing the risk of accidents and enhancing driving safety.

[0082] According to another embodiment of the present invention, Fig. 9 As shown, the control module 240 can also be configured to determine the motion information of the object based on the image and / or point cloud data when there is an object in the display blind area. The motion information includes the relative motion relationship and relative distance between the object and the vehicle. The control module 240 is also configured to increase or reduce the first display area within a preset range according to the relative distance between the object and the vehicle. Optionally, the control module 240 is further configured to increase the size of the first display area as the relative distance between the object and the vehicle decreases when the relative distance between the object and the vehicle is greater than a first threshold; and decrease the size of the first display area as the relative distance between the object and the vehicle increases. The control module 240 is further configured to adjust the size of the first display area to the maximum value of the preset range when the relative distance between the object and the vehicle is less than or equal to the first threshold. Optionally, the control module 240 is configured to adjust the size of the first display area to the maximum value of the preset range when the relative distance between the object and the vehicle is greater than a second threshold; and to adjust the size of the first display area to the maximum value of the preset range when the relative distance between the object and the vehicle is less than or equal to the second threshold.

[0083] According to another embodiment of the present invention, Fig. 9As shown, the control module 240 can also be configured to determine the motion information of the object based on the image and / or point cloud data when there is an object in the display blind area. The motion information includes the relative motion relationship and relative distance between the object and the vehicle. The control module 240 is also configured to increase or decrease the first display area within a preset range according to the relative motion relationship and relative distance between the object and the vehicle, thereby expanding or reducing the display range of the display view. Preferably, the control module 240 is further configured to: when the object gradually approaches the vehicle and the relative distance between the object and the vehicle is less than the third threshold, increase the first display area to the maximum value of the preset range; when the object gradually moves away from the vehicle and the relative distance between the object and the vehicle is greater than the fourth threshold, reduce the first display area to the minimum value of the preset range.

[0084] According to another embodiment of the present invention, Fig. 9 As shown, the control module 240 can also be configured to determine the motion information of the object based on the image and / or point cloud data when there is an object in the display blind area. The motion information includes the relative motion relationship and relative distance between the object and the vehicle. The control module 240 is also configured to generate a second display area of ​​the image based on the motion information of the object; and obtain two display views based on the first display area and the second display area. Accordingly, the display module 230 is configured to display the two display views in a superimposed manner, in a divided area, or in a split screen.

[0085] According to one embodiment of the present invention, Fig. 9 As shown, the control module 240 may also be configured to determine the motion information of the object in the first display area based on the image or based on the image and the radar echo information and output it to the outside.

[0086] Compared with the prior art, the embodiments of the present invention provide a display method and an electronic rearview mirror system for an electronic rearview mirror, which can automatically adjust the display view when an object is detected in the display blind area. The problem that the display range of the electronic rearview mirror in the prior art is fixed and cannot automatically adapt to changes in the driving environment is solved, the flexibility and practicality of the electronic rearview mirror are improved, and the driving safety is enhanced. In addition, the present invention generates point cloud data using the echo formed by the reflection of the detection wave by the object, and determines whether there is an object in the display blind area based on the point cloud data. Compared with the method of only using the image of the target area to detect whether there is an object in the display blind area, the computing power resources consumed are lower, and the fusion detection result is more accurate.

[0087] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A display method of an electronic rearview mirror, wherein the electronic rearview mirror is arranged on a vehicle, and the display method comprises: Acquire an image of the target area; According to the first display area of ​​the image, a display view is obtained and displayed on the electronic rearview mirror; Send detection waves to the target area, receive the echo formed by the detection waves reflected by the object and generate point cloud data; Determining whether there is an object in the display blind area according to the point cloud data; and When there is an object in the display blind area, the display view is adjusted.

2. The display method according to claim 1, wherein: The step of adjusting the display view comprises: Enlarge the first display area.

3. The display method according to claim 1, wherein: When there is an object in the display blind area, determining motion information of the object based on the image and / or the point cloud data; The motion information includes the relative motion relationship and relative distance between the object and the vehicle.

4. The display method according to claim 3, wherein: The step of adjusting the display view comprises: The first display area is enlarged or reduced within a preset range according to the relative distance between the object and the vehicle.

5. The display method according to claim 4, wherein: When the relative distance between the object and the vehicle is greater than a first threshold, the smaller the relative distance between the object and the vehicle is, the larger the first display area is; When the relative distance between the object and the vehicle is less than or equal to a first threshold, the first display area is a maximum value of a preset range.

6. The display method according to claim 4, wherein: When the relative distance between the object and the vehicle is greater than a second threshold, the first display area is the minimum value of the preset range; When the relative distance between the object and the vehicle is less than a second threshold, the first display area is a maximum value of a preset range.

7. The display method according to claim 3, wherein: The step of adjusting the display view comprises: If the object gradually approaches the vehicle, and the relative distance between the object and the vehicle is less than a third threshold, the first display area is increased to a maximum value of a preset range; If the object gradually moves away from the vehicle, and the relative distance between the object and the vehicle is greater than a fourth threshold, the first display area is reduced to a minimum value of a preset range.

8. The display method according to claim 3, wherein: The step of adjusting the display view comprises: generating a second display area of ​​the image according to the motion information of the object; According to the first display area and the second display area, two display views are obtained and displayed in an overlapping manner, in different areas, or on a split screen.

9. The display method according to claim 1, further comprising: Based on the image or based on the image and the point cloud data, motion information of an object in the first display area is determined and output to the outside.

10. An electronic rearview mirror system, comprising: An image acquisition module configured to acquire an image of a target area; A radar detection module is configured to transmit a detection wave to a target area, receive an echo formed by the detection wave being reflected by an object, and generate point cloud data; a control module, coupled to the image acquisition module and the radar detection module respectively, and configured to obtain a display view according to the first display area of ​​the image; and configured to determine whether there is an object in the display blind area according to the point cloud data; and adjust the display view when there is an object in the display blind area; and The display module is coupled to the control module and is configured to receive and display the display view.

11. The electronic rearview mirror system according to claim 10, wherein: The control module is configured to increase the first display area when there is an object in the display blind area.

12. The electronic rearview mirror system according to claim 10, wherein: The control module is configured to determine motion information of the object based on the image and / or the point cloud data when there is an object in the display blind area; The motion information includes the relative motion relationship and relative distance between the object and the vehicle.

13. The electronic rearview mirror system according to claim 12, wherein: The control module is configured to increase or decrease the first display area within a preset range according to the relative distance between the object and the vehicle.

14. The electronic rearview mirror system according to claim 12, wherein: The control module is configured as follows: If the object gradually approaches the vehicle, and the relative distance between the object and the vehicle is less than a third threshold, the first display area is increased to a maximum value of a preset range; If the object gradually moves away from the vehicle, and the relative distance between the object and the vehicle is greater than a fourth threshold, the first display area is reduced to a minimum value of a preset range.

15. The electronic rearview mirror system according to claim 12, wherein: The control module is configured to generate a second display area of ​​the image according to the motion information of the object; obtain two display views according to the first display area and the second display area, The display module displays the display views in an overlapping manner, in different regions, or in a split screen.

16. The electronic rearview mirror system according to claim 10, wherein: The control module is configured to determine motion information of an object in the first display area based on the image or based on the image and the point cloud data, and output the information to the outside.

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