Vehicle 360-degree panoramic image enhancement method and system based on wireless communication

Abstract

The invention discloses a vehicle 360-degree panoramic image enhancement method and system based on wireless communication, and relates to the field of vehicle panoramic images. The method comprises the steps that a vehicle initiates a communication request, and whether a surrounding system capable of transmitting surrounding camera pictures exists nearby the vehicle or not is searched; after the vehicle receives a system response, blind area information of the vehicle is calculated, and surrounding camera information is requested from a surrounding system; in response to surrounding camera information sent by the surrounding system, the vehicle confirms available surrounding camera pictures according to the blind area information and requests to transmit the corresponding surrounding camera pictures to the surrounding system; after the vehicle receives the surrounding camera pictures, the surrounding camera pictures are divided into corresponding blind area pictures of the blind area of the vehicle, and the corresponding blind area pictures and the 360-degree panoramic image are displayed together. Compared with the prior art, vehicle passengers can observe the surrounding environment of the vehicle and confirm the condition in the blind area, so that the defect that the blind area exists in the existing 360-degree panoramic image is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle panoramic imaging, and in particular to a vehicle 360-degree panoramic imaging enhancement method and system based on wireless communication. Background Art

[0002] Currently, the stitching and display technology of 360-degree panoramic images is very mature and has been applied to many models, whether front-mounted or rear-mounted. Although the 360-degree panoramic image is stitched together by multiple camera images, there are still blind spots in the four corners of the vehicle. Figure 1 , Figure 2 When the vehicle is just started, even if the 360-degree panoramic image is turned on, the blind spots in the four corners of the vehicle cannot be avoided. When there are children or obstacles in the blind spots, accidents are very likely to occur, causing loss of life and property. Summary of the invention

[0003] One of the purposes of the present invention is to provide a vehicle 360-degree panoramic image enhancement method based on wireless communication, so as to solve the problem in the prior art that the vehicle 360-degree panoramic image cannot provide blind spot related images, causing driving safety hazards; the second purpose is to provide a vehicle 360-degree panoramic image enhancement system based on wireless communication.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, a vehicle 360-degree panoramic image enhancement method based on wireless communication includes:

[0006] The vehicle initiates a communication request to search for surrounding systems near the vehicle that can transmit surrounding camera images;

[0007] When the vehicle receives the system response from the surrounding system, it calculates the blind spot information of the 360-degree panoramic image of the vehicle and requests the surrounding camera information from the surrounding system;

[0008] In response to the surrounding camera information sent by the surrounding system, the host vehicle confirms the available surrounding camera images according to the blind spot information, and requests the surrounding system to transmit the corresponding surrounding camera images;

[0009] After receiving the surrounding camera images, the vehicle divides the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the vehicle, and displays them together with the 360 ​​panoramic image of the surrounding environment of the vehicle; the blind spot area includes at least one of the left front blind spot, right front blind spot, left rear blind spot and right rear blind spot of the vehicle.

[0010] In a second aspect, a vehicle 360-degree panoramic image enhancement system based on wireless communication, applying the method described in the first aspect, includes a vehicle-side system and a surrounding system; wherein:

[0011] The vehicle-side system of the vehicle is used to initiate a communication request and search whether there is a surrounding system capable of transmitting surrounding camera images near the vehicle; it is also used to calculate the blind spot information of the 360-degree panoramic image of the vehicle after receiving the system response of the surrounding system, and send a surrounding camera information request to the surrounding system; it is also used to respond to the surrounding camera information sent by the surrounding system, confirm the available surrounding camera images according to the blind spot information, and request the surrounding system to transmit the corresponding surrounding camera images; it is also used to divide the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the vehicle after receiving the surrounding camera images, and display them together with the 360-degree panoramic image of the surrounding environment of the vehicle; wherein the blind spot area includes at least one of the left front blind spot, the right front blind spot, the left rear blind spot and the right rear blind spot of the vehicle;

[0012] The surrounding system is used to respond to the communication request of the vehicle-side system of the vehicle and return the system response; it is also used to respond to the surrounding camera information request of the vehicle-side system of the vehicle and return the surrounding camera information; it is also used to respond to the surrounding camera image transmission request of the vehicle-side system of the vehicle and return the surrounding camera image.

[0013] Beneficial effects of the present invention:

[0014] The present invention provides a vehicle 360-degree panoramic image enhancement method and system based on wireless communication; the method uses wireless communication technology to share the camera images collected by the surrounding systems near the vehicle (such as the surrounding road-side system and the surrounding vehicle-side system) with the vehicle, so as to make up for the defect of blind spots in the existing 360-degree panoramic images. Compared with the existing technology, the present invention allows the occupants of the vehicle to observe the surrounding environment of the vehicle more conveniently and accurately, confirm that there are no children, obstacles or other things that may cause safety hazards in the blind spots of the 360-degree panoramic images, reduce the occurrence of accidents, and is particularly suitable for when the vehicle is ignited from a stationary state or switched to a driving state. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the visible range of a traditional 360-degree panoramic image, where the fan-shaped dotted frame is the visible range;

[0016] Figure 2 This is a schematic diagram of the blind spots of traditional 360-degree panoramic images;

[0017] Figure 3 Schematic diagram of the process of the vehicle 360-degree panoramic image enhancement method in Embodiment 1 of the present invention;

[0018] Figure 4 It is another schematic diagram of the process of the vehicle 360-degree panoramic image enhancement method in Embodiment 1 of the present invention;

[0019] Figure 5 Schematic diagram of the structure of the vehicle 360-degree panoramic image enhancement system in Embodiment 2 of the present invention;

[0020] Figure 6 Schematic diagram of the hardware entity of the electronic device in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0021] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0022] The drawings are for illustrative purposes only and should not be construed as limiting the present patent;

[0023] In order to better illustrate the present embodiment, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; the same or similar reference numerals correspond to the same or similar parts;

[0024] It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0025] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0026] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0027] Example 1

[0028] This embodiment proposes a vehicle 360-degree panoramic image enhancement method based on wireless communication, see Figure 3 ,include:

[0029] S1: The vehicle initiates a communication request to search for surrounding systems near the vehicle that can transmit surrounding camera images;

[0030] S2: After receiving the system response from the surrounding system, the vehicle calculates the blind spot information of the 360-degree panoramic image of the vehicle and requests the surrounding camera information from the surrounding system;

[0031] S3: In response to the surrounding camera information sent by the surrounding system, the host vehicle confirms the available surrounding camera images according to the blind spot information, and requests the surrounding system to transmit the corresponding surrounding camera images;

[0032] S4: After receiving the surrounding camera images, the vehicle divides the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the vehicle, and displays them together with the 360-degree panoramic image of the surrounding environment of the vehicle; the blind spot area includes at least one of the left front blind spot, right front blind spot, left rear blind spot and right rear blind spot of the vehicle.

[0033] This embodiment utilizes wireless communication technology to collect information from surrounding cameras, and filters available surrounding camera images in combination with blind spot information. By displaying the filtered surrounding cameras together with the 360-degree panoramic image, passengers can more conveniently and accurately observe children and obstacles around the vehicle and confirm the situation in the blind spot, thereby compensating for the defects of blind spots in existing 360-degree panoramic images and even eliminating blind spots.

[0034] In some examples, the viewing direction of the surrounding camera images received by the vehicle is a top-down view, and the field of view thereof covers four blind spots of the vehicle, and the surrounding camera images are divided into four parts corresponding to the four blind spots one by one;

[0035] In some examples, the viewing direction of the surrounding camera image received by the vehicle is horizontal, and its field of view only covers one of the blind spots of the vehicle (such as the left front blind spot, the right front blind spot, the left rear blind spot, or the right rear blind spot), then only the surrounding camera image is regarded as a part corresponding to the blind spot;

[0036] In other examples, the viewing direction of the surrounding camera images received by the vehicle is horizontal, and its field of view only covers two blind spots of the vehicle, then the surrounding camera images are divided into two parts corresponding to the two blind spots.

[0037] In some examples, the camera provided on the vehicle and / or the surrounding camera of the surrounding system is a visible light camera and / or an infrared camera.

[0038] In a preferred embodiment, the blind spot information includes blind spot position information corresponding to the blind spot area; the calculation of the blind spot information of the 360-degree panoramic image of the vehicle includes:

[0039] The vehicle acquires the vehicle position information and the vehicle heading angle information when the vehicle was parked last time, and calculates the vehicle orientation information of the vehicle according to the vehicle position information and the vehicle heading angle information;

[0040] The blind spot position information is calculated based on the vehicle position information and the vehicle orientation information.

[0041] In some examples, the vehicle obtains the vehicle's position information through an inertial navigation unit and obtains the vehicle's heading angle information when it was last parked through a computing storage unit.

[0042] In an optional embodiment, the surrounding system includes a surrounding road-side system and / or a surrounding vehicle-side system that is not in a driving state; the surrounding camera information includes the road-side camera positioning information and installation angle information of the surrounding road-side system, and / or the vehicle position information and vehicle heading angle information corresponding to the surrounding vehicle-side system at the time of the last parking.

[0043] Further, in response to the surrounding camera information sent by the surrounding system, the host vehicle confirms the available surrounding camera images according to the blind spot information, including at least one of the following:

[0044] (1) The vehicle calculates the image coverage of the roadside cameras of the surrounding roadside systems according to the positioning information of the roadside cameras of the surrounding roadside systems and the installation angle information;

[0045] According to the blind spot location information and the coverage range of the road-side camera image, compare and determine whether the camera image collected by the surrounding road-side system can cover at least a part of the blind spot area: if so, regard the camera image of the surrounding road-side system as the available surrounding camera image; otherwise, do not perform any operation;

[0046] (2) The host vehicle calculates the coverage of the vehicle-side camera images of the surrounding vehicle-side systems according to the vehicle position information and the vehicle heading angle information of the surrounding vehicle-side systems;

[0047] Based on the blind spot location information and the coverage range of the vehicle-side camera image, compare and determine whether the camera image collected by the surrounding vehicle-side system can cover at least a part of the blind spot area: if so, the camera image of the surrounding vehicle-side system is regarded as the available surrounding camera image; otherwise, no operation is performed.

[0048] In some examples, the vehicle-side camera image provided by the surrounding vehicle-side system is a 360-degree panoramic image, with a visible range of 3 meters in front and behind and 2 meters to the left and right of the vehicle;

[0049] In other examples, the vehicle-side camera images provided by the surrounding vehicle-side systems are not 360-degree panoramic images. For example, if the corresponding vehicle is only equipped with three cameras, the visible area is judged according to the direction of the camera and the corresponding distance.

[0050] In some examples, the surrounding roadside system includes a computing storage unit for storing the corresponding roadside camera positioning information and installation angle information, and sending it to the vehicle requiring 360-degree panoramic image enhancement through the communication unit;

[0051] In some examples, the surrounding vehicle-side system includes a computing storage unit for storing vehicle position information and vehicle heading angle information corresponding to the last time the vehicle was parked, and sending it to the vehicle that needs 360-degree panoramic image enhancement through a communication unit.

[0052] Furthermore, the surrounding camera information also includes surrounding camera parameter information, such as field of view angle, focal length, whether zoom is possible, etc.

[0053] In some examples, 360-degree panoramic image enhancement is performed with a roadside field of view of 53 degrees and a vehicle field of view of 180 degrees.

[0054] Furthermore, the method also includes: adjusting the frame rate of the surrounding camera images according to the strength of the communication signal.

[0055] In some examples, the frame rate is adjusted based on the strength of the communication signal, with a minimum of 2 frames per second. When the communication signal is weak, the transmission rate is limited, and the frame rate is actively adjusted to prevent more serious delays caused by freezes.

[0056] In a preferred embodiment, the method further includes: when there are at least two corresponding blind spot screens in any blind spot area, the vehicle switches the currently displayed blind spot screen to another corresponding blind spot screen in response to a screen switching operation by the user.

[0057] In some examples, after the vehicle receives the surrounding camera images from the surrounding system, these images are displayed through the display unit, corresponding to the left front blind spot, right front blind spot, left rear blind spot, and right rear blind spot of the vehicle respectively; when there are multiple external camera images available around a blind spot, the driver can switch between camera images from different sources by clicking on the corresponding blind spot position to complete the blind spot image switching.

[0058] In a preferred embodiment, the method further includes: before the vehicle initiates a communication request for search, the vehicle confirms whether 360-degree panoramic image enhancement is required based on CAN (Controller Area Network) information; the CAN information includes the vehicle's ignition status information, gear information and vehicle speed information.

[0059] In some examples, the ignition status information, gear information and vehicle speed information of the vehicle are obtained by a CAN module set on the vehicle. When the vehicle is ignited from a stationary state or is about to start the vehicle, the video images of the cameras on the surrounding vehicles and the cameras deployed on the roadside are shared with the vehicle. According to the vehicle position information, the vehicle heading angle information and the camera point position (i.e., the road-side camera positioning information) and the installation angle information of the vehicle, the image that can make up for the blind spot of the vehicle's 360-degree panoramic image is screened out, and the image is displayed through the display unit. See Figure 4 .

[0060] In an optional embodiment, the vehicle is deemed to need to perform 360-degree panoramic image enhancement when it is in at least one of the following situations:

[0061] (1) When the vehicle is in an unignited state and an ignition operation is performed;

[0062] (2) When the vehicle is in the ignition state, the vehicle is switched from the parking gear (P gear) to the forward gear (D gear) or the reverse gear (R gear);

[0063] (3) The vehicle is in the ignition state and the vehicle has not been driven for a continuous period exceeding a preset time.

[0064] In some examples, the vehicle is in an ignition state, but has not been driven for more than 3 consecutive minutes, that is, the vehicle has not moved. At this time, it is considered that the vehicle needs to perform 360-degree panoramic image enhancement.

[0065] Example 2

[0066] This embodiment proposes a vehicle 360-degree panoramic image enhancement system based on wireless communication, and applies the method described in Embodiment 1. Figure 5 , including the vehicle-side system and surrounding systems; among them,

[0067] The vehicle-side system of the vehicle is used to initiate a communication request and search whether there is a surrounding system capable of transmitting surrounding camera images near the vehicle; it is also used to calculate the blind spot information of the 360-degree panoramic image of the vehicle after receiving the system response of the surrounding system, and send a surrounding camera information request to the surrounding system; it is also used to respond to the surrounding camera information sent by the surrounding system, confirm the available surrounding camera images according to the blind spot information, and request the surrounding system to transmit the corresponding surrounding camera images; it is also used to divide the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the vehicle after receiving the surrounding camera images, and display them together with the 360-degree panoramic image of the surrounding environment of the vehicle; wherein the blind spot area includes at least one of the left front blind spot, the right front blind spot, the left rear blind spot and the right rear blind spot of the vehicle;

[0068] The surrounding system is used to respond to the communication request of the vehicle-side system of the vehicle and return the system response; it is also used to respond to the surrounding camera information request of the vehicle-side system of the vehicle and return the surrounding camera information; it is also used to respond to the surrounding camera image transmission request of the vehicle-side system of the vehicle and return the surrounding camera image.

[0069] In a preferred embodiment, the vehicle-side system is provided with a first communication unit, a first camera unit, a first computing and storage unit and a display unit; wherein,

[0070] The first communication unit is used to send the communication request and the surrounding camera information request, and receive the surrounding camera information and the surrounding camera images;

[0071] The first camera unit is used to collect the 360-degree panoramic image of the surrounding environment of the vehicle;

[0072] The first calculation storage unit is used to calculate the blind spot information of the 360-degree panoramic image of the vehicle; and is also used to confirm the available surrounding camera images; and is also used to divide the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the vehicle. The display unit is used to display the 360-degree panoramic image and the surrounding camera images;

[0073] The surrounding system is provided with a second communication unit, a second camera unit and a second computing and storage unit; wherein,

[0074] The second communication unit is used to receive the communication request and the surrounding camera image transmission request, and send the system response and the surrounding camera image;

[0075] The second camera unit is used to collect the surrounding camera images about the surrounding environment of the surrounding system;

[0076] The second computing storage unit is used to store the surrounding camera information and the surrounding camera images.

[0077] In some examples, the first camera unit and / or the second camera unit includes at least one camera;

[0078] In some examples, the second camera unit is a camera that can also provide 360-degree panoramic images. In particular, the second camera unit is disposed on the vehicle;

[0079] In other examples, the second camera unit is an ultra-wide-angle camera. In particular, the second camera unit is disposed on a roadside facility, such as a roadside pole.

[0080] In an optional embodiment, the vehicle-side system also includes a CAN module for obtaining CAN information to confirm whether 360-degree panoramic image enhancement is required.

[0081] In an optional embodiment, the vehicle-side system further includes a high-precision inertial navigation unit for providing the vehicle's position information and / or attitude information.

[0082] In an optional embodiment, the first calculation storage unit is also used to store the vehicle's heading angle information when the vehicle was parked last time.

[0083] Example 3

[0084] This embodiment proposes a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor, so that the processor executes part or all of the steps of the method described in Example 1.

[0085] It is understood that the storage medium may be transient or non-transient. Exemplarily, the storage medium includes, but is not limited to, a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0086] In some examples, a computer program product is provided, which can be implemented in hardware, software or a combination thereof. As a non-limiting example, the computer program product can be embodied as the storage medium, or as a software product, such as an SDK (Software Development Kit).

[0087] In some examples, a computer program is provided, comprising a computer-readable code, and when the computer-readable code is run in a computer device, a processor in the computer device executes a part or all of the steps in the method.

[0088] This embodiment also provides an electronic device, referring to Figure 6 , including a memory and a processor, the memory storing at least one instruction, at least one program, code set or instruction set, and the processor implementing some or all of the steps of the method described in Example 1 when executing the at least one instruction, at least one program, code set or instruction set.

[0089] Exemplarily, the electronic device may be installed in a car in the form of an on-board electronic device, or may be installed on a roadside facility.

[0090] Exemplarily, the processor may be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0091] In some examples, a hardware entity of the electronic device is provided, including: a processor, a memory, and a communication interface;

[0092] wherein the processor generally controls the overall operation of the electronic device;

[0093] The communication interface is used to enable the electronic device to communicate with other terminals or servers through a network;

[0094] The memory is configured to store instructions and applications executable by the processor, and can also cache data to be processed or processed by the processor and various modules in the electronic device (including but not limited to image data, audio data, voice communication data and video communication data), which can be implemented through flash memory (FLASH) or random access memory (RAM).

[0095] Furthermore, data may be transmitted between the processor, the communication interface and the memory via a bus, which may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together.

[0096] It can be understood that the options in the above-mentioned embodiment 1 are also applicable to this embodiment, so they will not be described again here.

[0097] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. It should be understood that in various embodiments of the present disclosure, the size of the sequence numbers of the above steps / processes does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment. It should also be understood that the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms. For ordinary technicians in the field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A vehicle 360-degree panoramic image enhancement method based on wireless communication, characterized in that: include: The vehicle initiates a communication request to search for surrounding systems near the vehicle that can transmit surrounding camera images; When the vehicle receives the system response from the surrounding system, it calculates the blind spot information of the 360-degree panoramic image of the vehicle and requests the surrounding camera information from the surrounding system; In response to the surrounding camera information sent by the surrounding system, the host vehicle confirms the available surrounding camera images according to the blind spot information, and requests the surrounding system to transmit the corresponding surrounding camera images; After receiving the surrounding camera images, the vehicle divides the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the vehicle, and displays them together with the 360 ​​panoramic image of the surrounding environment of the vehicle; the blind spot area includes at least one of the left front blind spot, right front blind spot, left rear blind spot and right rear blind spot of the vehicle.

2. The vehicle 360-degree panoramic image enhancement method based on wireless communication according to claim 1, characterized in that: The blind spot information includes blind spot location information corresponding to the blind spot area; The calculating of the blind spot information of the 360-degree panoramic image of the vehicle includes: The vehicle acquires the vehicle position information and the vehicle heading angle information when the vehicle was parked last time, and calculates the vehicle orientation information of the vehicle according to the vehicle position information and the vehicle heading angle information; The blind spot position information is calculated based on the vehicle position information and the vehicle orientation information.

3. The vehicle 360-degree panoramic image enhancement method based on wireless communication according to claim 2, characterized in that: The surrounding system includes the surrounding road-side system and / or the surrounding vehicle-side system that is not in driving state; the surrounding camera information includes the road-side camera positioning information and installation angle information of the surrounding road-side system, and / or the vehicle position information and vehicle heading angle information corresponding to the surrounding vehicle-side system at the time of last parking.

4. The vehicle 360-degree panoramic image enhancement method based on wireless communication according to claim 3, characterized in that: In response to the surrounding camera information sent by the surrounding system, the host vehicle confirms the available surrounding camera images according to the blind spot information, including at least one of the following: (1) The vehicle calculates the image coverage of the roadside cameras of the surrounding roadside systems according to the positioning information of the roadside cameras of the surrounding roadside systems and the installation angle information; According to the blind spot location information and the coverage range of the road-side camera image, compare and determine whether the camera image collected by the surrounding road-side system can cover at least a part of the blind spot area: if so, regard the camera image of the surrounding road-side system as the available surrounding camera image; Otherwise, no operation is performed; (2) The host vehicle calculates the coverage of the vehicle-side camera images of the surrounding vehicle-side systems according to the vehicle position information and the vehicle heading angle information of the surrounding vehicle-side systems; According to the blind spot location information and the coverage range of the vehicle-side camera image, compare and determine whether the camera images collected by the surrounding vehicle-side systems can cover at least a part of the blind spot area: if so, regard the camera images of the surrounding vehicle-side systems as the available surrounding camera images; Otherwise, no action is performed.

5. The vehicle 360-degree panoramic image enhancement method based on wireless communication according to claim 4, characterized in that: The method also includes: adjusting the frame rate of the surrounding camera images according to the strength of the communication signal.

6. The vehicle 360-degree panoramic image enhancement method based on wireless communication according to claim 1, characterized in that: The method further includes: when there are at least two corresponding blind spot images in any blind spot area, the host vehicle switches the currently displayed blind spot image to another corresponding blind spot image in response to an image switching operation by the user.

7. A vehicle 360-degree panoramic image enhancement method based on wireless communication according to any one of claims 1 to 6, characterized in that: The method also includes: before the vehicle initiates a communication request for searching, the vehicle confirms whether 360-degree panoramic image enhancement is required based on CAN information; the CAN information includes ignition status information, gear information and vehicle speed information of the vehicle.

8. The vehicle 360-degree panoramic image enhancement method based on wireless communication according to claim 7, characterized in that: The vehicle is deemed to need 360-degree panoramic image enhancement when it is in at least one of the following situations: (1) When the vehicle is in an unignited state and an ignition operation is performed; (2) when the vehicle is in the ignition state and switches from the parking gear to the forward gear or the reverse gear; (3) The vehicle is in the ignition state and the vehicle has not been driven for a continuous period exceeding a preset time.

9. A vehicle 360-degree panoramic image enhancement system based on wireless communication, applying the method according to any one of claims 1 to 8, characterized in that: It includes the vehicle-side system and surrounding systems; among which, The vehicle-side system of the vehicle is used to initiate a communication request and search whether there is a surrounding system capable of transmitting surrounding camera images near the vehicle; it is also used to calculate the blind spot information of the 360-degree panoramic image of the vehicle after receiving the system response of the surrounding system, and send a surrounding camera information request to the surrounding system; it is also used to respond to the surrounding camera information sent by the surrounding system, confirm the available surrounding camera images according to the blind spot information, and request the surrounding system to transmit the corresponding surrounding camera images; it is also used to divide the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the vehicle after receiving the surrounding camera images, and display them together with the 360-degree panoramic image of the surrounding environment of the vehicle; wherein the blind spot area includes at least one of the left front blind spot, the right front blind spot, the left rear blind spot and the right rear blind spot of the vehicle; The surrounding system is used to respond to the communication request of the vehicle-side system of the vehicle and return the system response; it is also used to respond to the surrounding camera information request of the vehicle-side system of the vehicle and return the surrounding camera information; it is also used to respond to the surrounding camera image transmission request of the vehicle-side system of the vehicle and return the surrounding camera image.

10. The vehicle 360-degree panoramic image enhancement system based on wireless communication according to claim 9, characterized in that: The vehicle-side system of the vehicle is provided with a first communication unit, a first camera, a first computing and storage unit and a display unit; wherein, The first communication unit is used to send the communication request and the surrounding camera information request, and receive the surrounding camera information and the surrounding camera images; The first camera is used to collect the 360-degree panoramic image of the surrounding environment of the vehicle; The first calculation storage unit is used to calculate the blind spot information of the 360-degree panoramic image of the vehicle; and is also used to confirm the available surrounding camera images; and is also used to divide the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the vehicle. The display unit is used to display the 360-degree panoramic image and the surrounding camera images; The surrounding system is provided with a second communication unit, a second camera and a second computing and storage unit; wherein, The second communication unit is used to receive the communication request and the surrounding camera image transmission request, and send the system response and the surrounding camera image; The second camera is used to collect the surrounding camera images about the surrounding environment of the surrounding system; The second computing storage unit is used to store the surrounding camera information and the surrounding camera images.

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