A vehicle 360 panoramic image enhancement method and system based on wireless communication

Abstract

The application discloses a kind of based on wireless communication's vehicle 360 panoramic image enhancement method and system, it is related to vehicle panoramic image field.Therein, the method includes: the car initiates communication request, searches whether there is surrounding system capable of transmitting surrounding camera picture in the car nearby;When the car receives system response, the blind area information of the car is calculated, and the surrounding camera information is requested to surrounding system;In response to the surrounding camera information sent by surrounding system, the car confirms available surrounding camera picture according to blind area information, and requests transmission corresponding surrounding camera picture to surrounding system;After the car receives surrounding camera picture, surrounding camera picture is divided into the corresponding blind area picture of the blind area area of the car, and is displayed with 360 panoramic image together.Compared with prior art, the present application can enable vehicle passengers to observe the environment around the vehicle and confirm the situation in the blind area, so as to make up for the defects of the existing 360 panoramic image blind area.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle panoramic image technology, and particularly relates to a vehicle 360 panoramic image enhancement method and system based on wireless communication. BACKGROUND

[0002] At present, the splicing and display technology of 360 panoramic image is very mature, and is applied to many vehicle models whether front-mounted or rear-mounted. Although the 360 panoramic image is spliced by multiple camera pictures, there are still blind areas in the four corners of the vehicle. Referring to Figure 1 、 Figure 2 When the vehicle is just started, even if the 360 panoramic image is turned on, the blind areas in the four corners of the vehicle cannot be avoided, and when there are children or obstacles in the blind area, accidents are likely to occur, causing life and property losses. SUMMARY

[0003] One of the purposes of the present application is to provide a vehicle 360 panoramic image enhancement method based on wireless communication to solve the problem that the vehicle 360 panoramic image cannot provide blind area related images, causing driving safety hazards. The second purpose is to provide a vehicle 360 panoramic image enhancement system based on wireless communication.

[0004] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0005] In the first aspect, a vehicle 360 panoramic image enhancement method based on wireless communication comprises:

[0006] The vehicle initiates a communication request to search whether there is a surrounding system capable of transmitting surrounding camera pictures near the vehicle;

[0007] After the vehicle receives the system response of the surrounding system, the blind area information of the 360 panoramic image of the vehicle is calculated, and the surrounding camera information is requested from the surrounding system;

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

[0009] After the vehicle receives the surrounding camera pictures, the surrounding camera pictures are divided into corresponding blind area pictures of the blind area region of the vehicle, and are displayed together with the 360 panoramic image of the surrounding environment of the vehicle. The blind area region includes at least one of the left front blind area, the right front blind area, the left rear blind area and the right rear blind area of the vehicle.

[0010] In a second aspect, a vehicle 360 panoramic image enhancement system based on wireless communication applies the method of the first aspect and comprises a vehicle end system and a surrounding system.

[0011] The vehicle end system is configured to initiate a communication request, search for the surrounding system capable of transmitting the surrounding camera image in the vicinity of the vehicle, receive a system response from the surrounding system, calculate blind area information of the 360 panoramic image of the vehicle, send a surrounding camera information request to the surrounding system, receive the surrounding camera information from the surrounding system, confirm the available surrounding camera image according to the blind area information, request the surrounding system to transmit the corresponding surrounding camera image, and receive the surrounding camera image, divide the surrounding camera image into corresponding blind area images of the blind area of the vehicle, and display the surrounding camera image together with the 360 panoramic image of the surrounding environment of the vehicle, wherein the blind area of the vehicle includes at least one of the left front blind area, the right front blind area, the left rear blind area, and the right rear blind area.

[0012] The surrounding system is configured to return the system response in response to the communication request of the vehicle end system, return the surrounding camera information in response to the surrounding camera information request of the vehicle end system, and return the surrounding camera image in response to the surrounding camera image transmission request of the vehicle end system.

[0013] The present application has the following advantages:

[0014] The present application provides a vehicle 360 panoramic image enhancement method and system based on wireless communication. The method uses wireless communication technology to share the camera image collected by the surrounding system (such as a surrounding road end system or a surrounding vehicle end system) in the vicinity of the vehicle to the vehicle to compensate for the defects of the existing 360 panoramic image blind area. Compared with the prior art, the present application can make the passengers of the vehicle more convenient and accurate to observe the surrounding environment of the vehicle and confirm that there is no child, obstacle or other things that may cause safety hazards in the 360 panoramic image blind area, thereby reducing the occurrence of accidents, and is particularly suitable for vehicles starting from a stationary state or switching to a running state. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the visible range of the traditional 360 panoramic image, wherein the dashed line box is the visible range.

[0016] Figure 2 The figure is a schematic diagram of the blind area of the traditional 360 panoramic image.

[0017] Figure 3 The figure is a flowchart of the vehicle 360 panoramic image enhancement method in embodiment 1 of the present application.

[0018] Figure 4 Another flowchart of the vehicle 360 panoramic image enhancement method in the embodiment 1 of the present application;

[0019] Figure 5 A structure diagram of the vehicle 360 panoramic image enhancement system in the embodiment 2 of the present application;

[0020] Figure 6 A hardware entity diagram of the electronic device in the embodiment 3 of the present application. 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 do not necessarily have to be used to describe a specific order or sequence. It should be understood that the terms thus used can be interchanged under appropriate circumstances, and this is merely a distinguishing way used in the description of the embodiments of the present application to describe the objects of the same attribute. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, so that the processes, methods, systems, products or devices containing a series of units do not have to be limited to those units, but can include other units not clearly listed or inherent to these processes, methods, products or devices.

[0022] The drawings are only used for illustrative description, and cannot be understood as limiting the present patent;

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

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

[0025] The technical solutions of the present application will be further described below in combination with the drawings and embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present specification. The present application can also be implemented or applied by means of other different specific embodiments, and each detail in the present specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, and are not intended to limit the protection scope of the present application.

[0026] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concepts of the present application, and only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape and size of the components in actual implementation. The shapes, number and proportions of the components in actual implementation can be arbitrarily changed, and the layout pattern of the components can be more complex.

[0027] Embodiment 1

[0028] This embodiment proposes a wireless communication-based vehicle 360 panoramic image enhancement method, referring to Figure 3 , comprising:

[0029] S1: the vehicle initiates a communication request to search whether there is a surrounding system capable of transmitting surrounding camera pictures in the vicinity of the vehicle;

[0030] S2: after the vehicle receives the system response of the surrounding system, the blind area information of the 360 panoramic image of the vehicle is calculated, and the surrounding camera information is requested from the surrounding system;

[0031] S3: in response to the surrounding camera information sent by the surrounding system, the vehicle confirms the available surrounding camera pictures according to the blind area information, and requests the surrounding system to transmit the corresponding surrounding camera pictures;

[0032] S4: after the vehicle receives the surrounding camera pictures, the surrounding camera pictures are divided into corresponding blind area pictures of the blind area region of the vehicle, and are displayed together with the 360 panoramic image of the surrounding environment of the vehicle. The blind area region includes at least one of the left front blind area, the right front blind area, the left rear blind area and the right rear blind area of the vehicle.

[0033] This embodiment uses wireless communication technology to collect surrounding camera information, and screens the available surrounding camera pictures in combination with blind area information. By displaying the screened surrounding camera pictures together with the 360 panoramic image, the passengers can more conveniently and accurately observe the children and obstacles around the vehicle, and confirm the situation in the blind area, so as to make up for the defects of the existing 360 panoramic image with blind area, and even eliminate the blind area.

[0034] In some examples, the view direction of the surrounding camera pictures received by the vehicle is a top view, and the field of view angle covers the four blind areas of the vehicle, so the surrounding camera pictures are divided into four parts corresponding to the four blind areas one by one;

[0035] In some examples, the view direction of the surrounding camera image received by the host vehicle is a horizontal view, and the field of view angle thereof only covers one blind area (e.g., a left front blind area, a right front blind area, a left rear blind area, or a right rear blind area) of the host vehicle, and only the surrounding camera image is used as a part corresponding to the blind area.

[0036] In other examples, the view direction of the surrounding camera image received by the host vehicle is a horizontal view, and the field of view angle thereof covers two blind areas of the host vehicle, and the surrounding camera image is divided into two parts corresponding to the two blind areas.

[0037] In some examples, the camera and / or the surrounding camera of the surrounding system arranged on the host vehicle are visible light cameras and / or infrared cameras.

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

[0039] The host vehicle obtains host vehicle position information and host vehicle heading angle information at the last time of parking, and calculates host vehicle orientation information of the host vehicle according to the host vehicle position information and the host vehicle heading angle information.

[0040] According to the host vehicle position information and the host vehicle orientation information, the blind area position information is calculated.

[0041] In some examples, the host vehicle obtains the host vehicle position information through an inertial navigation unit, and obtains the host vehicle heading angle information at the last time of parking through a calculation storage unit.

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

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

[0044] (1) The host vehicle calculates a road end camera image coverage range of the surrounding road end system according to the road end camera positioning information and the installation angle information of the surrounding road end system.

[0045] According to the blind area position information and the road end camera picture coverage range, it is compared and judged whether the camera picture collected by the surrounding road end system can cover at least part of the blind area region: if yes, the camera picture of the surrounding road end system is regarded as the available surrounding camera picture; otherwise, no operation is performed.

[0046] (2) The host vehicle calculates the vehicle end camera picture coverage range of the surrounding vehicle end system according to the vehicle position information and the vehicle heading angle information of the surrounding vehicle end system.

[0047] According to the blind area position information and the vehicle end camera picture coverage range, it is compared and judged whether the camera picture collected by the surrounding vehicle end system can cover at least part of the blind area region: if yes, the camera picture of the surrounding vehicle end system is regarded as the available surrounding camera picture; otherwise, no operation is performed.

[0048] In some examples, the vehicle end camera picture provided by the surrounding vehicle end system is a 360 panoramic image, and the visible range is 3 meters in front and back of the vehicle and 2 meters on the left and right of the vehicle.

[0049] In other examples, the vehicle end camera picture provided by the surrounding vehicle end system is not a 360 panoramic image, for example, the vehicle is provided with only three cameras, and the visible region is determined according to the direction and corresponding distance of the cameras.

[0050] In some examples, the surrounding road end system includes a calculation storage unit for storing corresponding road end camera positioning information and installation angle information, and sending the information to the vehicle in need of 360 panoramic image enhancement through a communication unit.

[0051] In some examples, the surrounding vehicle end system includes a calculation storage unit for storing vehicle position information and vehicle heading angle information of the vehicle at the last time of parking, and sending the information to the vehicle in need of 360 panoramic image enhancement through a communication unit.

[0052] Further, the surrounding camera information further includes surrounding camera parameter information, such as field of view angle, focal length, whether zoomable, etc.

[0053] In some examples, the 360 panoramic image enhancement is performed with a road side field of view angle of 53 degrees and a vehicle field of view angle of 180 degrees.

[0054] Further, the method further includes: adjusting the frame rate of the surrounding camera picture according to the communication signal strength.

[0055] In some examples, the picture frame rate is adjusted according to the communication signal strength, and the lowest is 2 frames per second. When the communication signal is weak, the transmission rate is limited, and the picture frame rate is actively adjusted to prevent more serious delay caused by lag.

[0056] In a preferred embodiment, the method further comprises: when there are at least two corresponding blind area pictures for any blind area region, the host vehicle switches the currently displayed blind area picture to another corresponding blind area picture in response to a picture switching operation of the user.

[0057] In some examples, after the host vehicle receives the surrounding camera pictures of the surrounding system, the pictures are displayed by the display unit, respectively corresponding to the left front blind area, the right front blind area, the left rear blind area and the right rear blind area of the host vehicle; when there are multiple surrounding available external camera pictures for a blind area, the driver can switch the camera pictures of different sources by clicking the corresponding blind area position to complete the blind area picture switching.

[0058] In a preferred embodiment, the method further comprises: before the host vehicle initiates a communication request for searching, the host vehicle confirms whether 360 panoramic image enhancement is needed based on CAN (Controller Area Network) information; the CAN information includes the ignition state information, gear information and vehicle speed information of the host vehicle.

[0059] In some examples, the ignition state information, gear information and vehicle speed information of the vehicle are obtained through the CAN module arranged on the host vehicle; when the vehicle is ignited from a stationary state or is ready to start, the camera pictures on the surrounding vehicle and the camera pictures deployed on the roadside are shared to the host vehicle; the host vehicle position information and the host vehicle heading angle information are analyzed and calculated according to the camera point position (i.e. the road end camera positioning information) and the installation angle information of the camera deployed on the roadside, and the pictures that can make up for the 360 panoramic image blind area of the vehicle are screened out; the picture is displayed by the display unit, and the details are referred to Figure 4 .

[0060] In an optional embodiment, the host vehicle is considered to need 360 panoramic image enhancement when it is in at least one of the following states:

[0061] (1) when the host vehicle is ignited from an unignited state;

[0062] (2) when the host vehicle is in an ignited state and is switched from a parking gear (P gear) to a forward gear (D gear) or a reverse gear (R gear);

[0063] (3) when the host vehicle is in an ignited state and the host vehicle has not been continuously driven for more than a preset time.

[0064] In some examples, the host vehicle is in an ignited state, but it has not been driven for more than 3 minutes continuously, i.e. the host vehicle has not moved, and at this time the host vehicle is considered to need 360 panoramic image enhancement.

[0065] Embodiment 2

[0066] The embodiment provides a wireless communication-based vehicle 360 panoramic image enhancement system. The method in Embodiment 1 is applied, and reference is made to Figure 5 , which comprises a vehicle terminal system and a surrounding system. In the vehicle terminal system,

[0067] The vehicle terminal system is configured to initiate a communication request, search whether there is the surrounding system capable of transmitting surrounding camera pictures in the vicinity of the vehicle, receive a system response of the surrounding system, calculate blind area information of 360 panoramic images of the vehicle, and send a surrounding camera information request to the surrounding system. The vehicle terminal system is further configured to confirm available surrounding camera pictures according to the blind area information, request transmission of the corresponding surrounding camera pictures from the surrounding system, and receive the surrounding camera pictures, divide the surrounding camera pictures into corresponding blind area pictures of blind area regions of the vehicle, and display the surrounding camera pictures together with 360 panoramic images of the surrounding environment of the vehicle. The blind area regions comprise at least one of a left front blind area, a right front blind area, a left rear blind area and a right rear blind area of the vehicle.

[0068] The surrounding system is configured to return the system response in response to the communication request of the vehicle terminal system, return the surrounding camera information in response to the surrounding camera information request of the vehicle terminal system, and return the surrounding camera pictures in response to a surrounding camera picture transmission request of the vehicle terminal system.

[0069] In a preferred embodiment, the vehicle terminal system is provided with a first communication unit, a first camera unit, a first calculation and storage unit and a display unit. The first communication unit is configured to send the communication request and the surrounding camera information request, and receive the surrounding camera information and the surrounding camera pictures. The first camera unit is configured to collect 360 panoramic images of the surrounding environment of the vehicle. The first calculation and storage unit is configured to calculate blind area information of 360 panoramic images of the vehicle, confirm available surrounding camera pictures, and divide the surrounding camera pictures into corresponding blind area pictures of blind area regions of the vehicle. The display unit is configured to display the 360 panoramic images and the surrounding camera pictures.

[0070]

[0071] The first camera unit is configured to collect 360 panoramic images of the surrounding environment of the vehicle.

[0072] The first calculation and storage unit is configured to calculate blind area information of 360 panoramic images of the vehicle, confirm available surrounding camera pictures, and divide the surrounding camera pictures into corresponding blind area pictures of blind area regions of the vehicle. The display unit is configured to display the 360 panoramic images and the surrounding camera pictures.

[0073] The surrounding system is provided with a second communication unit, a second camera unit and a second calculation and storage unit. The second communication unit is configured to return the system response in response to the communication request of the vehicle terminal system, return the surrounding camera information in response to the surrounding camera information request of the vehicle terminal system, and return the surrounding camera pictures in response to a surrounding camera picture transmission request of the vehicle terminal system. The second camera unit is configured to collect 360 panoramic images of the surrounding environment of the vehicle. The second calculation and storage unit is configured to calculate blind area information of 360 panoramic images of the vehicle, confirm available surrounding camera pictures, and divide the surrounding camera pictures into corresponding blind area pictures of blind area regions of the vehicle.

[0074] ​The second communication unit is configured to receive the communication request and the surrounding camera picture transmission request, and transmit the system response and the surrounding camera picture;

[0075] The second camera unit is configured to collect the surrounding camera picture of the surrounding environment of the surrounding system;

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

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

[0078] In some examples, the second camera unit is a camera capable of providing 360 panoramic image, in particular, the second camera unit is arranged on the vehicle;

[0079] In another example, the second camera unit is a super wide-angle camera, in particular, the second camera unit is arranged on a roadside facility, such as a roadside pole.

[0080] In an optional embodiment, the vehicle end system further comprises a CAN module configured to obtain CAN information to confirm whether 360 panoramic image enhancement is needed.

[0081] In an optional embodiment, the vehicle end system further comprises a high-precision inertial navigation unit configured to provide vehicle position information and / or attitude information of the vehicle.

[0082] In an optional embodiment, the first computing storage unit is further configured to store vehicle heading angle information of the vehicle at the last time of parking.

[0083] Embodiment 3

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

[0085] It can be understood that the storage medium can be transient or non-transient. Exemplarily, the storage medium includes but is not limited to a U disk, a mobile hard disk, a read-only memory (ROM, Read Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media capable of storing 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. When the computer-readable code is run in a computer device, a processor in the computer device executes the code to implement part or all of the steps in the method.

[0088] This embodiment also provides an electronic device, see 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 on a car in the form of an on-vehicle 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, comprising: 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] Further, the processor, the communication interface and the memory can transmit data through a bus, which can include any number of interconnected buses and bridges, the bus connecting various circuits of the one or more processors and the memory together.

[0096] It can be understood that the optional items in the above embodiment 1 are also applicable to this embodiment, and thus are not repeated here.

[0097] Obviously, the above-described embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation manners of the present application. It should be understood that, in various embodiments of the present disclosure, the magnitude of the sequence number of each step / process does not mean the sequence of execution, and the execution sequence of each step / process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments. It should also be understood that the above-described device embodiments are merely schematic, for example, the division of the units is merely a logical functional division, and in actual implementation, there can be another division manner, for example, a plurality of 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 or direct coupling or communication connection between each component can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms. Based on the above description, those skilled in the art can make other different forms of changes or modifications. Here, all the implementation manners do not need to be exhausted. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the claims of the present application.

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 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; 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 obtains the vehicle position information and the vehicle heading angle information when the vehicle was last parked, and calculates the vehicle orientation information of the vehicle based on the vehicle position information and the vehicle heading angle information; Calculating the blind spot position information based on the vehicle position information and the vehicle orientation information; The surrounding systems include surrounding road-side systems and / or surrounding vehicle-side systems that are not in a driving state; the surrounding camera information includes positioning information and installation angle information of the road-side cameras of the surrounding road-side systems, and / or vehicle position information and vehicle heading angle information corresponding to the surrounding vehicle-side systems at the time of last parking; 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; 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 coverage of the roadside cameras of the surrounding roadside systems based on the positioning information and the installation angle information of the roadside cameras of the surrounding roadside systems; Comparing and determining, based on the blind spot location information and the coverage range of the roadside camera image, whether the camera image captured by the surrounding roadside system can cover at least a portion of the blind spot area: if so, treating the camera image of the surrounding roadside system as the available surrounding camera image; otherwise, performing no operation; (2) The host vehicle calculates the coverage of the vehicle-side camera images of the surrounding vehicle-side systems based on 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 image collected by the surrounding vehicle-side system can cover at least a part of the blind spot area: if so, regard the camera image of the surrounding vehicle-side system as the available surrounding camera image; otherwise, do not perform any operation; 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.

2. The method for enhancing a vehicle's 360-degree panoramic image based on wireless communication according to claim 1, characterized in that: The method further includes: adjusting the frame rate of the surrounding camera images according to the strength of the communication signal.

3. The method for enhancing a vehicle's 360-degree panoramic image 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 a screen switching operation by the user.

4. A vehicle 360-degree panoramic image enhancement method based on wireless communication according to any one of claims 1 to 3, characterized in that: The method also includes: before the vehicle initiates a communication request for search, 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.

5. The method for enhancing a vehicle's 360-degree panoramic image based on wireless communication according to claim 4, 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 ignited from an unignited state; (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 has not been driven for a continuous period exceeding a preset time.

6. A vehicle 360-degree panoramic image enhancement system based on wireless communication, applying the method according to any one of claims 1 to 5, characterized in that: Including the vehicle-side system and surrounding systems; among them, The vehicle-side system of the host vehicle is configured to initiate a communication request to search for the surrounding system near the host vehicle that is capable of transmitting the surrounding camera images; is further configured to calculate the blind spot information of the 360-degree panoramic image of the host vehicle after receiving the system response of the surrounding system, and send a surrounding camera information request to the surrounding system; is further configured to respond to the surrounding camera information sent by the surrounding system, confirm the available surrounding camera images based on the blind spot information, and request the surrounding system to transmit the corresponding surrounding camera images; is further configured to divide the surrounding camera images into corresponding blind spot images of the blind spot area of ​​the host vehicle after receiving the surrounding camera images, and display them together with the 360-degree panoramic image of the surrounding environment of the host 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 host 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.

7. The vehicle 360-degree panoramic image enhancement system based on wireless communication according to claim 6, 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 capture the 360-degree panoramic image of the vehicle's surrounding environment; The first calculation storage unit is used to calculate the blind spot information of the 360-degree panoramic image of the vehicle; it is also used to confirm the available 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 The display unit is used to display the 360-degree panoramic image and the surrounding camera images; The peripheral 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 of the surrounding environment of the surrounding system; The second calculation storage unit is used to store the surrounding camera information and the surrounding camera images.

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