Transparent chassis display method and vehicle

Abstract

The invention relates to a transparent chassis display method and a vehicle, and the transparent chassis display method comprises the steps: building a ground coordinate system based on the positioning information of the vehicle; a vehicle model is displayed on the ground coordinate system, and the vehicle model is transparent; splicing images acquired by multiple cameras annularly arranged on the vehicle in real time to obtain a spliced image; based on the vehicle attitude, mapping the spliced image to a vehicle coordinate system to obtain a top view image including a vehicle model; wherein the original point of the vehicle coordinate system is the original point of the ground coordinate system; acquiring a vehicle bottom image from the front view or the rear view at the historical moment; and splicing the vehicle chassis image into the top view image to obtain the top view image including the vehicle bottom image. The display of the transparent chassis is realized.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted technology, and in particular to a transparent chassis display method and a vehicle. Background Art

[0002] While the vehicle is driving, the user can trigger the vehicle display to display the vehicle's surrounding environment information on the on-board display;

[0003] However, in actual applications, since there is no camera installed at the bottom of the vehicle or the light at the bottom of the vehicle is poor, even if a camera is installed, it is impossible to capture a satisfactory image of the bottom of the vehicle, so it is difficult to realize the transparent chassis display of the vehicle. Summary of the invention

[0004] The present invention aims at solving at least one technical problem in the background technology and provides a transparent chassis display method.

[0005] In a first aspect, the present application provides a transparent chassis display method, characterized by comprising:

[0006] Establishing a ground coordinate system based on the vehicle's positioning information;

[0007] Displaying a vehicle model on the ground coordinate system, wherein the vehicle model is set transparently;

[0008] The images collected in real time by multiple cameras mounted on the vehicle are stitched together to obtain a stitched image;

[0009] Based on the vehicle posture, the stitched image is mapped to a vehicle coordinate system to obtain a top view image including a vehicle model; wherein the origin of the vehicle coordinate system is the origin of the ground coordinate system;

[0010] Obtain a vehicle bottom image from a front view or a rear view at a historical moment;

[0011] The vehicle chassis image is spliced ​​into the overhead image to obtain an overhead image including a vehicle bottom image.

[0012] In some embodiments, mapping the stitched image to a vehicle coordinate system based on the vehicle posture to obtain a top view image including a vehicle model includes:

[0013] Establish vehicle coordinate system;

[0014] The images collected by the four cameras mounted on the vehicle are dedistorted and mapped into the vehicle coordinate system.

[0015] In some embodiments, the center of the vehicle is the origin of the vehicle coordinate system, the ordinate of the vehicle coordinate system is the forward direction of the vehicle, and the abscissa of the vehicle coordinate system is the right direction of the vehicle.

[0016] In some embodiments, acquiring the vehicle bottom image from the front view or rear view at the historical moment includes:

[0017] When the vehicle is in a forward state, the front view at the historical moment is laid out in the vehicle coordinate system, and a partial image of the front view is obtained as the vehicle bottom image according to the relationship between the vehicle moving distance, posture and pixel points.

[0018] In some embodiments, acquiring the vehicle bottom image from the front view or rear view at the historical moment includes:

[0019] When the vehicle is in the reversing state, the rear view at the historical moment is laid out in the vehicle coordinate system, and according to the relationship between the vehicle's moving distance, posture and pixel points, a partial image of the rear view is obtained as the vehicle bottom image.

[0020] In some embodiments, the origin of the ground coordinate system is the longitude and latitude of the first frame of valid positioning information after the vehicle enters the chassis display mode, the vertical coordinate of the ground coordinate system is due north, and the horizontal coordinate of the ground coordinate system is due east.

[0021] In some embodiments, the positioning information includes: one or a combination of GPS positioning information, GNSS positioning information, and IMU positioning information.

[0022] In some embodiments, the vehicle moves a preset distance, or at preset time intervals, and the overhead view image including the bottom image of the vehicle is updated.

[0023] In some embodiments, displaying the vehicle model on the ground coordinate system includes:

[0024] Based on the Gaussian projection algorithm and the longitude and latitude of the origin of the ground coordinate system, the horizontal and vertical coordinates of the vehicle in the ground coordinate system are calculated;

[0025] Confirm the vehicle's posture based on the heading angle in the positioning information;

[0026] Based on the posture of the vehicle and the abscissa and ordinate of the vehicle in the ground coordinate system, a vehicle model is displayed on the ground coordinate system.

[0027] In a second aspect, the present application provides a vehicle, including an on-board display screen, wherein the on-board display screen is used to display a top-view image including an image of a bottom portion of the vehicle in the transparent chassis display method as described above.

[0028] The present application establishes a ground coordinate system based on the vehicle's positioning information, displays the vehicle model on the ground coordinate system, and then maps the spliced ​​image to the vehicle coordinate system based on the vehicle's posture to obtain a top view image including the vehicle model; and obtains a vehicle bottom image from a front view or a rear view at a historical moment; splices the vehicle chassis image into the top view image to obtain a top view image including the vehicle bottom image. The display of a transparent vehicle chassis is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a flowchart of an embodiment of a transparent bottom plate display method of the present invention;

[0030] Figure 2 It is a flowchart of another embodiment of the transparent chassis display method of the present invention. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. 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 "plurality" is two or more, unless otherwise clearly and specifically defined.

[0033] In the description of the present invention, the term "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in the present invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present invention.

[0034] Example 1

[0035] The present application provides a transparent chassis display method, which can display the surrounding environment of a vehicle and the bottom image of the vehicle.

[0036] Reference Figure 1 In some embodiments, the transparent chassis display method includes:

[0037] S100, establishing a ground coordinate system based on the positioning information of the vehicle;

[0038] In this embodiment, the execution entity may be a 360-degree surround view controller.

[0039] In this embodiment, the vehicle may be equipped with a GPS positioning system or other positioning systems to obtain the vehicle's positioning information. Exemplarily, the positioning information may include the latitude and longitude information of the vehicle.

[0040] The 360-degree surround view controller will use the first frame of correct positioning information received as the origin of the ground coordinate system, the due north direction as the vertical axis direction of the ground coordinate system, and the due east direction as the horizontal axis direction of the ground coordinate system.

[0041] S200: Displaying a vehicle model on the ground coordinate system, wherein the vehicle model is transparent.

[0042] Exemplarily, the vehicle model can be set transparent, that is, when the model is rendered, a certain perspective effect is retained to display the image of the bottom of the vehicle. In other embodiments, the vehicle model can be a pure line design without rendering, so as to facilitate observation of the image of the bottom of the vehicle.

[0043] S300, stitching the images collected in real time by multiple cameras mounted on the vehicle to obtain a stitched image.

[0044] In this embodiment, the number of multi-channel cameras can be 4, 6, 8, 10, 12, 16, 24 or more, which is set according to the actual acquisition requirements and image accuracy. This application takes 4 as an example for explanation. At this time, the four cameras can be the first group of cameras (2) facing the front, side front or side of the vehicle, and the second group of cameras (2) facing the rear, side rear or side of the vehicle, ensuring that the field of view of the two groups of cameras overlaps and surrounds the vehicle 360 ​​degrees.

[0045] The stitching algorithm may use an optical flow stitching algorithm, a template stitching algorithm or other stitching algorithms, which are not limited here. The present embodiment preferably uses a template stitching algorithm, so that the stitching efficiency is higher and the computing resources occupied are less.

[0046] S400. Mapping the stitched image to a vehicle coordinate system based on the vehicle posture to obtain a top view image including a vehicle model; wherein the origin of the vehicle coordinate system is the origin of the ground coordinate system.

[0047] Use four cameras to complete 360-degree surround stitching. After the surround stitching is successful, the four-way camera images are dedistorted and mapped to the corresponding position in the vehicle coordinate system, where the origin of the vehicle coordinate system is the vehicle center, and the vehicle center can be the origin of the ground coordinate system, that is, the longitude and latitude at which the first frame of correct positioning information is received.

[0048] S500: Acquire a vehicle bottom image from a front view or a rear view at a historical moment.

[0049] Exemplarily, during the vehicle's forward movement, the ground portion of the front view obtained by stitching images captured by the first group of cameras is the position to which the vehicle is preparing to drive. Therefore, based on the vehicle's posture and moving distance, the bottom image of the vehicle can be obtained from the front view at a historical moment.

[0050] By the same token, when the vehicle is reversing, the ground part of the rear view obtained by stitching the images collected by the second set of cameras is the position where the vehicle is about to drive to. Therefore, based on the vehicle's posture and moving distance, the bottom image of the vehicle can be obtained from the rear view at the historical moment.

[0051] It should be noted that the vehicle's attitude information is obtained here to confirm the bottom image of the vehicle, considering that the vehicle does not only drive in a straight line, but also turns. The attitude information can include the vehicle's heading angle to confirm the vehicle's turning situation.

[0052] S600: splice the vehicle chassis image into the overhead view image to obtain an overhead view image including a vehicle bottom image.

[0053] After obtaining the bottom image of the vehicle, the bottom image is mapped to the vehicle coordinate system to obtain a stitched image of the bottom image and the overhead image, thereby obtaining an overhead image including the bottom image of the vehicle.

[0054] The present application establishes a ground coordinate system based on the vehicle's positioning information, displays the vehicle model on the ground coordinate system, and then maps the spliced ​​image to the vehicle coordinate system based on the vehicle's posture to obtain a top view image including the vehicle model; and obtains a vehicle bottom image from a front view or a rear view at a historical moment; splices the vehicle chassis image into the top view image to obtain a top view image including the vehicle bottom image. The display of a transparent vehicle chassis is realized.

[0055] Reference Figure 2 In some embodiments, the step S400, based on the vehicle posture, mapping the stitched image to the vehicle coordinate system to obtain a top view image including a vehicle model, includes:

[0056] S401, establishing a vehicle coordinate system;

[0057] S402: Dedistort the images collected by four cameras arranged around the vehicle and map them into the vehicle coordinate system.

[0058] In this embodiment, it is only necessary to tile the stitched image, that is, the 360-degree panoramic image, to the vehicle coordinate system to obtain a bird's-eye view image, and then superimpose the vehicle model on the bird's-eye view image to obtain a bird's-eye view image including the vehicle model.

[0059] In some embodiments, the center of the vehicle is the origin of the vehicle coordinate system, the ordinate of the vehicle coordinate system is the forward direction of the vehicle, and the abscissa of the vehicle coordinate system is the right direction of the vehicle.

[0060] Exemplarily, the origin of the vehicle coordinate system is the origin of the ground coordinate system, so there is no need to calculate the position of the center of the vehicle, thereby improving the efficiency of building the vehicle coordinate system.

[0061] Reference Figure 2 In some embodiments, the step S500 of acquiring a vehicle bottom image from a front view or a rear view at a historical moment includes:

[0062] S501. When the vehicle is in a forward state, the front view at the historical moment is laid out in the vehicle coordinate system, and according to the relationship between the vehicle moving distance, posture and pixel points, a partial image of the front view is obtained as the vehicle bottom image.

[0063] Exemplarily, when the vehicle is moving forward, the ground part of the front view obtained by stitching the images captured by the first group of cameras is the position to which the vehicle is about to drive. Therefore, according to the posture and moving distance of the vehicle, the pixel points corresponding to the bottom image of the vehicle can be obtained from the front view at the historical moment, and the values ​​of the pixel points are rendered into the current top view to obtain the top view image including the bottom image of the vehicle.

[0064] Reference Figure 2 In some embodiments, the step S500 of acquiring a vehicle bottom image from a front view or a rear view at a historical moment includes:

[0065] S502: When the vehicle is in a reversing state, the rear view at the historical moment is laid out in the vehicle coordinate system, and a partial image of the rear view is obtained as a vehicle bottom image according to the relationship between the moving distance, posture and pixel points of the vehicle.

[0066] For example, during the vehicle's reversing process, the ground part of the front view obtained by stitching the images captured by the second group of cameras is the position to which the vehicle is about to drive. Therefore, based on the vehicle's posture and moving distance, the pixel points corresponding to the bottom image of the vehicle can be obtained from the rear view at the historical moment, and the values ​​of the pixel points are rendered into the current top view to obtain a top view image including the bottom image of the vehicle.

[0067] In some embodiments, the origin of the ground coordinate system is the longitude and latitude of the first frame of valid positioning information after the vehicle enters the chassis display mode, the vertical coordinate of the ground coordinate system is due north, and the horizontal coordinate of the ground coordinate system is due east.

[0068] In this embodiment, after the vehicle is operating stably and all modules have been verified successfully, the longitude and latitude of the first frame of correct positioning information can be obtained as the origin of the ground coordinate system, and then an environmental map can be constructed in the ground coordinate system based on the collected images.

[0069] In some embodiments, the positioning information includes: one or a combination of GPS positioning information, GNSS positioning information, and IMU positioning information.

[0070] In some embodiments, the vehicle moves a preset distance, or at preset time intervals, and the overhead view image including the bottom image of the vehicle is updated.

[0071] In this embodiment, after each movement of the vehicle, the position and posture of the vehicle in the ground coordinate system are calculated according to the positioning information, and the corresponding vehicle bottom image of the front view or rear view is spliced ​​into the cache view. Then, the image corresponding to the partial position of the vehicle model in the cache view (that is, the vehicle bottom image) is cropped and fused and spliced ​​into the vehicle model in the surround view. A complete top view including the vehicle bottom image display is formed, thereby completing the surround display depiction of the 720° transparent chassis.

[0072] In some embodiments, displaying the vehicle model on the ground coordinate system includes:

[0073] Based on the Gaussian projection algorithm and the longitude and latitude of the origin of the ground coordinate system, the horizontal and vertical coordinates of the vehicle in the ground coordinate system are calculated;

[0074] Confirm the vehicle's posture based on the heading angle in the positioning information;

[0075] Based on the posture of the vehicle and the abscissa and ordinate of the vehicle in the ground coordinate system, a vehicle model is displayed on the ground coordinate system.

[0076] In this embodiment, the position and posture of the vehicle will be displayed on the display screen. Exemplarily, the environment map can be displayed first, and then the vehicle model can be superimposed on the environment map.

[0077] Example 2

[0078] Reference Figure 1The present application proposes a vehicle, comprising a 360-degree controller, a display screen, a camera arranged around the vehicle body, and a memory (storing a transparent chassis display program). The 360-degree controller is electrically connected to the display screen, the camera, and the memory, and executes the transparent chassis display program to implement the following steps:

[0079] S100, establishing a ground coordinate system based on the positioning information of the vehicle;

[0080] In this embodiment, the execution entity may be a 360-degree surround view controller.

[0081] In this embodiment, the vehicle may be equipped with a GPS positioning system or other positioning systems to obtain the vehicle's positioning information. Exemplarily, the positioning information may include the latitude and longitude information of the vehicle.

[0082] The 360-degree surround view controller will use the first frame of correct positioning information received as the origin of the ground coordinate system, the due north direction as the vertical axis direction of the ground coordinate system, and the due east direction as the horizontal axis direction of the ground coordinate system.

[0083] S200: Displaying a vehicle model on the ground coordinate system, wherein the vehicle model is transparent.

[0084] Exemplarily, the vehicle model can be set transparent, that is, when the model is rendered, a certain perspective effect is retained to display the image of the bottom of the vehicle. In other embodiments, the vehicle model can be a pure line design without rendering, so as to facilitate observation of the image of the bottom of the vehicle.

[0085] S300, stitching the images collected in real time by multiple cameras mounted on the vehicle to obtain a stitched image.

[0086] In this embodiment, the number of multi-channel cameras can be 4, 6, 8, 10, 12, 16, 24 or more, which is set according to the actual acquisition requirements and image accuracy. This application takes 4 as an example for explanation. At this time, the four cameras can have the first group of cameras (2) facing the front, front side or side of the vehicle, and the second group of cameras (2) facing the rear, rear side or side of the vehicle, ensuring that the field of view of the two groups of cameras overlaps and surrounds the vehicle 360 ​​degrees.

[0087] The stitching algorithm may use an optical flow stitching algorithm, a template stitching algorithm or other stitching algorithms, which are not limited here. The present embodiment preferably uses a template stitching algorithm, so that the stitching efficiency is higher and the computing resources occupied are less.

[0088] S400. Mapping the stitched image to a vehicle coordinate system based on the vehicle posture to obtain a top view image including a vehicle model; wherein the origin of the vehicle coordinate system is the origin of the ground coordinate system.

[0089] Use four cameras to complete 360-degree surround stitching. After the surround stitching is successful, the four-way camera images are dedistorted and mapped to the corresponding position in the vehicle coordinate system, where the origin of the vehicle coordinate system is the vehicle center, and the vehicle center can be the origin of the ground coordinate system, that is, the longitude and latitude at which the first frame of correct positioning information is received.

[0090] S500: Acquire a vehicle bottom image from a front view or a rear view at a historical moment.

[0091] Exemplarily, during the vehicle's forward movement, the ground portion of the front view obtained by stitching images captured by the first group of cameras is the position to which the vehicle is preparing to drive. Therefore, based on the vehicle's posture and moving distance, the bottom image of the vehicle can be obtained from the front view at a historical moment.

[0092] By the same token, when the vehicle is reversing, the ground part of the rear view obtained by stitching the images collected by the second set of cameras is the position where the vehicle is about to drive to. Therefore, based on the vehicle's posture and moving distance, the bottom image of the vehicle can be obtained from the rear view at the historical moment.

[0093] It should be noted that the vehicle's attitude information is obtained here to confirm the bottom image of the vehicle, considering that the vehicle does not only drive in a straight line, but also turns. The attitude information can include the vehicle's heading angle to confirm the vehicle's turning situation.

[0094] S600: splice the vehicle chassis image into the overhead view image to obtain an overhead view image including a vehicle bottom image.

[0095] After obtaining the bottom image of the vehicle, the bottom image is mapped to the vehicle coordinate system to obtain a stitched image of the bottom image and the overhead image, thereby obtaining an overhead image including the bottom image of the vehicle.

[0096] The present application establishes a ground coordinate system based on the vehicle's positioning information, displays the vehicle model on the ground coordinate system, and then maps the spliced ​​image to the vehicle coordinate system based on the vehicle's posture to obtain a top view image including the vehicle model; and obtains a vehicle bottom image from a front view or a rear view at a historical moment; splices the vehicle chassis image into the top view image to obtain a top view image including the vehicle bottom image. The display of a transparent vehicle chassis is realized.

[0097] Reference Figure 2 In some embodiments, the step S400, based on the vehicle posture, mapping the stitched image to the vehicle coordinate system to obtain a top view image including a vehicle model, includes:

[0098] S401, establishing a vehicle coordinate system;

[0099] S402: Dedistort the images collected by four cameras arranged around the vehicle and map them into the vehicle coordinate system.

[0100] In this embodiment, it is only necessary to tile the stitched image, that is, the 360-degree panoramic image, to the vehicle coordinate system to obtain a bird's-eye view image, and then superimpose the vehicle model on the bird's-eye view image to obtain a bird's-eye view image including the vehicle model.

[0101] In some embodiments, the center of the vehicle is the origin of the vehicle coordinate system, the ordinate of the vehicle coordinate system is the forward direction of the vehicle, and the abscissa of the vehicle coordinate system is the right direction of the vehicle.

[0102] Exemplarily, the origin of the vehicle coordinate system is the origin of the ground coordinate system, so there is no need to calculate the position of the center of the vehicle, thereby improving the efficiency of building the vehicle coordinate system.

[0103] In some embodiments, the step S500 of acquiring a bottom image of the vehicle from a front view or a rear view at a historical moment includes:

[0104] S501. When the vehicle is in a forward state, the front view at the historical moment is laid out in the vehicle coordinate system, and according to the relationship between the vehicle moving distance, posture and pixel points, a partial image of the front view is obtained as the vehicle bottom image.

[0105] Exemplarily, when the vehicle is moving forward, the ground part of the front view obtained by stitching the images captured by the first group of cameras is the position to which the vehicle is about to drive. Therefore, according to the posture and moving distance of the vehicle, the pixel points corresponding to the bottom image of the vehicle can be obtained from the front view at the historical moment, and the values ​​of the pixel points are rendered into the current top view to obtain the top view image including the bottom image of the vehicle.

[0106] In some embodiments, the step S500 of acquiring a bottom image of the vehicle from a front view or a rear view at a historical moment includes:

[0107] S502: When the vehicle is in a reversing state, the rear view at the historical moment is laid out in the vehicle coordinate system, and a partial image of the rear view is obtained as a vehicle bottom image according to the relationship between the moving distance, posture and pixel points of the vehicle.

[0108] For example, during the vehicle's reversing process, the ground part of the front view obtained by stitching the images captured by the second group of cameras is the position to which the vehicle is about to drive. Therefore, based on the vehicle's posture and moving distance, the pixel points corresponding to the bottom image of the vehicle can be obtained from the rear view at the historical moment, and the values ​​of the pixel points are rendered into the current top view to obtain a top view image including the bottom image of the vehicle.

[0109] In some embodiments, the origin of the ground coordinate system is the longitude and latitude of the first frame of valid positioning information after the vehicle enters the chassis display mode, the vertical coordinate of the ground coordinate system is due north, and the horizontal coordinate of the ground coordinate system is due east.

[0110] In this embodiment, after the vehicle is operating stably and all modules have been verified successfully, the longitude and latitude of the first frame of correct positioning information can be obtained as the origin of the ground coordinate system, and then an environmental map can be constructed in the ground coordinate system based on the collected images.

[0111] In some embodiments, the positioning information includes: one or a combination of GPS positioning information, GNSS positioning information, and IMU positioning information.

[0112] In some embodiments, the vehicle moves a preset distance, or at preset time intervals, and the overhead view image including the bottom image of the vehicle is updated.

[0113] In this embodiment, after each movement of the vehicle, the position and posture of the vehicle in the ground coordinate system are calculated according to the positioning information, and the corresponding vehicle bottom image of the front view or rear view is spliced ​​into the cache view. Then, the image corresponding to the partial position of the vehicle model in the cache view (that is, the vehicle bottom image) is cropped and fused and spliced ​​into the vehicle model in the surround view. A complete top view including the vehicle bottom image display is formed, thereby completing the surround display depiction of the 720° transparent chassis.

[0114] In some embodiments, displaying the vehicle model on the ground coordinate system includes:

[0115] Based on the Gaussian projection algorithm and the longitude and latitude of the origin of the ground coordinate system, the horizontal and vertical coordinates of the vehicle in the ground coordinate system are calculated;

[0116] Confirm the vehicle's posture based on the heading angle in the positioning information;

[0117] Based on the posture of the vehicle and the abscissa and ordinate of the vehicle in the ground coordinate system, a vehicle model is displayed on the ground coordinate system.

[0118] In this embodiment, the position and posture of the vehicle will be displayed on the display screen. Exemplarily, the environment map can be displayed first, and then the vehicle model can be superimposed on the environment map.

[0119] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0121] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0122] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0124] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0125] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A transparent chassis display method, characterized in that: include: Establishing a ground coordinate system based on the vehicle's positioning information; Displaying a vehicle model on the ground coordinate system, wherein the vehicle model is set transparently; The images collected in real time by multiple cameras mounted on the vehicle are stitched together to obtain a stitched image; Based on the vehicle posture, the stitched image is mapped to a vehicle coordinate system to obtain a top view image including a vehicle model; wherein the origin of the vehicle coordinate system is the origin of the ground coordinate system; Obtain a vehicle bottom image from a front view or a rear view at a historical moment; The vehicle chassis image is spliced ​​into the overhead image to obtain an overhead image including a vehicle bottom image.

2. The transparent chassis display method according to claim 1, characterized in that: Based on the vehicle posture, the stitched image is mapped to the vehicle coordinate system to obtain a top view image including the vehicle model, including: Establish vehicle coordinate system; The images collected by the four cameras mounted on the vehicle are dedistorted and mapped into the vehicle coordinate system.

3. The transparent chassis display method according to claim 2, characterized in that: The center of the vehicle is the origin of the vehicle coordinate system, the ordinate of the vehicle coordinate system is the forward direction of the vehicle, and the abscissa of the vehicle coordinate system is the right direction of the vehicle.

4. The transparent chassis display method according to claim 2, characterized in that: The step of acquiring the vehicle bottom image from the front view or rear view at the historical moment includes: When the vehicle is in a forward state, the front view at the historical moment is laid out in the vehicle coordinate system, and a partial image of the front view is obtained as the vehicle bottom image according to the relationship between the vehicle moving distance, posture and pixel points.

5. The transparent chassis display method according to claim 2, characterized in that: The step of acquiring the vehicle bottom image from the front view or rear view at the historical moment includes: When the vehicle is in the reversing state, the rear view at the historical moment is laid out in the vehicle coordinate system, and according to the relationship between the vehicle's moving distance, posture and pixel points, a partial image of the rear view is obtained as the vehicle bottom image.

6. The transparent chassis display method according to claim 1, characterized in that: The origin of the ground coordinate system is the longitude and latitude of the first frame of valid positioning information after the vehicle enters the chassis display mode, the ordinate of the ground coordinate system is due north, and the abscissa of the ground coordinate system is due east.

7. The transparent chassis display method according to claim 1, characterized in that: The positioning information includes: one or a combination of GPS positioning information, GNSS positioning information, and IMU positioning information.

8. The transparent chassis display method according to any one of claims 1 to 7, characterized in that: The vehicle moves a preset distance, or at a preset time interval, to update the overhead image including the bottom image of the vehicle.

9. The transparent chassis display method according to claim 1, characterized in that: The displaying of the vehicle model on the ground coordinate system comprises: Based on the Gaussian projection algorithm and the longitude and latitude of the origin of the ground coordinate system, the horizontal and vertical coordinates of the vehicle in the ground coordinate system are calculated; Confirm the vehicle's posture based on the heading angle in the positioning information; Based on the posture of the vehicle and the abscissa and ordinate of the vehicle in the ground coordinate system, a vehicle model is displayed on the ground coordinate system.

10. A vehicle, characterized in that: It includes a vehicle-mounted display screen, which is used to display a top-view image including a vehicle bottom image in the transparent chassis display method according to any one of claims 1 to 9.

Images