Control method, vehicle and computer readable storage medium

Abstract

The embodiment of the invention provides a control method, and the method comprises the steps: generating second image information used for simulating the environment below a chassis according to the obtained first image information of the current driving environment of a vehicle, and controlling a display part of the vehicle to display the second image information. Thus, the vehicle can control the display part to display the second image information used for simulating the environment below the chassis of the vehicle, so that a user can observe or know the road condition of the environment below the chassis of the vehicle through the display part; therefore, the corresponding driving operation can be executed to avoid the occurrence of a chassis rubbing accident to a certain extent, and the driving safety is improved to a certain extent. According to the vehicle, the second image information is generated according to the first image information corresponding to the current driving environment of the vehicle, so that the credibility of the second image information can be guaranteed to a certain extent.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a control method, a vehicle and a computer-readable storage medium. Background Art

[0002] In the driving scenario, users need to perform corresponding driving operations according to the road conditions around the vehicle to ensure the safety and stability of the vehicle, such as observing the road conditions in front through the front windshield and observing the road conditions behind through the vehicle's rearview mirror. However, it is difficult for users to observe the road conditions under the vehicle chassis, and it is difficult to judge whether the vehicle chassis will be scratched during driving. Summary of the invention

[0003] The present application provides a control method, a vehicle and a computer-readable storage medium.

[0004] The present application embodiment provides a control method for a vehicle, comprising:

[0005] Acquire first image information of the current driving environment of the vehicle;

[0006] generating second image information for simulating the environment below the vehicle chassis according to the first image information;

[0007] The display component of the vehicle is controlled to display the second image information.

[0008] In the control method provided in the implementation mode of the present application, the vehicle can simulate the image of the environment below the chassis to generate second image information based on the acquired first image information corresponding to the current driving environment, and then control the display components of the vehicle to display the second image information.

[0009] In this way, the vehicle controllable display component of the embodiment of the present application will be used to simulate the second image information display of the environment under the chassis of the vehicle, so that the user can observe or know the road conditions of the environment under the chassis of the vehicle through the display component, and then can perform corresponding driving operations to avoid chassis scratch accidents to a certain extent, and driving safety is improved to a certain extent. The vehicle of the embodiment of the present application generates the second image information based on the first image information corresponding to the current driving environment of the vehicle, so that the credibility of the second image information can be guaranteed to a certain extent.

[0010] In some embodiments, controlling a display component of the vehicle to display the second image information includes:

[0011] Determine an image superposition result to obtain third image information based on the second image information, the bird's-eye view image information corresponding to the current driving environment of the vehicle, and the vehicle outline image information corresponding to the vehicle;

[0012] The display component is controlled to display the third image information.

[0013] In this way, the implementation method of the present application enables the vehicle control display component to display the third image information, and the user can observe the environment below the vehicle chassis and the environment in all directions of the vehicle through the third image information, so that the user can clearly observe the road conditions, and the user's driving experience is improved to a certain extent.

[0014] In certain embodiments, the method further comprises:

[0015] The vehicle outline image information is determined based on predetermined vehicle overhead image information corresponding to the vehicle.

[0016] In this way, the implementation mode of the present application can determine the vehicle contour image information based on the predetermined vehicle bird's-eye view image information corresponding to the vehicle, so that the vehicle contour image information can more accurately or reasonably reflect the vehicle contour from a bird's-eye view perspective.

[0017] In some embodiments, determining the vehicle outline image information according to predetermined vehicle overhead image information corresponding to the vehicle includes:

[0018] Determining the contour line of the vehicle according to the overhead image information of the vehicle to obtain contour line information;

[0019] Determine the area where the components of the vehicle are located according to the overhead image information of the vehicle to obtain top partition information;

[0020] The vehicle contour image information is determined according to the contour line information and the top partition information.

[0021] In this way, the implementation method of the present application can obtain contour line information that can characterize the vehicle outline in a top-down perspective, and top partition information that can characterize the area where vehicle parts are located in a top-down perspective based on the vehicle's top-down image information, and then determine the vehicle contour image based on the contour line information and the top partition information, thereby ensuring the similarity between the vehicle contour image and the real image of the vehicle to a certain extent.

[0022] In some embodiments, generating second image information for simulating the environment below the vehicle chassis according to the first image information includes:

[0023] Determining fourth image information corresponding to the road surface on which the vehicle is currently traveling based on the first image information;

[0024] The second image information is determined according to the fourth image information.

[0025] In this way, the vehicle of the embodiment of the present application enables the second image information to be generated based on the vehicle's current driving road surface determined by the first image information, that is, it is determined by the fourth image information, so that the credibility of the second image information can be guaranteed to a certain extent.

[0026] In some embodiments, determining the second image information according to the fourth image information includes:

[0027] When the vehicle has traveled a preset distance, the second image information is determined according to the fourth image information.

[0028] In this way, the implementation mode of the present application enables the vehicle to determine the second image information based on the fourth image information obtained after traveling a preset distance, thereby ensuring that the second image information can fully represent the environment under the vehicle chassis to a certain extent, thereby allowing the user to reasonably observe the road conditions under the vehicle chassis.

[0029] In certain embodiments, the method further comprises:

[0030] When the vehicle has not traveled the preset distance, the second image information is determined based on historical image information of the vehicle, wherein the historical image information is determined based on fourth image information acquired when the vehicle last traveled the preset distance.

[0031] In this way, the implementation mode of the present application enables the vehicle to determine the second image information that can simulate the environment under the chassis of the vehicle during the current driving process based on the historical image information obtained from the fourth image information during the previous driving process when the vehicle has not traveled a preset distance. The second image information can be displayed continuously during the driving of the vehicle, and the user's driving experience is improved to a certain extent.

[0032] In certain embodiments, the method further comprises:

[0033] When the vehicle has not traveled the preset distance, generating fifth image information for simulating the environment below the chassis of the vehicle according to the bird's-eye view image information corresponding to the current driving environment of the vehicle;

[0034] Determine a superimposed image to obtain sixth image information based on the fifth image information, the bird's-eye view image information and the vehicle overhead image information corresponding to the vehicle;

[0035] The vehicle component is controlled to display the sixth image information.

[0036] In this way, the implementation mode of the present application allows the vehicle to simulate the environment below the chassis through the bird's-eye image information to generate the fifth image information when the driving distance has not reached the preset distance, and then obtain the sixth image information based on the image superposition result of the bird's-eye image information, the fifth image information and the vehicle's overhead image information, and control the display components to display the sixth image information, so that before the second image information is generated, the user can observe the driving condition of the vehicle through the displayed sixth image information, thereby ensuring the user's driving experience to a certain extent.

[0037] In some embodiments, when the vehicle has not traveled the preset distance, generating fifth image information for simulating the environment below the chassis of the vehicle according to the bird's-eye view image information corresponding to the current driving environment of the vehicle includes:

[0038] When the vehicle has not traveled the preset distance, the fifth image information is determined based on regional image information of a preset size in the bird's-eye view image information, image size scaling processing and image edge feathering processing, wherein the preset size is larger than the chassis size of the vehicle.

[0039] In this way, when obtaining regional image information of a preset size in the bird's-eye view image information, the implementation mode of the present application performs image size scaling processing and image edge feathering processing on the regional image information to obtain the fifth image information, thereby ensuring that the size and edge of the fifth image information can properly match the bird's-eye view image information and the vehicle's overhead view image information in the sixth image information.

[0040] An embodiment of the present application provides a vehicle, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned control method is implemented.

[0041] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned control method is implemented.

[0042] The embodiments of the present application provide a vehicle and a computer-readable storage medium, which can control the display component to display the second image information used to simulate the environment under the chassis of the vehicle, so that the user can observe or know the road conditions under the chassis of the vehicle through the display component, and then can perform corresponding driving operations to avoid chassis scratch accidents to a certain extent, and driving safety is improved to a certain extent. The vehicle of the embodiments of the present application generates the second image information based on the first image information corresponding to the current driving environment of the vehicle, so that the credibility of the second image information can be guaranteed to a certain extent.

[0043] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0045] Figure 1 This is a flow chart of a control method in certain embodiments of the present application;

[0046] Figure 2 This is a flow chart of a control method in certain embodiments of the present application;

[0047] Figure 3 A schematic diagram of application scenarios of certain embodiments of the present application;

[0048] Figure 4 A schematic diagram of application scenarios of certain embodiments of the present application;

[0049] Figure 5 A schematic diagram of application scenarios of certain embodiments of the present application;

[0050] Figure 6 A schematic diagram of application scenarios of certain embodiments of the present application;

[0051] Figure 7 This is a flow chart of a control method in certain embodiments of the present application;

[0052] Figure 8 A schematic diagram of overhead image information of a vehicle in certain embodiments of the present application;

[0053] Fig. 9 This is a flow chart of a control method in certain embodiments of the present application;

[0054] Fig.10 A schematic diagram of application scenarios of certain embodiments of the present application;

[0055] Fig.11 A schematic diagram of application scenarios of certain embodiments of the present application;

[0056] Fig.12 This is a flow chart of a control method in certain embodiments of the present application;

[0057] Fig.13 This is a flow chart of a control method in certain embodiments of the present application;

[0058] Fig.14 This is a schematic diagram of the sixth image information in certain embodiments of the present application.

[0059] Fig.15 A schematic diagram of application scenarios of certain embodiments of the present application. DETAILED DESCRIPTION

[0060] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0061] With the increase in the number of vehicles and the complexity of the road traffic environment, the difficulty of driving a vehicle has also increased. Therefore, in order to enable users to drive the vehicle easily and safely, the vehicle is usually equipped with multiple cameras to capture images outside the vehicle from different angles, such as capturing images in the four directions of the front, back, left, and right of the vehicle. Then, after the vehicle displays the images in the four directions on the vehicle's display screen, the user can observe the road conditions in the four directions of the front, back, left, and right of the vehicle.

[0062] Furthermore, in order to enable users to conveniently observe the road conditions in the four directions of the vehicle, most vehicles are also equipped with the function of generating and displaying a bird's-eye view, that is, the vehicle generates a bird's-eye view based on the images in the four directions, and displays the bird's-eye view on the display screen. In turn, users can observe the road conditions in the four directions of the vehicle from a bird's-eye view based on a single window displayed on the display screen.

[0063] Furthermore, although users can observe the road conditions in the four directions of front, rear, left and right of the vehicle through a bird's-eye view, the image under the vehicle chassis is difficult to capture due to the limitations of the shooting angle of the vehicle's camera and the shooting environment factors, and thus it is difficult for users to observe the road conditions under the vehicle chassis. Furthermore, when there are obstacles on the road surface on which the vehicle is traveling, the vehicle chassis may come into contact with the obstacle and be damaged, which is a chassis scratch accident.

[0064] Based on the above problems you may encounter, please refer to Figure 1 , the embodiment of the present application provides a control method for a vehicle, comprising:

[0065] 01: Obtain the first image information of the vehicle's current driving environment;

[0066] 02: Generate second image information for simulating the environment under the vehicle chassis according to the first image information;

[0067] 03: Control the display components of the vehicle to display the second image information.

[0068] The embodiment of the present application provides a control device. The control method of the embodiment of the present application can be implemented by the control device of the embodiment of the present application. Specifically, the control device includes an acquisition module, a generation module and a control module. Among them, the acquisition module is used to acquire first image information of the current driving environment of the vehicle. The generation module is used to generate second image information for simulating the environment under the chassis of the vehicle based on the first image information. The control module is used to control the display components of the vehicle to display the second image information.

[0069] The embodiment of the present application also provides a vehicle, which includes a memory and a processor. The control method of the embodiment of the present application can be implemented by the vehicle of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain first image information of the current driving environment of the vehicle; based on the first image information, generate second image information for simulating the environment under the chassis of the vehicle; and control the display component of the vehicle to display the second image information.

[0070] That is, the vehicle of the embodiment of the present application can control the camera installed on the vehicle to capture the outside of the vehicle during driving, so as to obtain the first image information of the current driving environment of the vehicle. When the first image information is obtained, the vehicle can simulate or construct the environment under the vehicle chassis according to the first image information to generate a corresponding image, that is, generate the second image information for simulating the environment under the vehicle chassis. Finally, the vehicle can display the second image information on the display components of the vehicle, such as the central control display screen, so that the user can observe and know the road conditions under the chassis.

[0071] It should be noted that the first image information in the embodiment of the present application may be an image obtained by a camera component of the vehicle performing a shooting action, wherein the camera component may be understood as a surround view camera such as a fisheye camera.

[0072] For example, in some embodiments, the vehicle is equipped with a front-view camera for photographing the front of the vehicle, a rear-view camera for photographing the rear of the vehicle, a left-view camera for photographing the left of the vehicle, and a right-view camera for photographing the right of the vehicle. Furthermore, after the front-view camera, the rear-view camera, the left-view camera, and the right-view camera all enter a working state to respectively photograph the front image information of the environment in front of the vehicle, the rear image information of the environment behind the vehicle, the left image information of the environment on the left of the vehicle, and the right image information of the environment on the right of the vehicle, the vehicle obtains the first image information of the current driving environment.

[0073] In other implementations, the first image information may be understood as the aforementioned front image information obtained by photographing the environment in front of the vehicle by the front-looking fisheye camera.

[0074] It should also be noted that the specific process of generating the second image information according to the first image information is a content that can be set according to actual conditions.

[0075] For example, in certain embodiments where the first image information can be understood as the aforementioned forward image information, because the forward image information may include the picture of the road on which the vehicle is about to travel, the process of generating the second image information based on the first image information may include: the vehicle may adjust the viewing angle of each frame of the forward image captured in real time, so that the forward image obtained by photographing the object in front of the vehicle with the forward-looking camera is converted into a bird's-eye view image obtained by photographing the forward object from directly above after the viewing angle adjustment, thereby obtaining the second image information.

[0076] It can be understood that when the second image information that can represent the road conditions under the vehicle chassis is obtained, the implementation method of the present application can display the second image information on the display components of the vehicle such as the central control display screen, so that the user or driver can know the road conditions under the vehicle chassis.

[0077] In summary, the vehicle controllable display component of the implementation mode of the present application will be used to simulate the second image information display of the environment under the vehicle chassis, so that the user can observe or know the road conditions of the environment under the vehicle chassis through the display component, and then can perform corresponding driving operations to avoid the occurrence of chassis scratch accidents to a certain extent, and driving safety is improved to a certain extent. The vehicle of the implementation mode of the present application generates the second image information based on the first image information corresponding to the current driving environment of the vehicle, so that the credibility of the second image information can be guaranteed to a certain extent.

[0078] In certain embodiments of this application, please refer to Figure 2 , step 03 includes:

[0079] 030: determining an image superposition result to obtain third image information according to the second image information, the bird's-eye view image information corresponding to the current driving environment of the vehicle, and the vehicle contour image information corresponding to the vehicle;

[0080] 031: Control the display component to display the third image information.

[0081] The control module of the implementation mode of the present application is also used to determine the image superposition result to obtain the third image information based on the second image information, the bird's-eye view image information corresponding to the current driving environment of the vehicle and the vehicle outline image information corresponding to the vehicle; and control the display component to display the third image information.

[0082] The processor in the embodiment of the present application is also used to determine the image superposition result to obtain third image information based on the second image information, the bird's-eye view image information corresponding to the current driving environment of the vehicle, and the vehicle outline image information corresponding to the vehicle; and control the display component to display the third image information.

[0083] That is, the implementation mode of the present application is to enable the user to comprehensively and clearly observe the driving condition of the vehicle. Therefore, when the second image information is generated, the second image information, the bird's-eye view image information corresponding to the current driving environment of the vehicle, and the vehicle contour image information corresponding to the vehicle are superimposed to obtain the third image information, and then the display component is controlled to display the third image information, so that the user can clearly observe the road conditions under the chassis of the vehicle and the road conditions around the vehicle.

[0084] It can be understood that the second image information can represent the road conditions under the vehicle chassis, the bird's-eye view image information can represent the road conditions around the vehicle, and the vehicle contour image information can represent the outer contour of the vehicle.

[0085] To more clearly illustrate the specific display of the components in the embodiment of the present application, please refer to Figure 3 , Figure 4 , Figure 5 and Figure 6 , Figure 3 , Figure 4 , Figure 5 and Figure 6 These are schematic diagrams of application scenarios of certain embodiments of the present application. It can be understood that Figure 3 , Figure 4 , Figure 5 and Figure 6 The contents shown are all third image information obtained by sequentially superimposing the second image information and the vehicle outline image information on the basis of the bird's-eye view image information.

[0086] In this way, the implementation method of the present application enables the vehicle control display component to display the third image information, and the user can observe the environment below the vehicle chassis and the environment in all directions of the vehicle through the third image information, so that the user can clearly observe the road conditions, and the user's driving experience is improved to a certain extent.

[0087] Furthermore, it is understandable that Figure 3 , Figure 4 , Figure 5 and Figure 6 In the content shown, the vehicle contour image information is a diagram obtained by observing the vehicle (or vehicle body) from a bird's-eye view. The method for obtaining the vehicle contour image information can be set according to actual conditions. For example, in some embodiments, after obtaining the three-dimensional contour image information that can represent the three-dimensional contour of the vehicle, the three-dimensional contour image information can be adjusted accordingly to obtain a diagram of the three-dimensional contour observed from a bird's-eye view, thereby obtaining the aforementioned vehicle contour image information.

[0088] In certain embodiments of this application, please refer to Figure 7 , the control method further includes:

[0089] 04: Determine the vehicle outline image information based on the predetermined vehicle overhead image information corresponding to the vehicle.

[0090] The control device of the embodiment of the present application further includes a first information determination module. The first information determination module is used to determine the vehicle contour image information according to the predetermined vehicle overhead image information corresponding to the vehicle.

[0091] The processor in the embodiment of the present application is also used to determine the vehicle contour image information based on the predetermined vehicle overhead image information corresponding to the vehicle.

[0092] That is, the implementation mode of the present application can determine the vehicle contour according to the vehicle image based on the bird's-eye view, that is, determine or generate the aforementioned vehicle contour image information according to the bird's-eye view image information corresponding to the vehicle itself.

[0093] To more clearly explain the vehicle overhead image information in the implementation mode of this application, please refer to Figure 8 , Figure 8 This is a schematic diagram of overhead image information of a vehicle in certain embodiments of the present application.

[0094] Further, the vehicle according to the embodiment of the present application can be obtained as follows: Figure 8 In the case of the overhead image information of the vehicle shown in FIG. 1 , a series of image processing such as line extraction, contour extraction, shadow addition, etc. is performed on the overhead image information of the vehicle to obtain the following Figure 3 , Figure 4 , Figure 5 and Figure 6 The vehicle outline image information in any of the diagrams.

[0095] It is understandable that the vehicle of the embodiment of the present application can store or record the vehicle contour image information after obtaining the vehicle contour image information, so that the vehicle contour image information can be read at an appropriate time to perform corresponding operations such as the aforementioned step 030.

[0096] In this way, the implementation mode of the present application can determine the vehicle contour image information based on the predetermined vehicle bird's-eye view image information corresponding to the vehicle, so that the vehicle contour image information can more accurately or reasonably reflect the vehicle contour from a bird's-eye view perspective.

[0097] In certain embodiments, see Fig. 9 , step 04 includes:

[0098] 040: Determine the contour line of the vehicle according to the overhead image information of the vehicle to obtain contour line information;

[0099] 041: According to the overhead image information of the vehicle, determine the area where the vehicle parts are located to obtain the top partition information;

[0100] 042: Determine the vehicle contour image information based on the contour line information and the top partition information.

[0101] The first information determination module of the implementation mode of the present application is also used to determine the contour lines of the vehicle based on the overhead image information of the vehicle to obtain contour line information; determine the area where the components are located on the top of the vehicle based on the overhead image information of the vehicle to obtain top partition information; and determine the vehicle contour image information based on the contour line information and the top partition information.

[0102] The processor in the implementation manner of the present application is also used to determine the contour lines of the vehicle based on the overhead image information of the vehicle to obtain contour line information; determine the area where the vehicle components are located based on the overhead image information of the vehicle to obtain top partition information; and determine the vehicle contour image information based on the contour line information and the top partition information.

[0103] That is, the embodiment of the present application is to enable the display component to display the vehicle contour image information, or in other words, to display the vehicle contour image information, the bird's-eye view image information and the second image information superimposed to form a similar Figure 3 , Figure 4 , Figure 5 and Figure 6 When any of the third image information is shown, the user can clearly observe the second image information through the vehicle contour image information, that is, observe the road conditions of the environment below the vehicle chassis. Therefore, the vehicle of the implementation mode of the present application can determine the lines of the vehicle contour and the areas where the various components of the vehicle are located in the top-down perspective based on the vehicle's top-down image information, so as to determine the contour line information and top partition information of the vehicle in the top-down perspective.

[0104] Furthermore, the top partition information and the contour line information are superimposed to obtain the aforementioned vehicle contour image information, so that the vehicle contour image information can clearly represent the vehicle contour and the areas where the various vehicle components are located from a bird's-eye view. When the user observes the second image information through the vehicle contour image information, the road conditions of the environment below the chassis can be clearly determined.

[0105] To more clearly illustrate the embodiments provided in this application, please refer to Fig.10 and Fig.11 , Fig.10 and Fig.11 All of them are schematic diagrams of application scenarios in certain embodiments of the present application. Fig.10 It can be understood as a process of sequentially obtaining the first intermediate image 201, the second intermediate image 201 and the contour line information 203 according to the vehicle overhead image information 200. Fig.11It can be understood as a process of sequentially obtaining the third intermediate image 204 , the fourth intermediate image 205 and the top partition information 206 according to the vehicle overhead image information 200 .

[0106] Specifically, based on Fig.10 , after obtaining the vehicle overhead image information 200, the embodiment of the present application can extract the contour line of the vehicle overhead image information 200 to obtain the vehicle edge contour line to obtain the first intermediate image 201. Subsequently, the overall contour line of the outer side of the vehicle body is supplemented on the basis of the first intermediate image 201, such as the line of the outer contour of the door, to obtain the second intermediate image 202. Finally, various lines that can represent the characteristics of the vehicle body are supplemented or added on the basis of the second intermediate image 202 to obtain the contour line information 203. For example, because the size of the vehicle chassis is larger than the size of the vehicle top (or the vehicle roof), it is difficult for the vehicle overhead image information 200, the first intermediate image 201 and the second intermediate image 202 to represent the shape of the vehicle top, and then the lines that can represent the shape of the vehicle top can be supplemented on the basis of the second intermediate image 202, thereby obtaining the contour line information 203.

[0107] based on Fig.11 , after obtaining the vehicle overhead image information 200, the embodiment of the present application can reduce the sharpness or weaken the details of the vehicle overhead image information 200, such as weakening the various details (such as the skylight area details and the window line details) in the vehicle overhead image information 200, thereby obtaining the third intermediate image 204. After that, because the top of the vehicle and the front cover of the vehicle are not the same parts, the top of the vehicle and the front cover of the vehicle can be distinguished in the third intermediate image 204 under the top view, such as adding lines that can represent the shape of the top of the vehicle on the basis of the third intermediate image 204, thereby obtaining the fourth intermediate image 205. Finally, for each area in the fourth intermediate image 205, inner shadows are added to each area to highlight each area, so that the area where each component in the top of the vehicle is located can be clearly represented, thereby obtaining the top partition information 206.

[0108] After obtaining the contour line information 203 and the top partition information 206, the contour line information 203 and the top partition information 206 can be superimposed based on the relationship that the layer of the contour line information 203 is on the top and the layer of the top partition information 206 is on the bottom, so as to obtain the vehicle contour image information based on the superimposed image or picture.

[0109] Exemplarily, in some embodiments, the top partition information 206 can be set as the bottom layer, the layer that can represent the vehicle wheels can be set as the middle layer, and the layer of the contour line information 203 can be set as the top layer, so that the layer of the top partition information 206, the layer of the vehicle wheels, and the layer of the contour line information 203 can be superimposed in sequence to obtain the vehicle contour image information.

[0110] It can be understood that, in the vehicle contour image information obtained based on the contour line information 203 and the top partition information 206, since the contour line information 203 can represent the vehicle contour line, the similarity between the vehicle contour image information and the real vehicle body can be improved to a certain extent, and the image realism is thus improved. At the same time, the top partition information 206 can represent the area where each component is located on the top of the vehicle, so that the vehicle lines can be enriched on the basis of the contour line information 203, so that the similarity between the vehicle contour image information and the real vehicle body can be further improved, and the sense of volume of the vehicle body is enhanced.

[0111] In this way, the implementation method of the present application can obtain contour line information that can characterize the vehicle outline in a top-down perspective, and top partition information that can characterize the area where vehicle parts are located in a top-down perspective based on the vehicle's top-down image information, and then determine the vehicle contour image based on the contour line information and the top partition information, thereby ensuring the similarity between the vehicle contour image and the real image of the vehicle to a certain extent.

[0112] And, based on Fig.10 and Fig.11 When contour line information and top partition information are obtained, and then a vehicle contour image is obtained based on the contour line information and the top partition information, the implementation mode of the present application also enables the vehicle contour image to clearly display the top contour of the vehicle and the areas to which the various components on the top of the vehicle belong in special environments such as complex road surfaces, strong light, and dark light. Furthermore, the user can clearly observe the road conditions under the chassis through the vehicle contour image, thereby ensuring driving safety and user driving experience to a certain extent.

[0113] In addition, in an implementation manner where the vehicle contour image information is based on the top partition information 206 of the bottom layer, the vehicle wheels of the middle layer, and the contour line information 203 of the top layer, in order to further enhance the similarity between the vehicle contour image information and the real image of the vehicle, the vehicle wheels in the vehicle contour image information can be set as real-time changing graphics, that is, according to the rotation of the vehicle steering wheel, or according to the angle information collected by the sensor for detecting the actual rotation angle of the wheel, the vehicle wheel angle in the vehicle contour image information is adjusted accordingly.

[0114] To more clearly illustrate the implementation method of this application, please refer to Figure 6 , Figure 6The wheel part in the figure is a diagram obtained by changing the corresponding vehicle wheel in the vehicle contour image information after the wheel angle changes.

[0115] Based on this, the implementation manner of the present application can further enhance the similarity between the vehicle outline image information and the real image of the vehicle, thereby making the display effect of the third image information more reasonable or natural.

[0116] In certain embodiments of this application, please refer to Fig.12 , step 02 includes:

[0117] 020: Determine, according to the first image information, fourth image information corresponding to the road surface on which the vehicle is currently traveling;

[0118] 021: Determine the second image information according to the fourth image information.

[0119] The generation module of the implementation mode of the present application is also used to determine the fourth image information corresponding to the current road surface of the vehicle based on the first image information; and determine the second image information based on the fourth image information.

[0120] The processor in the implementation manner of the present application is also used to determine fourth image information corresponding to the current road surface on which the vehicle is traveling based on the first image information; and determine second image information based on the fourth image information.

[0121] That is, after the vehicle of the implementation mode of the present application obtains the first image information of the front, rear, left and right sides of the vehicle in real time through the camera component (such as the front-view camera), it can determine the road condition on which the vehicle is currently traveling based on the constantly changing impressions in the two first image information at two moments before and after, thereby determining the fourth image information.

[0122] For example, assuming that the first image information includes the image in front of the vehicle taken by the front-view camera, the front-view camera can capture objects within 10 meters in front of the front of the vehicle, and the vehicle speed is set to 10m / s, then based on the image in front of the vehicle taken by the front-view camera every 0.1s, the picture or image corresponding to the road surface with a length of 1m within 0.1s passing under the front of the vehicle can be determined, which is the aforementioned fourth image information.

[0123] Furthermore, since the camera components of the vehicle usually do not shoot the road surface from a bird's-eye view, that is, the road surface (or ground) image in the first image information occupies a relatively small proportion of the entire image, and the shooting angle of the road surface image may be oblique. Furthermore, if the control display component displays the fourth image information for observing the environment under the vehicle chassis, the user may not be able to clearly observe the environment under the vehicle chassis due to the shooting angle and the image ratio.

[0124] Therefore, in order to enable the user to clearly observe the road surface, the implementation mode of the present application can perform corresponding processing on the fourth image information, such as viewing angle adjustment and image scaling, so that the processed fourth image information can simulate the situation of observing the road surface from directly above, that is, it is converted into the second image information.

[0125] To more clearly explain the second image information in the embodiment of the present application, please refer to Figure 3 , Figure 4 , Figure 5 and Figure 6 That is, Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the image that can be observed through the vehicle contour image information can be understood as the second image information in the implementation manner of the present application.

[0126] In this way, the vehicle of the embodiment of the present application enables the second image information to be generated based on the vehicle's current driving road surface determined by the first image information, that is, it is determined by the fourth image information, so that the credibility of the second image information can be guaranteed to a certain extent.

[0127] In addition, it should be noted that the aforementioned method of obtaining the fourth image information based on the image in front of the vehicle captured by the front camera is only one of the feasible implementation methods of the present application. The implementation methods of the present application can also determine the fourth image information based on multiple cameras including the front camera. For example, in some implementations, the first image information includes the image in front of the vehicle captured by the front camera and the image behind the vehicle captured by the rear camera. Then, the vehicle can determine the image in front of the vehicle based on the real-time image in front of the vehicle and the image behind the vehicle.

[0128] In certain embodiments of the present application, the control method further includes:

[0129] When the vehicle has traveled a preset distance, the second image information is determined according to the fourth image information.

[0130] The generation module of the implementation mode of the present application is also used to determine the second image information based on the fourth image information when the vehicle has traveled a preset distance.

[0131] The processor in the embodiment of the present application is also used to determine the second image information based on the fourth image information when the vehicle has traveled a preset distance.

[0132] That is, affected by the vehicle's driving speed and the length of the vehicle body, when the vehicle travels a short distance, the first image information that can characterize the vehicle's current driving environment and the fourth image information that characterizes the vehicle's current driving road surface may not be able to fully reflect the complete environment under the vehicle chassis.

[0133] For example, assuming that the first image information includes the image in front of the vehicle captured by the front camera, the front camera can capture objects within 10 meters in front of the front of the vehicle, the vehicle speed is 10m / s, and the vehicle length is 5m, then according to the image in front of the vehicle captured by the front camera every 0.1s, it can be known that the picture or image of the road surface with a length of 1m passing under the front of the vehicle within 0.1s is the aforementioned fourth image information. However, before the fifth acquisition of the image in front of the vehicle, the fourth image information acquired four times in a row can only represent the road surface with a length of 4 meters, and the road surface with a length of 4 meters cannot represent the environment under the chassis of a vehicle with a length of 5m.

[0134] Based on this, in order to ensure that the user can clearly observe the environment under the vehicle chassis, the implementation mode of the present application determines the second image information based on the fourth image information after obtaining enough fourth image information. That is, in the process of the vehicle traveling a preset distance, the corresponding fourth image information is continuously determined through the obtained first image information. When the vehicle has traveled the preset distance, the determined fourth image information can completely characterize the environment under the vehicle chassis, or in other words, after determining that the current road surface the vehicle is traveling on is the road surface located under the front of the vehicle when the vehicle starts, the implementation mode of the present application determines the corresponding second image information based on the fourth image information.

[0135] It is understood that the preset distance in the embodiments of the present application is set according to actual conditions, such as according to the actual length of the vehicle. For example, in some embodiments, the preset distance is a distance value greater than the actual length of the vehicle, such as when the actual length of the vehicle is 4.9 meters, the preset distance can be set to 5 meters or 6 meters.

[0136] It can also be understood that the specific process of determining the second image information based on the fourth image information is a content that can be set according to actual conditions. For example, the aforementioned first image information includes the image in front of the vehicle captured by the front camera, the front camera can capture objects within 10 meters in front of the front of the vehicle, the vehicle speed is 10m / s, the vehicle length is 5m, and the front camera captures the image in front of the vehicle every 0.1s. As an example, the vehicle can determine 5 sets of fourth image information based on 5 consecutive images of the front of the vehicle captured by the camera in the process of reaching a driving distance of 5 meters, with 1 / 5 of the screen of each image in front of the vehicle. The 5 sets of fourth image information are spliced, and the splicing results are subjected to operations such as perspective conversion to obtain the second image information.

[0137] In this way, the implementation mode of the present application enables the vehicle to determine the second image information based on the fourth image information obtained after traveling a preset distance, thereby ensuring that the second image information can fully represent the environment under the vehicle chassis to a certain extent, thereby allowing the user to reasonably observe the road conditions under the vehicle chassis.

[0138] In addition, in an implementation manner in which the second image information is stitched together by multiple parts of the fourth image information, the vehicle of the implementation manner of the present application can perform operations such as perspective conversion on the fourth image information when or after obtaining the fourth image information to obtain a corresponding processed image. Then, the vehicle can call the processed image at an appropriate time to perform a stitching operation to obtain the corresponding second image information, thereby ensuring the stable generation of the second image information.

[0139] In certain embodiments of the present application, the control method further includes:

[0140] When the vehicle has not traveled the preset distance, the second image information is determined based on the historical image information of the vehicle, wherein the historical image information is determined based on the fourth image information acquired when the vehicle traveled the preset distance last time.

[0141] The control device of the embodiment of the present application further includes a second information determination module. The second information determination module is used to determine the second image information based on the historical image information of the vehicle when the vehicle has not traveled the preset distance, wherein the historical image information is determined based on the fourth image information acquired when the vehicle has traveled the preset distance last time.

[0142] The processor of the embodiment of the present application is also used to determine the second image information based on the historical image information of the vehicle when the vehicle has not traveled a preset distance, wherein the historical image information is determined based on the fourth image information obtained when the vehicle last traveled the preset distance.

[0143] It is understandable that in most cases the stopping position of the vehicle during the last driving process is the same as the starting position of the vehicle during the next driving process. Therefore, under the same environmental factors, the first image information and the fourth image information last acquired by the vehicle during the last driving process are consistent or similar to the first image information and the fourth image information first acquired by the vehicle during the next driving process.

[0144] For this reason, the implementation mode of the present application is to enable the user to observe the environment under the vehicle chassis after controlling the vehicle to start. Therefore, in the case where the fourth image information determined after the vehicle starts cannot fully represent the environment under the vehicle chassis, that is, the vehicle has not traveled the preset distance, the implementation mode of the present application can read the fourth image information saved before the end of the last travel, determine the environment under the vehicle chassis, and thus obtain the second image information.

[0145] It can be understood that the vehicle of the implementation mode of the present application can save the fourth image information before the end of each driving, or, in other words, save the fourth image information before the vehicle gear is changed to P gear as historical image information, so that when the vehicle drives next time or the vehicle gear exits P gear, the historical image information can be called to obtain the second image information.

[0146] Exemplarily, taking the aforementioned first image information including the image in front of the vehicle captured by the front-view camera, the front-view camera can capture objects within 10 meters in front of the vehicle, the vehicle speed is 10m / s, the vehicle length is 5m, and the front-view camera captures the image in front of the vehicle every 0.1s, as an example, when the vehicle changes the gear to P gear in response to user operation, the last 5 pieces of fourth image information acquired can be saved; when the vehicle has saved 5 pieces of fourth image information and exits P gear in response to user operation, the vehicle can determine and display the corresponding second image information based on the 5 pieces of saved fourth image information, so that the user can be aware of the environment under the chassis of the vehicle.

[0147] It is also understandable that the implementation method of the present application can also obtain the second image information based on the saved historical image information and the currently acquired fourth image information. For example, assuming that the historical image information is the aforementioned five fourth image information, and the vehicle has acquired one fourth image information based on the first image information during the process of exiting the P gear to drive, the vehicle can obtain the corresponding second image information based on the four fourth image information acquired in the last four times in the historical image information, combined with the latest acquired one fourth image information.

[0148] In this way, the implementation mode of the present application enables the vehicle to determine the second image information that can simulate the environment under the chassis of the vehicle during the current driving process based on the historical image information obtained from the fourth image information during the previous driving process when the vehicle has not traveled a preset distance. The second image information can be displayed continuously during the driving of the vehicle, and the user's driving experience is improved to a certain extent.

[0149] In certain embodiments of this application, please refer to Fig.13 , the control method further includes:

[0150] 05: When the vehicle has not traveled the preset distance, fifth image information for simulating the environment below the vehicle chassis is generated according to the bird's-eye view image information corresponding to the current driving environment of the vehicle;

[0151] 06: Determine a superimposed image to obtain sixth image information according to the fifth image information, the bird's-eye view image information and the overhead view image information corresponding to the vehicle;

[0152] 07: Control vehicle components to display the sixth image information.

[0153] The control device of the embodiment of the present application further includes a third information determination module, a fourth information determination module and an image information display module. Among them, the third information determination module is used to generate fifth image information for simulating the environment below the vehicle chassis according to the bird's-eye view image information corresponding to the current driving environment of the vehicle when the vehicle has not traveled a preset distance. The fourth information determination module is used to determine the superimposed image to obtain the sixth image information according to the fifth image information, the bird's-eye view image information and the vehicle overhead image information corresponding to the vehicle. The image information display module is used to control the vehicle parts to display the sixth image information.

[0154] The processor in the embodiment of the present application is also used to generate fifth image information for simulating the environment below the chassis of the vehicle based on the bird's-eye image information corresponding to the current driving environment of the vehicle when the vehicle has not traveled a preset distance; determine the superimposed image to obtain sixth image information based on the fifth image information, the bird's-eye image information and the vehicle's overhead image information corresponding to the vehicle; and control the vehicle components to display the sixth image information.

[0155] That is, in the embodiment of the present application, when the vehicle has not traveled a preset distance, resulting in the fourth image information determined by the first image information being unable to fully characterize the environment below the vehicle chassis, the fifth image information for simulating the environment below the vehicle chassis can be generated based on the bird's-eye view image information corresponding to the current driving environment of the vehicle.

[0156] It is understandable that if Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the bird's-eye view image information can characterize the environment around the vehicle. The environment below the vehicle chassis is similar to the environment around the vehicle. Therefore, the embodiment of the present application can generate fifth image information similar to the environment around the vehicle for simulating the environment below the vehicle chassis based on the bird's-eye view image information.

[0157] It can also be understood that the image size of the fifth image information and the image size of the second image information in the implementation manner of the present application can be the same.

[0158] Furthermore, after the fifth image information is determined according to the bird's-eye view image information, the embodiment of the present application can sequentially superimpose the bird's-eye view image information, the fifth image information and the vehicle's overhead view image information to obtain the sixth image information. That is, the bird's-eye view image information is used as the bottom layer, the fifth image information is used as the middle layer, the vehicle's overhead view image information is used as the top layer, and the bird's-eye view image information, the fifth image information and the vehicle's overhead view image information are superimposed to obtain the sixth image information.

[0159] For a clearer understanding of the sixth image information in the implementation mode of the present application, please refer to Fig.14 , Fig.14 This is a schematic diagram of the sixth image information in certain embodiments of the present application.

[0160] In this way, the implementation mode of the present application allows the vehicle to simulate the environment below the chassis through the bird's-eye image information to generate the fifth image information when the driving distance has not reached the preset distance, and then obtain the sixth image information based on the image superposition result of the bird's-eye image information, the fifth image information and the vehicle's overhead image information, and control the display components to display the sixth image information, so that before the second image information is generated, the user can observe the driving condition of the vehicle through the displayed sixth image information, thereby ensuring the user's driving experience to a certain extent.

[0161] And, when the driving distance is greater than or equal to the preset distance, the vehicle can display Figure 3 , Figure 4 , Figure 5 and Figure 6 In the implementation manner of the third image information shown, the vehicle can execute the above steps 05, 06 and 07 to display the sixth image information when the P gear is exited and the driving distance is less than the preset distance, and execute the above steps 01, 02, 030 and 031 to display the third image information when the driving distance is greater than or equal to the preset distance. Therefore, during the driving process of the vehicle, the display components can continuously display image information to present the environment around the vehicle (corresponding to the bird's-eye view image information) and the environment information under the vehicle chassis (corresponding to the fifth image information and the second image information).

[0162] Moreover, compared to the scheme of displaying rectangular shadows in the bird's-eye view to represent the environment under the chassis, Fig.15 As for the scheme shown, the implementation method of the present application can make the various elements in the bird's-eye view image information more harmonious. Fig.15 This is a schematic diagram of an application scenario of the implementation method of this application. It can be understood that Fig.15 It is to display rectangular shadows and vehicle overhead image information in a bird's-eye view to obtain an illustration.

[0163] Optionally, in certain embodiments of the present application, the vehicle may control the fifth image information and the vehicle's overhead image information in the sixth image information to gradually disappear, and simultaneously control the second image information and the vehicle's outline image information in the third image information to gradually emerge when controlling the display component to switch between the sixth image information and the third image information, so as to ensure smooth switching between the sixth image information and the third image information.

[0164] In certain embodiments of the present application, step 05 includes:

[0165] When the vehicle has not traveled a preset distance, the fifth image information is determined based on the regional image information of a preset size in the bird's-eye view image information, the image size scaling processing and the image edge feathering processing, wherein the preset size is larger than the chassis size of the vehicle.

[0166] The third information determination module of the implementation mode of the present application is also used to determine the fifth image information based on the regional image information of a preset size, image size scaling processing and image edge feathering processing in the bird's-eye view image information when the vehicle has not traveled a preset distance, wherein the preset size is larger than the chassis size of the vehicle.

[0167] The processor of the embodiment of the present application is also used to determine the fifth image information based on the regional image information of a preset size, image size scaling processing and image edge feathering processing in the bird's-eye view image information when the vehicle has not traveled a preset distance, wherein the preset size is larger than the chassis size of the vehicle.

[0168] That is, the implementation manner of the present application can perform image size scaling processing on the regional image information of a preset size in the bird's-eye view image information, so that the size of the regional image information matches the chassis size of the vehicle.

[0169] Afterwards, the image edge feathering process is performed on the zoomed regional image information to obtain the fifth image information, so that when the fifth image information is displayed in the bird's-eye view image information, the edge of the fifth image information can be properly spliced ​​or merged with the bird's-eye view image information.

[0170] In this way, when obtaining regional image information of a preset size in the bird's-eye view image information, the implementation mode of the present application performs image size scaling processing and image edge feathering processing on the regional image information to obtain the fifth image information, thereby ensuring that the size and edge of the fifth image information can properly match the bird's-eye view image information and the vehicle's overhead view image information in the sixth image information.

[0171] The present application also provides a computer-readable storage medium storing a computer program, which implements the above control method when the computer program is executed by one or more processors.

[0172] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0173] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0174] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method for a vehicle, characterized in that: include: Acquire first image information of the current driving environment of the vehicle; generating second image information for simulating the environment below the vehicle chassis according to the first image information; The display component of the vehicle is controlled to display the second image information.

2. The method according to claim 1, characterized in that The controlling the display component of the vehicle to display the second image information includes: Determine an image superposition result to obtain third image information based on the second image information, the bird's-eye view image information corresponding to the current driving environment of the vehicle, and the vehicle outline image information corresponding to the vehicle; The display component is controlled to display the third image information.

3. The method according to claim 2, characterized in that The method further comprises: The vehicle outline image information is determined based on predetermined vehicle overhead image information corresponding to the vehicle.

4. The method according to claim 3, characterized in that The determining the vehicle outline image information according to the predetermined vehicle overhead image information corresponding to the vehicle includes: Determining the contour line of the vehicle according to the overhead image information of the vehicle to obtain contour line information; Determine the area where the components of the vehicle are located according to the overhead image information of the vehicle to obtain top partition information; The vehicle contour image information is determined according to the contour line information and the top partition information.

5. The method according to claim 1, characterized in that The step of generating second image information for simulating the environment below the vehicle chassis according to the first image information includes: Determining fourth image information corresponding to the road surface on which the vehicle is currently traveling based on the first image information; The second image information is determined according to the fourth image information.

6. The method according to claim 5, characterized in that The determining the second image information according to the fourth image information includes: When the vehicle has traveled a preset distance, the second image information is determined according to the fourth image information.

7. The method according to claim 6, characterized in that The method further comprises: When the vehicle has not traveled the preset distance, the second image information is determined based on historical image information of the vehicle, wherein the historical image information is determined based on fourth image information acquired when the vehicle last traveled the preset distance.

8. The method according to claim 6, characterized in that The method further comprises: When the vehicle has not traveled the preset distance, generating fifth image information for simulating the environment below the chassis of the vehicle according to the bird's-eye view image information corresponding to the current driving environment of the vehicle; Determine a superimposed image to obtain sixth image information based on the fifth image information, the bird's-eye view image information and the vehicle overhead image information corresponding to the vehicle; The vehicle component is controlled to display the sixth image information.

9. The method according to claim 8, characterized in that When the vehicle has not traveled the preset distance, generating fifth image information for simulating the environment below the chassis of the vehicle according to the bird's-eye view image information corresponding to the current driving environment of the vehicle includes: When the vehicle has not traveled the preset distance, the fifth image information is determined based on regional image information of a preset size in the bird's-eye view image information, image size scaling processing and image edge feathering processing, wherein the preset size is larger than the chassis size of the vehicle.

10. A vehicle, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 9 is implemented.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 9 is implemented.

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