Display method and device of electronic rearview mirror, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a display method and device of an electronic rearview mirror, a computer readable storage medium and electronic equipment, and relates to the technical field of vehicle display.The method comprises the steps that under the condition that a target vehicle is in a parking state, the distance between the target vehicle and an obstacle is determined; under the condition that the distance is smaller than a pre-configured safety distance, a first type safety guide line used for guiding the target vehicle to conduct parking operation is generated and displayed; and under the condition that the distance is not less than the safety distance, generating a second type of safety guide line, and displaying the second type of safety guide line. According to the embodiment of the invention, the accuracy of the safety guide line can be improved, and the display diversity of the electronic rearview mirror is increased.

Description

Background Art

[0002] A driver can use the electronic outside rearview mirror of a vehicle to assist in driving the vehicle.

[0003] In the related art, the electronic outside rearview mirror of a vehicle only displays an image field of view and a simple icon display. The functions in the above method are single and have certain limitations, and the accuracy of assisting in driving the vehicle is poor. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a display method for an electronic rearview mirror, a display device for an electronic rearview mirror, a computer-readable storage medium, and an electronic device, so as to at least overcome to some extent the problem that the auxiliary functions cannot be fully provided due to the limitations and defects of the related art.

[0005] Other features and advantages of the present disclosure will become apparent through the following detailed description, or will be partially learned through the practice of the present disclosure.

[0006] According to one aspect of the present disclosure, a display method for an electronic rearview mirror is provided, including: when a target vehicle is in a parking state, determining the distance between the target vehicle and an obstacle; when the distance is less than a pre-configured safety distance, generating a first type of safety guiding line for guiding the target vehicle to perform a parking operation and displaying it; when the distance is not less than the safety distance, generating a second type of safety guiding line and displaying the second type of safety guiding line.

[0007] In an exemplary embodiment of the present disclosure, the method further includes: displaying a warning sign outside the first type of safety guiding line; when there is an overlap between the first type of safety guiding line and the warning sign, adjusting the first type of safety guiding line so that the first type of safety guiding line is away from the warning sign.

[0008] In an exemplary embodiment of the present disclosure, the generating of the first type of safety guiding line for guiding the target vehicle to perform a parking operation includes: obtaining historical parking record information of the target vehicle in the current scenario; determining the first type of safety guiding line according to the existence state of the historical parking record information.

[0009] In an exemplary embodiment of the present disclosure, determining the first type of safety guiding line according to the existence status of the historical parking record information includes: in the case where the existence status is that there is historical parking record information, determining a reference safety guiding line from the historical parking record information, and determining the first type of safety guiding line according to the reference safety guiding line; in the case where the existence status is that there is no historical parking record information, generating the first type of safety guiding line according to the vehicle parameters of the target vehicle.

[0010] In an exemplary embodiment of the present disclosure, determining the reference safety guiding line from the historical parking record information includes: determining the reference safety guiding line from the historical parking record information according to a safety distance; or determining the reference safety guiding line according to the number of times of parking and turning the wheel of the target vehicle in the historical parking record information.

[0011] In an exemplary embodiment of the present disclosure, determining the reference safety guiding line from the historical parking record information according to the safety distance includes: retrieving according to the safety distance, obtaining a historical distance that matches the safety distance from the historical parking record information, and determining the safety guiding line corresponding to the matched historical distance as the reference safety guiding line; or retrieving according to the distance, obtaining the maximum historical safety distance that matches the safety distance corresponding to the distance from the historical parking record information, and determining the safety guiding line corresponding to the maximum historical safety distance as the reference safety guiding line.

[0012] In an exemplary embodiment of the present disclosure, generating the first type of safety guiding line according to the vehicle parameters of the target vehicle includes: obtaining the position and the first yaw angle of the target vehicle at a first moment, and determining the second yaw angle of the target vehicle at a second moment; combining the position at the first moment, the first yaw angle, the second yaw angle, and the turning radius of the target vehicle to determine the position of the target vehicle at the second moment; based on the position at the first moment, the position at the second moment, the first yaw angle, and the second yaw angle, determining the first type of safety guiding line.

[0013] According to one aspect of the present disclosure, there is provided a display device for an electronic rearview mirror, including: a distance acquisition module, configured to determine the distance between the target vehicle and an obstacle when the target vehicle is in a parking state; a first type of safety guiding line determination module, configured to generate and display a first type of safety guiding line for guiding the target vehicle to perform a parking operation when the distance is less than a pre-configured safety distance; a second type of safety guiding line generation module, configured to generate a second type of safety guiding line and display the second type of safety guiding line when the distance is not less than the safety distance.

[0014] According to one aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the display method of the electronic rearview mirror described in any one of the above.

[0015] According to one aspect of the present disclosure, there is provided an electronic device including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the display method of the electronic rearview mirror described in any one of the above by executing the executable instructions.

[0016] In the technical solution provided in the embodiments of the present disclosure, on the one hand, when the distance between the target vehicle and the obstacle is greater than or equal to a pre-configured safety distance, a first type of safety guiding line for guiding the target vehicle to park can be generated, and when the distance is greater than the safety distance, a second type of safety guiding line can be generated. Since different types of safety guiding lines can be generated according to the distance between the target vehicle and the obstacle, the accuracy and comprehensiveness of the safety guiding line can be improved, so that the safety guiding line can assist the driver in safe parking and provide convenience for the driver. On the other hand, the safety guiding line can be displayed according to the distance between the target vehicle and the obstacle, increasing the diversity and comprehensiveness of the display content of the electronic exterior rearview mirror.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure and, together with the specification, are used to explain the principles of the present disclosure. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0019] Figure 1 A flowchart schematically showing a display method of an electronic rearview mirror according to an embodiment of the present disclosure.

[0020] Figure 2 A flowchart schematically showing the process of determining a reference safety guiding line according to a safety distance in an embodiment of the present disclosure.

[0021] Figure 3 A flowchart schematically showing the process of determining a first type of safety guiding line according to vehicle parameters in an embodiment of the present disclosure.

[0022] Figure 4 A schematic diagram schematically showing the process of determining a dynamic safety guiding line according to vehicle parameters in an embodiment of the present disclosure.

[0023] Figure 5 Schematic diagram showing the first type of safety guiding line in an embodiment of the present disclosure.

[0024] Figure 6 Schematic diagram showing the second type of safety guiding line in an embodiment of the present disclosure.

[0025] Figure 7 Schematic diagram showing the overall process of generating a safety guiding line in an embodiment of the present disclosure.

[0026] Figure 8 Schematic diagram showing blind area information reminder in an embodiment of the present disclosure.

[0027] Figure 9 Schematic diagram showing the turn signal information display in an embodiment of the present disclosure.

[0028] Figure 10 Block diagram schematic of the display device of an electronic rearview mirror in an embodiment of the present disclosure.

[0029] Figure 11 Block diagram schematic of the display system of an electronic rearview mirror in an embodiment of the present disclosure.

[0030] Figure 12 Specific block diagram schematic of the display system of an electronic rearview mirror in an embodiment of the present disclosure.

[0031] Figure 13 Block diagram of an electronic device schematically shown in an embodiment of the present disclosure. Detailed implementation manners

[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art. The features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will recognize that one or more of the specific details may be omitted, or other methods, components, devices, steps, etc. may be used. In other cases, well-known technical solutions are not shown or described in detail to avoid obscuring the various aspects of the present disclosure.

[0033] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus the repeated description thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0034] In some embodiments, the electronic outside rearview mirror of a vehicle only displays the image field of view and simple icon displays, with relatively single functions and certain limitations in that it cannot provide the driver with more driving and parking assistance functions.

[0035] The display method of the electronic rearview mirror provided by the embodiments of the present disclosure can be applied to the application scenario of using the electronic outside rearview mirror on a vehicle to display element icons on the side of the vehicle body.

[0036] Next, with reference to Figure 1 as shown in, each step of the display method of the electronic rearview mirror in the embodiments of the present disclosure will be specifically described.

[0037] In step S110, when the target vehicle is in a parking state, determine the distance between the target vehicle and an obstacle.

[0038] In the embodiments of the present disclosure, the target vehicle can be any type and size of vehicle, and at least one electronic outside rearview mirror can be provided on the target vehicle. The electronic outside rearview mirror can be provided on the side of the vehicle body of the target vehicle. The electronic outside rearview mirror is an in-vehicle auxiliary system used to enhance the driver's visual perception of the surroundings and the rear side of the vehicle, further enhancing driving safety and comfort. The electronic outside rearview mirror can collect images through an external camera, display the collected images on the display screen in the cabin after data processing, and can also integrate functions such as blind spot warning and parking assist lines.

[0039] The vehicle state of the target vehicle may include a driving state and a parking state. The driving state refers to the mode in which the target vehicle moves on the road. The parking state refers to the mode in which the target vehicle stops moving. First, the vehicle state of the target vehicle can be determined. Exemplarily, the basic state information of the target vehicle can be collected, and the image data of the side of the vehicle body of the target vehicle can be collected through a camera module. Among them, the basic state information may include, but is not limited to, vehicle speed data, gear data, blind spot detection data, etc. The camera module can be a camera module arranged on the side of the vehicle body, and can be used to obtain the environmental data of the side of the vehicle body and the rear of the vehicle. On this basis, the vehicle state of the target vehicle can be determined to be in a driving state or a parking state according to the vehicle speed data and the gear data. For example, when the gear data is in the parking gear, the vehicle state can be considered to be in the parking state.

[0040] When the vehicle state is in the parking state, the distance between the target vehicle and the obstacle in the parking state can be determined. The obstacle can be any type and any size of obstacle around the target vehicle that will affect the parking process, such as vehicles, pedestrians, buildings, fences, etc. around the target vehicle, and no specific limitation is made here. The number of obstacles can be one or more, and multiple obstacles can be in different positions, and no specific limitation is made here.

[0041] The distance between the target vehicle and the obstacle refers to the distance between the target vehicle and the obstacles around the target vehicle, and specifically can be the lateral distance from the vehicle body of the target vehicle to the obstacles on both sides. When obtaining the lateral distance between the target vehicle and the obstacle, the collected vehicle body environmental data of the target vehicle can be analyzed to obtain the distance from the vehicle body to the obstacles on both sides in the parking state. Obtaining the lateral distance between the target vehicle and the obstacle can be specifically executed through the following steps:

[0042] Determine the rectangular frame corresponding to the obstacle;

[0043] Combined with the rectangular frame, determine the image plane coordinates of the bottom edge of the rectangular frame;

[0044] Determine the road plane coordinates according to the image plane coordinates, and determine the lateral distance between the target vehicle and the obstacle based on the road plane coordinates.

[0045] In some embodiments, through the image data collected by the camera module, the collected image data of the side of the vehicle body can be detected, and the shape of the obstacle on the side of the vehicle body can be identified by a rectangular frame, so that the obstacle corresponds to the rectangular frame one by one.

[0046] Furthermore, the rectangular frame information of the obstacle can be combined to find the two image plane coordinates of the bottom edge of the rectangular frame, denoted as (u1, v1) and (u2, v2) respectively. Using the geometric relationship derivation method, the road plane coordinates (x1, y1) and (x2, y2) are derived from the image plane coordinates (u1, v1) and (u2, v2). Further, the lateral distance d between the vehicle body of the target vehicle and the obstacle is calculated through the Euclidean distance formula.

[0047] Next, in step S120, when the distance is less than or equal to a pre-configured safety distance, a first type of safety guiding line for guiding the target vehicle to perform a parking operation is generated and displayed.

[0048] In the embodiments of the present disclosure, when the lateral distance between the target vehicle and the obstacle is less than or equal to the pre-configured safety distance, it can be considered that the distance between the target vehicle and the obstacle does not meet the safety distance condition. Based on this, a first type of safety guiding line for guiding the target vehicle to perform a parking operation can be generated. The first type of safety guiding line can be a dynamic safety guiding line, and the first type of safety guiding line can be a safety guiding line calculated in real time according to the position of the target vehicle, and it can change dynamically in real time according to the position of the target vehicle. The first type of safety guiding line is used to guide the target vehicle to perform a parking operation according to the guiding line, so as to avoid contact collision with the obstacle and achieve safe and accurate parking.

[0049] Before generating the first type of safety guiding line, it is first necessary to determine the safety distance in the current parking process. The safety distance is used to represent the interval distance set between the target vehicle and the obstacle to avoid collision. The safety distance for each parking process can be the same or different, and can be specifically determined according to actual needs. Exemplarily, the safety distance can be set in response to a user operation on the display interface. For example, it can be set by performing a user operation on the display interface in combination with the situation of the target vehicle or the driver himself.

[0050] In addition, the safety distance for the current parking process can also be determined based on the historical parking record information of the target vehicle, that is, the safety distance corresponding to the current parking state is determined. Exemplarily, during each historical parking process, the electronic exterior mirror system records the safety distance set for the historical parking process, the corresponding distance between the vehicle body and the obstacle, and the parking safety guiding line. It should be noted that the historical parking record information can be updated over time. For example, only the parking records within the most recent one month or two months are retained, and no specific limitation is made here. Based on this, the historical parking record information of the target vehicle within a preset duration (such as within one month) in the current scenario can be queried, and the safety distance, collision situation, and the actual distance between the target vehicle body and the obstacle during each historical parking process can be obtained therefrom. Next, the safety distances during each historical parking process can be averaged to obtain the safety distance required for the current parking process. Additionally, the maximum safety distance during the historical parking process can also be used as the safety distance required for the current parking process, and no specific limitation is made here. In addition, the safety distance corresponding to the parking record information with the fewest number of steering wheel returns in the historical parking record information can also be used as the safety distance required for the current parking process.

[0051] Furthermore, the calculated distance between the target vehicle and the obstacle can be compared with the pre-configured safety distance for the current parking process, and different methods can be selected to generate a guiding line according to the comparison result. If the distance between the target vehicle and the obstacle is less than the pre-configured safety distance, a first type of safety guiding line for guiding the target vehicle to perform a parking operation can be generated, that is, a dynamic safety guiding line is generated.

[0052] In some embodiments, the historical parking record information of the target vehicle in the current scenario can be obtained, and according to the existence status of the historical parking record information, the first type of safety guiding line of the target vehicle during the current parking process can be determined through the historical parking record information or the vehicle parameters of the target vehicle. The current scenario refers to the scenario corresponding to the parking state, and can be determined according to the current position of the target vehicle. The current scenario can be, for example, a surface parking lot, the roadside, a garage, or any position where parking is allowed. The existence status is used to indicate whether the target vehicle has historical parking record information related to the current scenario, that is, whether the target vehicle has a historical parking process in the current scenario.

[0053] If the existence status is that there is historical parking record information, the corresponding historical parking record information can be obtained, and a reference safety guiding line can be determined from the historical parking record information, and then the first type of safety guiding line can be determined according to the reference safety guiding line. Exemplarily, the reference safety guiding line can be determined from the historical parking record information according to the safety distance or the number of steering wheel returns of the target vehicle.

[0054] Figure 2 schematically shows a schematic flow chart of determining a reference safety guiding line according to a safety distance. Refer to Figure 2 As shown in, it mainly includes the following methods:

[0055] In step S210, retrieve according to the safety distance, obtain a historical distance that matches the distance corresponding to the safety distance from the historical parking record information, and determine the safety guiding line corresponding to the matched historical distance as the reference safety guiding line;

[0056] In step S220, retrieve according to the distance, obtain the maximum historical safety distance that matches the safety distance corresponding to the distance from the historical parking record information, and determine the safety guiding line corresponding to the maximum historical safety distance as the reference safety guiding line.

[0057] Among them, first based on the pre-configured safety distance, check whether there is a distance d from the body of the target vehicle measured this time to the obstacle in the historical parking record information recorded by the electronic outside rearview mirror system, that is, retrieve in the historical parking record information corresponding to this safety distance to determine whether there is a historical distance that matches the distance between the target vehicle and the obstacle calculated this time. If there is a matched historical distance, the safety guiding line corresponding to this matched historical distance can be used as the reference safety guiding line to assist in fitting the first type of safety guiding line in the current parking process. It should be noted that the matching here can be exactly the same, or the error between the distance and the historical distance is less than the error threshold, and the error threshold can be a relatively small value, such as 1% and so on. For example, if the distance is d1 and there is a historical distance d1 in the historical parking record information, the safety guiding line corresponding to this historical distance d1 can be used as the first type of safety guiding line.

[0058] In some embodiments, during each historical parking process, the electronic outside rearview mirror system records the set safety distance, the corresponding distance from the vehicle body to the obstacle, and the parking safety guiding line for that historical parking process. It is also possible to search the historical parking record information recorded by the electronic outside rearview mirror system to find one or more historical safety distances that match the safety distance corresponding to the distance d from the vehicle body of the target vehicle measured during the current parking process. Exemplarily, the historical parking record information corresponding to this distance can be retrieved based on the distance, and then screened from the historical parking record information corresponding to this distance. Specifically, if there are one or more historical safety distances that match the safety distance corresponding to this distance in the historical parking record information corresponding to this distance, the maximum historical safety distance is selected from them, and the safety guiding line corresponding to the maximum historical safety distance is used as the reference safety guiding line in the historical parking record information. Then, based on the reference safety guiding line, the first type of safety guiding line for the current time is assisted in fitting. Alternatively, the one or more historical safety distances can be averaged, and the safety guiding line of the historical safety distance closest to the averaged historical safety distance is used as the reference safety guiding line to assist in fitting the first type of safety guiding line during the current parking process. The first type of safety guiding line can be the same as or coincide with the reference safety guiding line, but can be displayed in different display states.

[0059] In addition, the reference safety guiding line can also be determined from the historical parking record information according to the number of times the steering wheel is turned back during the parking of the target vehicle. Exemplarily, the number of times the steering wheel is turned back in the historical parking record information can be obtained, and further, all the numbers of times the steering wheel is turned back are sorted. The safety guiding line corresponding to the parking record information with the smallest number of times the steering wheel is turned back is used as the reference safety guiding line.

[0060] It should be noted that after the first type of safety guiding line is determined based on the reference safety guiding line corresponding to the historical parking record information, the first type of safety guiding line and the reference safety guiding line can be displayed differentially. Exemplarily, the first type of safety guiding line and the reference safety guiding line can have different display states. The display state can be any one of thickness, length, solid or dashed line, as long as they can be distinguished. For example, the first type of safety guiding line can be displayed in the form of a solid line, and the reference safety guiding line can be displayed in the form of a dashed line.

[0061] If there is historical parking record information with a status of non - existence of the current scene, for example, when the target vehicle parks for the first time in a new scene, since there is no historical parking record information, the reference safety guiding line cannot be determined from the historical parking record information. At this time, the first - type safety guiding line can be directly determined according to the vehicle parameters of the target vehicle. The vehicle parameters here can include one or more of the yaw angle of the target vehicle and the turning radius of the target vehicle. The yaw angle of the target vehicle refers to the yaw angle of the steering wheel of the target vehicle, and the turning radius of the target vehicle can be determined according to the rotation angle of the steering wheel. The yaw angle refers to the angle between the vehicle body and the driving direction during the driving process of the vehicle, or can also be the angle difference between the front wheels and the rear wheels of the target vehicle.

[0062] Figure 3 schematically shows a flowchart for determining the first - type safety guiding line according to vehicle parameters. Refer to Figure 3 shown in, which mainly includes the following steps:

[0063] In step S310, obtain the position and the first yaw angle of the target vehicle at the first moment, and determine the second yaw angle of the target vehicle at the second moment;

[0064] In step S320, combine the position at the first moment, the first yaw angle, the second yaw angle, and the turning radius of the target vehicle to determine the position of the target vehicle at the second moment;

[0065] In step S330, based on the position at the first moment, the position at the second moment, the first yaw angle, and the second yaw angle, determine the first - type safety guiding line.

[0066] In the embodiments of the present disclosure, first, define the position of the target vehicle at the first moment. For example, define the position at time t1 as (x1, y1), the first yaw angle at the first moment as ψ1, the position at the second moment, that is, the position at time t2, as (x2, y2), and the second yaw angle as ψ2, where the position at the second moment is an unknown quantity.

[0067] Next, the turning radius of the target vehicle can be defined. The turning radius can be represented by R, where a positive value indicates a left turn and a negative value indicates a right turn. Project the turning radius onto the X - axis and Y - axis at the first moment, respectively, to obtain the first horizontal - axis projection L1 and the first vertical - axis projection H1; and project the turning radius onto the X - axis and Y - axis at the second moment, respectively, to obtain the second horizontal - axis projection L2 and the second vertical - axis projection H2. Assume that the target vehicle can be regarded as moving at a uniform speed in a short period of time.

[0068] Furthermore, the first horizontal - axis projection and the first vertical - axis projection can be calculated by combining the turning radius and the first yaw angle respectively. Exemplarily, it can be calculated according to formula (1):

[0069]

[0070] Next, the second horizontal axis projection and the second vertical axis projection can be calculated in combination with the turning radius and the second yaw angle. Exemplarily, the second horizontal axis projection and the second vertical axis projection can be calculated according to formula (2), where the second yaw angle can be calculated according to formula (3):

[0071]

[0072] ψ2 = ψ1 + Δψ Formula (3)

[0073] Where Δψ is used to represent the angular difference between the first yaw angle and the second yaw angle.

[0074] On this basis, the abscissa of the position at the second moment can be calculated according to the abscissa of the position at the first moment, and the first and second horizontal axis projections; the ordinate of the position at the second moment can be calculated according to the ordinate of the position at the first moment, and the first and second vertical axis projections. For details, refer to formula (4) shown:[[]]

[0075]

[0076] After obtaining the position coordinates at the second moment, the curve between the position at the first moment and the position at the second moment can be determined based on the position at the first moment, the position at the second moment, the first yaw angle, and the second yaw angle, thereby generating the first type of safety guidance line.

[0077] In the embodiments of the present disclosure, the projections of the position at the first moment on the horizontal axis and the vertical axis are determined by the position at the first moment and the first yaw angle, and the projections of the position at the second moment on the horizontal axis and the vertical axis are determined by the position at the second moment and the second yaw angle. Thus, the position at the second moment is jointly determined by combining the position at the first moment, the projections of the position at the first moment on the horizontal axis and the vertical axis, and the projections of the position at the second moment on the horizontal axis and the vertical axis. Then, the first type of safety guidance line is drawn by combining the position at the first moment, the position at the second moment, and the corresponding yaw angles, as shown in Figure 4 . Since the first type of safety guidance line can be determined in real time by combining vehicle parameters in multiple dimensions, the accuracy of the first type of safety guidance line can be improved.

[0078] In the embodiments of the present disclosure, after generating the first type of safety guidance line of the target vehicle in the current scenario through the reference safety guidance line determined by the historical parking record information or vehicle parameters, the first type of safety guidance line can be displayed on the display interface of the electronic exterior mirror. Refer to Figure 5As shown in [the figure]. Among them, the first type of safety guidance line 510 can be used to represent the path for guiding parking. The warning sign 520 can be used to represent the minimum lateral distance between the target vehicle and the obstacle. When the trajectory of the target vehicle overlaps with this warning sign, it can be considered that the target vehicle will collide with the obstacle and safe parking cannot be achieved. The warning sign can be set at a fixed position near the obstacle, and the specific position can be configured according to actual needs. For example, the warning sign can be displayed outside the first type of safety guidance line, that is, the warning sign is displayed on the side close to the obstacle, and the first type of safety guidance line is displayed on the side close to the target vehicle. The shape of the warning sign can be the same as or different from that of the first type of safety guidance line, and no specific limitation is made here.

[0079] In some embodiments, the first type of safety guidance line can be adjusted according to the overlapping state between the first type of safety guidance line and the warning sign. The overlapping state here can include that there is an intersection point between the first type of safety guidance line and the warning sign or there is at least partial curve overlap, or it can also be that the distance between the first type of safety guidance line and the warning sign is less than a preset threshold, and the preset threshold can be a relatively small value, which is specifically determined according to actual needs. When there is an overlap between the first type of safety guidance line and the warning sign, the first type of safety guidance line can be adjusted so that the first type of safety guidance line moves away from the warning sign and closer to the target vehicle. And, a reminder sign for adjusting the safety guidance line can be displayed on the display interface, and the adjusted first type of safety guidance line can be displayed distinctively, such as being bold or flashing, etc.

[0080] In some embodiments of the present disclosure, multiple stages of dynamic adjustment can be achieved for the first type of safety guidance line. First, the first type of safety guidance line can be adjusted in the first stage according to parameters such as the yaw angle of the steering wheel of the target vehicle, and the first type of safety guidance line can be dynamically displayed. Next, when the first type of safety guidance line and the warning sign overlap, the second stage of adjustment can be performed. Through the second stage of adjustment, the first type of safety guidance line is adjusted to a position away from the warning sign, so as to guide the driver to adjust the steering direction and rotation angle of the steering wheel of the target vehicle according to the first type of safety guidance line adjusted in the second stage, and achieve assisting the driver to park safely through the first type of safety guidance line.

[0081] Among them, since it is possible to generate the first type of safety guidance line according to the relationship between the distance from the target vehicle to the obstacle and the safety distance in the parking state, and perform the first-stage adjustment and the second-stage adjustment on the first type of safety guidance line, it can avoid the limitation that the electronic outside rearview mirror can only display some icons, increase the functional diversity and comprehensiveness, and also improve the accuracy of the first type of safety guidance line.

[0082] Next, in step S130, when the distance is not less than the safety distance, a second type of safety guiding line is generated and the second type of safety guiding line is displayed.

[0083] In the embodiments of the present disclosure, when the lateral distance between the body of the target vehicle and the obstacle is greater than or equal to the safety distance, it indicates that the safety level of the target vehicle is relatively high. At this time, there is no need to generate a dynamic safety guiding line, and only a second type of safety guiding line needs to be generated. The second type of safety guiding line can be a static safety guiding line, and its type is completely different from that of the first type of safety guiding line. Exemplarily, the second type of safety guiding line can be used to represent a safety range, and the safety range represented by the second type of safety guiding line does not change in real time according to the real-time position of the target vehicle. The static safety guiding line here can be determined according to the distance between the target vehicle and the obstacle, combined with the vehicle parameters of the target vehicle, and can be specifically determined according to actual needs, and no specific limitation is made here. As Figure 6 shown in, a static safety guiding line 610 and a warning sign 620 can be displayed at corresponding positions on the side of the body of the target vehicle. The warning sign 620 can be displayed outside the static safety guiding line 610, and the warning sign 620 is displayed on the side close to the obstacle, and the static safety guiding line 610 is displayed on the side close to the target vehicle.

[0084] Figure 7 A schematic flow chart of generating a safety guiding line is schematically shown in, refer to Figure 7 shown in, mainly including the following steps:

[0085] In step S702, vehicle state data and body environment data are acquired.

[0086] In step S704, the safety detection module performs data analysis.

[0087] In step S706, it is judged whether the distance is less than the safety distance; if so, go to step S708; if not, go to step S710.

[0088] In step S708, the dynamic safety guiding line of the vehicle is fitted. Specifically, the dynamic safety guiding line of the vehicle is dynamically fitted by combining the body physical parameters and the attitude information.

[0089] In step S710, a static safety guiding line is generated.

[0090] In step S712, the safety guiding line is displayed in combination with information icons.

[0091] Specifically, by using the vehicle status provided by the data collection module, a dynamic safety guiding line or a static safety guiding line is generated, the information icon information to be displayed to the driver is output, and the generated dynamic safety guiding line or static safety guiding line is displayed.

[0092] In the technical solution of the embodiments of the present disclosure, when the distance between the target vehicle and the obstacle is greater than or equal to a pre-configured safety distance, a first type of safety guiding line for guiding the target vehicle to park is generated, and a second type of safety guiding line is generated when the distance is greater than the safety distance. Since different types of safety guiding lines can be generated on the vehicle body side according to the distance between the target vehicle and the obstacle, the accuracy and comprehensiveness of the safety guiding line can be improved, so that the safety guiding line can assist the driver in parking safely and provide convenience for the driver. In addition, the safety guiding line can be displayed according to the distance between the target vehicle and the obstacle, increasing the diversity and comprehensiveness of the display content of the electronic outside rearview mirror.

[0093] In some embodiments, when the vehicle status of the target vehicle is in a driving state, vehicle data can be collected and analyzed by the camera module, and the driving data in the driving state can be displayed through icons.

[0094] Exemplarily, the system can analyze the vehicle body data collected by the camera module and display the driving data in the driving state to the driver through icons. Specifically, at least one of blind spot information, turn signal information, and gear state can be displayed. As Figure 8 shown, when a reference vehicle (such as a vehicle behind) approaches the target vehicle, the display area of the electronic outside rearview mirror can provide a blind spot reminder to the driver and display a BSD (Blind Spot Detection System) icon to assist in displaying the driving safety in the case of overtaking or lane change.

[0095] In addition, the electronic outside rearview mirror can also provide basic vehicle status information to the driver, and the vehicle status information can include turn signal information. For example, as Figure 9 shown, when the driver operates the turn signal, the system provides an extended view and displays the flashing turn signal icon information to the driver. After the turn signal operation ends, the display of the turn signal icon information can be stopped.

[0096] In the embodiments of the present disclosure, a display solution for the HMI (Human Machine Interface) interaction interface based on an electronic outside rearview mirror is provided. Through various elements and interaction methods, rich information and functions are provided for the driver to improve driving comfort, safety, and convenience. In this solution, various information icons, guiding lines, and other display elements are displayed during the driving state to convey different information to the driver, including the vehicle steering state, vehicle gear state, blind spot detection, etc. At the same time, during the parking state, the safety of the current parking operation is determined based on the acquired vehicle body image data, and a dynamic safety guiding line or a static safety guiding line on the side of the vehicle body is provided to the driver when it is safe. In addition, the driver is allowed to customize the display settings according to personal preferences, such as setting the display screen brightness, the field of view of the electronic outside rearview mirror, whether to turn on the heating of the camera module, etc. Through the technical solution in the embodiments of the present disclosure, the diversity of the display elements and functions of the electronic outside rearview mirror is increased, the accuracy of the safety guiding line is improved, thereby realizing precise guidance during the parking process and improving convenience.

[0097] Next, in the embodiments of the present disclosure, a display device for an electronic rearview mirror is also provided. Referring to Figure 10 as shown in, the display device 1000 of the electronic rearview mirror mainly includes:

[0098] a distance acquisition module 1001, configured to determine the distance between the target vehicle and an obstacle when the target vehicle is in a parking state;

[0099] a first guiding line determination module 1002, configured to generate and display a first type of safety guiding line for guiding the target vehicle to perform a parking operation when the distance is less than a pre-configured safety distance;

[0100] a second guiding line generation module 1003, configured to generate a second type of safety guiding line and display the second type of safety guiding line when the distance is not less than the safety distance.

[0101] In an exemplary embodiment of the present disclosure, the device further includes: a warning sign display module, configured to display a warning sign outside the first type of safety guiding line; a safety guiding line adjustment module, configured to adjust the first type of safety guiding line when there is an overlap between the first type of safety guiding line and the warning sign, so that the first type of safety guiding line is away from the warning sign.

[0102] In an exemplary embodiment of the present disclosure, generating the first type of safety guiding line for guiding the target vehicle to perform a parking operation includes: obtaining historical parking record information of the target vehicle in the current scenario; determining the first type of safety guiding line according to the existence status of the historical parking record information.

[0103] In an exemplary embodiment of the present disclosure, determining the first type of safety guiding line according to the existence status of the historical parking record information includes: in the case where the existence status is that there is historical parking record information, determining a reference safety guiding line from the historical parking record information, and determining the first type of safety guiding line according to the reference safety guiding line; in the case where the existence status is that there is no historical parking record information, generating the first type of safety guiding line according to the vehicle parameters of the target vehicle.

[0104] In an exemplary embodiment of the present disclosure, determining the reference safety guiding line from the historical parking record information includes: determining the reference safety guiding line from the historical parking record information according to the safety distance; or determining the reference safety guiding line according to the number of times the target vehicle turns the steering wheel back during parking in the historical parking record information.

[0105] In an exemplary embodiment of the present disclosure, determining the reference safety guiding line from the historical parking record information according to the safety distance includes: performing a search according to the safety distance, obtaining a historical distance that matches the safety distance from the historical parking record information, and determining the safety guiding line corresponding to the matched historical distance as the reference safety guiding line; or performing a search according to the distance, obtaining the maximum historical safety distance that matches the safety distance corresponding to the distance from the historical parking record information, and determining the safety guiding line corresponding to the maximum historical safety distance as the reference safety guiding line.

[0106] In an exemplary embodiment of the present disclosure, generating the first type of safety guiding line according to the vehicle parameters of the target vehicle includes: obtaining the position and the first yaw angle of the target vehicle at the first moment, and determining the second yaw angle of the target vehicle at the second moment; combining the position at the first moment, the first yaw angle, the second yaw angle, and the turning radius of the target vehicle to determine the position of the target vehicle at the second moment; determining the first type of safety guiding line based on the position at the first moment, the position at the second moment, the first yaw angle, and the second yaw angle.

[0107] In addition, in the embodiments of the present disclosure, a display system 1100 of an electronic rearview mirror is further provided. Refer to Figure 11As shown in the figure, it mainly includes a data collection module 1101, an element generation module 1102, and an image display module 1103, where:

[0108] The data collection module 1101 is used to obtain the environmental data on the side and rear of the vehicle through a camera module installed on the vehicle body, and collect the basic state information during vehicle driving, including the vehicle gear state, vehicle speed information, turn signal information, and steering wheel angle information; at the same time, it integrates the intelligent detection information provided by the vehicle body ADAS module for intelligent driving assistance during driving.

[0109] The element generation module 1102 is used to process the comprehensive data obtained by the data collection module for static icon element display and dynamic guidance element generation.

[0110] The image display module 1103 is used to display the first type of safety guidance line, the second safety guidance line, and the icon elements generated by the element generation module.

[0111] In some embodiments, the components of each module can refer to Figure 12 shown in the figure, and specifically include the following modules:

[0112] The data collection module 1101 includes a vehicle state monitoring unit 1201 and a driving environment monitoring unit 1202, where:

[0113] The vehicle state monitoring unit 1201 is used to obtain the basic vehicle state data provided by the vehicle body communication network, mainly including the vehicle speed signal, gear signal, steering wheel angle signal, and BSD signal provided by the blind spot detection system.

[0114] The driving environment monitoring unit 1202 is used to obtain the environmental data around the vehicle, including the image data on the side and rear of both sides of the vehicle body.

[0115] The element generation module 1102 includes an information scheduling unit 1203, a fitting operation unit 1204, and a safety detection unit 1205, where:

[0116] The information scheduling unit 1203 is used to process the basic vehicle state information provided by the data collection module and retrieve the pre-stored prompt icon data in a logical manner.

[0117] The fitting operation unit 1204 is used to fit the dynamic safety guidance line in the current parking state by combining the steering wheel angle signal and the vehicle physical parameter information (such as vehicle body length, wheelbase, etc.).

[0118] The safety detection unit 1205 is used to perform image analysis and calculation through the image data on the side and rear of the vehicle body provided by the data collection module to determine whether there will be safety problems in the current parking state.

[0119] The image display module 1103 includes an icon display unit 1206 and a rendering unit 1207, where:

[0120] The icon display unit 1206 is configured to display the icon data scheduled by the element generation module according to the vehicle body signal.

[0121] The rendering unit 1207 is configured to render and display the safety guiding line and the icon elements provided by the element generation module.

[0122] It should be noted that the specific details of each part in the above display device of the electronic rearview mirror and the display system of the electronic rearview mirror have been described in detail in the embodiments of the display method of the electronic rearview mirror. For the details not disclosed, reference can be made to the embodiments of the method part, and thus will not be elaborated here.

[0123] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is further provided.

[0124] Those skilled in the art to which the present disclosure pertains can understand that various aspects of the present disclosure can be implemented as a system, a method, or a program product. Therefore, various aspects of the present disclosure can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuitry", "module", or "system" here.

[0125] Next, refer to Figure 13 to describe the electronic device 1300 according to this embodiment of the present disclosure. Figure 13 The electronic device 1300 shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0126] As Figure 13 shown, the electronic device 1300 is presented in the form of a general computing device. The components of the electronic device 1300 may include, but are not limited to: the at least one processing unit 1310, the at least one storage unit 1320, a bus 1330 connecting different system components (including the storage unit 1320 and the processing unit 1310), and a display unit 1340.

[0127] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 1310, so that the processing unit 1310 executes the steps according to various exemplary embodiments of the present disclosure described in the above "exemplary method" part of this specification. For example, the processing unit 1310 can execute the steps as Figure 1 shown.

[0128] The storage unit 1320 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 13201 and / or a cache storage unit 13202, and may further include a read-only storage unit (ROM) 13203.

[0129] The storage unit 1320 may also include a program / utilities 13204 having a set (at least one) of program modules 13205. Such program modules 13205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0130] The bus 1330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus structures.

[0131] The electronic device 1300 may also communicate with one or more external devices 1400 (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 1300, and / or may communicate with any device that enables the electronic device 1300 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be through an input / output (I / O) interface 1350. Also, the electronic device 1300 may communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 1360. As shown in the figure, the network adapter 1360 communicates with other modules of the electronic device 1300 through the bus 1330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 1300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0132] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or an electronic device, etc.) to execute the method according to the embodiments of the present disclosure.

[0133] In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium, on which a program product capable of implementing the above-described method of this specification is stored. In some possible implementation manners, various aspects of the present disclosure can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present disclosure described in the above "Exemplary Method" section of this specification.

[0134] The program product for implementing the above method according to an embodiment of the present disclosure may be a portable compact disc read-only memory (CD-ROM) and includes program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0135] The program product may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, but not be limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0136] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal may take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The readable signal medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0137] The program code contained on the readable medium can be transmitted by any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0138] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user's computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0139] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes may be executed synchronously or asynchronously in, for example, multiple modules.

[0140] Other embodiments of the present disclosure will be readily apparent to those skilled in the art after considering the specification and practicing the invention herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not invented by the present disclosure. The specification and embodiments are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the claims.

[0141] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A display method for an electronic rearview mirror, characterized in that, Including: When the target vehicle is in a parking state, determining the distance between the target vehicle and an obstacle; When the distance is less than a pre-configured safe distance, generating a first type of safety guiding line for guiding the target vehicle to perform a parking operation and displaying it; When the distance is not less than the safe distance, generating a second type of safety guiding line and displaying the second type of safety guiding line.

2. The display method of the electronic rearview mirror according to claim 1, characterized in that, The method further includes: Displaying a warning sign outside the first type of safety guiding line; When there is an overlap between the first type of safety guiding line and the warning sign, adjusting the first type of safety guiding line so that the first type of safety guiding line is away from the warning sign.

3. The display method of the electronic rearview mirror according to claim 1, characterized in that, The generating of the first type of safety guiding line for guiding the target vehicle to perform a parking operation includes: Obtaining historical parking record information of the target vehicle in the current scenario; Determining the first type of safety guiding line according to the existence status of the historical parking record information.

4. The display method of the electronic rearview mirror according to claim 3, wherein, The determining of the first type of safety guiding line according to the existence status of the historical parking record information includes: When the existence status is that there is historical parking record information, determining a reference safety guiding line from the historical parking record information and determining the first type of safety guiding line according to the reference safety guiding line; When the existence status is that there is no historical parking record information, generating the first type of safety guiding line according to the vehicle parameters of the target vehicle.

5. The display method of the electronic rearview mirror according to claim 4, wherein The determining of the reference safety guiding line from the historical parking record information includes: Determining the reference safety guiding line from the historical parking record information according to the safe distance; or Determining the reference safety guiding line according to the number of parking wheel returns of the target vehicle in the historical parking record information.

6. The display method of the electronic rearview mirror according to claim 5, wherein, The determining of the reference safety guiding line from the historical parking record information according to the safe distance includes: Performing a search according to the safe distance, obtaining a historical distance that matches the distance corresponding to the safe distance from the historical parking record information, and determining the safety guiding line corresponding to the matching historical distance as the reference safety guiding line; or Performing a search according to the distance, obtaining the maximum historical safe distance that matches the safe distance corresponding to the distance from the historical parking record information, and determining the safety guiding line corresponding to the maximum historical safe distance as the reference safety guiding line.

7. The display method of the electronic rearview mirror according to claim 4, characterized in that The generating of the first type of safety guiding line according to the vehicle parameters of the target vehicle includes: Obtaining the position and the first yaw angle of the target vehicle at a first moment, and determining the second yaw angle of the target vehicle at a second moment; Combining the position at the first moment, the first yaw angle, the second yaw angle, and the turning radius of the target vehicle to determine the position of the target vehicle at the second moment; Based on the position at the first moment, the position at the second moment, the first yaw angle, and the second yaw angle, determining the first type of safety guiding line.

8. A display device for an electronic rearview mirror, characterized in that, Including: A distance acquisition module, configured to determine the distance between the target vehicle and an obstacle when the target vehicle is in a parking state; A first guiding line determination module, configured to generate and display a first type of safety guiding line for guiding the target vehicle to perform a parking operation when the distance is less than a pre-configured safety distance; A second guiding line generation module, configured to generate a second type of safety guiding line and display the second type of safety guiding line when the distance is not less than the safety distance.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the display method of the electronic rearview mirror according to any one of claims 1-7.

10. An electronic device, characterized in that, Comprising: A processor; And A memory for storing executable instructions of the processor; Wherein, the processor is configured to execute the display method of the electronic rearview mirror according to any one of claims 1-7 by executing the executable instructions.

Images