Visual compensation method, electronic equipment and storage medium

Abstract

The invention discloses a visual compensation method, electronic equipment and a storage medium, and belongs to the technical field of image processing. The method comprises the following steps: acquiring motion attitude data of a vehicle and video data acquired by a vehicle-mounted camera; correcting the video data according to the motion posture data; visual graphic information is overlapped in the corrected video data, a compensation video is generated, and the visual graphic information is used for indicating the motion state of the vehicle relative to the road; and performing visual compensation through the compensation video. According to the method, the passengers are guided to form intuitive visual perception on the motion state of the vehicle through the compensation video and the visual graphic information superposed into the compensation video, the carsickness of the passengers is relieved, hardware equipment of the vehicle does not need to be added, and the comfort and convenience of riding experience of the passengers are greatly improved.

Description

Technical Field

[0001] This application relates to the field of image processing technology, and particularly to a method for visual compensation, an electronic device, and a storage medium. Background Art

[0002] Motion sickness (also known as kinetosis) is a sense of dizziness caused by a conflict between the body's vestibular perception (such as the semicircular canals and otoliths located in the inner ear) and the motion information perceived by vision, which makes the brain confused.

[0003] Through visual compensation, the conflict between visual perception and vestibular perception can be reduced, and the motion sickness of passengers in the vehicle can be alleviated. Summary of the Invention

[0004] This application provides a method for visual compensation, an electronic device, and a storage medium to solve the technical problems existing in the related art. Specifically, the following technical solutions are included.

[0005] In a first aspect, this application provides a method for visual compensation. The method includes: obtaining the motion attitude data of a vehicle and the video data collected by an in-vehicle camera; correcting the video data according to the motion attitude data; superimposing visual graphic information on the corrected video data to generate a compensated video, where the visual graphic information is used to indicate the motion state of the vehicle relative to the road; and performing visual compensation through the compensated video.

[0006] In some possible implementation manners, the visual graphic information includes first graphic information for indicating the current motion state of the vehicle relative to the road. The method further includes: generating the first graphic information according to the motion attitude data; and the step of superimposing visual graphic information on the corrected video data includes: superimposing the first graphic information on the corrected video data.

[0007] In some possible implementation manners, the visual graphic information includes second graphic information for predicting the motion state of the vehicle relative to the road. The method further includes: obtaining the navigation data of the vehicle; generating the second graphic information according to the navigation data; and the step of superimposing visual graphic information on the corrected video data includes: superimposing the second graphic information on the corrected video data.

[0008] In some possible implementation manners, the correction includes jitter correction, the video data includes a standard frame and a jitter frame, and correcting the video data according to the motion attitude data includes: determining whether the vehicle jitters according to the motion attitude data; if the vehicle jitters, determining a transformation matrix between the standard frame and the jitter frame according to the motion attitude data; and performing jitter correction on the jitter frame according to the standard frame and the transformation matrix.

[0009] In some possible implementation manners, the motion attitude data includes vehicle speed information of the vehicle, the correction includes bounce correction, and correcting the video data according to the motion attitude data includes: if the speed of the vehicle indicated by the vehicle speed information exceeds a speed threshold, performing bounce correction on the video data corresponding to the speed information that exceeds the speed threshold.

[0010] In some possible implementation manners, visually compensating through the compensated video includes: playing the compensated video through an in-vehicle display screen of the vehicle for visual compensation.

[0011] In some possible implementation manners, the method further includes: obtaining scene information related to a driving scene of the vehicle; when playing the compensated video through the in-vehicle display screen of the vehicle, the method further includes: adjusting the brightness of the compensated video according to the scene information; and adjusting the transparency and / or size of the visual graphic information in the compensated video according to the scene information.

[0012] In some possible implementation manners, when playing the compensated video through the in-vehicle display screen of the vehicle, the method further includes: adjusting the viewing angle of the compensated video according to the position of the in-vehicle display screen.

[0013] In a second aspect, the present application provides a visual compensation device, including: an acquisition module, configured to acquire motion attitude data of a vehicle and video data collected by an in-vehicle camera; a correction module, configured to correct the video data according to the motion attitude data; a graphic overlay module, configured to overlay visual graphic information in the corrected video data to generate a compensated video, where the visual graphic information is used to indicate a motion state of the vehicle relative to a road; and a compensation module, configured to perform visual compensation through the compensated video.

[0014] In some possible implementation manners, the visual graphic information includes first graphic information for indicating a current motion state of the vehicle relative to a road, and the graphic overlay module is configured to generate the first graphic information according to the motion attitude data; the correction module is configured to overlay the first graphic information in the corrected video data.

[0015] In some possible embodiments, the visual graphic information includes second graphic information for predicting the motion state of the vehicle relative to the road, the acquisition module is configured to acquire navigation data of the vehicle; the graphic overlay module is configured to generate the second graphic information according to the navigation data; and the correction module is configured to overlay the second graphic information onto the corrected video data.

[0016] In some possible embodiments, the correction includes jitter correction, the video data includes standard frames and jitter frames, and the correction module is configured to determine whether the vehicle jitters according to the motion attitude data; if the vehicle jitters, determine a transformation matrix between the standard frame and the jitter frame according to the motion attitude data; and perform jitter correction on the jitter frame according to the standard frame and the transformation matrix.

[0017] In some possible embodiments, the motion attitude data includes vehicle speed information of the vehicle, the correction includes bounce correction, and the correction module is configured to perform bounce correction on the video data corresponding to the speed information that exceeds the speed threshold if the speed of the vehicle indicated by the speed information exceeds the speed threshold.

[0018] In some possible embodiments, the compensation module is configured to play the compensation video through an in-vehicle display screen of the vehicle to perform visual compensation.

[0019] In some possible embodiments, the acquisition module is configured to acquire scene information related to a driving scene of the vehicle; the compensation module is configured to adjust the brightness of the compensation video according to the scene information; and adjust the transparency and / or size of the visual graphic information in the compensation video according to the scene information.

[0020] In some possible embodiments, the compensation module is configured to adjust the viewing angle of the compensation video according to the position of the in-vehicle display screen.

[0021] In a third aspect, the present application provides an electronic device for visual compensation, including: a memory storing at least one program instruction for visual compensation; a processor, when the program instruction is executed by the processor, enabling the vehicle to implement the method in the first aspect or any possible implementation manner of the first aspect of the present application.

[0022] In a fourth aspect, the present application provides a computer program (product), the computer program (product) includes computer programs / instructions, and when the computer programs / instructions are executed by a processor, enabling the vehicle to implement the method in the first aspect or any possible implementation manner of the first aspect of the present application.

[0023] In a fifth aspect, the present application provides a computer-readable storage medium having program instructions for visual compensation stored thereon. When the program instructions are executed by one or more processors, the vehicle implements the method in the first aspect or any possible implementation manner of the first aspect of the present application.

[0024] The beneficial effects of the technical solution provided by the present application at least include:

[0025] For the technical solution provided by the present application, on the one hand, through the compensation video generated based on the video data collected by the in-vehicle camera, the visual perception of the passengers in the vehicle can be visually compensated, enabling the passengers in the vehicle to more intuitively perceive the motion state of the vehicle relative to the road and avoiding the feeling of motion sickness; on the other hand, by correcting the video data with the motion attitude data of the vehicle, and by guiding the passengers with the visual graphic information superimposed on the video data, the passengers can maintain the consistency between visual perception and vestibular perception, which is beneficial to further alleviate the passengers' motion sickness. The above method not only does not require adding hardware devices to the vehicle, but also greatly improves the comfort and convenience of the passengers' riding experience. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 is a schematic diagram of the implementation scenario provided by the embodiment of the present application;

[0028] Figure 2 is a flowchart of the method for visual compensation provided by the embodiment of the present application;

[0029] Figure 3 is a schematic structural diagram of the device for visual compensation provided by the embodiment of the present application;

[0030] Figure 4 is a schematic structural diagram of the electronic device for visual compensation provided by the embodiment of the present application. Detailed Embodiments

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0032] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0033] Figure 1 is a schematic diagram of an implementation scenario provided by an embodiment of the present application. Referring to Figure 1 , the implementation scenario provided by the embodiment of the present application may include a vehicle 11 and an in-vehicle display screen 12.

[0034] An in-vehicle control unit is installed in the vehicle 11. The in-vehicle control unit can generate a compensation video based on the motion attitude data of the vehicle 11 and the video data collected by an in-vehicle camera in the vehicle 11, so that the visual perception of the passengers in the vehicle can be compensated by the compensation video.

[0035] The in-vehicle display screen 12 can be connected to the in-vehicle control unit installed in the vehicle 11 in a wired or wireless manner, so that the in-vehicle display screen 12 plays the compensation video under the control of the in-vehicle control unit.

[0036] Optionally, the in-vehicle control unit installed in the vehicle 11 may be a terminal controller installed in the vehicle, or a server, a server cluster composed of multiple servers, or a cloud computing service center.

[0037] Those skilled in the art should understand that the above in-vehicle control unit and in-vehicle display screen are only examples. Other existing or future in-vehicle control units and in-vehicle display screens that can be applied to the present application should also be included within the protection scope of the present application and are hereby incorporated herein by reference.

[0038] When the vehicle is in a moving state, due to the vehicle compartment or other structural components of the vehicle blocking the line of sight of the passengers in the vehicle, the visual perception of the passengers in the vehicle regarding the motion state of the vehicle conflicts with the vestibular perception (for example, the visual perception is a stationary in-vehicle environment, while the vestibular perception is the actual motion state of the vehicle), thereby causing the passengers in the vehicle to feel carsick.

[0039] In related technologies, methods for relieving carsickness include drug treatment, anti-motion sickness seats, anti-motion sickness glass, anti-motion sickness glasses, etc. However, drug treatment may have side effects, anti-motion sickness seats and anti-motion sickness glass greatly increase the hardware cost of the vehicle, and anti-motion sickness glasses have poor convenience, affecting the riding experience of passengers.

[0040] In view of the above problems, an embodiment of the present application provides a method for compensating visual perception in a vehicle, which can compensate the visual perception of passengers in the vehicle through compensated videos. This not only enables passengers to more intuitively determine the motion state of the vehicle through visual perception, thereby maintaining the consistency between visual perception and vestibular perception and avoiding motion sickness, but also has high convenience and low cost.

[0041] Figure 2 FIG. is a flowchart of the visual compensation method provided by an embodiment of the present application. This method can be executed, for example, by an in-vehicle control unit installed in a vehicle, and the present application does not impose any restrictions in this regard. Refer to Figure 2 For this, the visual compensation method provided by an embodiment of the present application may include the following steps.

[0042] Step S210, obtain the motion attitude data of the vehicle and the video data collected by the in-vehicle camera.

[0043] Exemplarily, the motion attitude data of the vehicle is used for but not limited to indicating any data related to the motion of the vehicle. For example, it includes data for indicating the steering of the vehicle's steering wheel, the steering wheel angle, the speed of the vehicle, the depth of the vehicle's brake pedal, and / or the depth of the vehicle's accelerator pedal. The present application does not impose any restrictions in this regard. In some embodiments, the method for obtaining the motion attitude data of the vehicle includes, for example: collecting the motion attitude data of the vehicle through one or more in-vehicle sensors installed in the vehicle. Among them, the in-vehicle sensors include, for example, but are not limited to gyroscopes, accelerometers, accelerator pedal opening sensors, brake pedal opening sensors, steering wheel steering angle sensors, etc.

[0044] The video data collected by the in-vehicle camera can be used for but not limited to indicating the relative position relationship and relative motion relationship between the vehicle and the environment around the vehicle. The in-vehicle camera includes, for example, the vehicle's driving recorder, or any other device that can collect video data for indicating the relative position relationship and relative motion relationship between the vehicle and the environment around the vehicle. Among them, the environment around the vehicle includes, for example, the sum of all natural and artificial factors around the vehicle during the vehicle's motion, such as the road on which the vehicle is located, other vehicles and pedestrians around the vehicle, etc. The present application does not impose any restrictions in this regard.

[0045] Step S220, correct the video data according to the motion attitude data.

[0046] Considering that in actual application scenarios, the motion state of a vehicle will affect the stability and coherence of video data, resulting in video frames in the video data that may exacerbate the motion sickness feeling of passengers in the vehicle. For example, when the vehicle jolts, the stability of the video data deteriorates, and there may be jitter frames with shaky images (i.e., there are deviations between the relative position relationship and relative motion relationship of the vehicle indicated by the video frames and the actual relative position relationship and relative motion relationship of the vehicle and the environment around the vehicle); when the vehicle speed is relatively fast, the coherence of the video data deteriorates, and there may be video frames with jumping images (i.e., there is a sense of disconnection between the relative position relationship and relative motion relationship of the vehicle at two moments indicated by two adjacent video frames). In view of this, in order to ensure the compensation effect of the compensated video on the visual perception of passengers in the vehicle, the video data collected by the in-vehicle camera can be corrected.

[0047] For example, when the vehicle jolts, in order to prevent the shaky images in the video data from exacerbating the motion sickness feeling of passengers in the vehicle, the video data collected by the in-vehicle camera can be corrected for jitter. In some embodiments, the correction includes, for example, jitter correction, the video data includes, for example, standard frames and jitter frames, and correcting the video data according to the motion attitude data includes, for example: determining whether the vehicle jolts according to the motion attitude data; if the vehicle jolts, determining the transformation matrix between the standard frame and the jitter frame according to the motion attitude data; and performing jitter correction on the jitter frame according to the standard frame and the transformation matrix.

[0048] Among them, the standard frame includes, for example, a video frame in the video data where the relative position relationship and relative motion relationship of the vehicle indicated are consistent with the actual relative position relationship and relative motion relationship of the vehicle and the environment around the vehicle. The jitter frame includes, for example, a video frame in the video data where the relative position relationship and relative motion relationship of the vehicle indicated deviate from the actual relative position relationship and relative motion relationship of the vehicle and the environment around the vehicle. The transformation matrix is used to, but is not limited to, indicate the change situation of the relative position relationship and relative motion relationship of the vehicle and the environment around the vehicle between the first moment corresponding to the standard frame and the second moment corresponding to the jitter frame.

[0049] In some embodiments, the motion attitude data includes, for example, the longitudinal displacement data of the vehicle, and the method for determining whether the vehicle jolts according to the motion attitude data includes, for example: if the change rate of the longitudinal displacement of the vehicle within a preset period is greater than a first threshold, it is determined that the vehicle has jolted. Among them, the value of the first threshold can be adjusted according to the actual application situation, and the present application does not make any restrictions in this regard.

[0050] When the vehicle speed is relatively high, in order to avoid the jittery images in the video data from exacerbating the motion sickness of the passengers in the vehicle, the video data collected by the in-vehicle camera can be subjected to jitter correction. In some embodiments, the motion attitude data includes, for example, the vehicle speed information of the vehicle, and the correction includes, for example, jitter correction. Correcting the video data according to the motion attitude data includes, for example: if the speed of the vehicle indicated by the vehicle speed information exceeds the speed threshold, performing jitter correction on the video data corresponding to the speed information that exceeds the speed threshold.

[0051] Among them, the value of the speed threshold can be adjusted according to the actual application situation, and the present application does not impose any restrictions in this regard. The method of performing jitter correction on the video data corresponding to the speed information that exceeds the speed threshold includes, for example: generating an intermediate frame between two adjacent video frames with jittery images through frame interpolation (the intermediate frame is used for, but not limited to, indicating a video frame that can reduce the sense of disconnection between the relative position relationship and the relative motion relationship of the vehicle and the environment around the vehicle at two moments indicated by two adjacent video frames).

[0052] Step S230, superimposing visual graphic information on the corrected video data to generate a compensated video. Among them, the visual graphic information is used to indicate the motion state of the vehicle relative to the road.

[0053] In some embodiments, the method of superimposing visual graphic information on the corrected video data can include, for example: using video editing software (such as Adobe Premiere Pro, Final Cut Pro, DaVinci Resolve, etc.), 3D engine tools (such as Unreal Engine, Unity, Blender, etc.), etc. to superimpose the visual image information on the corrected video data.

[0054] As described above, the video data collected by the in-vehicle camera can indicate the relative position relationship and the relative motion relationship of the vehicle and the environment around the vehicle. Considering that when the relative position relationship and the relative motion relationship of the vehicle and the environment around the vehicle are relatively complex (for example, there are multiple other vehicles around the vehicle, and the relative motion relationships of the multiple other vehicles with the vehicle are different), it may exacerbate the visual perception burden of the passengers in the vehicle, making it impossible for the passengers in the vehicle to intuitively determine the motion state of the vehicle through visual perception. In view of this, in the embodiments of the present application, through the visual graphic information that can indicate the motion state of the vehicle relative to the road, the complex relative position relationship and the relative motion relationship of the vehicle and the environment around the vehicle can be simplified to the motion state of the vehicle relative to the road, thereby reducing the visual perception burden of the passengers in the vehicle, enhancing the intuitiveness of the visual perception of the passengers in the vehicle when perceiving the motion state of the vehicle, and being conducive to reducing the motion sickness of the passengers in the vehicle.

[0055] The motion state of the vehicle relative to the road includes, for example, the current motion state of the vehicle relative to the road (i.e., the real-time motion state of the vehicle relative to the road). The visualized graphic information includes, for example, the first graphic information for indicating the current motion state of the vehicle relative to the road. The method provided by the embodiments of the present application includes: generating the first graphic information according to the motion attitude data. In some embodiments, when the visualized graphic information is the first graphic information, superimposing the visualized graphic information on the corrected video data, for example, includes: superimposing the first graphic information on the corrected video data.

[0056] Exemplarily, the first graphic information includes, for example, a steering wheel graphic for indicating the steering and angle of the vehicle's steering wheel, an instrument panel graphic for indicating the vehicle's speed, a first straight arrow graphic for indicating the vehicle's acceleration, a first curved arrow graphic for indicating the vehicle's turning, a throttle pedal graphic and a brake pedal graphic for indicating the pedal depth of the vehicle, a spirit level graphic for indicating the left-right tilt angle and the front-rear pitch angle of the vehicle, etc. The present application does not make any limitation in this regard.

[0057] The motion state of the vehicle relative to the road includes, for example, the future motion state of the vehicle relative to the road indicated by the vehicle's navigation information. The visualized graphic information includes, for example, the second graphic information for helping the passengers in the vehicle to anticipate the motion state of the vehicle relative to the road. The method provided by the embodiments of the present application includes: obtaining the navigation data of the vehicle; generating the second graphic information according to the navigation data. In some embodiments, when the visualized graphic information is the second graphic information, superimposing the visualized graphic information on the corrected video data, for example, includes: superimposing the second graphic information on the corrected video data.

[0058] Among them, the navigation data of the vehicle can be obtained, for example, through GNSS (Compass Navigation Satellite System), GPS (Global Positioning System), etc. The present application does not make any limitation in this regard.

[0059] The second graphic information includes, for example, a second straight arrow graphic for helping the passengers in the vehicle to anticipate the vehicle going straight, a second curved arrow graphic for helping the passengers in the vehicle to anticipate the vehicle turning, etc. The present application does not make any limitation in this regard.

[0060] Step S240, performing visual compensation through the compensated video.

[0061] Optionally, the compensation video is used for, but not limited to, converting the motion state of the vehicle into a form of visual information to compensate for the deviation between the visual perception of the vehicle motion state by the in-vehicle passengers and the actual motion state of the vehicle when the line of sight of the in-vehicle passengers is blocked by the carriage or other structural components of the vehicle, so as to make the visual perception of the in-vehicle passengers consistent with the vestibular perception and avoid the feeling of motion sickness.

[0062] In some embodiments, the visual perception of the in-vehicle passengers is compensated by the compensation video. For example, it includes playing the compensation video through the in-vehicle display screen of the vehicle for visual compensation.

[0063] The in-vehicle display screen includes, for example, one or more. When the in-vehicle display screen of the vehicle includes multiple ones, the multiple in-vehicle display screens can be arranged at different positions inside the vehicle to facilitate compensating the visual perception of the passengers at different positions inside the vehicle.

[0064] Considering that the visual perception of the passengers at different positions inside the vehicle may have different perspectives on the motion state of the vehicle. In view of this, when playing the compensation video through the in-vehicle display screen of the vehicle, the method provided by the embodiments of the present application includes, for example: adjusting the perspective of the compensation video according to the position of the in-vehicle display screen so that the perspective of the compensation video fits the motion direction of the heads of the in-vehicle passengers.

[0065] It is also considered that when the driving scenario of the vehicle changes, the environment around the vehicle may affect the visual perception of the in-vehicle passengers, thereby affecting the compensation effect of the compensation video on the visual perception of the in-vehicle passengers. For example, when the vehicle drives from an environment with relatively weak light intensity into an environment with relatively strong light intensity, the visual perception of the in-vehicle passengers on the compensation video will change.

[0066] In view of this, the method provided by the embodiments of the present application includes, for example: obtaining scene information related to the driving scenario of the vehicle; when playing the compensation video through the in-vehicle display screen of the vehicle, adjusting the brightness of the compensation video according to the scene information, and adjusting the transparency and / or size of the visual graphic information in the compensation video according to the scene information. For example, when the light intensity of the environment around the vehicle indicated by the scene information becomes stronger, turning up the brightness of the compensation video, and turning up the contrast of the visual graphic information in the compensation video; or, when the light intensity of the environment around the vehicle indicated by the scene information becomes stronger, turning up the brightness of the compensation video, and enlarging the visual graphic information in the compensation video; or, when the light intensity of the environment around the vehicle indicated by the scene information becomes stronger, turning up the brightness of the compensation video, and turning up the contrast of the visual graphic information in the compensation video and enlarging the visual graphic information.

[0067] On the one hand, the technical solution provided by this application can visually compensate the visual perception of passengers in the vehicle through the compensated video generated based on the video data collected by the in-vehicle camera, enabling the passengers in the vehicle to more intuitively perceive the motion state of the vehicle relative to the road and avoiding the feeling of motion sickness. On the other hand, by correcting the video data with the vehicle's motion attitude data and guiding the passengers through the visual graphic information superimposed on the video data, the passengers can maintain the consistency between visual perception and vestibular perception, which is conducive to further alleviating the passengers' motion sickness. The above method not only does not require adding hardware devices to the vehicle, but also greatly improves the comfort and convenience of the passengers' riding experience.

[0068] In some other possible implementation manners, this application also provides a visual compensation device. Figure 3 It is a schematic structural diagram of the visual compensation device provided by an embodiment of this application. Refer to Figure 3 The visual compensation device provided by the embodiment of this application includes the following modules.

[0069] An acquisition module 310, configured to acquire the vehicle's motion attitude data and the video data collected by the in-vehicle camera.

[0070] A correction module 320, configured to correct the video data according to the motion attitude data.

[0071] A graphic overlay module 330, configured to overlay visual graphic information on the corrected video data to generate a compensated video. The visual graphic information is used to indicate the motion state of the vehicle relative to the road.

[0072] A compensation module 340, configured to perform visual compensation through the compensated video.

[0073] In some possible implementation manners, the visual graphic information includes first graphic information for indicating the current motion state of the vehicle relative to the road. The graphic overlay module 330 is configured to generate the first graphic information according to the motion attitude data; the correction module 320 is configured to overlay the first graphic information on the corrected video data.

[0074] In some possible implementation manners, the visual graphic information includes second graphic information for predicting the motion state of the vehicle relative to the road. The acquisition module 310 is configured to acquire the vehicle's navigation data; the graphic overlay module 330 is configured to generate the second graphic information according to the navigation data; the correction module 320 is configured to overlay the second graphic information on the corrected video data.

[0075] In some possible embodiments, the correction includes jitter correction, the video data includes standard frames and jitter frames, and the correction module 320 is configured to determine whether the vehicle jitters according to the motion attitude data; if the vehicle jitters, determine a transformation matrix between the standard frame and the jitter frame according to the motion attitude data; and perform jitter correction on the jitter frame according to the standard frame and the transformation matrix.

[0076] In some possible embodiments, the motion attitude data includes the vehicle speed information of the vehicle, the correction includes bounce correction, and the correction module 320 is configured to perform bounce correction on the video data corresponding to the vehicle speed information that exceeds the speed threshold if the speed of the vehicle indicated by the vehicle speed information exceeds the speed threshold.

[0077] In some possible embodiments, the compensation module 340 is configured to play a compensation video through the in-vehicle display screen of the vehicle to perform visual compensation.

[0078] In some possible embodiments, the acquisition module 310 is configured to acquire scene information related to the driving scene of the vehicle; the compensation module 340 is configured to adjust the brightness of the compensation video according to the scene information; and adjust the transparency and / or size of the visual graphic information in the compensation video according to the scene information.

[0079] In some possible embodiments, the compensation module 340 is configured to adjust the viewing angle of the compensation video according to the position of the in-vehicle display screen.

[0080] It should be understood that when the above Figure 3 provided visual compensation device implements its functions, only the above division of each functional module is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The visual compensation device provided in the above embodiments and the visual compensation method embodiments belong to the same concept, and the specific implementation process is detailed in the visual compensation method embodiments.

[0081] In some other possible embodiments, the present application further provides an electronic device for visual compensation. Figure 4 is a schematic structural diagram of the electronic device for visual compensation provided by the embodiments of the present application. Refer to Figure 4 The electronic device for visual compensation provided by the embodiments of the present application includes:

[0082] A memory 410, on which at least one program instruction for visual compensation is stored.

[0083] A processor 420, when the above program instruction is executed by the processor 420, enables the vehicle to implement the above combination Figure 2The steps of the described method and its various embodiments. Depending on the implementation, the processor 420 can be a CPU (central processing unit), GPU (graphics processing unit), or one or more types of other general-purpose and / or special-purpose processors, including but not limited to DSP (digital signal processor), ASIC (application specific integrated circuit), FPGA (field-programmable gate array), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., and the number thereof can be determined according to actual needs.

[0084] In some other possible embodiments, the present application further provides a computer program (product), the computer program (product) includes computer programs / instructions, and the computer programs / instructions are executed by a processor to enable the vehicle to implement the method and the steps of its various embodiments described above in combination with Figure 2 the described method and the steps of its various embodiments.

[0085] In some other possible embodiments, the present application further provides a computer-readable storage medium, on which program instructions for visual compensation are stored. When the program instructions are executed by one or more processors, the vehicle is enabled to implement the method and the steps of its various embodiments described above in combination with Figure 2 the described method and the steps of its various embodiments. The computer-readable storage medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, but is not limited to, be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0086] It should also be noted that the terms "first", "second", etc. (if any) in the description and claims of this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order different from those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0087] The term "and / or" in the embodiments of this application is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, both A and B exist simultaneously, and B exists alone.

[0088] The above is only for the convenience of those skilled in the art to understand the technical solution of this application and does not limit this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A method for visual compensation, characterized in that The method includes: Obtaining the motion attitude data of the vehicle and the video data collected by the in-vehicle camera; Correcting the video data according to the motion attitude data; Overlaying visual graphic information on the corrected video data to generate a compensated video, wherein the visual graphic information is used to indicate the motion state of the vehicle relative to the road; Performing visual compensation through the compensated video.

2. The method according to claim 1, wherein The visual graphic information includes first graphic information for indicating the current motion state of the vehicle relative to the road. The method further includes: Generating the first graphic information according to the motion attitude data; The overlaying visual graphic information on the corrected video data includes: Overlaying the first graphic information on the corrected video data.

3. The method according to claim 1, characterized in that The visual graphic information includes second graphic information for predicting the motion state of the vehicle relative to the road. The method further includes: Obtaining the navigation data of the vehicle; Generating the second graphic information according to the navigation data; The overlaying visual graphic information on the corrected video data includes: Overlaying the second graphic information on the corrected video data.

4. The method according to claim 1, wherein The correction includes jitter correction. The video data includes standard frames and jitter frames. The correcting the video data according to the motion attitude data includes: Determining whether the vehicle jitters according to the motion attitude data; If the vehicle jitters, determining the transformation matrix between the standard frame and the jitter frame according to the motion attitude data; Performing jitter correction on the jitter frame according to the standard frame and the transformation matrix.

5. The method according to claim 1, wherein The motion attitude data includes the vehicle speed information of the vehicle. The correction includes bounce correction. The correcting the video data according to the motion attitude data includes: If the speed of the vehicle indicated by the vehicle speed information exceeds the speed threshold, performing bounce correction on the video data corresponding to the speed information exceeding the speed threshold.

6. The method according to any one of claims 1-5, characterized in that, The performing visual compensation through the compensated video includes: Playing the compensated video through the in-vehicle display screen of the vehicle to perform visual compensation.

7. The method according to claim 6, characterized in that, The method further includes: Obtaining scene information related to the driving scene of the vehicle; When playing the compensated video through the in-vehicle display screen of the vehicle, the method further includes: Adjusting the brightness of the compensated video according to the scene information; and Adjusting the transparency and / or size of the visual graphic information in the compensated video according to the scene information.

8. The method according to claim 6, wherein When playing the compensated video through the in-vehicle display screen of the vehicle, the method further includes: Adjusting the viewing angle of the compensated video according to the position of the in-vehicle display screen.

9. An electronic device, characterized in that, Including: A memory storing program instructions for visual compensation; And A processor, when the program instructions are executed by the processor, enabling the vehicle to implement the method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, Storing program instructions for visual compensation thereon, when the program instructions are executed by one or more processors, enabling the vehicle to implement the method according to any one of claims 1-8.

Images