Panoramic processing method and system, product and vehicle

Abstract

The invention provides a panoramic processing method and system, a product and a vehicle, and belongs to the technical field of panoramic processing. The method comprises the steps that collected data and a product identifier of an all-around camera system on a vehicle are obtained, and the all-around camera system has parking sensing parameter configuration corresponding to a parking strategy of the vehicle; adjusting parking sensing parameter configuration into panoramic sensing parameter configuration according to the product identifier of the panoramic camera system; and generating panoramic data according to the acquired data and the panoramic perception parameter configuration. According to the invention, based on the perception parameters of the all-round camera, the perception identification requirement of the parking strategy can be met, and the panorama display difference can be reduced at the same time.

Description

Technical Field

[0001] Embodiments of the present application relate to the technical field of panoramic processing, and more specifically, to a panoramic processing method, system, product, and vehicle. Background Art

[0002] With the development of intelligent vehicles, higher requirements are placed on the car's 360-degree vision and automatic parking experience. 360-degree vision and automatic parking have gradually become standard configurations in the automotive industry. Different vehicles may adopt different parking strategies, and different parking strategies also have different requirements for the perception parameters of the surround-view camera. During the panoramic display process, different camera perception parameters will also lead to large differences in the panoramic display.

[0003] If the camera's perception parameters are configured only to adapt to the panoramic display, the camera's perception parameters may not be applicable to the vehicle's current parking strategy, resulting in reduced parking safety or even failure of the parking function; if the camera's perception parameters are configured only to adapt to the parking strategy, the panoramic display effect will be poor and there will be large differences, resulting in a poor user experience.

[0004] Therefore, there is an urgent need for a camera-based perception parameter method that can not only meet the perception and recognition requirements of parking strategies, but also reduce the panoramic display differences. Summary of the Invention

[0005] The embodiments of the present application provide a panoramic processing method, system, product and vehicle, which are intended to meet the perception and recognition requirements of parking strategies based on the perception parameters of a surround-view camera, while also reducing panoramic display differences.

[0006] In a first aspect, an embodiment of the present application provides a panoramic processing method, the method comprising: Obtaining collected data and a product identifier of a surround-view camera system on a vehicle, the surround-view camera system having a parking perception parameter configuration corresponding to a parking strategy of the vehicle; adjusting the parking perception parameter configuration to a panoramic perception parameter configuration according to a product identifier of the surround-view camera system; Panoramic data is generated according to the collected data and the panoramic perception parameter configuration.

[0007] Optionally, adjusting the parking perception parameter configuration to a panoramic perception parameter configuration according to the product identification of the surround view camera system includes: According to the product identification of the surround-view camera system, calling a panoramic algorithm package corresponding to the product identification, wherein the panoramic algorithm package has preset adjustment rules corresponding to different perception parameters; The parking perception parameter configuration is adjusted to a panoramic perception parameter configuration through the panoramic algorithm package.

[0008] Optionally, according to the product identification of the surround view camera system, calling the panoramic algorithm package corresponding to the product identification includes: Determining, according to the product identification of the surround-view camera system, a calling interface of a panoramic algorithm package corresponding to the product identification; The product identification of the surround-view camera system and the parking perception parameter configuration are sent to the panoramic algorithm package corresponding to the product identification through the calling interface.

[0009] Optionally, sending the product identification of the surround-view camera system and the parking perception parameter configuration to the panoramic algorithm package corresponding to the product identification through the calling interface includes: Determining interface information corresponding to the product identifier and the parking perception parameter configuration according to the interface protocol corresponding to the panoramic algorithm package; The interface information is sent to the panoramic algorithm package through the calling interface.

[0010] Optionally, before adjusting the parking perception parameter configuration to the panoramic perception parameter configuration using the panoramic algorithm package, the method further includes: It is determined that the panoramic algorithm package successfully parses the interface information.

[0011] Optionally, in the parking perception parameter configuration, each perception parameter of the surround view camera system is configured as an initial parameter value corresponding to the parking strategy of the vehicle.

[0012] Optionally, the perception parameters of the surround view camera system include brightness, contrast, color saturation and sharpness.

[0013] Optionally, adjusting the parking perception parameter configuration to a panoramic perception parameter configuration through the panoramic algorithm package includes: Replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter using the panoramic algorithm package; The initial parameter values ​​corresponding to the non-target perception parameters in the parking perception parameter configuration and the panoramic parameter values ​​or default parameter values ​​corresponding to the respective target perception parameters are used as the panoramic perception parameter configuration.

[0014] Optionally, replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter includes: When any target perception parameter matches a corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with the panoramic parameter value corresponding to the target perception parameter.

[0015] Optionally, the panoramic parameter value corresponding to any target perception parameter is determined by compensating and optimizing the differences between panoramic display results corresponding to different environmental images.

[0016] Optionally, the method further includes: When the panoramic algorithm package presets correction values ​​of the panoramic parameter value of any target perception parameter in different scenes, the correction value corresponding to the panoramic parameter value in the current scene is called to correct the panoramic parameter value.

[0017] Optionally, replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter further includes: When any target perception parameter does not match a corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with a default parameter value corresponding to the target perception parameter.

[0018] Optionally, the method further includes: When the initial parameter value of any target perception parameter is replaced by the default parameter value corresponding to the target perception parameter, an abnormal record of the target perception parameter is generated, and the abnormal record is reported to the host of the vehicle.

[0019] In a second aspect, an embodiment of the present application provides a panoramic processing system, the system comprising: a parking controller for sending a product identification and parking perception parameter configuration of the vehicle's surround view camera system to the multimedia controller; The multimedia controller is used to adjust the parking perception parameter configuration to a panoramic perception parameter configuration according to the product identification of the surround-view camera system, and generate panoramic data according to the collected data of the surround-view camera system and the panoramic perception parameter configuration.

[0020] Optionally, the parking controller is further configured to: The product identification of the surround-view camera system and the parking perception parameter configuration are read from the surround-view camera system.

[0021] Optionally, the parking controller is further configured to: reading a product identification of the surround-view camera system from the surround-view camera system; The parking perception parameter configuration corresponding to the product identification of the surround view camera system is determined from pre-stored parking perception parameter configurations corresponding to different product identifications.

[0022] Optionally, the multimedia controller is used to: Sending the product identification and the parking perception parameter configuration to the interface of the panoramic algorithm package corresponding to the product identification via the first transmission link; The panoramic algorithm package is used to adjust the parking perception parameter configuration to a panoramic perception parameter configuration.

[0023] Optionally, the first transmission link includes an MCU, a HAL layer and an API layer.

[0024] Optionally, the panoramic algorithm package is used to: Replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter; The initial parameter values ​​corresponding to the non-target perception parameters in the parking perception parameter configuration and the panoramic parameter values ​​or default parameter values ​​corresponding to the respective target perception parameters are used as the panoramic perception parameter configuration.

[0025] Optionally, the multimedia controller is further configured to: Sending the collected data of the surround view camera system to the application layer via a second transmission link; Through the application layer, panoramic processing is performed according to the collected data and the panoramic perception parameter configuration to generate panoramic data.

[0026] Optionally, the second transmission link includes Kemel, HAL layer and BMMcamera application layer.

[0027] In a third aspect, an embodiment of the present application provides an electronic device comprising: at least one processor, and a memory, wherein the memory stores a computer program that can be run on the processor, wherein when the processor executes the computer program, the panoramic processing method described in the first aspect of the embodiment is executed.

[0028] In a fourth aspect, an embodiment of the present application provides a non-volatile readable storage medium, wherein the non-volatile readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the panoramic processing method described in the first aspect of the embodiment is executed.

[0029] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the panoramic processing method described in the first aspect of the embodiment.

[0030] In a sixth aspect, an embodiment of the present application provides a vehicle, which is used to execute the panoramic processing method described in the first aspect of the embodiment, or includes the panoramic processing system described in the second aspect of the embodiment.

[0031] Beneficial effects: In this method, the surround-view camera system on the vehicle has a parking perception parameter configuration corresponding to the parking strategy of the vehicle, so that the perception parameters based on the surround-view camera can meet the perception and recognition requirements of the parking strategy, and a product identification is preset for the surround-view camera system. During the panoramic processing, the parking perception parameter configuration of the surround-view camera system adapted to the parking strategy can be adjusted to a panoramic perception parameter configuration of the surround-view camera system adapted to panoramic display through the product identification. According to the collected data and the panoramic perception parameter configuration of the surround-view camera system, the display effect of the generated panoramic data is better, and the panoramic display difference can be narrowed. Therefore, the perception parameters based on the surround-view camera system can be integrated to improve the parking performance and optimize the panoramic display. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] Figure 1 This is a flowchart of the steps of the panoramic processing method proposed in one embodiment of the present application; Figure 2 is a structural diagram of a panoramic processing system proposed in one embodiment of the present application; Figure 3 is a structural diagram of a panoramic processing system provided by an embodiment of the present application; Figure 4 This is a functional module diagram of a panoramic processing device proposed in one embodiment of the present application; Figure 5 is a schematic diagram of an electronic device provided in one embodiment of the present application; Figure 6 is a schematic diagram of a non-volatile readable storage medium proposed in an embodiment of the present application; Figure 7 It is a schematic diagram of a computer program product proposed in one embodiment of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] API: Application Programming linterface, application programming interface; ISP: Image Signal Processing, image signal processing; MCU: Microcontroller Unit, microprocessor; HAL: Hardware Abstraction Layer, hardware abstraction layer.

[0036] With the development of intelligent automobiles, there are higher requirements for the 360-degree vision and automatic parking experience of automobiles. 360-degree vision and automatic parking have gradually become standard configurations in the automotive industry.

[0037] Currently, the same car model may adopt different parking strategies, and different parking strategies have different requirements for the perception parameters of the surround-view camera. In the process of panoramic display, the perception parameters of different cameras will also lead to large differences in the panoramic display.

[0038] If the camera's perception parameters are configured only to adapt to the panoramic display, the camera's perception parameters may not be applicable to the vehicle's current parking strategy, resulting in reduced parking safety or even failure of the parking function; if the camera's perception parameters are configured only to adapt to the parking strategy, the panoramic display effect will be poor and there will be large differences, resulting in a poor user experience.

[0039] Therefore, there is an urgent need for a method that can make the camera's perception parameters meet the perception and recognition requirements of parking strategies while also reducing the panoramic display differences.

[0040] Although there is currently a solution to develop different panoramic algorithm packages by adding model IDs for different models, this method of adding model IDs requires all controllers that need to identify the model ID to be configured with an adaptive software package based on the newly added model ID, which increases the scope of changes to the entire vehicle. It involves a lot of development work such as the development and configuration of vehicle software such as topology and multimedia controllers, as well as re-applying for software coding based on the new model ID, making development more difficult and less adaptable.

[0041] Therefore, the embodiment of the present application provides a panoramic processing method, which can make the camera's perception parameters meet the perception and recognition requirements of the parking strategy, while also reducing the panoramic display differences. Compared with the method of adding a new vehicle model ID, it has stronger adaptability and universality, and can save a lot of development resources.

[0042] Reference Figure 1 , shows a flowchart of a panoramic processing method in an embodiment of the present application, the method may specifically include the following steps: S101: Acquire collected data and a product identification of a surround-view camera system on a vehicle, wherein the surround-view camera system has a parking perception parameter configuration corresponding to a parking strategy of the vehicle.

[0043] In the actual implementation process, a surround-view camera system may include multiple cameras, and the type and manufacturer of the cameras can be selected according to the needs of the actual application. For example, a surround-view camera system may include multiple cameras of the same model from the same manufacturer, different models of cameras from the same manufacturer, or cameras from different manufacturers.

[0044] When a surround-view camera system is applied to a vehicle, the various perception parameters of the surround-view camera system are first adjusted according to the perception requirements of the vehicle's parking strategy, so that the surround-view camera system has the parking perception parameter configuration corresponding to the vehicle's parking strategy, such as adjusting to meet the parking strategy's perception requirements in different environments such as daytime and nighttime scenes.

[0045] In the parking perception parameter configuration of the surround-view camera system, each perception parameter of the surround-view camera system is configured as an initial parameter value corresponding to the vehicle's parking strategy. For example, the perception parameters of the surround-view camera system include but are not limited to brightness, contrast, color saturation and sharpness.

[0046] After debugging the surround-view camera system's ISP parameters such as brightness, contrast, color saturation and sharpness through actual vehicle debugging, the surround-view camera system has parking perception parameter configurations corresponding to the vehicle's parking strategy. Based on the collected data of the surround-view camera system on the vehicle, it can be ensured that the vehicle's parking strategy can be executed normally, giving priority to ensuring the normal use of the vehicle's parking performance to ensure parking safety.

[0047] When the surround-view camera system includes multiple cameras of the same model from the same manufacturer, the perception parameter configurations of each camera in the parking perception parameter configuration are the same. When the surround-view camera system includes cameras from different manufacturers or cameras of different models, the perception parameters of each camera can be configured separately, and the perception parameter configurations corresponding to each camera can be combined into a parking perception parameter configuration.

[0048] In actual application, a unique product identifier may be pre-assigned to each surround-view camera system, and different surround-view camera systems may be distinguished by the product identifier.

[0049] S102: According to the product identification of the surround view camera system, the parking perception parameter configuration is adjusted to a panoramic perception parameter configuration.

[0050] In order to prioritize the safety of vehicle parking, the surround-view camera system on the vehicle has a parking perception parameter configuration. If the perception parameters are not adjusted, the panoramic data will continue to be generated based on the parking perception parameter configuration during the panoramic processing process, which will lead to differences in the final panoramic display. For example, the data fusion of different cameras in the surround-view camera system on the vehicle will be different, and the panoramic displays of different models will also be quite different.

[0051] Therefore, during the panoramic processing process, this method adjusts the parking perception parameter configuration applicable to the parking strategy to a panoramic perception parameter configuration applicable to panoramic processing according to the product identification of the surround-view camera system. Based on the panoramic perception parameter configuration applicable to panoramic processing, the collected data of the surround-view camera system is panoramicly processed, and the display effect of the obtained panoramic data is better, and the panoramic display difference can be reduced.

[0052] In a feasible implementation, the process of adjusting the parking perception parameter configuration to the panoramic perception parameter configuration according to the product identification of the surround view camera system includes the following steps: A1: According to the product identification of the surround view camera system, a panoramic algorithm package corresponding to the product identification is called.

[0053] Specifically, the panoramic processing process includes a panoramic algorithm package, which has preset adjustment rules corresponding to different perception parameters in the parking perception parameter configuration. For example, the perception parameters that need to be adjusted in the parking perception parameter configuration can be pre-configured in the panoramic algorithm package as target perception parameters, and the adjustment rules corresponding to each target perception parameter can be configured.

[0054] For example, it is predetermined that the brightness needs to be adjusted, and the brightness in the parking perception parameter configuration is a target perception parameter. The target perception parameter that needs to be adjusted during the panoramic processing process can be set according to the needs of the actual application, and this embodiment does not impose any restrictions.

[0055] The adjustment rules include formulas or algorithms for calculating adjusted parameter values ​​corresponding to target perception parameters based on actual debugging. Since the combination of cameras and parking perception parameter configurations in the entire surround-view camera system have been determined, the adjusted parameter values ​​corresponding to each target perception parameter can also be directly preset. The adjustment rules can be selected according to the needs of actual applications.

[0056] Different surround-view camera systems each correspond to a panoramic algorithm package, and there is a mapping relationship between the product identifier of a surround-view camera system and the panoramic algorithm package. For example, there is a one-to-one correspondence between a product identifier and the API interface of the panoramic algorithm package. Then, the panoramic algorithm package corresponding to the product identifier can be called according to the product identifier of the surround-view camera system.

[0057] The vehicle can pre-store panoramic algorithm packages corresponding to multiple surround-view camera systems. According to the product identification of the surround-view camera system currently used in the vehicle, it can be uniquely mapped to the panoramic algorithm package corresponding to the product identification. Through the panoramic algorithm package, the parking perception parameter configuration of the surround-view camera system can be adjusted to the panoramic perception parameter configuration, thereby making the panoramic display effect based on the surround-view camera system better.

[0058] For example, the product identifier of the surround-view camera system 1 is product ID1, and according to product ID1, it can be mapped to API interface 1 that calls panoramic algorithm package 1; the product identifier of the surround-view camera system 2 is product ID2, and according to product ID2, it can be mapped to API interface 2 that calls panoramic algorithm package 2.

[0059] By pre-storing panoramic algorithm packages corresponding to different surround-view camera systems during the vehicle's panoramic processing, it is convenient to replace the surround-view camera system with another one during subsequent vehicle maintenance or updates, thereby improving the vehicle's applicability to different surround-view camera systems.

[0060] Specifically, according to the product identification of the surround-view camera system, in the process of calling the panoramic algorithm package corresponding to the product identification, the calling interface of the panoramic algorithm package corresponding to the product identification is first determined according to the product identification of the surround-view camera system, and then the product identification of the surround-view camera system and the parking perception parameter configuration are sent to the panoramic algorithm package corresponding to the product identification through the calling interface.

[0061] During the actual implementation process, the product identification and parking perception parameter configuration of the surround-view camera system can be directly read from the surround-view camera system currently used in the vehicle, or the product identification of the surround-view camera system can be directly read from the surround-view camera system, and then the parking perception parameter configuration corresponding to the product identification of the surround-view camera system can be determined from the pre-stored parking perception parameter configurations corresponding to different product identifications.

[0062] For example, a parking perception parameter configuration library can be pre-established on the vehicle. The parking perception parameter configuration library includes the mapping relationship between the product identification of multiple surround-view camera systems and the parking perception parameter configuration. After obtaining the product identification of the surround-view camera system, the parking perception parameter configuration corresponding to the product identification can be determined in the parking perception parameter configuration library.

[0063] Furthermore, in the process of sending the product identification of the surround-view camera system and the parking perception parameter configuration to the panoramic algorithm package corresponding to the product identification through the calling interface, the interface information corresponding to the product identification and the parking perception parameter configuration can also be determined according to the interface protocol corresponding to the panoramic algorithm package; and the interface information is sent to the panoramic algorithm package through the calling interface.

[0064] Since the product identification and parking perception parameter configuration of the surround-view camera system are transmitted based on the signal type of the vehicle's public network, such as the signal type of the vehicle's CAN bus, the interface of the panoramic algorithm package pre-defines its own interface protocol. If the product identification and parking perception parameter configuration transmitted based on the signal type of the vehicle's public network are not converted, the panoramic algorithm package will not be able to recognize the product identification and parking perception parameter configuration.

[0065] Therefore, when calling the panoramic algorithm package based on the product identification of the surround-view camera system, it is first necessary to determine the interface information corresponding to the product identification and parking perception parameter configuration according to the interface protocol corresponding to the panoramic algorithm package, and convert the product identification and parking perception parameters transmitted by the signal based on the vehicle's public network into an information format that can be recognized by the panoramic algorithm package. For example, according to the interface protocol of the panoramic algorithm package, such as the API interface protocol, the interface information containing the product identification and parking perception parameters can be encapsulated.

[0066] Then, based on the mapping relationship between the product identification and the interface of the panoramic algorithm package, the interface information is sent to the panoramic algorithm package corresponding to the product identification through the calling interface of the panoramic algorithm package corresponding to the product identification, and then the parking perception parameter configuration can be adjusted to the panoramic perception parameter configuration through the panoramic algorithm package.

[0067] A2: Using the panoramic algorithm package, the parking perception parameter configuration is adjusted to a panoramic perception parameter configuration.

[0068] Specifically, before adjusting the parking perception parameter configuration to the panoramic perception parameter configuration through the panoramic algorithm package, you can also first determine whether the panoramic algorithm package has successfully parsed the interface information. If the parsing is not successful, you can perform panoramic processing according to the parking perception parameter configuration to ensure that panoramic data is displayed. At the same time, generate a failure message for calling the panoramic algorithm package and report it to the vehicle's host. You can also display a panoramic algorithm package call failure prompt on the vehicle to prompt the user to fix the error as soon as possible.

[0069] When the panoramic algorithm package successfully parses the interface information, the panoramic algorithm package adjusts the parking perception parameter configuration to a panoramic perception parameter configuration according to adjustment rules corresponding to different parking perception parameters.

[0070] In a feasible implementation, the process of adjusting the parking perception parameter configuration to the panoramic perception parameter configuration using the panoramic algorithm package may include the following steps: B1: Using the panoramic algorithm package, the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration is replaced with the panoramic parameter value or default parameter value corresponding to the target perception parameter.

[0071] Specifically, after the debugging and development process, panoramic parameter values ​​corresponding to various target perception parameters of a surround-view camera system may be pre-configured in a panoramic algorithm package corresponding to the surround-view camera system.

[0072] In actual application, by matching any target perception parameter with a corresponding panoramic parameter value, it is determined whether to replace the target perception parameter with the corresponding panoramic parameter value or the corresponding default parameter value, specifically including: B11: When any target perception parameter matches a corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with the panoramic parameter value corresponding to the target perception parameter.

[0073] The panoramic parameter value of any target perception parameter configured in the panoramic algorithm package is a parameter configuration result with better panoramic display effect obtained through multiple actual debugging. Therefore, if a target perception parameter matches a corresponding panoramic parameter value, the corresponding panoramic parameter value is used to replace the target perception parameter first, thereby ensuring better panoramic processing effect.

[0074] During the development and debugging process, a large number of environmental images in different scenarios can be acquired in advance, and then the environmental images can be classified according to different features of the environmental images. The features include perception parameters, that is, the environmental images are classified according to different perception parameters, such as multiple environmental images corresponding to different brightness, multiple environmental images corresponding to different saturation, etc. Taking brightness as an example, multiple environmental images can include environmental images in various scenarios such as daytime, night with lights, and night without lights.

[0075] Panoramic processing is performed on multiple environmental images corresponding to a perception parameter. According to the differences in the panoramic processing results of each environmental image, a compensation strategy corresponding to the perception parameter is determined. The compensation strategy includes a compensation formula. After the perception parameter is compensated and optimized by the compensation strategy, the adjusted perception parameter obtained can reduce the differences in the panoramic processing results of each environmental image, so that the panoramic display visual differences of the multiple environmental images corresponding to the perception parameter are reduced.

[0076] For example, taking brightness as the perception parameter, after learning and processing the environmental images with lights at night and the environmental images without lights at night, a compensation strategy for maintaining brightness consistency is learned based on the environmental images in these two environments.

[0077] In actual application, since the perception parameters of the surround-view camera system have been configured as parameter values ​​adapted to the parking strategy, for any target perception parameter, the corresponding adjusted perception parameter can be determined according to the pre-learned compensation strategy as the panoramic parameter value of the target perception parameter, and the panoramic parameter value is written into the panoramic algorithm package.

[0078] During the process of adjusting the parking perception parameter configuration of the surround-view camera system through the panoramic algorithm package, when any target perception parameter matches the corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with the panoramic parameter value corresponding to the target perception parameter.

[0079] In a feasible implementation, when the panoramic algorithm package presets correction values ​​of the panoramic parameter value of any target perception parameter in different scenes, the correction value corresponding to the panoramic parameter value in the current scene is called to correct the panoramic parameter value.

[0080] Specifically, during the panoramic processing process, the same panoramic parameter value is also fine-tuned or corrected in different scenes. Taking the perception parameter brightness as an example, in two different scenes, daytime scenes and night scenes, if you want to further reduce the difference in panoramic display, you can enhance the brightness of the night scene to make the panoramic display clearer.

[0081] Therefore, during the development and debugging process, based on the panoramic display results of the environmental images in different scenarios corresponding to any target perception parameter adapted to the vehicle's parking strategy, when determining the panoramic parameter value corresponding to the target perception parameter, it is also possible to determine the correction value of the panoramic parameter value in different scenarios through debugging, and write the correction value of the panoramic parameter value in different scenarios into the panoramic algorithm package.

[0082] For example, when the target perception parameter is brightness, the initial parameter value L1 of the target perception parameter is first replaced by the corresponding panoramic parameter value L2, and then it can be determined whether the current scene is daytime or nighttime according to the current time. If the current scene is nighttime, the correction value corresponding to nighttime is called to correct the panoramic parameter value L2, thereby further reducing the brightness difference during panoramic display between nighttime scenes and daytime scenes.

[0083] The judgment of different scenes can be set according to the needs of actual application, such as distinguishing daytime or nighttime according to the current time, or distinguishing sunny, cloudy, rainy days, etc. according to the current weather. This embodiment does not impose any restrictions.

[0084] By replacing the initial parameter values ​​of each target perception parameter with a panoramic parameter value that can reduce the panoramic display difference, the panoramic parameter value can be corrected again according to the correction value of the current scene corresponding to the panoramic parameter value, so that the final panoramic display effect is better.

[0085] B12: When any target perception parameter does not match a corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with a default parameter value corresponding to the target perception parameter.

[0086] The target perception parameter is a preset parameter that needs to be adjusted. However, when the panoramic parameter value corresponding to the target perception parameter is not matched in the panoramic algorithm package, in order not to affect the normal panoramic display, the initial parameter value of the target perception parameter can be temporarily replaced with the corresponding default parameter value.

[0087] The default parameter value corresponding to a target perception parameter is a parameter configuration result that can ensure normal panoramic display after actual debugging. The default parameter value corresponding to a target perception parameter can be set according to the needs of actual application and is not limited in this embodiment.

[0088] In the actual development process, if the target perception parameters do not match the corresponding panoramic parameter values ​​during the debugging process and are adjusted to the default parameter values, corresponding exception records can be generated and reported, so that developers can analyze the cause of the error for optimization and debugging.

[0089] During actual application, when the initial parameter value of any target perception parameter is replaced by the default parameter value corresponding to the target perception parameter, an abnormal record of the target perception parameter can also be generated, and the abnormal record can be reported to the host of the vehicle. An abnormal prompt can also be given to remind the user to perform timely maintenance and correction of the software of the panoramic algorithm package.

[0090] For a target perception parameter, by configuring the corresponding panoramic parameter value and the corresponding default parameter value at the same time, when the panoramic parameter value is matched, the panoramic parameter value can be used first to enhance the panoramic display effect. When the panoramic parameter value is not matched, the panoramic display can also be performed normally based on the default parameter value of the target perception parameter, providing redundancy for replacing the target perception parameter during the panoramic processing process.

[0091] During the actual implementation process, the target perception parameters that need to be replaced, the panoramic parameter values ​​and default parameter values ​​corresponding to the target perception parameters, and the correction values ​​of any panoramic parameter values ​​in different scenarios included in a panoramic algorithm package can be updated by updating the panoramic algorithm package, thereby improving the adaptability of the panoramic processing process and further enhancing the panoramic display effect.

[0092] B2: using the initial parameter values ​​corresponding to the non-target perception parameters in the parking perception parameter configuration and the panoramic parameter values ​​or default parameter values ​​corresponding to the respective target perception parameters as the panoramic perception parameter configuration.

[0093] Specifically, the parking perception parameter configuration includes multiple perception parameters. During the panoramic processing process, if it is not necessary to adjust all the perception parameters to adapt to the panoramic display, the initial parameter values ​​of the non-target perception parameters and the adjusted panoramic parameter values ​​or default parameter values ​​corresponding to each target perception parameter can be used as the panoramic perception parameter configuration. During the panoramic processing process, the vehicle's panoramic processing process can select the perception parameters required in the panoramic perception parameter configuration to generate the panoramic data that is finally displayed.

[0094] During the actual implementation, the panoramic algorithm package can also filter out the perception parameters that will not be used in the panoramic processing process in the panoramic perception parameter configuration, thereby reducing the amount of data transmission and accelerating data processing efficiency.

[0095] S103: Generate panoramic data according to the collected data and the panoramic perception parameter configuration.

[0096] After adapting the parking perception parameter configuration of the surround-view camera system to the parking strategy and adjusting the panoramic perception parameter configuration to adapt to the panoramic display, panoramic data with less difference and better display effect can be generated based on the collected data and panoramic perception parameter configuration of the surround-view camera system.

[0097] The data collected by the surround view camera system can be a video stream with a preset frame rate, so as to dynamically display the environment around the vehicle on the vehicle.

[0098] Reference Figure 2 , shows a schematic structural diagram of a panoramic processing system provided by an embodiment of the present application, the system comprising: The parking controller is used to send the product identification and parking perception parameter configuration of the vehicle's surround view camera system to the multimedia controller.

[0099] The multimedia controller is used to adjust the parking perception parameter configuration to a panoramic perception parameter configuration according to the product identification of the surround-view camera system, and generate panoramic data according to the collected data of the surround-view camera system and the panoramic perception parameter configuration.

[0100] Specifically, various perception parameters of the surround-view camera system, such as brightness, contrast, color saturation and sharpness, are adjusted in advance according to the perception requirements of the vehicle's parking strategy to obtain the parking perception parameter configuration of the surround-view camera system. For example, the adjustment is made to meet the perception requirements of the parking strategy in different environments such as daytime and nighttime scenes, and priority is given to ensuring that the parking controller can achieve a normal parking process based on the collected data of the surround-view camera system.

[0101] The parking controller can obtain the collected data and product identification of the surround-view camera system, and then execute its own parking strategy based on the collected data of the surround-view camera system, and then route the product identification and parking perception parameter configuration of the surround-view camera system to the multimedia controller.

[0102] For example, the parking controller can directly read the product identification of the surround-view camera system and the parking perception parameter configuration from the surround-view camera system; the parking controller can also read the product identification from the surround-view camera system, and then determine the parking perception parameter configuration corresponding to the product identification of the surround-view camera system from the pre-stored parking perception parameter configurations corresponding to different product identifications.

[0103] During the actual implementation process, a parking perception parameter configuration library can be established in advance. The parking perception parameter configuration library can store the product identifications and parking perception parameter configurations of different surround-view camera systems. The parking controller can map the product identification of the surround-view camera system currently applied on the vehicle to the parking perception parameter configuration of the surround-view camera system currently applied.

[0104] Since there is no direct data transmission link between the parking controller and the multimedia controller on the vehicle, the product identification and parking perception parameter configuration can be routed to the multimedia controller based on the vehicle's public network, such as the vehicle's CAN bus.

[0105] Reference Figure 3 , showing a structural schematic diagram of a panoramic processing system provided by an embodiment of the present application, the multimedia controller is used to send the product identification and the parking perception parameter configuration to the interface of the panoramic algorithm package corresponding to the product identification through a first transmission link, and the panoramic algorithm package is used to adjust the parking perception parameter configuration to the panoramic perception parameter configuration.

[0106] The first transmission link includes an MCU, a HAL layer and an API layer.

[0107] Since the product identification and parking perception parameter configuration routed to the multimedia controller are based on the signal type of the vehicle's public network, such as the signal type of the vehicle's CAN bus, at the API layer, according to the interface protocol corresponding to the panoramic algorithm package, the interface information corresponding to the product identification of the surround-view camera system and the parking perception parameter configuration is determined, and the interface protocol is such as the API interface protocol.

[0108] According to the mapping relationship between the product identification and the interface of the panoramic algorithm package, the product identification and the interface information of the parking perception parameter configuration can be sent to the panoramic algorithm package corresponding to the product identification to adjust the parking perception parameter configuration to the panoramic perception parameter configuration.

[0109] The panoramic algorithm package is used to replace the initial parameter value of each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter, and to use the panoramic parameter value or default parameter value corresponding to the non-target perception parameter in the parking perception parameter configuration and each target perception parameter as the panoramic perception parameter configuration.

[0110] The process of the panoramic algorithm package adjusting the parking perception parameter configuration to the panoramic perception parameter configuration may refer to the process described in the panoramic processing method described in this embodiment.

[0111] The multimedia controller is also used to send the collected data of the surround view camera system to the application layer through a second transmission link, and perform panoramic processing through the application layer according to the collected data and the panoramic perception parameter configuration to generate panoramic data. For example, the second transmission link includes Kemel, HAL layer and BMMcamera application layer. The application layer can run a panoramic processing program to generate panoramic data and display it on the vehicle's display screen according to the collected data and the panoramic perception parameter configuration.

[0112] During the development and debugging process, the interaction logic between the parking controller and the multimedia controller, as well as between the multimedia controller and the panoramic algorithm package, can be pre-defined, and the mapping relationship between the product identification of different surround-view camera systems and the parking perception parameter configuration, and the product identification and the interface of the panoramic algorithm package can be preset.

[0113] When debugging based on multiple surround-view camera systems, after each module of the processing system is powered on and initialized, the multimedia controller performs a self-check to detect whether it has pre-stored panoramic algorithm packages corresponding to the multiple surround-view camera systems currently being debugged. For example, it attempts to call the corresponding panoramic algorithm packages based on the product identifications of the multiple surround-view camera systems. If the call fails, an error message is generated to facilitate developers to repair the error in a timely manner.

[0114] In the method and system provided by this embodiment, the surround-view camera system on the vehicle has a parking perception parameter configuration corresponding to the parking strategy of the vehicle, so that the perception and recognition requirements of the parking strategy can be met based on the perception parameters of the surround-view camera, and a product identification is preset for the surround-view camera system. During the panoramic processing, the parking perception parameter configuration of the surround-view camera system adapted to the parking strategy can be adjusted to a panoramic perception parameter configuration adapted to panoramic display through the product identification. Based on the collected data and the panoramic perception parameter configuration of the surround-view camera system, the display effect of the generated panoramic data is better, and the panoramic display difference can be narrowed. Therefore, with the perception parameters based on the surround-view camera system, the optimization of the parking performance and the panoramic display integration can be achieved.

[0115] Moreover, compared with the method of adding a new vehicle model ID, the impact of the change on the entire vehicle range is greatly reduced. It is only necessary to assign a product ID to the surround-view camera system, route the product ID and parking perception parameter configuration, and the multimedia controller calls the panoramic algorithm package corresponding to the product ID. The panoramic algorithm package adjusts the parking perception parameter configuration to obtain the panoramic perception parameter configuration for the panoramic processing process. The process is simple and easy to implement, and the scope of change involved is smaller.

[0116] Since the general vehicle ID value range is 0x00→0xFF in the method of adding new IDs, the value range of this range is limited. When the perception parameter requirements of the vehicle are different, the development process of the new vehicle ID needs to be executed again. As the current vehicle models are updated and iterated rapidly, the range and definition of the vehicle ID need to be newly planned. The workload and impact scope of the rules and range definitions will increase. This method has stronger scalability. In the new surround-view camera system, it is only necessary to add a new panoramic algorithm package, the product identification of the surround-view camera system, and the mapping relationship between the panoramic algorithm package. It has higher universality and can also save a lot of development resources.

[0117] Reference Figure 4 , shows a functional module diagram of a panoramic processing device provided by an embodiment of the present application, the device comprising: An acquisition module 100 is configured to acquire collected data and a product identifier of a surround-view camera system on a vehicle, wherein the surround-view camera system has a parking perception parameter configuration corresponding to a parking strategy of the vehicle; a parameter adjustment module 200 for adjusting the parking perception parameter configuration to a panoramic perception parameter configuration according to a product identification of the surround view camera system; The panoramic processing module 300 is configured to generate panoramic data according to the collected data and the panoramic perception parameter configuration.

[0118] Optionally, the parameter adjustment module includes: a calling unit, configured to call a panoramic algorithm package corresponding to a product identification of the surround-view camera system according to the product identification of the surround-view camera system, wherein the panoramic algorithm package is pre-set with adjustment rules corresponding to different perception parameters; A parameter adjustment unit is used to adjust the parking perception parameter configuration to a panoramic perception parameter configuration through the panoramic algorithm package.

[0119] Optionally, the calling unit includes: An interface determination unit, configured to determine, based on a product identification of the surround view camera system, a calling interface of a panoramic algorithm package corresponding to the product identification; The sending unit is used to send the product identification of the surround view camera system and the parking perception parameter configuration to the panoramic algorithm package corresponding to the product identification through the calling interface.

[0120] Optionally, the sending unit includes: an interface information generating subunit, configured to determine interface information corresponding to the product identifier and the parking perception parameter configuration according to an interface protocol corresponding to the panoramic algorithm package; The sending subunit is used to send the interface information to the panoramic algorithm package through the calling interface.

[0121] Optionally, the device further comprises: The parsing and judging module is used to determine whether the panoramic algorithm package has successfully parsed the interface information.

[0122] Optionally, in the parking perception parameter configuration, each perception parameter of the surround view camera system is configured as an initial parameter value corresponding to the parking strategy of the vehicle.

[0123] Optionally, the perception parameters of the surround view camera system include brightness, contrast, color saturation and sharpness.

[0124] Optionally, the parameter adjustment unit is used to: Replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter using the panoramic algorithm package; The initial parameter values ​​corresponding to the non-target perception parameters in the parking perception parameter configuration and the panoramic parameter values ​​or default parameter values ​​corresponding to the respective target perception parameters are used as the panoramic perception parameter configuration.

[0125] Optionally, the parameter adjustment unit is further configured to: When any target perception parameter matches a corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with the panoramic parameter value corresponding to the target perception parameter.

[0126] Optionally, the panoramic parameter value corresponding to any target perception parameter is determined by compensating and optimizing the differences between panoramic display results corresponding to different environmental images.

[0127] Optionally, the parameter adjustment unit is further configured to: When the panoramic algorithm package presets correction values ​​of the panoramic parameter value of any target perception parameter in different scenes, the correction value corresponding to the panoramic parameter value in the current scene is called to correct the panoramic parameter value.

[0128] Optionally, the parameter adjustment unit is further configured to: When any target perception parameter does not match a corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with a default parameter value corresponding to the target perception parameter.

[0129] Optionally, the device further comprises: An error reporting module is used to generate an abnormal record of any target perception parameter when the initial parameter value of the target perception parameter is replaced by the default parameter value corresponding to the target perception parameter, and report the abnormal record to the host of the vehicle.

[0130] Reference Figure 5 , shows a schematic diagram of an electronic device provided in an embodiment of the present application, comprising: at least one processor, and a memory, wherein the memory stores a computer program that can be run on the processor, wherein the processor executes the panoramic processing method described in the embodiment when executing the computer program.

[0131] Reference Figure 6 , shows a schematic diagram of a non-volatile readable storage medium provided in an embodiment of the present application, wherein the non-volatile readable storage medium stores a computer program, wherein the computer program, when executed by a processor, executes the panoramic processing method described in the embodiment.

[0132] Reference Figure 7 , shows a schematic diagram of a computer program product provided in an embodiment of the present application, including a computer program / instruction, which, when executed by a processor, implements the panoramic processing method described in the embodiment.

[0133] An embodiment of the present application also provides a vehicle, which is used to execute the panoramic processing method described in the embodiment, or includes the panoramic processing system described in the embodiment.

[0134] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0135] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, apparatuses, or computer program products. Therefore, the embodiments of the present application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware. Furthermore, the embodiments of the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0137] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0138] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0139] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0140] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0141] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A panoramic processing method, characterized in that: The method comprises: Obtaining collected data and a product identifier of a surround-view camera system on a vehicle, the surround-view camera system having a parking perception parameter configuration corresponding to a parking strategy of the vehicle; adjusting the parking perception parameter configuration to a panoramic perception parameter configuration according to a product identifier of the surround-view camera system; Panoramic data is generated according to the collected data and the panoramic perception parameter configuration.

2. The method according to claim 1, characterized in that Adjusting the parking perception parameter configuration to a panoramic perception parameter configuration according to the product identification of the surround view camera system includes: According to the product identification of the surround-view camera system, calling a panoramic algorithm package corresponding to the product identification, wherein the panoramic algorithm package has preset adjustment rules corresponding to different perception parameters; The parking perception parameter configuration is adjusted to a panoramic perception parameter configuration through the panoramic algorithm package.

3. The method according to claim 2, characterized in that According to the product identification of the surround view camera system, calling the panoramic algorithm package corresponding to the product identification includes: Determining, according to the product identification of the surround-view camera system, a calling interface of a panoramic algorithm package corresponding to the product identification; The product identification of the surround-view camera system and the parking perception parameter configuration are sent to the panoramic algorithm package corresponding to the product identification through the calling interface.

4. The method according to claim 3, characterized in that The product identification of the surround view camera system and the parking perception parameter configuration are sent to the panoramic algorithm package corresponding to the product identification through the calling interface, including: Determining interface information corresponding to the product identifier and the parking perception parameter configuration according to the interface protocol corresponding to the panoramic algorithm package; The interface information is sent to the panoramic algorithm package through the calling interface.

5. The method according to claim 4, characterized in that Before adjusting the parking perception parameter configuration to the panoramic perception parameter configuration using the panoramic algorithm package, the method further includes: It is determined that the panoramic algorithm package successfully parses the interface information.

6. The method according to claim 2, characterized in that In the parking perception parameter configuration, each perception parameter of the surround view camera system is configured as an initial parameter value corresponding to the parking strategy of the vehicle.

7. The method according to claim 6, characterized in that The perception parameters of the surround view camera system include brightness, contrast, color saturation and sharpness.

8. The method according to claim 6 or 7, characterized in that Adjusting the parking perception parameter configuration to a panoramic perception parameter configuration using the panoramic algorithm package includes: Replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter using the panoramic algorithm package; The initial parameter values ​​corresponding to the non-target perception parameters in the parking perception parameter configuration and the panoramic parameter values ​​or default parameter values ​​corresponding to the respective target perception parameters are used as the panoramic perception parameter configuration.

9. The method according to claim 8, characterized in that Replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter includes: When any target perception parameter matches a corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with the panoramic parameter value corresponding to the target perception parameter.

10. The method according to claim 9, characterized in that The panoramic parameter value corresponding to any target perception parameter is determined by compensating and optimizing the differences between the panoramic display results corresponding to different environmental images.

11. The method according to claim 9, characterized in that The method further comprises: When the panoramic algorithm package presets correction values ​​of the panoramic parameter value of any target perception parameter in different scenes, the correction value corresponding to the panoramic parameter value in the current scene is called to correct the panoramic parameter value.

12. The method according to any one of claims 9 to 11, characterized in that: Replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter, further comprising: When any target perception parameter does not match a corresponding panoramic parameter value, the initial parameter value of the target perception parameter is replaced with a default parameter value corresponding to the target perception parameter.

13. The method according to claim 12, characterized in that The method further comprises: When the initial parameter value of any target perception parameter is replaced by the default parameter value corresponding to the target perception parameter, an abnormal record of the target perception parameter is generated, and the abnormal record is reported to the host of the vehicle.

14. A panoramic processing system, characterized in that: The system comprises: a parking controller for sending a product identification and parking perception parameter configuration of the vehicle's surround view camera system to the multimedia controller; The multimedia controller is used to adjust the parking perception parameter configuration to a panoramic perception parameter configuration according to the product identification of the surround-view camera system, and generate panoramic data according to the collected data of the surround-view camera system and the panoramic perception parameter configuration.

15. The system according to claim 14, wherein: The parking controller is also used to: The product identification of the surround-view camera system and the parking perception parameter configuration are read from the surround-view camera system.

16. The system according to claim 14, wherein: The parking controller is also used to: reading a product identification of the surround-view camera system from the surround-view camera system; The parking perception parameter configuration corresponding to the product identification of the surround view camera system is determined from pre-stored parking perception parameter configurations corresponding to different product identifications.

17. The system according to claim 14, wherein: The multimedia controller is used for: Sending the product identification and the parking perception parameter configuration to the interface of the panoramic algorithm package corresponding to the product identification via the first transmission link; The panoramic algorithm package is used to adjust the parking perception parameter configuration to a panoramic perception parameter configuration.

18. The system according to claim 17, wherein: The first transmission link includes an MCU, a HAL layer, and an API layer.

19. The system according to claim 17, wherein: The panoramic algorithm package is used to: Replacing the initial parameter value corresponding to each target perception parameter in the parking perception parameter configuration with the panoramic parameter value or default parameter value corresponding to the target perception parameter; The initial parameter values ​​corresponding to the non-target perception parameters in the parking perception parameter configuration and the panoramic parameter values ​​or default parameter values ​​corresponding to the respective target perception parameters are used as the panoramic perception parameter configuration.

20. The system according to any one of claims 17 to 19, characterized in that: The multimedia controller is further configured to: Sending the collected data of the surround view camera system to the application layer via a second transmission link; Through the application layer, panoramic processing is performed according to the collected data and the panoramic perception parameter configuration to generate panoramic data.

21. The system according to claim 20, wherein: The second transmission link includes Kemel, HAL layer and BMMcamera application layer.

22. An electronic device, characterized in that: include: At least one processor, and a memory, wherein the memory stores a computer program that can be run on the processor, wherein when the processor executes the computer program, the panoramic processing method according to any one of claims 1 to 13 is executed.

23. A non-volatile readable storage medium, characterized in that: The non-volatile readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the panoramic processing method according to any one of claims 1 to 13 is executed.

24. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the panoramic processing method according to any one of claims 1 to 13 is implemented.

25. A vehicle, characterized in that: The vehicle is used to execute the panoramic processing method described in any one of claims 1-13, or includes the panoramic processing system described in any one of claims 14-21.

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