Dynamic display method and device of vehicle panoramic image, equipment and storage medium

Abstract

The invention provides a dynamic display method and device for a vehicle panoramic image, equipment and a storage medium, and the method comprises the steps: obtaining a front view image collected by a front view camera when a front view image call command is monitored when a vehicle is in a D-gear state; then, a yaw angle of the vehicle is obtained, the front view image is cut according to the yaw angle to generate a cut image, and the cut image is displayed in a designated area on a display device; and finally, monitoring the change of the yaw angle, dynamically adjusting the cutting of the front view image based on the change, and displaying the adjusted cutting image on the designated area in real time. The problem that under the condition of single-path display, the observable angle is small when a driver turns a corner, so that the driver cannot perceive an obstacle is solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle image acquisition, and in particular to a method, apparatus, device, and storage medium for dynamic display of panoramic vehicle images. Background Technology

[0002] The in-vehicle display receives video signals transmitted from the ECU controller and can display a panoramic image on the central control screen; this is called AVM (Around View Monitoring). An AVM system typically consists of four cameras stitched together, offering both top-down and single-view display modes. In the top-down view, the system stitches together the images from the four cameras to present a panoramic view of the vehicle's surroundings, helping the driver better understand their environment, especially when driving or parked.

[0003] However, in single-view mode, the system displays only the image from one of the cameras, typically the one with a 0° forward-looking angle. This setup ensures the driver can always see what's in front of the vehicle, improving driving safety. However, there is a potential safety hazard: when turning, the driver's field of vision is reduced. This could lead to the driver failing to notice intersections, pedestrians, or other obstacles, thus increasing potential safety risks.

[0004] In view of the above, this application is hereby submitted. Summary of the Invention

[0005] This invention discloses a dynamic display method, device, equipment, and storage medium for vehicle panoramic images, aiming to solve the problem that in the case of single-channel display, the driver's observable angle is small when turning, resulting in the driver's inability to perceive obstacles.

[0006] The first embodiment of the present invention provides a method for dynamically displaying a panoramic image of a vehicle, comprising:

[0007] When the vehicle is in Drive mode and a command to call forward view image is received, the forward view image captured by the forward-view camera is obtained.

[0008] The vehicle's yaw angle is obtained, and the front view image is cropped according to the yaw angle to generate a cropped image, which is then displayed in a designated area on the display device.

[0009] Monitor the changes in the yaw angle, dynamically adjust the cropping of the front view image based on the changes, and display the adjusted cropped image in the designated area in real time.

[0010] Preferably, the invocation command is when the absolute value of the steering angle of the steering wheel is greater than a preset value.

[0011] Preferably, when the yaw angle is 0 degrees, the cropped image is located in the middle of the front view image, wherein the first pixel distance between the right edge of the cropped image and the right edge of the front view image is equal to the second pixel distance between the left edge of the cropped image and the left edge of the front view image.

[0012] Preferably, the step of monitoring the change in the yaw angle and dynamically adjusting the cropping of the front view image based on the change specifically involves:

[0013] When the change in the yaw angle is detected to be greater than a preset value, the edge of the cropped image is aligned with the edge of the front view image, wherein the aligned edge corresponds to the turning direction;

[0014] When the change in the sway angle is detected to be less than a preset value, the cutting area is determined according to the offset of the sway angle.

[0015] A second embodiment of the present invention provides a dynamic display device for a vehicle panoramic image, comprising:

[0016] The forward view image acquisition unit is used to acquire the forward view image captured by the forward view camera when the vehicle is in D gear and a forward view image call command is heard.

[0017] A cropping unit is used to obtain the yaw angle of the vehicle, crop the front view image according to the yaw angle to generate a cropped image, and display the cropped image in a designated area on the display device.

[0018] The adjustment unit is used to monitor the change in the yaw angle, dynamically adjust the cropping of the front view image based on the change, and display the adjusted cropped image on the designated area in real time.

[0019] Preferably, the invocation command is when the absolute value of the steering angle of the steering wheel is greater than a preset value.

[0020] Preferably, when the yaw angle is 0 degrees, the cropped image is located in the middle of the front view image, wherein the first pixel distance between the right edge of the cropped image and the right edge of the front view image is equal to the second pixel distance between the left edge of the cropped image and the left edge of the front view image.

[0021] Preferably, the adjustment unit is specifically used for:

[0022] When the change in the yaw angle is detected to be greater than a preset value, the edge of the cropped image is aligned with the edge of the front view image, wherein the aligned edge corresponds to the turning direction;

[0023] When the change in the sway angle is detected to be less than a preset value, the cutting area is determined according to the offset of the sway angle.

[0024] The third embodiment of the present invention provides a dynamic display device for a vehicle panoramic image, including a memory and a processor. The memory stores a computer program, which can be executed by the processor to implement a dynamic display method for a vehicle panoramic image as described in any of the above embodiments.

[0025] The fourth embodiment of the present invention provides a computer-readable storage medium, characterized in that it stores a computer program, which can be executed by the processor of the device in which the computer-readable storage medium is located, to implement a dynamic display method for a vehicle panoramic image as described in any of the above claims.

[0026] Based on the dynamic display method, apparatus, device, and storage medium for a vehicle panoramic image provided by this invention, when a command to invoke a forward view image is received while the vehicle is in Drive (D) mode, a forward view image captured by a forward-facing camera is acquired. Next, the yaw angle of the vehicle is acquired, and the forward view image is cropped according to the yaw angle to generate a cropped image, which is then displayed in a designated area on a display device. Finally, changes in the yaw angle are monitored, and the cropping of the forward view image is dynamically adjusted based on these changes, with the adjusted cropped image displayed in real time in the designated area. This solves the problem that in single-view display scenarios, the driver's observable angle is limited when turning, making it difficult for the driver to perceive obstacles. Attached Figure Description

[0027] Figure 1 This is a flowchart illustrating a dynamic display method for a vehicle panoramic image provided in the first embodiment of the present invention;

[0028] Figure 2 and Figure 3 This is a schematic diagram of the angle change of the in-vehicle display device when turning, provided by the present invention;

[0029] Figure 4 This is a schematic diagram of a dynamic display device for a vehicle panoramic image provided in the second embodiment of the present invention. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0033] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0034] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0035] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0036] The terms "first" and "second" used in the embodiments are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" can be interchanged in a specific order or sequence where permissible. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein.

[0037] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] This invention discloses a dynamic display method, device, equipment, and storage medium for vehicle panoramic images, aiming to solve the problem that in the case of single-channel display, the driver's observable angle is small when turning, resulting in the driver's inability to perceive obstacles.

[0039] The first embodiment of the present invention provides a dynamic display method for a vehicle panoramic image, which can be executed by a dynamic display device for the vehicle panoramic image (hereinafter referred to as the dynamic display device), and in particular, by one or more processors within the dynamic display device, to at least implement the following steps:

[0040] S101, when the vehicle is in D gear and a command to call forward view image is heard, the forward view image captured by the forward view camera is obtained;

[0041] In this embodiment, the dynamic display device can be an ECU host configured on the vehicle. The ECU host can communicate with a front camera configured at the front of the vehicle. Alternatively, the ECU host can also communicate with ultrasonic sensors, transmitting sensed obstacle information and video information to an in-vehicle display via a coaxial video transmission line. The ECU host can have a corresponding operating system and application software installed, and the functions required in this embodiment are achieved through the combination of the operating system and application software.

[0042] It should be noted that the forward-facing camera can be configured at the front of the vehicle to capture images of the front of the vehicle. In this embodiment, by monitoring the steering wheel angle, the ECU can dynamically perceive the driver's intentions. When the steering angle reaches a preset value, a command to recall the forward-facing image is triggered, enabling the ECU to respond promptly to the driver's steering behavior. By recalling the forward-facing image when the steering angle reaches the preset value, the ECU can provide more information about the environment in front of the vehicle, helping the driver better cope with potential safety risks. This helps reduce the occurrence of accidents and improves driving safety. Simultaneously, the ECU only recalls the forward-facing image when needed, effectively optimizing the utilization of system resources. This dynamic response mechanism avoids unnecessary image acquisition and processing, improving system efficiency and performance.

[0043] Of course, in other embodiments, the calling command can also directly retrieve the image captured by the forward-facing camera after a preset time after the driver shifts into D gear, for example, two seconds after shifting into D gear. There is no specific limitation here, but these solutions are all within the protection scope of this invention.

[0044] S102, obtain the yaw angle of the vehicle, and crop the front view image according to the yaw angle to generate a cropped image, and display the cropped image in a designated area on the display device;

[0045] It should be noted that by considering the vehicle's yaw angle, cropping the front view image can more accurately represent the vehicle's surroundings. Since the yaw angle reflects the vehicle's lateral movement, cropping the front view image based on this angle can improve the driver's perception of the vehicle's dynamic behavior. Furthermore, it can also improve the driver's understanding of the vehicle's trajectory in situations such as curves and bends. In this embodiment, displaying the cropped image in a designated area on the display device is primarily aimed at optimizing information display and avoiding showing irrelevant information across the entire screen.

[0046] It should be noted that the display device can be an in-vehicle display installed in the vehicle, or other display devices that can communicate with the ECU host. No specific limitation is made here, but all of these solutions are within the protection scope of this invention.

[0047] S103, monitor the change in the yaw angle, dynamically adjust the cropping of the front view image based on the change, and display the adjusted cropped image on the designated area in real time.

[0048] Specifically, in this embodiment, when the change in the yaw angle is detected to be greater than a preset value, the edge of the cropped image is aligned with the edge of the front view image, wherein the aligned edge corresponds to the turning direction;

[0049] When the change in the sway angle is detected to be less than a preset value, the cutting area is determined according to the offset of the sway angle.

[0050] It's worth noting that by monitoring changes in the yaw angle and adjusting the cropped image edges when the change exceeds a preset value, real-time adaptation to vehicle dynamics is achieved. This more accurately reflects the vehicle's lateral movement, providing real-time, dynamic driving assistance information, making steering direction clearer and improving the driver's understanding of vehicle behavior. Furthermore, when the yaw angle change is less than a preset value, determining the cropping area based on the yaw angle offset allows for more precise cropping adjustments. This directional adjustment method helps optimize display effects, avoids unnecessary image changes, and improves the stability of the display system.

[0051] In one possible embodiment of the present invention, when the yaw angle is 0 degrees, the cropped image is located in the middle position of the front view image, wherein the first pixel distance between the right edge of the cropped image and the right edge of the front view image is equal to the second pixel distance between the left edge of the cropped image and the left edge of the front view image.

[0052] More specifically, please combine Figure 2 and 3 Region 1 represents the original front view image, and Region 2 represents the front view image displayed on the vehicle's infotainment system. If the vehicle's infotainment system displays the middle part of the original image at 0 degrees, the horizontal pixel distance between the boundary of Region 2 and the boundary of the original image is 'a'. Logically, a 10-degree swivel angle corresponds to the distance from the display area to the boundary of the original image. Therefore, the middle angle can be calculated based on the ratio of pixel 'a' to the 10-degree swivel angle, determining the area of ​​the vehicle's infotainment system display image cropped from the original image for each angle.

[0053] Please see Figure 4 The second embodiment of the present invention provides a dynamic display device for a vehicle panoramic image, comprising:

[0054] Forward image acquisition order 201 is used to acquire the forward image captured by the forward-view camera when the vehicle is in D gear and a forward image call command is heard.

[0055] The cropping unit 202 is used to obtain the yaw angle of the vehicle, crop the front view image according to the yaw angle to generate a cropped image, and display the cropped image in a designated area on the display device.

[0056] The adjustment unit 203 is used to monitor the change of the yaw angle, dynamically adjust the cropping of the front view image based on the change, and display the adjusted cropped image on the designated area in real time.

[0057] Preferably, the invocation command is when the absolute value of the steering angle of the steering wheel is greater than a preset value.

[0058] Preferably, when the yaw angle is 0 degrees, the cropped image is located in the middle of the front view image, wherein the first pixel distance between the right edge of the cropped image and the right edge of the front view image is equal to the second pixel distance between the left edge of the cropped image and the left edge of the front view image.

[0059] Preferably, the adjustment unit is specifically used for:

[0060] When the change in the yaw angle is detected to be greater than a preset value, the edge of the cropped image is aligned with the edge of the front view image, wherein the aligned edge corresponds to the turning direction;

[0061] When the change in the sway angle is detected to be less than a preset value, the cutting area is determined according to the offset of the sway angle.

[0062] The third embodiment of the present invention provides a dynamic display device for a vehicle panoramic image, including a memory and a processor. The memory stores a computer program, which can be executed by the processor to implement a dynamic display method for a vehicle panoramic image as described in any of the above embodiments.

[0063] The fourth embodiment of the present invention provides a computer-readable storage medium, characterized in that it stores a computer program, which can be executed by the processor of the device in which the computer-readable storage medium is located, to implement a dynamic display method for a vehicle panoramic image as described in any of the above claims.

[0064] Based on the dynamic display method, apparatus, device, and storage medium for a vehicle panoramic image provided by this invention, when a command to invoke a forward view image is received while the vehicle is in Drive (D) mode, a forward view image captured by a forward-facing camera is acquired. Next, the yaw angle of the vehicle is acquired, and the forward view image is cropped according to the yaw angle to generate a cropped image, which is then displayed in a designated area on a display device. Finally, changes in the yaw angle are monitored, and the cropping of the forward view image is dynamically adjusted based on these changes, with the adjusted cropped image displayed in real time in the designated area. This solves the problem that in single-view display scenarios, the driver's observable angle is limited when turning, making it difficult for the driver to perceive obstacles.

[0065] Exemplary examples show that the computer program described in the third and fourth embodiments of the present invention can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the dynamic display device implementing a vehicle panoramic image. For example, the apparatus described in the second embodiment of the present invention.

[0066] The processor referred to can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the dynamic display method for a vehicle panoramic image, connecting the various parts of the method using various interfaces and lines.

[0067] The memory can be used to store the computer program and / or modules. The processor, by running or executing the computer program and / or modules stored in the memory, and by calling the data stored in the memory, realizes various functions of a dynamic display method for a vehicle panoramic image. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, text conversion function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, text message data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital card (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0068] If the implemented module is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0069] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0070] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for dynamically displaying a panoramic image of a vehicle, characterized in that, include: When the vehicle is in Drive mode and a command to call forward view image is received, the forward view image captured by the forward-view camera is obtained. The vehicle's yaw angle is obtained, and the front view image is cropped according to the yaw angle to generate a cropped image, which is then displayed in a designated area on the display device. Monitor the changes in the yaw angle, dynamically adjust the cropping of the front view image based on the changes, and display the adjusted cropped image in the designated area in real time.

2. The method for dynamically displaying a vehicle panoramic image according to claim 1, characterized in that, The command to invoke the steering wheel is when the absolute value of the steering angle is greater than a preset value.

3. The method for dynamically displaying a vehicle panoramic image according to claim 1, characterized in that, When the yaw angle is 0 degrees, the cropped image is located in the middle of the front view image, wherein the first pixel distance between the right edge of the cropped image and the right edge of the front view image is equal to the second pixel distance between the left edge of the cropped image and the left edge of the front view image.

4. The method for dynamically displaying a vehicle panoramic image according to claim 1, characterized in that, The monitoring of changes in the yaw angle, and the dynamic adjustment of the cropping of the front view image based on these changes, specifically involves: When the change in the yaw angle is detected to be greater than a preset value, the edge of the cropped image is aligned with the edge of the front view image, wherein the aligned edge corresponds to the turning direction; When the change in the sway angle is detected to be less than a preset value, the cutting area is determined according to the offset of the sway angle.

5. A dynamic display device for a vehicle panoramic image, characterized in that, include: The forward view image acquisition unit is used to acquire the forward view image captured by the forward view camera when the vehicle is in D gear and a forward view image call command is heard. A cropping unit is used to obtain the yaw angle of the vehicle, crop the front view image according to the yaw angle to generate a cropped image, and display the cropped image in a designated area on the display device. The adjustment unit is used to monitor the change in the yaw angle, dynamically adjust the cropping of the front view image based on the change, and display the adjusted cropped image on the designated area in real time.

6. The dynamic display device for a vehicle panoramic image according to claim 5, characterized in that, The command to invoke the steering wheel is when the absolute value of the steering angle is greater than a preset value.

7. A dynamic display device for a vehicle panoramic image according to claim 5, characterized in that, When the yaw angle is 0 degrees, the cropped image is located in the middle of the front view image, wherein the first pixel distance between the right edge of the cropped image and the right edge of the front view image is equal to the second pixel distance between the left edge of the cropped image and the left edge of the front view image.

8. A dynamic display device for a vehicle panoramic image according to claim 5, characterized in that, The adjustment unit is specifically used for: When the change in the yaw angle is detected to be greater than a preset value, the edge of the cropped image is aligned with the edge of the front view image, wherein the aligned edge corresponds to the turning direction; When the change in the sway angle is detected to be less than a preset value, the cutting area is determined according to the offset of the sway angle.

9. A dynamic display device for a vehicle panoramic image, characterized in that, The system includes a memory and a processor. The memory stores a computer program that can be executed by the processor to implement a dynamic display method for a vehicle panoramic image as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The device contains a computer program that can be executed by a processor of the device on which the computer-readable storage medium is located, to implement a dynamic display method for a vehicle panoramic image as described in any one of claims 1 to 4.

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