Driving recording methods and related equipment that support panoramic video playback

Abstract

This invention provides a driving recorder method and related equipment supporting panoramic video playback. The method includes: simultaneously acquiring multiple video data streams using multiple cameras deployed in a 360° imaging system around the vehicle; associating and storing the multiple video data streams with their respective timestamp information; responding to a user's playback command by reading target multiple video data streams within a predetermined time period; performing real-time image processing on the read target multiple video data streams to synthesize a panoramic video stream; outputting the panoramic video stream to a display device for playback; and receiving user interaction commands to adjust the viewing angle, and changing the display area or projection angle of the panoramic video stream on the display device in real time according to the interaction commands. This invention solves the technical problem of existing 360° imaging-based driving recorders having a fixed viewing angle during panoramic playback, preventing users from viewing the accident scene more comprehensively and in detail.

Description

Technical Field

[0001] This invention relates to the field of vehicle recording technology, and in particular to a vehicle recording method and related equipment that supports panoramic video playback. Background Technology

[0002] A dashcam can record images, sounds, and other relevant information during vehicle operation, providing crucial evidence for determining liability in traffic accidents and for insurance claims. Currently, the automotive industry has seen the emergence of 360-degree panoramic imaging systems. These systems use four wide-angle cameras installed at the front, rear, left, and right of the vehicle to collect real-time images of the vehicle's surroundings and generate a bird's-eye view of the vehicle through image stitching algorithms. They are primarily used for driver assistance.

[0003] While 360-degree panoramic imaging systems enable real-time display of a vehicle's panoramic view, when extending their functionality to driving recording, they mostly only allow playback of videos from individual cameras. Alternatively, although a panoramic view can be viewed, it only provides a fixed bird's-eye view, preventing users from dynamically adjusting the viewing angle according to their needs. This leads to technical problems where users cannot conduct a comprehensive and detailed analysis of the scene at the time of an accident. Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0004] This invention provides a driving recording method and related equipment that support panoramic video playback. The main objective of this invention is to solve the technical problems mentioned in the background section of the prior art.

[0005] The first aspect of this invention provides a driving recording method supporting panoramic video playback, comprising: Multiple cameras deployed around the vehicle in a 360° imaging system simultaneously collect multiple video data streams. The multiple video data streams are associated with and stored with their respective timestamp information; Responding to the user's playback command, read the target multi-channel video data stream within a predetermined time period; The target multi-channel video data stream is processed in real time to synthesize a panoramic video stream; the panoramic video stream is then output to a display device for playback. The system receives interactive commands from users to adjust the viewing angle and changes the display area or projection angle of the panoramic video stream on the display device in real time according to the interactive commands.

[0006] In an optional embodiment of the first aspect of the present invention, the step of performing real-time image processing on the read target multi-channel video data stream to synthesize a panoramic video stream includes: Distortion correction is performed on the video frames of the target multi-channel video data stream; Image registration is performed on the video frames after distortion correction to determine the spatial transformation relationship between each video frame of each real-time image within the predetermined time period; For each of the real-time images, the registered video frames are projected onto a unified coordinate system, and the seams are eliminated by an image fusion algorithm to generate a panoramic video frame of the real-time image. All panoramic video frames within the predetermined time period are synthesized based on their chronological order to obtain a panoramic video stream.

[0007] In an optional embodiment of the first aspect of the present invention, the step of image registration of the distortion-corrected video frames to determine the spatial transformation relationship between each video frame of each real-time image within the predetermined time period includes: For each of the real-time images, feature points within the overlapping regions of each of the video frames are detected; Match feature point pairs between different video frames; The spatial transformation relationship is estimated and optimized based on the matched feature point pairs using a random sampling consensus algorithm.

[0008] In one optional embodiment of the first aspect of the present invention, the image fusion algorithm includes a Laplacian pyramid fusion algorithm and a guided filter fusion algorithm.

[0009] In an optional embodiment of the first aspect of the present invention, after outputting the panoramic video stream to a display device for playback, the method further includes: Upon receiving a user's instruction to switch to any single camera, and in response to the switching instruction, the display device switches the display screen from the panoramic video stream to the single video data stream of the selected single camera.

[0010] In an optional embodiment of the first aspect of the present invention, the driving recording method supporting panoramic video playback further includes: The vehicle's collision events are monitored using an accelerometer. When a vehicle collision event is detected, the multiple video data streams recorded within a preset time period before and after the collision event are automatically marked as locked to prevent them from being overwritten in a loop.

[0011] In an optional embodiment of the first aspect of the present invention, the driving recording method supporting panoramic video playback further includes: Obtain the current speed of the vehicle; When the driving speed is determined to be lower than a preset low-speed threshold, the real-time display of the panoramic video stream is automatically activated, and the dynamic driving trajectory line of the vehicle is superimposed on the display screen of the display device to assist the driver in parking.

[0012] A second aspect of the present invention provides a vehicle recording device supporting panoramic video playback, the vehicle recording device supporting panoramic video playback comprising: The multi-channel data stream acquisition module is used to simultaneously acquire multiple video data streams through multiple cameras deployed in a 360-degree imaging system around the vehicle; A multi-stream data storage module is used to associate and store the multiple video data streams with their respective timestamp information; The multi-stream data reading module is used to respond to the user's playback command and read the target multi-stream video data within a predetermined time period; A panoramic video stream synthesis module is used to perform real-time image processing on the read target multi-channel video data streams to synthesize a panoramic video stream; A panoramic video stream playback module is used to output the panoramic video stream to a display device for playback; The panoramic view adjustment module is used to receive interactive commands from users to adjust the viewing angle, and to change the display area or projection angle of the panoramic video stream on the display device in real time according to the interactive commands.

[0013] A third aspect of the present invention provides a vehicle recording device that supports panoramic video playback, the vehicle recording device supporting panoramic video playback includes: a memory and at least one processor, the memory storing instructions, and the memory and the at least one processor being interconnected via a line; The at least one processor invokes the instructions in the memory to cause the driving recorder supporting panoramic video playback to perform the driving recorder method supporting panoramic video playback as described in any one of the first aspects of the present invention.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a driving recording method supporting panoramic video playback as described in any one of the first aspects of the present invention.

[0015] Beneficial Effects: This invention provides a driving recorder method and related equipment supporting panoramic video playback. The method includes simultaneously acquiring multiple video data streams using multiple cameras deployed in a 360° imaging system around the vehicle; associating and storing the multiple video data streams with their respective timestamp information; responding to a user's playback command by reading target multiple video data streams within a predetermined time period; performing real-time image processing on the read target multiple video data streams to synthesize a panoramic video stream; outputting the panoramic video stream to a display device for playback; and receiving user interaction commands to adjust the viewing angle, thereby changing the display area or projection angle of the panoramic video stream on the display device in real time according to the interaction commands. This invention solves the technical problem of existing 360° imaging-based driving recorders having a fixed viewing angle during panoramic playback, preventing users from viewing the accident scene more comprehensively and in detail. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an embodiment of a driving recording method supporting panoramic video playback according to the present invention; Figure 2 This is a schematic diagram of an embodiment of a vehicle recording device that supports panoramic video playback according to the present invention; Figure 3 This is a schematic diagram of an embodiment of a vehicle recording device that supports panoramic video playback according to the present invention. Detailed Implementation

[0017] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] See Figure 1 The first aspect of the present invention provides a driving recording method supporting panoramic video playback, comprising: S100. Multiple cameras of the 360° imaging system deployed around the vehicle synchronously acquire multiple video data streams. In this invention, after the 360° imaging system is started, its central processing unit controls four cameras (wide-angle fisheye cameras, each with a field of view greater than 170 degrees to ensure sufficient overlap in the field of view of adjacent cameras) at the front, rear, left, and right positions of the vehicle to start acquiring video synchronously. Then, through a unified internal clock signal, it ensures that the four video data streams are strictly synchronized at the frame level, and each frame of video data is accurately timestamped.

[0019] S200. Associate and store the multiple video data streams with their respective timestamp information. In this step, the system writes the four independent raw video data streams, along with their timestamp information, into the storage module in real time as independent files or multi-track encapsulation formats (such as MKV), laying the foundation for subsequent accurate panoramic synthesis and playback.

[0020] S300: Responding to the user's playback command, the system reads the target multi-channel video data stream within a predetermined time period. In this invention, when the user enters the system's playback interface and selects a recording segment, the system triggers the panoramic playback process. The central processing unit reads the four original video data streams corresponding to the recording time period from the storage module. Then, the system performs a series of real-time image processing operations on each group of synchronized video frames (i.e., four images with the same timestamp) to synthesize each frame of panoramic video.

[0021] S400: Perform real-time image processing on the read target multi-channel video data stream to synthesize a panoramic video stream. Specifically, step S400 may include: S401. Perform distortion correction on the video frames of the target multi-channel video data stream; In this invention, since the camera uses a wide-angle fisheye lens, the original image of the camera will have a certain barrel distortion. The system first calls the pre-calibrated camera intrinsic parameters, and then uses a distortion model (such as the Brown-Conrady model or the Kannala-Brandt model) to correct each input image and restore the true geometric shape of the content in the image.

[0022] S402. Image registration is performed on the video frames after distortion correction to determine the spatial transformation relationship between each video frame in each real-time image within the predetermined time period. In this invention, in order to accurately align the four corrected images, the system performs feature point-based registration. For example, the ORB algorithm can be used to quickly detect and describe feature points in the overlapping area of ​​adjacent images. Then, the FLANN matcher is used to find the best matching pair between the feature point sets of the two images. Finally, the random sampling consensus algorithm is used to estimate the homography matrix that projects one image onto the coordinate system of another image from the matching point pairs containing noise (i.e., for each real-time image, feature points in the overlapping area of ​​each video frame are detected; feature point pairs between different video frames are matched; and the spatial transformation relationship is estimated and optimized based on the matched feature point pairs using the random sampling consensus algorithm).

[0023] S403. For each of the real-time images, the registered video frames are projected onto a unified coordinate system, and seams are eliminated using an image fusion algorithm (including the Laplacian pyramid fusion algorithm and the guided filter fusion algorithm) to generate a panoramic video frame of the real-time image. In this invention, after calculating all spatial transformation relationships, the system projects the four images onto a unified bird's-eye view or bar chart coordinate system. At the stitching seams of the images, in order to avoid obvious bright and dark boundaries or ghosting, the Laplacian pyramid fusion algorithm can be used to decompose the image into levels of different spatial frequencies, and a smooth weighted average fusion is performed at each level to finally reconstruct a panoramic image with a natural visual effect and seamless connection.

[0024] S404. Based on the chronological order, all the panoramic video frames within the predetermined time period are synthesized to obtain a panoramic video stream. By performing a series of processes (correction, registration, fusion) on each real-time image within the predetermined time period (this process can be executed in a high-speed loop on a CPU or dedicated DSP / GPU), a continuous panoramic video stream can be generated.

[0025] S500: Output the panoramic video stream to a display device for playback. In this invention, the system supports a panoramic playback mode, meaning it can be operated as if... Figure 1 Similarly, users can drag and rotate the view to view 360° panoramic video, and it also supports multi-view linkage, that is, it supports the synchronous display of panoramic images and any single-camera images, and can also freely switch between panoramic and any single-camera view. Furthermore, it can quickly locate any moment of the accident through the timeline.

[0026] S600: Receives an interactive command from the user to adjust the viewing angle, and changes the display area or projection angle of the panoramic video stream on the display device in real time according to the interactive command. Specifically, during panoramic video playback, the user can slide on the touchscreen to pan or rotate the viewing angle. Simply put, the system treats the generated panoramic image as a texture, pasted onto a virtual 3D model (such as a hemisphere or cylinder). The user's sliding operation is interpreted as rotation control of the virtual camera (viewpoint), thereby rendering 2D images from different angles in real time.

[0027] In an optional embodiment of the first aspect of the present invention, after outputting the panoramic video stream to a display device for playback, the method further includes: receiving an instruction from a user to switch to any single camera, and responding to the switching instruction by switching the display screen of the display device from the panoramic video stream to a single video data stream from the selected single camera.

[0028] Specifically, the operating interface of the system of the present invention is also provided with a switch button for front / back / left / right / panoramic view. For example, when the user clicks the left button, the system will pause the rendering output of panoramic synthesis and directly display the original (or only after distortion correction) video data stream of the left camera in full screen, realizing seamless switching between panoramic and single-view perspective.

[0029] In an optional embodiment of the first aspect of the present invention, the driving recording method supporting panoramic video playback further includes: monitoring vehicle collision events through an accelerometer; when a vehicle collision event is detected, automatically marking the multi-channel video data streams recorded within a preset time period before and after the vehicle collision event as locked to prevent them from being overwritten in a loop.

[0030] Specifically, the accelerometer in the vehicle recording system of this invention continuously monitors the vehicle's three-axis acceleration. When the detected acceleration value instantly exceeds a preset threshold (such as in the event of a collision or emergency braking), the accelerometer immediately sends an interrupt signal to the central processing unit. Upon receiving the interrupt signal, the central processing unit immediately marks the four video files currently being recorded and those from a period of time before the event (e.g., 10 seconds) as locked or read-only in the file system. In this way, when the memory card space is insufficient and loop recording is required to delete old files, the file management system of the storage module will automatically skip the locked files, thereby ensuring that key evidence is permanently preserved.

[0031] In an optional embodiment of the first aspect of the present invention, the driving recording method supporting panoramic video playback further includes: acquiring the current driving speed of the vehicle; when it is determined that the driving speed is lower than a preset low speed threshold, automatically activating the real-time display of the panoramic video stream, and superimposing the dynamic driving trajectory line of the vehicle on the display screen of the display device to assist the driver in parking.

[0032] Specifically, in this invention, the system can obtain the vehicle's speed in real time through the GPS module. When the system detects that the vehicle speed is lower than a preset threshold (e.g., 15 km / h) and obtains a signal that the vehicle has engaged reverse gear, the system will automatically force the display screen to switch to a real-time synthesized panoramic bird's-eye view. At the same time, the system will read the steering wheel angle data, calculate the predicted driving trajectory of the vehicle based on the angle data, and overlay the dynamic trajectory line onto the panoramic image in a graphical manner, thereby providing the driver with intuitive visual guidance and improving the safety of users when parking and maneuvering in narrow spaces.

[0033] In summary, the advantages of the driving recording method supporting panoramic video playback in this invention are that it completely solves the blind spot problem of traditional recorders, improves the completeness of evidence collection, supports panoramic and multi-view playback, can clearly and completely restore the whole picture of the accident, facilitates the determination of responsibility, and at the same time, by combining panoramic images with dynamic trajectory lines, it improves the safety and convenience of low-speed driving and parking.

[0034] See Figure 2 A second aspect of the present invention provides a vehicle recording device supporting panoramic video playback, the vehicle recording device supporting panoramic video playback comprising: The multi-channel data stream acquisition module 10 is used to simultaneously acquire multiple video data streams through multiple cameras of the 360-degree imaging system deployed around the vehicle; The multi-stream data storage module 20 is used to associate and store the multi-stream video data with their respective timestamp information; The multi-channel data stream reading module 30 is used to respond to the user's playback command and read the target multi-channel video data stream within a predetermined time period; The panoramic video stream synthesis module 40 is used to perform real-time image processing on the read target multi-channel video data stream to synthesize a panoramic video stream. The panoramic video stream playback module 50 is used to output the panoramic video stream to a display device for playback; The panoramic view adjustment module 60 is used to receive interactive instructions from the user to adjust the viewing angle, and to change the display area or projection angle of the panoramic video stream on the display device in real time according to the interactive instructions.

[0035] In an optional embodiment of the second aspect of the present invention, the panoramic video stream synthesis module includes: A video frame correction unit is used to perform distortion correction on video frames of the target multi-channel video data stream; An image registration unit is used to perform image registration on the video frames after distortion correction, and to determine the spatial transformation relationship between each video frame of each real-time image within the predetermined time period. An image fusion unit is used to project each registered video frame onto a unified coordinate system for each real-time image, and eliminate seams through an image fusion algorithm to generate a panoramic video frame of the real-time image. The video stream synthesis unit is used to synthesize all the panoramic video frames within the predetermined time period based on their chronological order to obtain a panoramic video stream.

[0036] In an optional embodiment of a second aspect of the present invention, the image registration unit includes: The feature point detection subunit is used to detect feature points in the overlapping area of ​​each video frame for each of the real-time images. A feature point pair matching subunit is used to match feature point pairs between different video frames; The spatial transformation relationship determination subunit is used to estimate and optimize the spatial transformation relationship based on the matched feature point pairs using a random sampling consensus algorithm.

[0037] In an optional embodiment of the second aspect of the present invention, the image fusion algorithm includes a Laplacian pyramid fusion algorithm and a guided filter fusion algorithm.

[0038] In an optional embodiment of the second aspect of the present invention, the driving recorder supporting panoramic video playback further includes: The single-channel video switching module is used to receive a user's instruction to switch to any single-channel camera, and in response to the switching instruction, switch the display screen of the display device from the panoramic video stream to the single-channel video data stream of the selected single-channel camera.

[0039] In an optional embodiment of the second aspect of the present invention, the driving recorder supporting panoramic video playback further includes: The accident data automatic locking module is used to monitor vehicle collision events through an acceleration sensor; when a vehicle collision event is detected, the module automatically marks the multi-channel video data streams recorded within a preset time period before and after the vehicle collision event as locked to prevent them from being overwritten in a loop.

[0040] In an optional embodiment of the second aspect of the present invention, the driving recorder supporting panoramic video playback further includes: The parking guidance module is used to obtain the current driving speed of the vehicle; when it is determined that the driving speed is lower than a preset low speed threshold, the real-time display of the panoramic video stream is automatically activated, and the dynamic driving trajectory line of the vehicle is superimposed on the display screen of the display device to assist the driver in parking.

[0041] Figure 3 This is a schematic diagram of a dashcam device supporting panoramic video playback according to an embodiment of the present invention. The dashcam device supporting panoramic video playback can vary significantly due to differences in configuration or performance. It may include one or more processors 70 (central processing units, CPUs) (e.g., one or more processors) and memory 80, and one or more storage media 90 (e.g., one or more mass storage devices) for storing applications or data. The memory and storage media can be temporary or persistent storage. The program stored in the storage media may include one or more modules (not shown in the diagram), each module may include a series of instruction operations on the dashcam device supporting panoramic video playback. Furthermore, the processor may be configured to communicate with the storage media and execute the series of instruction operations in the storage media on the dashcam device supporting panoramic video playback.

[0042] The dashcam device supporting panoramic video playback of this invention may further include one or more power supplies 100, one or more wired or wireless network interfaces 110, one or more input / output interfaces 120, and / or one or more operating systems, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 3 The dashcam structure shown does not constitute a limitation on dashcams that support panoramic video playback. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0043] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the driving recording method supporting panoramic video playback.

[0044] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system or system / unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0045] If the integrated unit 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, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0046] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A driving recording method supporting panoramic video playback, characterized in that, include: Multiple cameras deployed around the vehicle in a 360° imaging system simultaneously collect multiple video data streams. The multiple video data streams are associated with and stored with their respective timestamp information; Responding to the user's playback command, read the target multi-channel video data stream within a predetermined time period; Real-time image processing is performed on the read target multi-channel video data stream to synthesize a panoramic video stream; The panoramic video stream is output to a display device for playback. The system receives interactive commands from users to adjust the viewing angle and changes the display area or projection angle of the panoramic video stream on the display device in real time according to the interactive commands.

2. The driving recording method supporting panoramic video playback according to claim 1, characterized in that, The step of performing real-time image processing on the read target multi-channel video data stream to synthesize a panoramic video stream includes: Distortion correction is performed on the video frames of the target multi-channel video data stream; Image registration is performed on the video frames after distortion correction to determine the spatial transformation relationship between each video frame of each real-time image within the predetermined time period; For each of the real-time images, the registered video frames are projected onto a unified coordinate system, and the seams are eliminated by an image fusion algorithm to generate a panoramic video frame of the real-time image. All panoramic video frames within the predetermined time period are synthesized based on their chronological order to obtain a panoramic video stream.

3. The driving recording method supporting panoramic video playback according to claim 2, characterized in that, The step of performing image registration on the video frames after distortion correction to determine the spatial transformation relationship between each video frame of each real-time image within the predetermined time period includes: For each of the real-time images, feature points within the overlapping regions of each of the video frames are detected; Match feature point pairs between different video frames; The spatial transformation relationship is estimated and optimized based on the matched feature point pairs using a random sampling consensus algorithm.

4. The driving recording method supporting panoramic video playback according to claim 2, characterized in that, The image fusion algorithm includes the Laplacian pyramid fusion algorithm and the guided filter fusion algorithm.

5. The driving recording method supporting panoramic video playback according to claim 1, characterized in that, After outputting the panoramic video stream to a display device for playback, the process further includes: Upon receiving a user's instruction to switch to any single camera, and in response to the switching instruction, the display device switches the display screen from the panoramic video stream to the single video data stream of the selected single camera.

6. The driving recording method supporting panoramic video playback according to claim 1, characterized in that, The driving recording method that supports panoramic video playback also includes: The vehicle's collision events are monitored using an accelerometer. When a vehicle collision event is detected, the multiple video data streams recorded within a preset time period before and after the collision event are automatically marked as locked to prevent them from being overwritten in a loop.

7. The driving recording method supporting panoramic video playback according to claim 1, characterized in that, The driving recording method that supports panoramic video playback also includes: Obtain the current speed of the vehicle; When the driving speed is determined to be lower than a preset low-speed threshold, the real-time display of the panoramic video stream is automatically activated, and the dynamic driving trajectory line of the vehicle is superimposed on the display screen of the display device to assist the driver in parking.

8. A vehicle recording device supporting panoramic video playback, characterized in that, The vehicle recording device supporting panoramic video playback includes: The multi-channel data stream acquisition module is used to simultaneously acquire multiple video data streams through multiple cameras deployed in a 360-degree imaging system around the vehicle; A multi-stream data storage module is used to associate and store the multiple video data streams with their respective timestamp information; The multi-stream data reading module is used to respond to the user's playback command and read the target multi-stream video data within a predetermined time period; A panoramic video stream synthesis module is used to perform real-time image processing on the read target multi-channel video data stream to synthesize a panoramic video stream; A panoramic video stream playback module is used to output the panoramic video stream to a display device for playback; The panoramic view adjustment module is used to receive interactive commands from users to adjust the viewing angle, and to change the display area or projection angle of the panoramic video stream on the display device in real time according to the interactive commands.

9. A dashcam device supporting panoramic video playback, characterized in that, The vehicle recording device supporting panoramic video playback includes: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor invokes the instructions in the memory to cause the driving recorder supporting panoramic video playback to perform the driving recorder method supporting panoramic video playback as described in any one of claims 1-7.

10. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements the driving recording method supporting panoramic video playback as described in any one of claims 1-7.

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