Panoramic image automatic triggering system and vehicle

Abstract

The utility model provides an automatic triggering system of a panoramic image and a vehicle, and belongs to the technical field of automobiles, and the automatic triggering system comprises a plurality of image acquisition modules which are configured to acquire images of obstacles in the surrounding environment of the vehicle; the detection module is connected with the image acquisition module and is configured to drive the image acquisition module to perform acquisition when the current vehicle speed of the vehicle is smaller than or equal to a preset vehicle speed; and the trigger module is connected with the image acquisition module and the panoramic image system and is configured to receive the image, and when the image represents that the distance between the obstacle and the vehicle is smaller than or equal to the preset distance, the panoramic image system displays the panoramic image. When the current vehicle speed is less than or equal to the preset vehicle speed, the image acquisition module is driven to acquire the image of the obstacle, and when the distance between the obstacle and the vehicle is determined to be less than or equal to the preset distance according to the image, the panoramic image system is driven by the trigger module to display the panoramic image, so that the panoramic image is automatically triggered.

Description

Technical Field

[0001] This utility model relates to the field of automotive technology, and in particular to an automatic triggering system and vehicle for panoramic imaging. Background Technology

[0002] In recent years, with the continuous improvement of the national economy and the rapid development of modern society, automobiles have entered thousands of households, becoming an essential tool for daily commuting and holiday travel. As the number of motor vehicles on the road increases daily, users are paying more and more attention to driving safety. Currently, panoramic imaging systems are often installed in vehicles to generate panoramic images and assist users in driving safely.

[0003] However, in related technologies, users often need to manually trigger the panoramic imaging system, which leads to a decline in driving experience and safety. Summary of the Invention

[0004] In view of this, the present invention aims to propose an automatic triggering system and vehicle for panoramic imaging, which aims to realize the automatic triggering of the panoramic imaging system and ensure driving safety.

[0005] The first aspect of this utility model provides an automatic triggering system for panoramic imaging, applied to a vehicle, the automatic triggering system comprising:

[0006] Multiple image acquisition modules are arranged around the vehicle and configured to acquire images of obstacles in the surrounding environment of the vehicle;

[0007] The detection module, connected to the image acquisition module, is configured to drive the image acquisition module to acquire data when the current vehicle speed is less than or equal to a preset vehicle speed.

[0008] The trigger module, connected to the image acquisition module and the vehicle's panoramic imaging system, is configured to receive the image and drive the panoramic imaging system to display the panoramic image when the image indicates that the distance between the obstacle and the vehicle is less than or equal to a preset distance.

[0009] Optionally, the triggering module includes:

[0010] An image processing unit, connected to the image acquisition module, is configured to receive the image and acquire the width and pixel distance of the obstacle in the image;

[0011] A distance output unit, connected to the image processing unit, is configured to receive the width and the pixel distance, and output the distance between the obstacle and the vehicle based on the width and the pixel distance;

[0012] The control unit, connected to the distance output unit and the panoramic imaging system, is configured to receive the distance and send the activation signal to the panoramic imaging system when the distance is less than or equal to the preset distance.

[0013] Optionally, the image processing unit includes:

[0014] The preprocessing unit, connected to the image acquisition module, is configured to output a first image after receiving the image, wherein the first image is an image after denoising and enhancement of the image;

[0015] The target recognition unit, connected to the preprocessing unit, is configured to output a second image after receiving the first image, wherein the size of the second image is smaller than the size of the first image, and the second image includes the obstacle.

[0016] The feature extraction unit, connected to the target recognition unit, is configured to output the width and the pixel distance after receiving the second image.

[0017] Optionally, the automatic triggering system further includes: an alarm module installed inside the vehicle, the alarm module being connected to the triggering module;

[0018] The triggering module is also configured to send a first electrical signal to the alarm module when the distance is less than or equal to the preset distance;

[0019] The alarm module is configured to output alarm information in response to the first electrical signal, the alarm information including text information and / or warning sound.

[0020] Optionally, the alarm module includes:

[0021] The display unit, connected to the trigger module, is configured to display the text information in response to the first electrical signal;

[0022] And / or,

[0023] The voice unit, connected to the trigger module, is configured to play the warning sound in response to the first electrical signal.

[0024] Optionally, the smaller the distance between the obstacle and the vehicle, the higher the frequency of the warning sound.

[0025] Optionally, the detection module is also connected to the panoramic imaging system and the alarm module;

[0026] The detection module is further configured to send a shutdown signal to the panoramic imaging system to drive the panoramic imaging system to shut down when the vehicle is in a parking position or the current vehicle speed is greater than the preset vehicle speed, and to send a second electrical signal to the alarm module to drive the alarm module to shut down.

[0027] Optionally, the trigger module is integrated into the vehicle's infotainment system, and the image acquisition module is connected to the trigger module via a gateway.

[0028] Optionally, the image acquisition module includes a camera.

[0029] A second aspect of this utility model provides a vehicle that includes an automatic triggering system for panoramic imaging as described in the first aspect.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] This utility model provides an automatic triggering system for panoramic imaging, applied to a vehicle. The automatic triggering system includes: multiple image acquisition modules disposed around the vehicle and configured to acquire images of obstacles in the surrounding environment; a detection module connected to the image acquisition modules and configured to drive the image acquisition modules to acquire images when the vehicle's current speed is less than or equal to a preset speed; and a triggering module connected to the image acquisition modules and the vehicle's panoramic imaging system and configured to receive the images and drive the panoramic imaging system to display panoramic images when the images indicate that the distance between the obstacle and the vehicle is less than or equal to a preset distance.

[0032] Therefore, this utility model, through a detection module, drives multiple image acquisition modules located around the vehicle to acquire images of obstacles in the surrounding environment when the vehicle's current speed is less than or equal to a preset speed. A trigger module connected to the image acquisition module receives the acquired obstacle images and, when the distance between the obstacle and the vehicle, represented by the image, is less than or equal to a preset distance, directly drives the panoramic imaging system to operate and display the panoramic image. Thus, when obstacles exist around the vehicle and are close to it, the panoramic imaging system can be automatically triggered without the driver needing to manually activate it, ensuring the vehicle can safely pass through obstacles and improving the user's driving experience. Attached Figure Description

[0033] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0034] Figure 1 This is a schematic diagram of the structure of an automatic triggering system for panoramic images according to an embodiment of the present utility model;

[0035] Figure 2 This is a schematic diagram of the structure of a trigger module according to an embodiment of the present utility model;

[0036] Figure 3 This is a schematic diagram of the structure of an image processing unit according to an embodiment of the present invention;

[0037] Figure 4 This is a structural schematic diagram of an alarm module according to an embodiment of the present utility model.

[0038] Reference numerals: 100, Image acquisition module; 200, Detection module; 300, Trigger module; 301, Image processing unit; 3011, Preprocessing unit; 3012, Target recognition unit; 3013, Feature extraction unit; 302, Distance output unit; 303, Control unit; 400, Panoramic imaging system; 500, Alarm module; 501, Display unit; 502, Voice unit; 600, Gateway. Detailed Implementation

[0039] It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0040] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] In related technologies, most vehicles only have radar-triggered panoramic imaging solutions. For vehicles without front parking radar, when driving on roads with obstacles, driving on narrow roads, or parking on the side of the road, users cannot automatically trigger panoramic imaging through parking radar. They can only manually activate panoramic imaging, which greatly reduces the driving experience and driving safety.

[0042] In view of this, this utility model proposes an automatic triggering system for panoramic imaging, applied to vehicles. By acquiring images of obstacles in the vehicle's surrounding environment, determining the distance between the obstacle and the vehicle, and driving the panoramic imaging system based on the determined distance, the system automatically triggers the panoramic imaging, ensuring the vehicle can safely pass through obstacles and improving the user's driving experience. This automatic triggering system can be referred to... Figure 1 , Figure 1 A schematic diagram of the structure of an automatic triggering system for panoramic images according to an embodiment of the present invention is shown, as follows: Figure 1 As shown, the automatic triggering system includes:

[0043] Multiple image acquisition modules 100 are disposed around the vehicle and configured to acquire images of obstacles in the environment surrounding the vehicle.

[0044] The detection module 200, connected to the image acquisition module 100, is configured to drive the image acquisition module 100 to acquire data when the current vehicle speed is less than or equal to a preset vehicle speed.

[0045] The trigger module 300, connected to the image acquisition module 100 and the panoramic imaging system 400 of the vehicle, is configured to receive the image and drive the panoramic imaging system 400 to display the panoramic image when the image indicates that the distance between the obstacle and the vehicle is less than or equal to a preset distance.

[0046] The image acquisition module 100 includes a camera, specifically a high-definition camera. By placing multiple high-definition cameras around the vehicle, high-definition images of obstacles in the surrounding environment can be captured. These obstacles can be foreign objects on the road, such as stones or puddles, or roadside curbs.

[0047] In one example, the multiple image acquisition modules 100 may include at least four cameras, namely a first camera located in front of the vehicle, a second camera located behind the vehicle, a third camera located on the left side of the vehicle, and a fourth camera located on the right side of the vehicle, thereby enabling the acquisition of images of obstacles in the surrounding environment of the vehicle.

[0048] Thus, after the image acquisition module 100 acquires an image of the obstacle, it can send the acquired image to the trigger module 300 connected to the vehicle's panoramic imaging system 400. The trigger module 300 can then determine the distance between the obstacle and the vehicle based on the image, and if the distance is small, it directly drives the panoramic imaging system 400 to display the panoramic image. The preset distance can be 50cm.

[0049] The trigger module 300 can be a controller, a control chip, etc.

[0050] Among them, the panoramic imaging system 400 collects images of the vehicle's surrounding environment through a panoramic camera on the vehicle, and merges the images of the surrounding environment with the top view of the vehicle body to form a panoramic image.

[0051] Therefore, when there are obstacles around the vehicle and they are close to the vehicle, the panoramic image can be automatically triggered without the driver having to manually turn on the panoramic image system 400, ensuring that the vehicle can safely pass through obstacles and improving the user's driving experience.

[0052] However, in practical applications, the image acquisition module 100 needs to acquire images of the vehicle's surrounding environment in real time to obtain images of obstacles. This means that once the vehicle starts, the image acquisition module 100 needs to be activated to acquire images of the vehicle's surrounding environment in real time. This not only hinders energy conservation but also consumes a significant amount of the vehicle's data storage space, increasing the data storage load. To address these issues, the applicant, through collecting extensive vehicle driving data, discovered that in certain driving scenarios—such as when there are foreign objects on the road, when driving on narrow roads (where the distance between the vehicle and the curb is close), or when parking close to the curb—users often limit the vehicle speed to no more than 20 km / h. In these scenarios, the panoramic imaging system 400 is typically activated to trigger the panoramic view and assist the user in safe driving.

[0053] Therefore, in this embodiment of the utility model, in addition to setting an image acquisition module 100 and a trigger module 300 in the automatic triggering system, a detection module 200 connected to the image acquisition module 100 is also set. The detection module 200 acquires the current vehicle speed, and drives the image acquisition module 100 to acquire data when the current vehicle speed is less than or equal to a preset vehicle speed. The preset vehicle speed can be 20 km / h.

[0054] In this way, the image acquisition module 100 is only activated when the vehicle's current speed is less than or equal to 20 km / h, saving vehicle energy and data storage space while acquiring images of obstacles in the vehicle's surrounding environment. Next, the trigger module 300 determines the distance between the obstacle and the vehicle based on the images acquired by the image acquisition module 100. If the distance is less than or equal to a preset distance, the panoramic imaging system 400 is activated to display the panoramic image, enabling users to safely pass through obstacles or narrow road sections, and to safely park the vehicle close to the edge, greatly improving the user's driving experience and safety.

[0055] Therefore, this embodiment of the utility model collects the vehicle's current speed through the detection module 200. Based on the current speed being less than or equal to a preset speed, it determines that the current driving scenario may require triggering a panoramic image. This drives the image acquisition module 100 to collect images of obstacles in the vehicle's surrounding environment. Consequently, the trigger module 300 can obtain images of obstacles from the image acquisition module 100. When the distance between the obstacle and the vehicle, as represented by the image, is less than or equal to a preset distance, the panoramic image system 400 is directly driven to display the panoramic image. Thus, when there are obstacles around the vehicle and they are close to the vehicle, or when the vehicle is driving on a narrow road, or when the vehicle is parked on the side of the road, the panoramic image can be automatically triggered without the driver having to manually activate the panoramic image system. This ensures that the vehicle can safely pass through obstacles and improves the user's driving experience.

[0056] In one alternative implementation, refer to Figure 2 , Figure 2 A schematic diagram of the structure of a trigger module according to an embodiment of the present invention is shown, as follows: Figure 2 As shown, the trigger module 300 includes:

[0057] The image processing unit 301 is connected to the image acquisition module 100 and is configured to receive the image and acquire the width and pixel distance of the obstacle in the image;

[0058] The distance output unit 302, connected to the image processing unit 301, is configured to receive the width and the pixel distance, and output the distance between the obstacle and the vehicle based on the width and the pixel distance;

[0059] The control unit 303, connected to the distance output unit 302 and the panoramic imaging system 400, is configured to receive the distance and send the activation signal to the panoramic imaging system 400 when the distance is less than or equal to the preset distance.

[0060] The image processing unit 301 is configured to receive images of obstacles acquired by the image acquisition module 100, and to acquire the width and pixel distance of the obstacles in the image. The width refers to the actual width of the obstacle, and the pixel distance is the distance between the obstacles in pixels within the image. After acquiring the width and pixel distance of the obstacles, the image processing unit 301 sends these measurements to the distance output unit 302 connected to it. Upon receiving the width and pixel distance of the obstacles, the distance output unit 302 can output the distance between the obstacle and the vehicle based on these measurements.

[0061] Specifically, the distance output unit 302 is equipped with a first calculation unit and a pre-stored focal length of the image acquisition module 100. In this way, the first calculation unit can calculate the distance between the obstacle and the vehicle based on the width, pixel distance and focal length of the image acquisition module 100.

[0062] The above calculation process can be expressed by the following formula (I):

[0063] Formula (I) for S = (F * W) / L

[0064] Where S represents the distance between the obstacle and the vehicle; F represents the focal length of the image acquisition module 100; W represents the width of the obstacle; and L represents the pixel distance of the obstacle.

[0065] It should be noted that the above calculation process is the existing calculation method.

[0066] Therefore, the image processing unit 301 acquires images of obstacles to obtain the width and pixel distance of obstacles. Then, the distance output unit 302 accurately calculates the distance between the obstacle and the vehicle based on the width and pixel distance of the obstacle and outputs the distance to the control unit 303. Thus, the control unit 303 can judge the distance and drive the panoramic imaging system 400 to display the panoramic image when the distance is less than or equal to the preset distance, thereby realizing the automatic triggering of the panoramic image.

[0067] In one alternative implementation, refer to Figure 3 The figure shows a schematic diagram of the structure of an image processing unit according to an embodiment of the present invention, such as... Figure 3 As shown, the image processing unit 301 includes:

[0068] The preprocessing unit 3011 is connected to the image acquisition module 100 and is configured to output a first image after receiving the image, wherein the first image is an image after denoising and enhancement of the image;

[0069] The target recognition unit 3012, connected to the preprocessing unit 3011, is configured to output a second image after receiving the first image, wherein the size of the second image is smaller than the size of the first image, and the second image includes the obstacle.

[0070] The feature extraction unit 3013, connected to the target recognition unit 3012, is configured to output the width and the pixel distance after receiving the second image.

[0071] In order to improve the accuracy of the width and pixel distance acquired by the image processing unit 301, in this embodiment of the present invention, the image processing unit 301 further includes a preprocessing unit 3011. The preprocessing unit 3011 is connected to the image acquisition module 100 and is configured to receive the image of the obstacle acquired by the image acquisition module 100, and after performing preprocessing operations such as denoising and enhancement on the image, output a high-quality first image.

[0072] Even after obtaining a high-quality first image, it is still impossible to determine the obstacles in the first image. Therefore, in this embodiment of the present invention, the image processing unit 301 further includes a target recognition unit 3012 connected to the preprocessing unit 3011. The target recognition unit 3012 is configured to receive the first image, recognize the first image, identify the obstacles in the first image, crop the first image to obtain a second image including the obstacles, and output the second image to the feature extraction unit 3013, which outputs the width and pixel distance.

[0073] Specifically, the feature extraction unit 3013 includes a feature extraction subunit and a second calculation unit. The feature extraction subunit is connected to the target recognition unit 3012 and is configured to receive the second image and collect the resolution of the second image, the image width of the obstacle in the second image, the number of pixels, and the pixel distance. The second calculation unit is connected to the feature extraction subunit and is configured to receive the resolution of the second image, the image width of the obstacle in the second image, and the number of pixels, and calculate the actual size of the obstacle, i.e., the width of the obstacle, based on the resolution of the second image, the image width of the obstacle in the second image, and the number of pixels.

[0074] Therefore, in this embodiment of the utility model, the preprocessing unit 3011 preprocesses the image of the obstacle acquired by the image acquisition module 100 to improve the image quality and outputs a first image. Then, the target recognition unit 3012 identifies the obstacle in the first image and outputs a second image. Finally, the feature extraction unit 3013 receives the second image and accurately calculates the width and pixel distance of the obstacle based on the second image, thereby ensuring that the distance output unit 302 can accurately calculate the distance between the obstacle and the vehicle based on the width and pixel distance.

[0075] In one alternative implementation, such as Figure 1 As shown, the automatic triggering system also includes: an alarm module 500 installed inside the vehicle, the alarm module 500 being connected to the triggering module 300;

[0076] The trigger module 300 is further configured to send a first electrical signal to the alarm module 500 when the distance is less than or equal to the preset distance;

[0077] The alarm module 500 is configured to output alarm information in response to the first electrical signal, the alarm information including text information and / or warning sound.

[0078] When the distance is less than or equal to the preset distance, it indicates that the distance between the vehicle and the obstacle is relatively close. At this time, the trigger module 300 can not only drive the panoramic imaging system 400 to display the panoramic image, but also send a first electrical signal to the alarm module 500 to drive the alarm module 500 to output alarm information to warn the user that there is an obstacle near the vehicle.

[0079] The trigger module 300 and the alarm module 500 are connected via a CAN (Controller Area Network) bus.

[0080] In one example, the alarm information may include text information. In this case, the transmitting module 300 sends a first electrical signal to the alarm module 500 when the distance is less than or equal to a preset distance. The alarm module 500 responds to the first electrical signal and outputs text information to warn the user that there is an obstacle near the vehicle. The text information may be the distance between the obstacle and the vehicle.

[0081] In one example, the alarm information may include a warning sound. In this case, when the distance is less than or equal to a preset distance, the transmitting module 300 sends a first electrical signal to the alarm module 500. In response to the first electrical signal, the alarm module 500 outputs a warning sound to alert the user that there is an obstacle near the vehicle.

[0082] In one example, the alarm information may include text information and a warning sound. In this case, when the distance is less than or equal to a preset distance, the transmitting module 300 sends a first electrical signal to the alarm module 500. In response to the first electrical signal, the alarm module 500 outputs text information and a warning sound to alert the user that there is an obstacle near the vehicle.

[0083] In one alternative implementation, refer to Figure 4 , Figure 4 A schematic diagram of the structure of an alarm module according to an embodiment of the present invention is shown, as follows: Figure 4 As shown, the alarm module 500 includes:

[0084] Display unit 501, connected to trigger module 300, is configured to display the text information in response to the first electrical signal;

[0085] And / or,

[0086] The voice unit 502, connected to the trigger module 300, is configured to play the warning sound in response to the first electrical signal.

[0087] The display unit 501 can be a display screen. In one example, in order to save costs and save interior space, the display unit 501 can be a display screen in the vehicle's infotainment system.

[0088] The voice unit 502 can be a speaker, loudspeaker, etc.

[0089] In one alternative implementation, the smaller the distance between the obstacle and the vehicle, the higher the frequency of the warning sound.

[0090] In order to alert the user to changes in the distance between the obstacle and the vehicle, in this embodiment of the invention, the smaller the distance between the obstacle and the vehicle, the higher the frequency of the warning sound played by the voice unit 502.

[0091] In an optional implementation, the detection module 200 is also connected to the panoramic imaging system 400 and the alarm module 500;

[0092] The detection module 200 is further configured to send a shutdown signal to the panoramic imaging system 400 to drive the panoramic imaging system 400 to shut down when the vehicle is in a parking position or the current vehicle speed is greater than the preset vehicle speed, and to send a second electrical signal to the alarm module 500 to drive the alarm module 500 to shut down.

[0093] In this embodiment of the invention, the detection module 200 collects the vehicle's current speed and gear position in real time. When the vehicle is in parking gear, it indicates that the vehicle has completed parking. At this time, the detection module 200 can send a shutdown signal to the panoramic imaging system 400 to drive the panoramic imaging system 400 to shut down, thereby turning off the panoramic image. It also sends a second electrical signal to the alarm module 500 to drive the alarm module 500 to shut down, stopping the output of alarm information. When the vehicle's current speed is greater than a preset speed, it indicates that the vehicle has safely passed the obstacle or safely left the narrow road section. At this time, the detection module 200 can send a shutdown signal to the panoramic imaging system 400 to drive the panoramic imaging system 400 to shut down, thereby turning off the panoramic image. It also sends a second electrical signal to the alarm module 500 to drive the alarm module 500 to shut down, stopping the output of alarm information.

[0094] In one alternative implementation, the trigger module 300 is integrated into the vehicle's infotainment system, such as... Figure 1 As shown, the image acquisition module 100 and the trigger module 300 are connected via a gateway 600.

[0095] Based on the same inventive concept, this utility model embodiment also proposes a vehicle, which includes the above-described automatic triggering system for panoramic imaging.

[0096] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0097] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0098] It should also be noted that, in this document, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or posture relationships based on the orientation or posture relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor should they be construed as indicating or implying relative importance. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. In the absence of further restrictions, an element defined by the phrase "includes a..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0099] The technical solution provided by this utility model has been described in detail above. Specific examples have been used to illustrate the principle and implementation of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand this utility model, and the content of this specification should not be construed as a limitation of this utility model. Furthermore, for those skilled in the art, there will be different forms of changes in the specific implementation methods and application scope based on this utility model. It is neither necessary nor possible to exhaustively list all implementation methods here, but obvious changes or modifications derived therefrom are still within the protection scope of this utility model.

Claims

1. An automatic triggering system for panoramic images, characterized in that, Applied to vehicles, the automatic triggering system includes: Multiple image acquisition modules are arranged around the vehicle and configured to acquire images of obstacles in the surrounding environment of the vehicle; The detection module, connected to the image acquisition module, is configured to drive the image acquisition module to acquire data when the current vehicle speed is less than or equal to a preset vehicle speed. The trigger module, connected to the image acquisition module and the vehicle's panoramic imaging system, is configured to receive the image and drive the panoramic imaging system to display the panoramic image when the image indicates that the distance between the obstacle and the vehicle is less than or equal to a preset distance.

2. The automatic triggering system for panoramic images according to claim 1, characterized in that, The triggering module includes: An image processing unit, connected to the image acquisition module, is configured to receive the image and acquire the width and pixel distance of the obstacle in the image; A distance output unit, connected to the image processing unit, is configured to receive the width and the pixel distance, and output the distance between the obstacle and the vehicle based on the width and the pixel distance; The control unit, connected to the distance output unit and the panoramic imaging system, is configured to receive the distance and send an activation signal to the panoramic imaging system when the distance is less than or equal to the preset distance.

3. The automatic triggering system for panoramic images according to claim 2, characterized in that, The image processing unit includes: The preprocessing unit, connected to the image acquisition module, is configured to output a first image after receiving the image, wherein the first image is an image after denoising and enhancement of the image; The target recognition unit, connected to the preprocessing unit, is configured to output a second image after receiving the first image, wherein the size of the second image is smaller than the size of the first image, and the second image includes the obstacle. The feature extraction unit, connected to the target recognition unit, is configured to output the width and the pixel distance after receiving the second image.

4. The automatic triggering system for panoramic images according to claim 1, characterized in that, The automatic triggering system further includes: an alarm module installed inside the vehicle, the alarm module being connected to the triggering module; The triggering module is also configured to send a first electrical signal to the alarm module when the distance is less than or equal to the preset distance; The alarm module is configured to output alarm information in response to the first electrical signal, the alarm information including text information and / or warning sound.

5. The automatic triggering system for panoramic images according to claim 4, characterized in that, The alarm module includes: The display unit, connected to the trigger module, is configured to display the text information in response to the first electrical signal; And / or, The voice unit, connected to the trigger module, is configured to play the warning sound in response to the first electrical signal.

6. An automatic triggering system for panoramic images according to claim 4 or 5, characterized in that, The smaller the distance between the obstacle and the vehicle, the higher the frequency of the warning sound.

7. The automatic triggering system for panoramic images according to claim 4, characterized in that, The detection module is also connected to the panoramic imaging system and the alarm module; The detection module is further configured to send a shutdown signal to the panoramic imaging system to drive the panoramic imaging system to shut down when the vehicle is in a parking position or the current vehicle speed is greater than the preset vehicle speed, and to send a second electrical signal to the alarm module to drive the alarm module to shut down.

8. The automatic triggering system for panoramic images according to claim 1, characterized in that, The trigger module is integrated into the vehicle's infotainment system, and the image acquisition module is connected to the trigger module via a gateway.

9. The automatic triggering system for panoramic images according to claim 1, characterized in that, The image acquisition module includes a camera.

10. A vehicle, characterized in that, The vehicle includes an automatic triggering system for panoramic imaging as described in any one of claims 1-9.

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