Anti-collision method and apparatus for vehicle, and readable storage medium

Abstract

Provided in the present disclosure are an anti-collision method for a vehicle, an anti-collision apparatus applied to a vehicle, an electronic device, a readable storage medium, and a vehicle. The method comprises: by means of a camera of a vehicle, acquiring an image of an environment outside of the vehicle; on the basis of the image of the environment, generating a panoramic image and obstacle information of the environment outside of the vehicle; on the basis of the panoramic image and the obstacle information, determining the distance between an obstacle and the vehicle; and when the distance is less than a distance threshold value, outputting alarm information.

Description

Vehicle collision avoidance method, device and readable storage medium

[0001] This disclosure claims priority to a Chinese invention patent with application number 202410371221.3 filed with the Patent Office of China on March 27, 2024, entitled “Vehicle anti-collision method, device, electronic device, readable storage medium and vehicle,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The embodiments of the present disclosure relate to, but are not limited to, the field of vehicle collision avoidance technology, and in particular, to a vehicle collision avoidance method, device, and readable storage medium. Background Art

[0003] When a vehicle is driving, there are certain blind spots in the driver's field of vision, so there is a risk of collision with obstacles. In order to prevent vehicle collisions, a vehicle anti-collision method is needed.

[0004] In order to solve the above problem, in the related art, ultrasonic ranging sensors are installed at the front and rear positions of the vehicle, and the ultrasonic ranging sensors are used to obtain the distance of obstacles in front and behind the vehicle, and an alarm is issued when the distance to the obstacle is less than a distance threshold.

[0005] There are at least the following problems in the related art: since ultrasonic ranging sensors are used to obtain the distances to obstacles in front and behind the vehicle, errors are large, resulting in failure of vehicle collision avoidance. Technical Solutions

[0006] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0007] The embodiments of the present disclosure provide a vehicle collision avoidance method, device, and readable storage medium to solve the problem in the related art that the distance between obstacles in front and behind the vehicle is obtained using an ultrasonic ranging sensor, resulting in large errors and causing vehicle collision avoidance failure.

[0008] In a first aspect, an embodiment of the present disclosure provides a vehicle collision avoidance method, the method comprising:

[0009] Acquiring an image of the environment outside the vehicle through a camera of the vehicle;

[0010] generating a panoramic image and obstacle information outside the vehicle based on the environment image;

[0011] determining a distance between the obstacle and the vehicle according to the panoramic image and the obstacle information;

[0012] When the distance is less than a distance threshold, an alarm message is output.

[0013] In a second aspect, an embodiment of the present disclosure provides a vehicle anti-collision device, the device comprising:

[0014] A first acquisition module is used to acquire an environment image outside the vehicle through a camera of the vehicle;

[0015] A second acquisition module is used to generate a panoramic image of the exterior of the vehicle and obstacle information based on the environment image;

[0016] a determination module, configured to determine a distance between the obstacle and the vehicle based on the panoramic image and the obstacle information;

[0017] The output module is used to output an alarm message when the distance is less than a distance threshold.

[0018] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0019] Memory for storing computer programs;

[0020] The processor is configured to implement the steps of the vehicle collision avoidance method described in the first aspect when executing the program stored in the memory.

[0021] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle collision avoidance method described in the first aspect above.

[0022] In a fifth aspect, an embodiment of the present disclosure provides a vehicle, comprising the anti-collision device for the vehicle as described in the second aspect.

[0023] Still other aspects will become apparent upon reading and understanding the accompanying drawings and detailed description. Beneficial effects

[0024] The beneficial effects of the present disclosure are: obtaining an environmental image outside the vehicle through the vehicle's camera, and then generating a panoramic image and obstacle information outside the vehicle based on the environmental image, and then determining the distance between the obstacle and the vehicle based on the panoramic image and obstacle information, and then outputting an alarm message when the distance is less than a distance threshold to realize the vehicle's anti-collision alarm. The driver of the vehicle can timely and intuitively know the obstacle situation around the vehicle based on the panoramic image and obstacle information, which makes up for the driver's blind spot of vision, enhances the effectiveness of vehicle anti-collision, and solves the problem in related technologies that the distance between obstacles in front and behind the vehicle is obtained by using ultrasonic ranging sensors, resulting in large errors and causing vehicle anti-collision failure.

[0025] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following briefly introduces the drawings required for describing the embodiments.

[0027] FIG1 is a schematic flow chart of steps of a vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0028] FIG2 is a schematic flow chart of steps of another vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0029] FIG3 is a schematic diagram of a collision avoidance system for a vehicle provided in an embodiment of the present disclosure;

[0030] FIG4 is a schematic diagram of the configuration of a front binocular camera and a rear binocular camera provided in an embodiment of the present disclosure;

[0031] FIG5 is a schematic diagram of an image acquisition area of ​​a camera module provided in an embodiment of the present disclosure;

[0032] FIG6 is a schematic diagram of image acquisition areas of a rear perimeter camera and a front perimeter camera provided in an embodiment of the present disclosure;

[0033] FIG7 is a schematic diagram of an image acquisition area of ​​a wide-angle camera provided in an embodiment of the present disclosure;

[0034] FIG8 is a schematic diagram of a binocular camera installation area according to an embodiment of the present disclosure;

[0035] FIG9 is a specific schematic diagram of the binocular camera shooting area provided by an embodiment of the present disclosure;

[0036] FIG10 is a schematic diagram of image acquisition areas of a front-view camera and a front perimeter-view camera provided in an embodiment of the present disclosure;

[0037] FIG11 is a schematic diagram of a display screen provided in an embodiment of the present disclosure;

[0038] FIG12 is a schematic diagram of a vehicle anti-collision device provided by an embodiment of the present disclosure;

[0039] FIG13 is a block diagram of an electronic device provided by an embodiment of the present disclosure.

[0040] Implementation of the Present Disclosure

[0041] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0042] FIG1 is a vehicle collision avoidance method provided by an embodiment of the present disclosure, the method comprising steps 101 to 104:

[0043] It should be noted that the data acquisition process and related data involved in the embodiments of the present disclosure are carried out in compliance with the corresponding data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0044] Step 101: Acquire an image of the environment outside the vehicle through a camera of the vehicle.

[0045] It should be noted that the camera is a camera installed on the vehicle, and there may be multiple cameras. The image outside the vehicle is an image of the scene surrounding the vehicle. The image outside the vehicle includes multiple images, including images of the front, back, left, right, and under the chassis of the vehicle. The image outside the vehicle can be a two-dimensional image, a three-dimensional image, or the like.

[0046] Through the camera's internal parameter calibration, image correction, stereo matching and other steps, the parallax principle can be used to calculate the coordinates of any point in the space outside the vehicle and obtain the coordinate information of objects in the scene outside the vehicle.

[0047] In this step, an environmental image outside the vehicle is acquired through the vehicle's camera, and then a panoramic image outside the vehicle and obstacle information are generated based on the environmental image.

[0048] Step 102: Generate a panoramic image of the exterior of the vehicle and obstacle information based on the environment image.

[0049] It should be noted that the panoramic image is a fused and spliced ​​image including a 360-degree image around the vehicle and an image under the vehicle's chassis. The panoramic image is a holographic stereoscopic image that is synchronized in real time with the vehicle's external environment.

[0050] Obstacle information includes obstacle size information, obstacle location information, etc.

[0051] For example, a panoramic image is displayed on a holographic display screen inside a vehicle's cab, and the driver of the vehicle can view the panoramic image to further determine whether there are any obstacles around the vehicle.

[0052] The holographic display screen may include a main screen and multiple sub-screens, the main screen displays the entire panoramic image, and the sub-screens display parts of the panoramic image, for example, the first sub-screen displays the image in front of the vehicle in the panoramic image, the second sub-screen displays the image behind the vehicle in the panoramic image, the third sub-screen displays the image to the left of the vehicle in the panoramic image, the fourth sub-screen displays the image to the right of the vehicle in the panoramic image, and the fifth sub-screen displays the image under the vehicle chassis in the panoramic image.

[0053] In addition, target objects can be identified and marked in panoramic images, such as vehicles, pedestrians, pets, roadblocks, steps, potholes, stones, etc.

[0054] In this step, a panoramic image and obstacle information outside the vehicle are generated based on the environmental image, so that the driver of the vehicle can promptly and intuitively know the obstacle situation around the vehicle based on the panoramic image and obstacle information, thereby filling the driver's blind spots and enhancing the effectiveness of vehicle collision avoidance.

[0055] Step 103: Determine the distance between the obstacle and the vehicle based on the panoramic image and the obstacle information.

[0056] In this step, the distance between the obstacle and the vehicle is determined based on the panoramic image and the obstacle information, and then an alarm message is output when the distance is less than a distance threshold.

[0057] For example, the size information and position information (such as coordinate information) of the obstacle can be obtained based on the obstacle information, and the size information and position information of the vehicle can be obtained based on the panoramic image. Moreover, based on the size information, position information, size information and position information of the vehicle, the distance between the obstacle boundary and the vehicle boundary, that is, the distance between the obstacle and the vehicle, can be obtained.

[0058] In some embodiments, the distance of obstacles from the vehicle is displayed in the panoramic image.

[0059] Step 104: Output an alarm message when the distance is less than a distance threshold.

[0060] It should be noted that the distance threshold is obtained based on information such as the vehicle's speed and direction of travel, the speed and direction of travel of the obstacle, and the size information of the obstacle. The distance threshold includes multiple directional distance thresholds such as the front, rear, left, right, and under the chassis of the vehicle. For obstacles located in different directions of the vehicle, the corresponding directional distance threshold is used to determine whether to display an alarm message, that is, when the distance is less than the corresponding directional distance threshold, the alarm message is displayed.

[0061] The content of the alarm information may include the expected time of occurrence of the collision risk event, the distance between the obstacle and the vehicle, etc. The alarm information can be displayed through voice, pop-up windows, sound, vibration, etc.

[0062] For example, if there is an obstacle in front of the vehicle that exceeds the height of the chassis, an alarm message will be displayed through an alarm voice.

[0063] In this step, by outputting an alarm message when the distance is less than a distance threshold, the driver of the vehicle is prompted to make an emergency avoidance maneuver to prevent a vehicle collision.

[0064] In summary, in the embodiments of the present disclosure, an environmental image outside the vehicle is acquired through the vehicle's camera, and then a panoramic image of the vehicle's exterior and obstacle information are generated based on the environmental image. Then, the distance between the obstacle and the vehicle is determined based on the panoramic image and the obstacle information. Then, when the distance is less than a distance threshold, an alarm message is output to realize the vehicle's anti-collision alarm. Moreover, the driver of the vehicle can obtain the obstacle situation around the vehicle in a timely and intuitive manner based on the panoramic image and obstacle information, which makes up for the driver's blind spot and enhances the effectiveness of the vehicle's anti-collision. This solves the problem in the related art that the vehicle's anti-collision fails due to the large error in obtaining the distance of obstacles in front and behind the vehicle using an ultrasonic ranging sensor.

[0065] FIG2 is a flowchart of another vehicle collision avoidance method provided by an embodiment of the present disclosure. Referring to FIG2 , the method may include the following steps:

[0066] Step 201: Acquire an image of the environment outside the vehicle through a camera of the vehicle.

[0067] The method of acquiring the environment image outside the vehicle through the vehicle's camera has been described in step 101 and will not be repeated here.

[0068] Step 202: Generate obstacle information outside the vehicle based on the environment image; the environment image includes multiple sub-images, where every two sub-images form a sub-image group, and there are multiple sub-image groups;

[0069] The method of generating obstacle information outside the vehicle based on the environment image has been described in step 102 and will not be repeated here.

[0070] Step 203: Obtain the non-overlapping area and the overlapping area of ​​the two sub-images in each sub-image group.

[0071] In this step, the non-overlapping areas and overlapping areas of the two sub-images in each sub-image group are obtained, and then the overlapping areas of the two sub-images in each sub-image group are fused to generate a regional image corresponding to the sub-image group. Finally, the non-overlapping areas corresponding to all sub-image groups and the regional images corresponding to all sub-image groups are spliced ​​to generate a panoramic image.

[0072] It should be noted that the overlapping area of ​​two sub-images in a sub-image group refers to the image portions of all sub-images in the area where the image range of one sub-image in the sub-image group overlaps with the image range of another sub-image in the sub-image group. The non-overlapping area of ​​two sub-images in a sub-image group refers to the image portions of all sub-images in the area where the image range of one sub-image in the sub-image group does not overlap with the image range of another sub-image in the sub-image group.

[0073] Step 204: Fusing the overlapping areas of the two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group.

[0074] In this step, the overlapping areas of the two sub-images in each sub-image group are fused to generate a regional image corresponding to the sub-image group, and then the non-overlapping areas corresponding to all sub-image groups and the regional images corresponding to all sub-image groups are spliced ​​to generate a panoramic image.

[0075] It should be noted that the overlapping areas of two sub-images in the sub-image group are fused, that is, the image parts of all sub-images in the area where the image range of one sub-image in the sub-image group overlaps with the image range of another sub-image are fused through the image fusion algorithm.

[0076] Specifically, the depth information of the image of the overlapping area of ​​two sub-images in the sub-image group is obtained by using a binocular camera measurement algorithm, and the image fusion algorithm is used to obtain the area image corresponding to the sub-image group.

[0077] Step 205 : Splice the non-overlapping areas corresponding to all the sub-image groups and the regional images corresponding to all the sub-image groups to generate the panoramic image.

[0078] In this step, a panoramic image is generated by splicing the non-overlapping areas corresponding to all sub-image groups and the regional images corresponding to all sub-image groups, so that the driver of the vehicle can view and judge the obstacle situation around the vehicle.

[0079] It should be noted that the non-overlapping areas corresponding to all sub-image groups and the regional images corresponding to all sub-image groups are spliced, that is, the non-overlapping areas corresponding to all sub-image groups and the regional images corresponding to all sub-image groups are spliced ​​through an image splicing algorithm.

[0080] In some embodiments, the regional image corresponding to the sub-image group is a three-dimensional image.

[0081] In this embodiment, since the regional images corresponding to the sub-image groups are three-dimensional images, the panoramic image formed by stitching the three-dimensional images is more intuitive and vivid, which is helpful for the driver of the vehicle to judge the obstacles around the vehicle after viewing.

[0082] The regional images of the three-dimensional image are processed by an image smoothing transition algorithm, so that the ultimately formed panoramic image has an image magnification function equivalent to optical zoom.

[0083] Step 206: Determine the distance between the obstacle and the vehicle based on the panoramic image and the obstacle information.

[0084] The method of determining the distance between the obstacle and the vehicle based on the panoramic image and the obstacle information has been described in step 101 and will not be repeated here.

[0085] Step 207: Output an alarm message when the distance is less than a distance threshold.

[0086] The method of outputting the alarm information when the distance is less than the distance threshold has been described in step 101 and will not be repeated here.

[0087] Optionally, the camera includes at least a camera module for the front of the vehicle, a camera module for the left side of the vehicle, a camera module for the right side of the vehicle, and a camera module for the rear of the vehicle.

[0088] In some embodiments, the camera module on the left side of the vehicle and the camera module on the right side of the vehicle both include at least a camera module provided on the rearview mirror of the vehicle, the camera module on the rearview mirror includes a first camera and a second camera, the first camera and the second camera are short-focus cameras; the environmental image includes a first sub-image and a second sub-image, and the sub-image group includes a sub-image group consisting of the first sub-image and the second sub-image; step 201 specifically includes sub-steps 2011 to 2012:

[0089] Sub-step 2011: Acquire a first sub-image of the rear side of the vehicle through the first camera.

[0090] In this step, a first sub-image of the rear side of the vehicle is obtained through the first camera, and then a second sub-image of the rear side of the vehicle is obtained through the second camera. The overlapping area of ​​the first sub-image and the second sub-image is fused to obtain a first area image.

[0091] It should be noted that the first camera is a short-focus camera, which is suitable for shooting nearby scenes.

[0092] Sub-step 2012: Acquire a second sub-image of the rear side of the vehicle through the second camera.

[0093] In this step, a second sub-image of the rear side of the vehicle is acquired by the second camera, and then the overlapping area of ​​the first sub-image and the second sub-image is fused to obtain a first area image.

[0094] It should be noted that the second camera is a short-focus camera, which is suitable for shooting close objects.

[0095] Step 204 specifically includes sub-step 2041:

[0096] Sub-step 2041: Fusing the overlapping area of ​​the first sub-image and the second sub-image to obtain a first area image.

[0097] In this step, the first sub-image and the overlapping area of ​​the second sub-image are fused to obtain a first area image, and then the first area image is spliced ​​with other area images and all non-overlapping areas to obtain a panoramic image.

[0098] It should be noted that the sub-image group corresponds to a plurality of regional images, and the regional images corresponding to the sub-image group include the first regional image.

[0099] In some embodiments, the environment image further includes a third sub-image; the camera module on the left side of the vehicle and the camera module on the right side of the vehicle both further include a side surround view camera provided on a rearview mirror of the vehicle;

[0100] Step 201 specifically includes sub-step 2013:

[0101] Sub-step 2013: Acquire a third sub-image of the side of the vehicle through the side surround-view camera.

[0102] In this step, a third sub-image of the side of the vehicle is acquired by the side surround view camera, and then an overlapping area between the first non-overlapping area and the third sub-image, and a second non-overlapping area between the first non-overlapping area and the third sub-image are acquired.

[0103] It should be noted that the side surround-view cameras are wide-angle cameras, and the side surround-view cameras include a left surround-view camera arranged on the left rearview mirror of the vehicle and a right surround-view camera arranged on the right rearview mirror of the vehicle.

[0104] For example, a side surround view camera is installed on a rearview mirror of a vehicle and faces downward to collect images.

[0105] In some embodiments, the non-overlapping area corresponding to the sub-image group includes a first non-overlapping area of ​​the first sub-image and the second sub-image; before step 205, the method further includes steps 208 to 209:

[0106] Step 208: Acquire an overlapping area between the first non-overlapping area and the third sub-image, and a second non-overlapping area between the first non-overlapping area and the third sub-image.

[0107] In this step, the overlapping area of ​​the first non-overlapping area and the third sub-image and the second non-overlapping area of ​​the first non-overlapping area and the third sub-image are obtained, and then the overlapping area of ​​the first non-overlapping area and the third sub-image are fused to obtain a first fused image, and the third non-overlapping area, all non-overlapping areas and all area images are spliced ​​to obtain a panoramic image.

[0108] It should be noted that the overlapping area between the first non-overlapping area and the third sub-image refers to the image portion of the first non-overlapping area and the image portion of the third sub-image within the area where the image range of the first non-overlapping area and the image range of the third sub-image overlap. The non-overlapping area between the first non-overlapping area and the third sub-image refers to the image portion of the first non-overlapping area and the image portion of the third sub-image within the area where the image range of the first non-overlapping area and the image range of the third sub-image do not overlap.

[0109] The first non-overlapping area includes the first non-overlapping area on the left side of the first sub-image captured by the first camera and the second sub-image captured by the second camera, which are located on the left rearview mirror, and the first non-overlapping area on the right side of the first sub-image captured by the first camera and the second sub-image captured by the second camera, which are located on the right rearview mirror. The third sub-image includes the third left sub-image captured by the left surround-view camera and the third right sub-image captured by the right surround-view camera.

[0110] The overlapping area between the first non-overlapping area and the third sub-image includes the overlapping area between the first non-overlapping area on the left and the third sub-image on the left, and the overlapping area between the first non-overlapping area on the right and the third sub-image on the right. The second non-overlapping area between the first non-overlapping area and the third sub-image includes the non-overlapping area between the first non-overlapping area on the left and the third sub-image on the left, and the non-overlapping area between the first non-overlapping area on the right and the third sub-image on the right.

[0111] Step 209: Fuse the first non-overlapping area with the overlapping area of ​​the third sub-image to obtain a first fused image.

[0112] In this step, the first non-overlapping area is fused with the overlapping area of ​​the third sub-image to obtain a first fused image, and then the third non-overlapping area, the first fused image, all non-overlapping areas and all regional images are spliced ​​to obtain a panoramic image.

[0113] It should be noted that the first non-overlapping area is fused with the overlapping area of ​​the third sub-image to obtain the first fused image, including fusing the first non-overlapping area on the left with the overlapping area of ​​the third sub-image on the left to obtain the first fused image on the left, and fusing the first non-overlapping area on the right with the overlapping area of ​​the third sub-image on the right to obtain the first fused image on the right.

[0114] Step 205 specifically includes sub-step 2051:

[0115] Sub-step 2051 : stitching the second non-overlapping area, the first fused image, the non-overlapping areas corresponding to all the sub-image groups, and the regional images corresponding to all the sub-image groups to obtain the panoramic image.

[0116] In this step, a panoramic image is obtained by splicing the second non-overlapping area, the first fused image, all non-overlapping areas and all regional images, so that the driver of the vehicle can view and judge the obstacle situation around the vehicle.

[0117] In some embodiments, the camera module at the front of the vehicle includes at least a front surround-view camera disposed on a front grille of the vehicle; the environment image further includes a tenth sub-image, and the sub-image group further includes a sub-image group consisting of the third sub-image and the tenth sub-image;

[0118] Step 201 specifically includes sub-step 2014:

[0119] Sub-step 2014: acquiring a tenth sub-image in front of the vehicle through the front surround-view camera.

[0120] In this step, the tenth sub-image in front of the vehicle is acquired through the front surround-view camera, and then the overlapping areas of the third sub-image and the tenth sub-image are fused to obtain a third area image.

[0121] It should be noted that the front surround-view camera is a wide-angle camera.

[0122] Step 204 specifically includes sub-step 2042:

[0123] Sub-step 2042: Fusing the overlapping area of ​​the third sub-image and the tenth sub-image to obtain a third area image.

[0124] In this step, the third region image is obtained by fusing the overlapping regions of the third sub-image and the tenth sub-image, and then the third region image is spliced ​​with the other region images and all non-overlapping regions to obtain a panoramic image.

[0125] It should be noted that the regional images corresponding to the sub-image group include the third regional image.

[0126] In some embodiments, the camera module on the left side of the vehicle includes at least a left camera module arranged on the left rearview mirror of the vehicle, and the camera module on the right side of the vehicle includes at least a right camera module arranged on the right rearview mirror of the vehicle; the third camera of the left camera module is a telephoto camera, and the third camera of the right camera module is a telephoto camera; the environmental image also includes a fourth sub-image and a fifth sub-image, and the sub-image group also includes a sub-image group consisting of the fourth sub-image and the fifth sub-image.

[0127] It should be noted that the camera module on the rearview mirror in the camera module on the left side of the vehicle is the left camera module on the left rearview mirror, and the camera module on the rearview mirror in the camera module on the right side of the vehicle is the right camera module on the right rearview mirror; the camera modules on the rearview mirror include a first camera, a second camera, and a third camera, among which the left camera module on the left rearview mirror includes the first camera of the left camera module, the second camera of the left camera module, and the third camera of the left camera module, and the right camera module on the right rearview mirror includes the first camera of the right camera module, the second camera of the right camera module, and the third camera of the right camera module.

[0128] 5 , area X1 is the image acquisition area of ​​the third camera of the camera module on the rearview mirror, area X2 is the image acquisition area of ​​the first camera of the camera module on the rearview mirror, and area X3 is the image acquisition area of ​​the second camera of the camera module on the rearview mirror.

[0129] Step 201 specifically includes sub-steps 2015 to 2016:

[0130] Sub-step 2015: Acquire a fourth sub-image of the left rear side of the vehicle through the third camera of the left camera module.

[0131] In this step, the fourth sub-image of the left rear side of the vehicle is obtained through the third camera of the left camera module, and then the fifth sub-image of the right rear side of the vehicle is obtained through the third camera of the right camera module. The overlapping area of ​​the fourth sub-image and the fifth sub-image is fused to obtain the fourth area image.

[0132] It should be noted that the third camera of the left camera module is a telephoto camera, which is suitable for capturing distant scenes.

[0133] Sub-step 2016: Acquire a fifth sub-image of the right rear side of the vehicle through the third camera of the right camera module.

[0134] In this step, the fifth sub-image of the right rear side of the vehicle is obtained through the third camera of the right camera module, and then the overlapping area of ​​the fourth sub-image and the fifth sub-image is fused to obtain a fourth area image.

[0135] It should be noted that the third camera of the right camera module is a telephoto camera, which is suitable for capturing distant scenes.

[0136] Step 204 specifically includes sub-step 2043:

[0137] Sub-step 2043: Fusing the overlapping area of ​​the fourth sub-image and the fifth sub-image to obtain a fourth area image.

[0138] In this step, the fourth sub-image is fused with the overlapping area of ​​the fifth sub-image to obtain a fourth region image, and then the fourth region image is spliced ​​with the other region images and all non-overlapping areas to obtain a panoramic image.

[0139] It should be noted that the regional images corresponding to the sub-image group include the fourth regional image.

[0140] In some embodiments, the camera module at the rear of the vehicle includes at least a rear perimeter camera disposed on the rear windshield of the vehicle;

[0141] 6 , the rear perimeter camera and the front perimeter camera may be cameras of the same type, and area X4 is the image acquisition area of ​​the rear perimeter camera and the front perimeter camera.

[0142] The environment image also includes a sixth sub-image; step 201 specifically includes sub-step 2017:

[0143] Sub-step 2017: Acquire a sixth sub-image of the rear of the vehicle through the rear perimeter camera.

[0144] In this step, a sixth sub-image of the rear of the vehicle is acquired through the rear perimeter camera, and then an overlapping area between the second non-overlapping area and the sixth sub-image and a third non-overlapping area are acquired.

[0145] It should be noted that the rear perimeter camera is a telephoto camera. In some embodiments, the rear perimeter camera can also be arranged at the rear of the vehicle such as a shark fin.

[0146] In some embodiments, the non-overlapping area corresponding to the sub-image group includes the third non-overlapping area of ​​the fourth sub-image and the fifth sub-image; before step 205, the method further includes steps 210 to 211:

[0147] Step 210: Acquire an overlapping area between the third non-overlapping area and the sixth sub-image, and a fourth non-overlapping area between the third non-overlapping area and the sixth sub-image.

[0148] In this step, the overlapping area of ​​the third non-overlapping area and the sixth sub-image, as well as the fourth non-overlapping area, are obtained, and then the third non-overlapping area and the overlapping area of ​​the sixth sub-image are fused to obtain a second fused image, and the fourth non-overlapping area, all non-overlapping areas and all area images are spliced ​​to obtain the panoramic image.

[0149] It should be noted that the overlapping area between the third non-overlapping area and the sixth sub-image refers to the image portion of the third non-overlapping area and the image portion of the sixth sub-image within the area where the image range of the third non-overlapping area overlaps with the image range of the sixth sub-image. The fourth non-overlapping area between the third non-overlapping area and the sixth sub-image refers to the image portion of the third non-overlapping area and the image portion of the sixth sub-image within the area where the image range of the third non-overlapping area and the image range of the sixth sub-image do not overlap.

[0150] Step 211: Fuse the third non-overlapping area with the overlapping area of ​​the sixth sub-image to obtain a second fused image.

[0151] In this step, the second fused image is obtained by fusing the third non-overlapping area with the overlapping area of ​​the sixth sub-image, and then the fourth non-overlapping area, the second fused image, all non-overlapping areas and all regional images are spliced ​​to obtain the panoramic image.

[0152] Step 205 specifically includes sub-step 2052:

[0153] Sub-step 2052: stitching the fourth non-overlapping area, the second fused image, the non-overlapping areas corresponding to all the sub-image groups, and the regional images corresponding to all the sub-image groups to obtain the panoramic image.

[0154] In this step, the panoramic image is obtained by splicing the fourth non-overlapping area, the second fused image, all non-overlapping areas and all regional images, so that the driver of the vehicle can view and judge the obstacle situation around the vehicle.

[0155] In some embodiments, the camera module at the rear of the vehicle further includes a rear surround view camera disposed at the rear of the vehicle; the environment image includes a seventh sub-image, and the sub-image group includes a sub-image group consisting of the sixth sub-image and the seventh sub-image;

[0156] Step 201 specifically includes sub-step 2018:

[0157] Sub-step 2018: Acquire a seventh sub-image of the rear of the vehicle through the rear surround-view camera.

[0158] In this step, the seventh sub-image of the rear of the vehicle is acquired through the rear surround view camera, and then the overlapping area of ​​the sixth sub-image and the seventh sub-image is fused to obtain the fifth area image.

[0159] It should be noted that the rear surround-view camera is a wide-angle camera. Specifically, the rear surround-view camera can be set on the tailgate.

[0160] Step 204 specifically includes sub-step 2044:

[0161] Sub-step 2044: Fusing the overlapping area of ​​the sixth sub-image and the seventh sub-image to obtain a fifth area image.

[0162] In this step, the fifth region image is obtained by fusing the overlapping regions of the sixth sub-image and the seventh sub-image, and then the fifth region image is spliced ​​with the other region images and all non-overlapping regions to obtain a panoramic image.

[0163] It should be noted that the regional images corresponding to the sub-image group include the fifth regional image.

[0164] In some embodiments, the camera module at the front of the vehicle includes at least a front perimeter camera disposed on a front windshield of the vehicle and a front view camera disposed on a front grille of the vehicle; the environment image includes an eighth sub-image and a ninth sub-image, and the sub-image group includes a sub-image group consisting of the eighth sub-image and the ninth sub-image;

[0165] 10( b ), area X16 is the image acquisition area of ​​the front perimeter camera X15. Referring to FIG10( a ), area X14 is the image acquisition area of ​​the front view camera X13.

[0166] Step 201 specifically includes sub-steps 2018 and 2019:

[0167] Sub-step 2018: Acquire an eighth sub-image in front of the vehicle through the front perimeter camera.

[0168] In this step, the eighth sub-image in front of the vehicle is obtained through the front perimeter camera, and after the ninth sub-image directly in front of the vehicle is obtained through the front view camera, the overlapping areas of the eighth sub-image and the ninth sub-image are fused to obtain the sixth area image.

[0169] It should be noted that the front perimeter camera is a telephoto camera and the front view camera is a telephoto camera.

[0170] Sub-step 2019: Acquire a ninth sub-image directly in front of the vehicle through the front-view camera.

[0171] In this step, a ninth sub-image directly in front of the vehicle is acquired through the front-view camera, and then the overlapping areas of the eighth sub-image and the ninth sub-image are fused to obtain a sixth area image.

[0172] Step 204 specifically includes sub-step 2045:

[0173] Sub-step 2045: Fusing the overlapping areas of the eighth sub-image and the ninth sub-image to obtain a sixth area image.

[0174] In this step, the sixth region image is obtained by fusing the overlapping areas of the eighth sub-image and the ninth sub-image, and then the sixth region image is spliced ​​with the other region images and all non-overlapping areas to obtain a panoramic image.

[0175] It should be noted that the regional images corresponding to the sub-image group include the sixth regional image.

[0176] In some embodiments, the camera module at the front of the vehicle includes at least a front surround-view camera disposed on a front grille of the vehicle; the environment image further includes a tenth sub-image, and the sub-image group includes a sub-image group consisting of the eighth sub-image and the tenth sub-image, and a sub-image group consisting of the ninth sub-image and the tenth sub-image;

[0177] Step 201 specifically includes sub-step 201a:

[0178] Sub-step 201a: acquiring a tenth sub-image in front of the vehicle through the front surround-view camera.

[0179] In this step, the tenth sub-image in front of the vehicle is obtained through the front surround-view camera, and then the overlapping areas of the eighth sub-image and the tenth sub-image are fused to obtain the seventh area image, and the overlapping areas of the ninth sub-image and the tenth sub-image are fused to obtain the eighth area image.

[0180] It should be noted that the front surround-view camera is a wide-angle camera.

[0181] 7, the front surround view camera, the rear surround view camera, and the side surround view camera can be cameras of the same type, and area X5 is the image acquisition area of ​​the front surround view camera, the rear surround view camera, and the side surround view camera, that is, the image acquisition area of ​​the wide-angle camera.

[0182] Step 204 specifically includes sub-steps 2046 to 2047:

[0183] Sub-step 2046: Fusing the overlapping area of ​​the eighth sub-image and the tenth sub-image to obtain a seventh area image.

[0184] In this step, the seventh region image is obtained by fusing the overlapping areas of the eighth sub-image and the tenth sub-image, and then the seventh region image is spliced ​​with the other region images and all non-overlapping areas to obtain a panoramic image.

[0185] It should be noted that the regional images corresponding to the sub-image group include the seventh regional image.

[0186] Sub-step 2047: Fusing the overlapping area of ​​the ninth sub-image and the tenth sub-image to obtain an eighth region image.

[0187] In this step, the eighth region image is obtained by fusing the overlapping regions of the ninth sub-image and the tenth sub-image, and then the eighth region image is spliced ​​with the other region images and all non-overlapping regions to obtain a panoramic image.

[0188] It should be noted that the regional images corresponding to the sub-image group include the eighth regional image.

[0189] In some embodiments, the camera module at the front of the vehicle includes at least a front binocular camera disposed at the front of the vehicle chassis, and the camera module at the rear of the vehicle includes at least a rear binocular camera disposed at the rear of the vehicle chassis; the environment image includes an eleventh sub-image and a twelfth sub-image, and the sub-image group includes a sub-image group consisting of the eleventh sub-image and the twelfth sub-image;

[0190] Step 201 specifically includes sub-steps 201b to 201c:

[0191] Sub-step 201b: acquiring an eleventh sub-image of the lower rear portion of the chassis of the vehicle through the front binocular camera.

[0192] In this step, the eleventh sub-image of the rear underside of the vehicle chassis is obtained through the front binocular camera. After the twelfth sub-image of the front underside of the vehicle chassis is obtained through the rear binocular camera, the overlapping area of ​​the eleventh sub-image and the twelfth sub-image is fused to obtain a second area image.

[0193] It should be noted that the front binocular camera is a short-focus camera, the rear binocular camera is a short-focus camera, and the front binocular camera and the rear binocular camera can be cameras of the same type.

[0194] Referring to Figure 4, Figure 4(a) shows the state of the front binocular camera and the rear binocular camera when they are set on the chassis, Figure 4(b) shows the closed state of the front binocular camera and the rear binocular camera when they are not working, and Figure 4(c) shows the open state of the front binocular camera and the rear binocular camera when they are working.

[0195] Sub-step 201c: acquiring a twelfth sub-image of the lower front portion of the chassis of the vehicle through the rear binocular camera.

[0196] In this step, the twelfth sub-image of the lower front of the vehicle chassis is obtained by the rear binocular camera, and then the overlapping area of ​​the eleventh sub-image and the twelfth sub-image is fused to obtain a second area image.

[0197] Referring to Figure 8, the binocular camera includes a front binocular camera and a rear binocular camera. Figure 8(a) shows the setting positions of the front binocular camera X6 and the rear binocular camera X7; in Figure 8(b), area X8 and area X9 are non-overlapping areas of the images taken by the two cameras in the binocular camera, and area X10 is the overlapping area of ​​the images taken by the two cameras in the binocular camera.

[0198] 9 , area X11 is the image area captured by the rear binocular camera, and area X12 is the image area captured by the front binocular camera.

[0199] Step 204 specifically includes sub-step 2048:

[0200] Sub-step 2048: Fusing the overlapping area of ​​the eleventh sub-image and the twelfth sub-image to obtain a second area image.

[0201] In this step, the second region image is obtained by fusing the overlapping regions of the eleventh sub-image and the twelfth sub-image, and then the second region image is spliced ​​with the other region images and all non-overlapping regions to obtain a panoramic image.

[0202] It should be noted that the regional image corresponding to the sub-image group includes the second regional image.

[0203] In summary, in the embodiments of the present disclosure, an environmental image outside the vehicle is acquired through the vehicle's camera, and then a panoramic image of the vehicle's outside and obstacle information are generated based on the environmental image. Then, the distance between the obstacle and the vehicle is determined based on the panoramic image and the obstacle information. Then, when the distance is less than a distance threshold, an alarm message is output to realize the vehicle's anti-collision alarm. Moreover, the driver of the vehicle can obtain the obstacle situation around the vehicle in a timely and intuitive manner based on the panoramic image and obstacle information, which makes up for the driver's blind spot of vision, enhances the effectiveness of vehicle anti-collision, and solves the problem in related technologies that the error in obtaining the distance of obstacles in front and behind the vehicle is large, resulting in failure of vehicle anti-collision.

[0204] In some embodiments, referring to FIG3 , the collision avoidance system of the vehicle includes: (1) a camera module, which includes a left surround-view camera, a left camera module, a rear perimeter camera, a rear surround-view camera, a right camera module, a right surround-view camera, a front binocular camera, a front view camera, a front perimeter camera, a front surround-view camera, a rear binocular camera, etc. The working process is similar to the collision avoidance method of the aforementioned vehicle and will not be repeated here; (2) a central control multimedia host, which includes a first binocular measurement module, a second binocular measurement module, a first fusion module, a second fusion module, a third fusion module, a fourth fusion module, an intelligent algorithm module, a network remote terminal, etc.; (3) a display screen, referring to FIG11 , the display screen includes three holographic display screens, namely, a left rear view display screen X17, a right rear view display screen X19, a panoramic display screen X18, etc.

[0205] Among them, through the first binocular measurement module, using the binocular measurement algorithm, the depth information of the image of the overlapping area of ​​the sixth sub-image and the fourth sub-image is obtained, the depth information of the image of the overlapping area of ​​the sixth sub-image and the seventh sub-image is obtained, the depth information of the image of the overlapping area of ​​the fifth sub-image and the sixth sub-image is obtained, and the depth information of the image of the overlapping area of ​​the fourth sub-image and the fifth sub-image is obtained, and the two-dimensional image data and the three-dimensional image data are output and sent to the first fusion module and the second fusion module; through the first fusion module, using the image fusion algorithm, the two-dimensional image data and the three-dimensional image data sent by the first binocular measurement module, the left first area image, the left first non-overlapping area, and the left third sub-image are fused, and the image data is output and sent to the intelligent algorithm module; the first area The image includes an image of the first area on the left and an image of the first area on the right; through the second fusion module, using the image fusion algorithm, the two-dimensional image data and the three-dimensional image data sent by the first binocular measurement module, the image of the first area on the right, the first non-overlapping area on the right, and the third sub-image on the right are fused, and the image data is output and sent to the intelligent algorithm module; the front binocular camera includes a first front binocular camera and a second front binocular camera, the eleventh sub-image includes a first lower sub-image and a second lower sub-image, the first lower sub-image is obtained by the first front binocular camera, and the second lower sub-image is obtained by the second front binocular camera; through the third fusion module, using the image fusion algorithm, the first lower sub-image and the second lower sub-image are fused, and the image data is output and sent to the intelligent algorithm module;

[0206] The second binocular measurement module uses a binocular measurement algorithm to obtain depth information of the image of the overlapping area of ​​the eighth sub-image and the ninth sub-image, obtain depth information of the image of the overlapping area of ​​the eighth sub-image and the tenth sub-image, and obtain depth information of the image of the overlapping area of ​​the ninth sub-image and the tenth sub-image, output two-dimensional image data and three-dimensional image data and send them to the fourth fusion module; the rear binocular camera includes a first rear binocular camera and a second rear binocular camera, the twelfth sub-image includes a third lower sub-image and a fourth lower sub-image, the third lower sub-image is obtained by the first rear binocular camera, and the fourth lower sub-image is obtained by the second rear binocular camera; the fourth fusion module uses an image fusion algorithm to fuse the two-dimensional image data and the three-dimensional image data, the third lower sub-image, and the fourth lower sub-image sent by the second binocular measurement module, output image data, and send it to the intelligent algorithm module; the intelligent algorithm module uses an image stitching algorithm, a three-dimensional reconstruction algorithm, and other algorithms to process the image data sent by the first fusion module, the image data sent by the second fusion module, the image data sent by the third fusion module, and the image data sent by the fourth fusion module, and uses artificial intelligence (AI) to process the image data sent by the first fusion module, the image data sent by the second fusion module, the image data sent by the third fusion module, and the image data sent by the fourth fusion module. The system processes the three-dimensional image data using an AI (Autonomous Driving Intelligence) algorithm (including target detection, recognition, and tracking algorithms, etc.), outputs a panoramic video stream with the warning target marked, that is, outputs clear panoramic three-dimensional image data of the vehicle (panoramic image), and sends it to a display screen through a network remote terminal. The panoramic image is displayed on the display screen. Specifically, the panoramic image of the left rear of the vehicle is displayed on the left rear view display screen, the panoramic image of the right rear of the vehicle is displayed on the right rear view display screen, and the entire panoramic image is displayed on the panoramic display screen. The panoramic image includes the speed and distance of rapidly approaching obstacles, surrounding obstacles prone to collision, and collision distance prompts.

[0207] In summary, in the embodiments of the present disclosure, an environmental image outside the vehicle is acquired through the vehicle's camera, and then a panoramic image of the vehicle's outside and obstacle information are generated based on the environmental image. Then, the distance between the obstacle and the vehicle is determined based on the panoramic image and the obstacle information. Then, when the distance is less than a distance threshold, an alarm message is output to realize the vehicle's anti-collision alarm. Moreover, the driver of the vehicle can obtain the obstacle situation around the vehicle in a timely and intuitive manner based on the panoramic image and obstacle information, which makes up for the driver's blind spot of vision, enhances the effectiveness of vehicle anti-collision, and solves the problem in related technologies that the error in obtaining the distance of obstacles in front and behind the vehicle is large, resulting in failure of vehicle anti-collision.

[0208] FIG12 is a schematic diagram of a vehicle anti-collision device provided by an embodiment of the present disclosure. The vehicle anti-collision device 40 includes:

[0209] A first acquisition module 401 is configured to acquire an image of an environment outside the vehicle through a camera of the vehicle;

[0210] A second acquisition module 402 is configured to generate a panoramic image of the exterior of the vehicle and obstacle information based on the environment image;

[0211] a determination module, configured to determine a distance between the obstacle and the vehicle based on the panoramic image and the obstacle information;

[0212] The output module is used to output an alarm message when the distance is less than a distance threshold.

[0213] Optionally, the environment image includes a plurality of sub-images, where every two sub-images form a sub-image group, and there are multiple sub-image groups; the second acquisition module 402 specifically includes:

[0214] A grouping submodule, configured to obtain a plurality of sub-image groups in the environment image; the sub-image group includes two sub-images;

[0215] A first acquisition submodule is configured to acquire a non-overlapping area and an overlapping area of ​​two sub-images in each sub-image group;

[0216] a second acquisition submodule, configured to fuse overlapping regions of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group;

[0217] The third acquisition submodule is configured to stitch together the non-overlapping areas corresponding to all the sub-image groups and the regional images corresponding to all the sub-image groups to generate the panoramic image.

[0218] Optionally, the camera includes at least a camera module for the front of the vehicle, a camera module for the left side of the vehicle, a camera module for the right side of the vehicle, and a camera module for the rear of the vehicle.

[0219] Optionally, the camera module on the left side of the vehicle and the camera module on the right side of the vehicle each include at least a camera module provided on a rearview mirror of the vehicle, the camera module on the rearview mirror includes a first camera and a second camera, the first camera and the second camera being short-focus cameras; the environmental image includes a first sub-image and a second sub-image, and the sub-image group includes a sub-image group consisting of the first sub-image and the second sub-image;

[0220] The first acquisition module 401 specifically includes:

[0221] a fourth acquisition submodule, configured to acquire a first sub-image of the rear side of the vehicle through the first camera;

[0222] The fifth acquisition submodule is configured to acquire a second sub-image of the rear side of the vehicle through the second camera.

[0223] The second acquisition submodule specifically includes:

[0224] The first fusion unit is configured to fuse the overlapping area of ​​the first sub-image and the second sub-image to obtain a first area image.

[0225] Optionally, the camera module on the left side of the vehicle and the camera module on the right side of the vehicle each further include a side surround view camera provided on a rearview mirror of the vehicle; and the environmental image further includes a third sub-image;

[0226] The first acquisition module 401 specifically includes:

[0227] a sixth acquisition submodule, configured to acquire a third sub-image of the side of the vehicle through the side surround view camera;

[0228] Optionally, the non-overlapping area corresponding to the sub-image group includes a first non-overlapping area of ​​the first sub-image and the second sub-image; and the apparatus 40 further includes:

[0229] a third acquisition module, configured to acquire an overlapping area between the first non-overlapping area and the third sub-image, and a second non-overlapping area between the first non-overlapping area and the third sub-image;

[0230] a fourth acquisition module, configured to fuse the first non-overlapping area with the overlapping area of ​​the third sub-image to acquire a first fused image;

[0231] The third acquisition submodule specifically includes:

[0232] The first stitching unit is configured to stitch the second non-overlapping area, the first fused image, the non-overlapping areas corresponding to all the sub-image groups, and the regional images corresponding to all the sub-image groups to obtain the panoramic image.

[0233] Optionally, the camera module at the front of the vehicle includes at least a front surround-view camera disposed on a front grille of the vehicle; the environment image further includes a tenth sub-image, and the sub-image group further includes a sub-image group consisting of the third sub-image and the tenth sub-image;

[0234] The first acquisition module 401 specifically includes:

[0235] a seventh acquisition submodule, configured to acquire a tenth sub-image in front of the vehicle through the front surround-view camera;

[0236] The second acquisition submodule specifically includes:

[0237] The second fusion unit is configured to fuse the overlapping area of ​​the third sub-image and the tenth sub-image to obtain a third area image.

[0238] Optionally, the camera module on the left side of the vehicle includes at least a left camera module provided on the left rearview mirror of the vehicle, and the camera module on the right side of the vehicle includes at least a right camera module provided on the right rearview mirror of the vehicle; the third camera of the left camera module is a telephoto camera, and the third camera of the right camera module is a telephoto camera; the environmental image further includes a fourth sub-image and a fifth sub-image, and the sub-image group further includes a sub-image group consisting of the fourth sub-image and the fifth sub-image;

[0239] The first acquisition module 401 specifically includes:

[0240] an eighth acquisition submodule, configured to acquire a fourth sub-image of the left rear side of the vehicle through the third camera of the left camera module;

[0241] a ninth acquisition submodule, configured to acquire a fifth sub-image of the right rear side of the vehicle through the third camera of the right camera module;

[0242] The second acquisition submodule specifically includes:

[0243] The third fusion unit is configured to fuse the overlapping area of ​​the fourth sub-image and the fifth sub-image to obtain a fourth area image.

[0244] Optionally, the camera module at the rear of the vehicle includes at least a rear perimeter camera disposed on a rear windshield of the vehicle; the environmental image further includes a sixth sub-image;

[0245] The first acquisition module 401 specifically includes:

[0246] The tenth acquisition submodule is configured to acquire a sixth sub-image of the rear of the vehicle through the rear perimeter camera.

[0247] Optionally, the non-overlapping area corresponding to the sub-image group includes a third non-overlapping area of ​​the fourth sub-image and the fifth sub-image; and the apparatus 40 further includes:

[0248] a fifth acquisition module, configured to acquire an overlapping area between the third non-overlapping area and the sixth sub-image, and a fourth non-overlapping area between the third non-overlapping area and the sixth sub-image;

[0249] a sixth acquisition module, configured to fuse the third non-overlapping area with the overlapping area of ​​the sixth sub-image to obtain a second fused image;

[0250] The third acquisition submodule specifically includes:

[0251] The second stitching unit is configured to stitch the fourth non-overlapping area, the second fused image, the non-overlapping areas corresponding to all the sub-image groups, and the regional images corresponding to all the sub-image groups to obtain the panoramic image.

[0252] Optionally, the camera module at the rear of the vehicle further includes a rear surround view camera provided at the rear of the vehicle; the environment image includes a seventh sub-image, and the sub-image group includes a sub-image group consisting of the sixth sub-image and the seventh sub-image;

[0253] The first acquisition module 401 specifically includes:

[0254] The eleventh acquisition submodule is configured to acquire a seventh sub-image of the rear of the vehicle through the rear surround-view camera.

[0255] The second acquisition submodule specifically includes:

[0256] The fourth fusion unit is configured to fuse the overlapping area of ​​the sixth sub-image and the seventh sub-image to obtain a fifth area image.

[0257] Optionally, the camera module at the front of the vehicle includes at least a front perimeter camera provided on a front windshield of the vehicle and a front view camera provided on a front grille of the vehicle; the environment image includes an eighth sub-image and a ninth sub-image, and the sub-image group includes a sub-image group consisting of the eighth sub-image and the ninth sub-image;

[0258] The first acquisition module 401 specifically includes:

[0259] a twelfth acquisition submodule, configured to acquire an eighth sub-image in front of the vehicle through the front perimeter camera;

[0260] a thirteenth acquisition submodule, configured to acquire a ninth sub-image directly in front of the vehicle through the front-view camera;

[0261] The second acquisition submodule specifically includes:

[0262] The fifth fusion unit is configured to fuse the overlapping area of ​​the eighth sub-image and the ninth sub-image to obtain a sixth area image.

[0263] Optionally, the camera module at the front of the vehicle includes at least a front surround-view camera disposed on a front grille of the vehicle; the environment image further includes a tenth sub-image, and the sub-image group includes a sub-image group consisting of the eighth sub-image and the tenth sub-image, and a sub-image group consisting of the ninth sub-image and the tenth sub-image;

[0264] The first acquisition module 401 specifically includes:

[0265] a fourteenth acquisition submodule, configured to acquire a tenth sub-image in front of the vehicle through the front surround-view camera;

[0266] The second acquisition submodule specifically includes:

[0267] a sixth fusion unit, configured to fuse an overlapping area of ​​the eighth sub-image and the tenth sub-image to obtain a seventh area image;

[0268] The seventh fusion unit is configured to fuse the overlapping area of ​​the ninth sub-image and the tenth sub-image to obtain an eighth area image.

[0269] Optionally, the camera module at the front of the vehicle includes at least a front binocular camera disposed at the front of the vehicle chassis, and the camera module at the rear of the vehicle includes at least a rear binocular camera disposed at the rear of the vehicle chassis; the environment image includes an eleventh sub-image and a twelfth sub-image, and the sub-image group includes a sub-image group consisting of the eleventh sub-image and the twelfth sub-image;

[0270] The first acquisition module 401 specifically includes:

[0271] A fifteenth acquisition submodule is configured to acquire an eleventh sub-image of the lower rear portion of the chassis of the vehicle through the front binocular camera;

[0272] A sixteenth acquisition submodule is configured to acquire a twelfth sub-image of the lower front portion of the chassis of the vehicle through the rear binocular camera;

[0273] The second acquisition submodule specifically includes:

[0274] The eighth fusion unit is configured to fuse the overlapping area of ​​the eleventh sub-image and the twelfth sub-image to obtain a second area image.

[0275] Optionally, the regional image corresponding to the sub-image group is a three-dimensional image.

[0276] Optionally, the alarm information is output in the form of voice, pop-up window, sound, and vibration.

[0277] As for the above-mentioned device embodiment, since it is basically similar to the vehicle collision avoidance method embodiment, the relevant parts can be referred to the partial description of the method embodiment.

[0278] In summary, in the embodiments of the present disclosure, an environmental image outside the vehicle is acquired through the vehicle's camera, and then a panoramic image of the vehicle's outside and obstacle information are generated based on the environmental image. Then, the distance between the obstacle and the vehicle is determined based on the panoramic image and the obstacle information. Then, when the distance is less than a distance threshold, an alarm message is output to realize the vehicle's anti-collision alarm. Moreover, the driver of the vehicle can obtain the obstacle situation around the vehicle in a timely and intuitive manner based on the panoramic image and obstacle information, which makes up for the driver's blind spot of vision, enhances the effectiveness of vehicle anti-collision, and solves the problem in related technologies that the error in obtaining the distance of obstacles in front and behind the vehicle is large, resulting in failure of vehicle anti-collision.

[0279] An embodiment of the present disclosure also provides an electronic device, as shown in FIG13 , including a processor 501 , a communication interface 502 , a memory 503 and a communication bus 504 , wherein the processor 501 , the communication interface 502 , and the memory 503 communicate with each other via the communication bus 504 .

[0280] The memory 503 is used to store computer programs.

[0281] When the processor 501 is used to execute the program stored in the memory 503, the following steps are implemented:

[0282] Acquiring an image of the environment outside the vehicle through a camera of the vehicle;

[0283] A panoramic image of the exterior of the vehicle and obstacle information are generated based on the environment image.

[0284] The processor 501 may also implement other steps in the above-mentioned vehicle collision avoidance method, which will not be described in detail here.

[0285] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or a Controller Area Network (CAN) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0286] The communication interface is used for communication between the above electronic device and other devices.

[0287] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0288] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0289] In another embodiment provided by the present disclosure, a computer-readable storage medium is further provided. The computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the vehicle collision avoidance method in the above embodiment.

[0290] In yet another embodiment provided by the present disclosure, a computer program product including instructions is further provided. When the computer program product is run on a computer, the computer is enabled to execute the vehicle collision avoidance method in the above embodiment.

[0291] An embodiment of the present disclosure also provides a vehicle, comprising the electronic device as described above.

[0292] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0293] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0294] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. The embodiments of the apparatus, electronic device, computer-readable storage medium, and computer program product containing instructions thereof are generally similar to the method embodiments, so their description is relatively simple. For related portions, reference can be made to the description of the method embodiments.

[0295] The above are only preferred embodiments of the present disclosure and are not intended to limit the scope of protection of the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure are included in the scope of protection of the present disclosure.

Claims

1. A vehicle collision avoidance method, comprising: Acquiring an image of the environment outside the vehicle through a camera of the vehicle; generating a panoramic image and obstacle information outside the vehicle based on the environment image; determining a distance between the obstacle and the vehicle according to the panoramic image and the obstacle information; When the distance is less than a distance threshold, an alarm message is output.

2. The method according to claim 1, wherein The environment image includes a plurality of sub-images, where every two sub-images form a sub-image group, and there are a plurality of sub-image groups; generating a panoramic image of the exterior of the vehicle based on the environment image includes: Acquire non-overlapping areas and overlapping areas of two sub-images in each of the sub-image groups; fusing overlapping areas of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group; The non-overlapping areas corresponding to all the sub-image groups and the regional images corresponding to all the sub-image groups are spliced ​​together to generate the panoramic image.

3. The method according to claim 2, wherein: The camera includes at least a camera module for the front of the vehicle, a camera module for the left side of the vehicle, a camera module for the right side of the vehicle, and a camera module for the rear of the vehicle.

4. The method according to claim 3, wherein: The camera module on the left side of the vehicle and the camera module on the right side of the vehicle each include at least a camera module provided on a rearview mirror of the vehicle, wherein the camera module on the rearview mirror includes a first camera and a second camera; and obtaining an image of the environment outside the vehicle through the vehicle camera includes: Acquire a first sub-image of the rear side of the vehicle through the first camera; acquiring a second sub-image of the rear side of the vehicle through the second camera; The step of fusing overlapping areas of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group includes: The overlapping area of ​​the first sub-image and the second sub-image is fused to obtain a first area image.

5. The method according to claim 4, wherein The camera module on the left side of the vehicle and the camera module on the right side of the vehicle each further include a side surround view camera provided on a rearview mirror of the vehicle; The step of acquiring an image of an environment outside the vehicle by using a camera of the vehicle includes: A third sub-image of the side of the vehicle is acquired through the side surround-view camera.

6. The method according to claim 5, wherein: The non-overlapping area corresponding to the sub-image group includes a first non-overlapping area of ​​the first sub-image and the second sub-image; Before stitching the non-overlapping areas corresponding to all the sub-image groups and the regional images corresponding to all the sub-image groups to generate the panoramic image, the method further includes: Acquire an overlapping area between the first non-overlapping area and the third sub-image, and a second non-overlapping area between the first non-overlapping area and the third sub-image; The first non-overlapping area is fused with the overlapping area of ​​the third sub-image to obtain a first fused image.

7. The method according to claim 6, wherein: The step of stitching the non-overlapping areas corresponding to all the sub-image groups and the regional images corresponding to all the sub-image groups to generate the panoramic image includes: The second non-overlapping area, the first fused image, the non-overlapping areas corresponding to all the sub-image groups, and the regional images corresponding to all the sub-image groups are stitched together to obtain the panoramic image.

8. The method according to claim 5, wherein The camera module at the front of the vehicle includes at least a front surround-view camera arranged on the front grille of the vehicle; The step of acquiring an image of an environment outside the vehicle by using a camera of the vehicle includes: acquiring a tenth sub-image in front of the vehicle through the front surround-view camera; The step of fusing overlapping areas of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group includes: The overlapping area of ​​the third sub-image and the tenth sub-image is fused to obtain a third area image.

9. The method according to any one of claims 3 to 8, wherein: The camera module on the left side of the vehicle at least includes a left camera module provided on the left rearview mirror of the vehicle, and the camera module on the right side of the vehicle at least includes a right camera module provided on the right rearview mirror of the vehicle; The step of acquiring an image of an environment outside the vehicle by using a camera of the vehicle includes: Acquire a fourth sub-image of the left rear side of the vehicle through the third camera of the left camera module; Acquire a fifth sub-image of the right rear side of the vehicle through the third camera of the right camera module; The step of fusing overlapping areas of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group includes: The overlapping area of ​​the fourth sub-image and the fifth sub-image is fused to obtain a fourth area image.

10. The method according to claim 9, wherein: The camera module at the rear of the vehicle at least includes a rear perimeter camera arranged on the rear windshield of the vehicle; The step of acquiring an image of an environment outside the vehicle by using a camera of the vehicle includes: A sixth sub-image of the rear of the vehicle is acquired through the rear perimeter camera.

11. The method according to claim 10, wherein: The non-overlapping areas corresponding to the sub-image groups include the third non-overlapping areas of the fourth sub-image and the fifth sub-image; and before stitching the non-overlapping areas corresponding to all the sub-image groups and the regional images corresponding to all the sub-image groups to generate the panoramic image, the method further includes: Acquire an overlapping area between the third non-overlapping area and the sixth sub-image, and a fourth non-overlapping area between the third non-overlapping area and the sixth sub-image; The third non-overlapping area is fused with the overlapping area of ​​the sixth sub-image to obtain a second fused image.

12. The method according to claim 11, wherein The step of stitching the non-overlapping areas corresponding to all the sub-image groups and the regional images corresponding to all the sub-image groups to generate the panoramic image includes: The fourth non-overlapping area, the second fused image, the non-overlapping areas corresponding to all the sub-image groups, and the regional images corresponding to all the sub-image groups are stitched together to obtain the panoramic image.

13. The method according to claim 10, wherein: The camera module at the rear of the vehicle further includes a rear surround view camera provided at the rear of the vehicle; the environment image includes a seventh sub-image, and the sub-image group includes a sub-image group consisting of the sixth sub-image and the seventh sub-image; The step of acquiring an image of an environment outside the vehicle by using a camera of the vehicle includes: acquiring a seventh sub-image behind the vehicle through the rear surround-view camera; The step of fusing overlapping areas of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group includes: The overlapping area of ​​the sixth sub-image and the seventh sub-image is fused to obtain a fifth area image.

14. The method according to any one of claims 3 to 8, wherein: The camera module at the front of the vehicle includes at least a front perimeter camera arranged on the front windshield of the vehicle and a front view camera arranged on the front grille of the vehicle; The step of acquiring an image of an environment outside the vehicle by using a camera of the vehicle includes: acquiring an eighth sub-image in front of the vehicle through the front perimeter camera; acquiring a ninth sub-image directly in front of the vehicle through the front-view camera; The step of fusing overlapping areas of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group includes: The overlapping areas of the eighth sub-image and the ninth sub-image are fused to obtain a sixth area image.

15. The method according to claim 14, wherein The camera module at the front of the vehicle further includes a front surround view camera arranged on the front grille of the vehicle; The step of acquiring an image of an environment outside the vehicle by using a camera of the vehicle includes: acquiring a tenth sub-image in front of the vehicle through the front surround-view camera; The step of fusing overlapping areas of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group includes: fusing the overlapping area of ​​the eighth sub-image and the tenth sub-image to obtain a seventh area image; The overlapping area of ​​the ninth sub-image and the tenth sub-image is fused to obtain an eighth area image.

16. The method according to any one of claims 3 to 8, wherein: The camera module at the front of the vehicle includes at least a front binocular camera arranged at the front of the vehicle chassis, and the camera module at the rear of the vehicle includes at least a rear binocular camera arranged at the rear of the vehicle chassis; The step of acquiring an image of an environment outside the vehicle by using a camera of the vehicle includes: Acquire an eleventh sub-image of the lower rear portion of the chassis of the vehicle through the front binocular camera; Acquire a twelfth sub-image of the lower front portion of the chassis of the vehicle through the rear binocular camera; The step of fusing overlapping areas of two sub-images in each sub-image group to generate a regional image corresponding to the sub-image group includes: The overlapping area of ​​the eleventh sub-image and the twelfth sub-image is fused to obtain a second area image.

17. The method according to any one of claims 2 to 16, wherein: The regional image corresponding to the sub-image group is a three-dimensional image.

18. The method according to any one of claims 1 to 17, wherein: The output mode of the alarm information includes one or more of voice, pop-up window, sound, and vibration.

19. A vehicle anti-collision device, wherein: The device comprises: A first acquisition module is used to acquire an environment image outside the vehicle through a camera of the vehicle; A second acquisition module is used to generate a panoramic image of the exterior of the vehicle and obstacle information based on the environment image; a determination module, configured to determine a distance between the obstacle and the vehicle based on the panoramic image and the obstacle information; The output module is used to output an alarm message when the distance is less than a distance threshold.

20. The anti-collision device according to claim 19, wherein: The anti-collision device is applied to a vehicle.

21. The anti-collision device according to claim 19, wherein: include: A processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory communicate with each other via the communication bus; The memory is used to store computer programs; The processor is configured to implement the steps of the vehicle collision avoidance method according to any one of claims 1 to 18 when executing the program stored in the memory.

22. A computer-readable storage medium having a computer program stored thereon, wherein: When the program is executed by a processor, the steps of the vehicle collision avoidance method according to any one of claims 1 to 18 are implemented.

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