TWI834301B - Vehicle surrounding image display method - Google Patents

Abstract

The present invention discloses a method for displaying a vehicle surrounding image which includes the steps of: capturing images of the surrounding environment when the vehicle is moving by cameras installed on the vehicle to generate continuous image frames, and a first image corresponding to the outside area of the vehicle is generated by the real-time images of the continuous image frames. Delayed images of the continuous image frames is obtained by calculating driving data, and then a second image corresponding to the chassis area of the vehicle is generated by gain operation of the delayed images of the continuous image frames, and a surrounding image of the vehicle is generated and displayed in real time by splicing the first image and the second image.

Description

Vehicle surround image display method

The invention relates to the technical field of driving images, and in particular to a vehicle surround image display method.

Ordinary vehicles may also be equipped with additional cameras at various locations on the vehicle. For example, cameras can be mounted on the front, sides and back of the vehicle to capture images of various areas of the surrounding environment. For different environments where the vehicle is driving or in the parking lot, more image fields are needed to provide the driver. However, due to the limitation of the installation position of the camera, it will be blocked by the vehicle itself, but adding additional cameras to capture the overall vehicle surrounding environment, Often higher costs will be incurred. In addition, due to the influence of ambient light, the vehicle itself will produce shadows projected on the ground or light spots on the ground caused by turning on the headlights. If these images are used to generate vehicle surround images, poor image quality will often be produced, especially It is used to generate images in which the camera's field of view is blocked. If artificial intelligence is used to determine vehicle shadows or light spots caused by headlights and improve them, a large amount of image training data will be needed, which may cause misjudgment of the image or erase important information in the environment. image information.

In order to solve the above technical problems, a vehicle surround image display method is provided.

The object of the present invention can be achieved through the following technical solutions: a vehicle surround image display method, including: capturing images of the surrounding environment when the vehicle is moving through a plurality of cameras installed on a vehicle to generate continuous image frames , the real-time image of the continuous image frame is composed of the first image corresponding to the outer area of the vehicle, the driving data of the vehicle is received, and the driving data is calculated to obtain the delayed image of the continuous image frame, and the delayed image of the continuous image frame is obtained by The delayed images of the continuous image frames are subjected to a gain operation to form a second image corresponding to the chassis area of the vehicle. By splicing the first image and the second image, a vehicle surround image is generated in real time to display the vehicle surround. scene image.

According to the concept of this project, the vehicle outer area also includes an image comparison area, and the first image is adjusted by comparing the real-time images of the continuous image frames and the delayed images of the continuous image frames in the image comparison area. image or second image.

According to the concept of this project, it also includes performing coordinate conversion of the continuous image frames from the first perspective to the second perspective.

According to the concept of this case, the driving data of the vehicle at least includes the steering angle, speed and gear position of the vehicle.

According to the concept of this project, the image comparison area is adjacent to the chassis area of the vehicle.

According to the concept of this project, the gain operation includes adjusting the image transparency change of the delayed image of the continuous image frames in each frame.

The invention has the following advantages:

1. By performing gain operation on delayed images of continuous image frames captured by cameras installed on the outside of the vehicle, images corresponding to the chassis area of the vehicle can be generated. In addition to the fact that there is no need to add a camera installed below the chassis of the vehicle, the vehicle can be moved while the vehicle is in motion. Driving as if the camera's field of view is unobstructed, it can also reduce the impact of vehicle shadows or light spots caused by vehicle lights on the vehicle's surrounding image.

2. By comparing specific areas of the image during splicing, the difference in image splicing caused by the time of vehicle movement between the image of the vehicle's external area and the corresponding vehicle chassis can be reduced, and the image of the vehicle's external area can be adjusted to reduce This area is subject to shadows caused by vehicles and light spots caused by headlights.

100: Vehicle surround image display system

101:Image message receiving module

102:Camera

103: Processing unit

104: Vehicle information assembly interface

105:Storage module

300: Vehicle surround image

301: Vehicle outside area

302: Chassis area of vehicle

303:Image comparison area

401: The plane of the camera’s front view

402: Target plane

403: The extension vector of the image point between the plane of the camera's front angle of view and the target plane

Figure 1 is a schematic structural diagram of a vehicle surround image display system of the present invention; Figure 2 is a flow chart of a vehicle surround image display method of the present invention; Figure 3 is a schematic diagram of the implementation of a vehicle surround image display area of the present invention ; Figure 4 is a schematic diagram of the implementation of the present invention for executing coordinate conversion perspective in continuous image frames; Figure 5 is a schematic diagram of the implementation of calculating driving data to obtain delayed images of continuous image frames; Figure 6 is a schematic diagram of the present invention through delayed images of continuous image frames A schematic diagram of the implementation of gain calculation; FIG. 7 is a schematic diagram of the present invention including an image comparison area in the vehicle outer area.

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. Accordingly, the following detailed description of embodiments of the invention provided in the appended drawings is not intended to limit the scope of the claimed invention, but rather to represent selected embodiments of the invention. Based on the implementation of the present invention, this All other implementations obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. It is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore is not to be construed as a limitation of the invention.

In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation modes: Please refer to Figure 1. The present invention discloses a vehicle surround image display system 100 installed on a vehicle, including an image message receiving module 101, a camera 102, a processing Unit 103, vehicle information assembly interface 104 and storage module 105.

The image message receiving module 101 is used to obtain continuous image frames captured from multiple cameras 102 installed on the vehicle, and is particularly used to obtain image frames of the surrounding environment when the vehicle is moving to generate continuous image frames. The image message receiving module 101 usually has an image processing unit (ISP, Image Signal Processor), which can process lens correction, pixel correction, color interpolation, Bayer noise removal, whitening, etc. Balance correction, color correction, gamma correction, color space conversion and other functions. The image message receiving module 101 generally has LVDS (Low Voltage Differential Signaling, low voltage differential signaling) or MIPI CSI transmission interface (not marked). In order to obtain better image quality, the image message can be in LVDS format.

A plurality of cameras 102 are mounted on the vehicle, such as a front camera that may be mounted on the front side (e.g., front surface) of the vehicle, a rear camera mounted on the opposite rear side of the vehicle, and left and right cameras on the left and right sides of the vehicle, Because these cameras 102 usually have image sensors and receive images from the environment through wide-angle lenses or fisheye lenses. An image sensor contains horizontal and vertical rows of pixels that each capture light to produce image data. Image data from pixels can be combined to produce successive image frames. In the present invention, a plurality of cameras 102 are arranged on different sides of the vehicle and can capture images of the surroundings outside the vehicle and have different fields of view. Overall, these images of different fields of view can constitute a complete image field of view of the surrounding environment outside the vehicle, and It is sent to the processing unit 103 via the image message receiving module 101.

The processing unit 103 of the present invention is the main computing unit of the present invention, such as one or more general-purpose processors, special-purpose processors such as digital signal processors (DSPs), or other digital word processing circuits. The processing unit 103 is connected to the image information receiving module 101, can receive and process continuous image frames received from a plurality of cameras 102, and calculate the continuous image frames converted from the image information receiving module 101. At the same time, the processing unit 103 can be communicated with the vehicle control system through a communication path (for example, one or more cables on which a communication bus of the controller area network bus is implemented), and further, through the vehicle information hub. The interface 104 is connected to the vehicle CAN bus and receives vehicle data from the vehicle control system, such as vehicle speed, steering angle, etc. and other driving data related to the vehicle. The storage module 105 can be used to store images. For example, the processing unit 103 can maintain one or more image buffer memories and store consecutive image frames received from a plurality of cameras 102 in the storage module 105 . In addition, the storage module 105 can store various sensing data from the vehicle. messages or other driving information about the vehicle. The storage module 105 may be a built-in integrated circuit memory, or may be an external storage device, such as an SSD or an SD card.

Please refer to FIGS. 1 to 7 for an embodiment of a vehicle surround image display system 100 installed on a vehicle and operating according to the present invention. According to the system 100, a vehicle surrounding image 300 can be generated, wherein the vehicle surrounding image 300 can be divided into an image of the vehicle outer area 301 (the first image of the present invention) and an image of the vehicle chassis area 302 (the second image of the present invention). image), and the method for the system 100 of the present invention to generate images of these two areas has the following steps:

Step S01: Capture the surrounding environment images when the vehicle is moving to generate continuous image frames and form a first image corresponding to the area outside the vehicle.

A plurality of cameras 102 installed at various positions of the vehicle, for example, can be installed at the front, rear and/or side of the vehicle, each capturing images of the surrounding environment when the vehicle is moving from different installation angles to generate continuous image frames. Since these cameras 102 with different installation angles are installed on the outside of the vehicle, the continuous image frames captured by each camera can mainly constitute the image of the vehicle outside area 301 in the present invention, that is, the first image corresponding to the vehicle outside area 301. As shown in Figure 3. Furthermore, the images captured by individual cameras 102 are usually front-view images captured in the direction of the camera's optical axis. Corresponding to the front view images of different cameras, before combining all the first images corresponding to the vehicle outer area 301, the processing unit 103 of the present invention must capture the first view of the surrounding environment image frame when the vehicle is moving ( (i.e., the front angle of view of an individual camera) performs coordinate conversion into a second angle of view (i.e., a common angle of view). The second angle of view usually reflects the top-down angle of the vehicle, or is called a bird's-eye view. This allows the vehicle to be driven conveniently from these different angles. The cameras' perspectives are used to observe the images around the outside of the vehicle from a common perspective after coordinate conversion. Of course, the continuous image frames captured by the cameras 102 from different perspectives are processed in synchronized time and are captured in real time. It is worth mentioning that in order to reflect the real-time image of the vehicle during driving Compared with the real vehicle surrounding environment, in the first image corresponding to the vehicle outer area 301, phenomena such as shadows cast by the vehicle itself on the ground or light spots produced by the headlights are erased without image computing or artificial intelligence processing.

Among them, the processing unit 103 performs coordinate conversion from the first perspective (ie, the front perspective of an individual camera) of the surrounding environment image frame captured by each camera 102 when the vehicle is moving to the second perspective (ie, the common perspective). Please refer to the specific method. Refer to Figure 4. As shown in Figure 4, taking one of the cameras 102 as an example, the image captured by the camera can be included in the coordinate system, such as the image data of point X1 along the vector 403 in the plane 401 of the front view of the camera. (e.g. pixels). The vector 403 extends between the point X1 in the plane 401 and the corresponding point Xπ in the target plane 402 corresponding to the bird's-eye view, where the target plane 402 is the ground plane in the present invention. Because vector 403 is drawn between a point on the camera's front view plane 401 and the target plane 402 , vector 403 may represent the angle at which the camera is mounted on the vehicle and faces the ground.

Continuous image frames captured by the camera on the front view plane 401 of the camera can be transformed (eg, projected) onto the target plane 402 according to the matrix formula Xπ=H*X1. The matrix "H" can be calculated and determined through the calibration program for the camera. For example, cameras can be mounted on the vehicle at desired locations, and corrected images can be used to produce images of a known environment. In this case, several pairs of corresponding points in the plane 401 and the target plane 402 can be obtained (for example, the point X1 and the point Xπ can form a pair), and "H" can be calculated based on the known points.

。在這種情況下，矩陣「H」可被定義為如在方程式1中所示，點X1與點Xπ之間的關係可被定義為如在方程式2中所示。 As an _example , _point X1 may be defined by the coordinate system of plane ₄₀₁ as

. In this case, the matrix "H" can be defined as shown in Equation 1, and the relationship between the point X1 and the point Xπ can be defined as shown in Equation 2.

For each camera 102 installed on the vehicle, the processing unit 103 can calculate the plane 401 of the front angle of each camera 102 to perform coordinate transformation into each matrix "H" of the target plane 402, and then correct the transformation to the target plane 402. That is to say, in the case where a plurality of cameras 102 are installed on the front, rear and side of the vehicle, the processing unit 103 can perform corrections according to the respective conversion matrices predetermined for each camera, and then convert the plurality of cameras 102 through the conversion matrices. The continuous image frames captured by the camera 102 perform coordinate conversion from the first perspective (ie, the front perspective of the individual cameras) to the second perspective (ie, the common perspective), and obtain a common plane image through image splicing, as shown in Figure 3 of the present invention corresponding to the vehicle. Bird's eye view image 300. The final processing unit 103 composes the real-time images of these coordinate-converted continuous image frames into the first image corresponding to the vehicle outer area 301, and at the same time stores these coordinate-converted continuous image frames in the storage module 105 as used in subsequent steps of the present invention.

Obviously, since the plurality of cameras 102 in the present invention are installed on the outside of the vehicle, even if they are equipped with wide-angle lenses or fisheye lenses, they are still blocked by the vehicle itself, and the field of view is thus blocked, such as the area where the vehicle is located in Figure 3, or further. In the bird's-eye view image in FIG. 3 , the area where the multiple cameras 102 are blocked by the vehicle itself is projected onto the ground plane, which is the chassis area 302 corresponding to the vehicle. Therefore, in subsequent steps S02 to S04, the present invention uses the coordinate transformation stored in step S01 to A method of generating an image (the second image of the present invention) of the area (chassis area 302 of the vehicle) that is obscured by the vehicle itself from the converted continuous image frames.

Step S02: Receive vehicle driving data.

In this step, the vehicle's driving data can be provided through the control and/or monitoring system (for example, through a communication path such as a controller area network bus, CAN bus), and finally through the vehicle information assembly interface 104 is sent to the processing unit 103. Driving data, such as the vehicle's steering angle, speed, gear, etc., are data sufficient to identify the vehicle's moving state. These data will be calculated by the processing unit and determined which part of the continuous image frame was previously captured and stored in step S01 , can be used to generate an image of the area obscured by the vehicle itself (the chassis area 302 of the vehicle).

Step S03: Calculate driving data to obtain delayed images of consecutive image frames.

Figure 5 depicts a schematic diagram of an implementation of calculating driving data to obtain delayed images of consecutive image frames. Where, Φ is the steering angle (eg, the average front wheel angle), V is the vehicle speed, and L is the vehicle wheelbase length (ie, the length between the front and rear wheels of the vehicle). In this step, the movement of the vehicle is mainly calculated. The vehicle position at a future time point can be obtained through the vehicle's driving data, and the continuous image frames are obtained based on the calculated vehicle position from the previously captured and stored continuous image frames. Delayed images are used to generate images corresponding to the chassis area 302 of the vehicle.

The vehicle's angular velocity may be calculated based on the current vehicle speed V, wheelbase length L, and steering angle Φ (eg, as shown in Equation 3).

For each position, the corresponding future position can be calculated based on the predicted movement amount Δyi. The predicted movement amount Δyi may be calculated based on the X-axis distance r _xi and Y-axis distance L _xi from the position of the center O _i of the rotation radius of the vehicle and the vehicle angular velocity (for example, according to Equation 4).

For each position within the image of the area occluded by the vehicle itself (the chassis area 302 of the vehicle), the predicted movement amount Δyi can be used to determine whether the predicted future position falls within the currently visible area of the vehicle's surroundings (e.g., the vehicle outer area 301 ) within. If the predicted moving position of the vehicle is within the currently visible area, when the vehicle moves to the predicted position, according to the present invention, the processing unit 103 can calculate the surrounding environment when the vehicle is moving that has been captured and stored by the plurality of cameras 102 in step S01 In the continuous image frames, the block corresponding to the predicted movement amount Δyi, and the continuous image frames corresponding to the block can be used to generate images of the area obscured by the vehicle itself (ie, the chassis area 302 of the vehicle). Therefore, when the vehicle moves to a future time point, the image (the first image) of the area outside the vehicle 301 is composed of real-time images of consecutive image frames captured by the camera 102, which are used to generate the occlusion of the vehicle itself. The image of the corresponding block of the area (ie, the chassis area 302 of the vehicle) can be regarded as a delayed image of the aforementioned continuous image frames, that is, the stored continuous image frames corresponding to the predicted vehicle movement.

Similarly, since these pre-stored continuous image frames corresponding to the movement of the vehicle may still have shadows cast by the vehicle itself on the ground or spots produced by the headlights, for example, when used to generate images of the chassis area 302 of the vehicle, this area will be The image quality of 302 is poor, such as the discontinuity caused by the shadow of the original continuous image frame and the overexposure of light spots, which further causes undesirable visual interference to driving, or misjudges that there are obstacles on the ground in the area 302 and other adverse effects. Therefore, in the next step, these pre-stored continuous image frames will be processed.

Step S04: Perform gain operation on the delayed images of consecutive image frames to form a second image corresponding to the chassis area of the vehicle.

Based on the previous step S03, in order to process the pre-stored continuous image frames (ie, the delayed images of the continuous image frames) used to generate the chassis area 302 of the vehicle to reduce the impact of vehicle shadows or car lights on image quality. Therefore, the processing unit 103 of the present invention can perform gain operations on these pre-stored consecutive image frames to form an image (second image) corresponding to the chassis area 302 of the vehicle. In order to clearly illustrate the gain operation method, please refer to Figure 6. The pre-stored delayed image of the continuous image frame corresponds to the outer area 301 of the vehicle. At this time, there may be shadows or shadows caused by the vehicle itself in the area 301. For the light spots caused by the car lights, the processing unit 103 of the present invention performs a gain operation on the delayed images of the consecutive image frames. Taking the image gain operation in the side direction of the vehicle as an example (A-A' direction), the gain operation method can be, for example, As shown in Figure 6(a), the images within the range formed by the outward extension of the vehicle body by distance s are excluded in advance, that is, the gain w is 0. That is to say, the delayed images of consecutive image frames are within the range of distance s from the vehicle body. The part, that is, the area where shadows caused by the vehicle itself or spots caused by the headlights are most likely to occur will not be used to generate images of the chassis area 302 of the vehicle after the vehicle moves. When the gain w is not 0, it can be regarded as adjusting the weight value of the delayed image of consecutive image frames. For example, adjusting the image transparency of the delayed image of consecutive image frames in each frame until the gain w is 1 (at this time the transparency is 0). Generally speaking, s can be the distance from 40 cm to 60 cm from the outside of the vehicle body, or it can further be based on the driving status of the vehicle, such as day or night time, ambient light brightness, outdoor or indoor, GPS positioning signal, etc. The preset value built in the processing unit 103 is adjusted. As shown in Figure 6(a), in order to dilute the image caused by vehicle shadows or light spots caused by headlights, in addition to excluding in advance the part of the delayed image of the continuous image frame that is within the distance s from the vehicle body, the gain w in Figure 6(b) It increases in a linear manner in the direction away from the car body; the gain w in Figure 6(c) increases in a direction away from the car body based on the quadratic curve equation. Similarly, the calculation of these gains It can be built into the processing unit 103 to become a default value. Specifically, for example, when the vehicle moves to the next position, each frame of the delayed image of the consecutive image frames used during the period can use the aforementioned gain calculation to reduce the impact of vehicle shadows or car lights on image quality. , finally, the processing unit 103 combines the delayed images of the continuous image frames after the gain operation into an image corresponding to the chassis area of the vehicle (ie, the second image of the present invention), and stores it in the storage unit 105 . The above gain calculation of the present invention is only exemplified by this embodiment, but is not limited to the foregoing gain calculation method. For the delayed images of pre-stored consecutive image frames, the overall gain operation can be performed based on the outer area 301 corresponding to the vehicle. In other words, not only the area in the side direction of the vehicle is subjected to gain operation, but also the entire area corresponding to the outer area 301 of the vehicle. image.

Step S05: A vehicle panoramic image is generated in real time by splicing the first image and the second image.

When the vehicle is moving, the real-time image of the continuous image frames is used to form a first image corresponding to the vehicle outer area 301, and a second image corresponding to the chassis area 302 of the vehicle is formed by performing a gain operation on the delayed image of the continuous image frames, In this step, the processing unit 103 splices the first image and the second image to form the vehicle surrounding image 300 of the present invention. Since the present invention can combine the previously stored continuous image frames during step S01 and predict the vehicle position based on the driving data, and then calculate and use it to generate the image corresponding to the chassis area 302 of the vehicle, therefore at any time, except when the vehicle In addition to the fact that the image of the vehicle outer area 301 can be displayed in real time when moving, even though the vehicle blocks part of the surrounding environment (i.e., the chassis area 302 of the vehicle) of the camera's field of view, through steps S01 to S05 of the present invention, it can be realized that the camera's field of view is as if the vehicle is driving. Like any cover. The present invention further considers the quality of image stitching. The first image corresponding to the vehicle outer area 301 is a real-time image of the current continuous image frame of the vehicle driving, and the second image corresponding to the vehicle's chassis area 302 is a continuous image. The delayed image of the frame is the continuous image frame pre-stored by the vehicle at an earlier position. Since the two images are different There is a difference in time order, so when splicing the images, it may cause discontinuity in the images, especially when the shadow of the vehicle is accompanied by the movement of the vehicle or when the light spot caused by the headlights of the vehicle is obvious, that is, the first One image has vehicle shadows or light spots caused by car lights, while the second image in the present invention dilutes vehicle shadows or light spots caused by car lights. Therefore, in the present invention, the processing unit 103 can further compare the image difference between the first image and the second image, and adjust the image, such as brightness, contrast, gamma and other related image parameters. The specific method is shown in Figure 7. The processing unit 103 can calculate the image value of the first image and the second image in the area near the splicing point. For example, the vehicle outer area 301 also includes an image comparison area 303, and the image comparison area 303 is adjacent to the vehicle. The chassis area 302 can be an area formed by extending outward from the side of the vehicle body within 30 centimeters according to the embodiment of the present invention. The first image of the vehicle outer area 301 or the second image of the vehicle chassis area 302 is adjusted by comparing the real-time image of the continuous image frames and the delayed image of the continuous image frames in the image comparison area 303, so that the first image and The second image does not produce much image difference during stitching. The comparison in this step can even adjust the first image when there are vehicle shadows or light spots caused by car lights, thereby improving the quality of the vehicle surrounding image.

Step S06: Display the vehicle surrounding image.

Through the aforementioned steps S01 to S05, after the processing unit 103 has completed the splicing of the images, it can be connected to a display module (not shown) as the output display of the vehicle surrounding image 300. In practice, the display module can Be it an LCD, OLED, PLED or Micro LED monitor. Preferably, the display module may also have an interactive touch function. The image display method can not only display the spliced vehicle panoramic image 300, but also display the frame of the vehicle. It can be semi-transparent or not display the frame of the vehicle at all. It can be selected through the display module according to the driver's preference. .

The above are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been disclosed above in preferred embodiments, it is not intended to limit the present invention. Anyone familiar with the art of this field will Personnel, without departing from the scope of the technical solution of the present invention, can use the methods and technical contents disclosed above to make slight changes or modifications to equivalent embodiments with equivalent changes. Technical Essence of the Invention Any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solution of the invention.

S01~S06: Steps

Claims (5)

A vehicle surround image display method includes the following steps: capturing images of the surrounding environment when the vehicle is moving through a plurality of cameras installed on a vehicle, and using an image message receiving module to generate continuous image frames and Transmitted to a processing unit; the processing unit uses the real-time images of the continuous image frames to form a first image corresponding to the outside area of the vehicle; receives the driving data of the vehicle through a vehicle information assembly interface and Sent to the processing unit; the processing unit calculates the driving data to obtain delayed images of the continuous image frames, and performs gain operations on the delayed images of the continuous image frames to form a corresponding image corresponding to the vehicle The second image of the chassis area is then spliced to generate a vehicle surround image in real time by splicing the first image and the second image, wherein the gain operation includes adjusting the delayed image of the consecutive image frames in each frame. The image transparency changes; and the vehicle surrounding image is displayed through a display module. The vehicle panoramic image display method described in item 1 of the patent application is characterized in that the vehicle outer area also includes an image comparison area, and the processing unit compares the images in the image comparison area. The real-time image of the continuous image frames and the delayed image of the continuous image frames are used to adjust the first image or the second image. The vehicle panoramic image display method described in claim 1 of the patent application is characterized in that the processing unit performs coordinate conversion of the continuous image frames from the first perspective to the second perspective. The vehicle surround image display method described in item 1 of the patent application is characterized in that the driving data of the vehicle at least includes the steering angle, vehicle speed and gear position of the vehicle. The vehicle panoramic image display method described in item 2 of the patent application is characterized in that the image comparison area is adjacent to the chassis area of the vehicle.