CN107627959A - The panoramic video monitoring method and system of motor vehicle - Google Patents
The panoramic video monitoring method and system of motor vehicle Download PDFInfo
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Abstract
The applicable vehicle electric field of the present invention, there is provided the panoramic video monitoring method and system of a kind of motor vehicle, the angle of the axis of the main car of motor vehicle and the axis of the trailer of motor vehicle can be obtained；Confirm monitored area according to the angle obtained, monitored area includes more sub-regions, and more sub-regions form the panoramic field of motor vehicle；Establish mapping of the coordinate in monitored area per sub-regions to display screen coordinate；Result generation panoramic picture is established according to mapping and is shown in display screen.Confirm the subregion of monitoring so as to the angle of main car and trailer according to motor vehicle, and monitored area with the state of motor vehicle dynamic change, the real-time status of motor vehicle can be shown in display screen, can also the main car of real-time display and trailer wheel trochoid, realize and complete panoramic mosaic is carried out to Dynamic link library car, to comprising multiple or more than two Dynamic link library car monitor without dead angle, vehicle panoramic monitoring accuracy is improved.
Description
Technical field
The invention belongs to technical field of automotive electronics, more particularly to a kind of panoramic video monitoring method of motor vehicle and it is
System.
Background technology
Motor vehicle can effectively observe eliminating driving blind area, panoramic video record system, generally in vehicle body using drive assist system
Surrounding installs more than one camera, so that wholly or largely region around visual angle covering vehicle body.And by screen
Subregion directly displays camera video；Or the method spliced by image/video, a few road camera videos are entered into line translation
And splicing, formed：1st, the panoramic picture of effect is looked down, it is directly perceived to show vehicle body and the position relationship of surrounding environment；2nd, regarded from special
Angle shows single channel or multi-path camera video, for example left and right sides is imaged from the visual angle of left and right rearview mirror observation with driver
Head image carries out view transformation and shown.In particular figure, the dynamic row for changing and changing with steering wheel angle can be shown
Track trace, the trajectory can be used under currently displayed steering wheel angle, and vehicle body ad-hoc location is in advance or fallback procedures
In the ground region that passes through.
Trailer refers to by vehicle traction and the vehicle of unpowered drive device itself.By an automobile (lorry or tractor,
Fork truck) combination with one or more than one trailer.Cargo vehicle and the driving car section that towing motorcar is truck combination, it is referred to as main
Car；It is referred to as trailer from motor-car section by what main car was drawn.
If dolly is same overall car in motor vehicle, easily monitored when all around moving, for comprising main car and trailer
Motor vehicle, when all around movement especially moves left and right, the moving direction of tractor and trailer, displacement are inconsistent, increase
The difficulty of monitoring is added.Such as undertaking the towed vehicle of long-distance transport operation or the hauling operation of special installation, it is past in main car
When left/right moves, trailer not on same axis, considerably increases eliminating driving blind area, and main car and trailer belong to dynamic with main car
The connection car of state, and vehicle panoramic video system of the prior art is mainly for the monitoring of same overall car, can not be right
It is monitored comprising two Dynamic link library cars, vehicle panoramic video system of the prior art monitors to Dynamic link library car panorama
Precision it is low, panoramic view and actual scene have difference.
The content of the invention
It is an object of the invention to provide the vehicle panoramic monitoring method and system of a kind of car, it is intended to solves prior art
Vehicle panoramic video system existing for following problem：1st, can not be to carrying out nothing comprising two or more Dynamic link library cars
Dead angle monitors；2nd, complete panoramic mosaic can not be carried out to Dynamic link library car and splicing view has the problem of dead angle；3rd, by
In car body is longer, connection body angle change, caused tradition, which overlooks visual angle panoramic view and single camera view, to expire
Sufficient driver observes custom, influences the problem of driver effectively observes car body and neighboring area；4th, can not essence to Dynamic link library car
The problem of really calculating and drawing trailer partial dynamic trajectory.
On the one hand, the invention provides a kind of panoramic video monitoring method of motor vehicle, methods described to comprise the steps：
Obtain the angle of the axis of the main car of motor vehicle and the axis of the trailer of motor vehicle；
Angle according to the acquisition confirms monitored area, and the monitored area includes more sub-regions, the multiple son
Region forms the panoramic field of the motor vehicle；
Establish mapping of the coordinate in the monitored area per sub-regions to display screen coordinate；
Result generation panoramic picture is established according to the mapping and is shown in display screen.
On the other hand, it is and described the invention provides a kind of panoramic video monitoring system of motor vehicle, including master control set
Display device, tape deck and the multiple camera devices of master control set connection, the master control set in the embodiment of the present invention include：
Angle acquisition module, the axis of the main car of the motor vehicle detected for obtaining the tape deck and motor vehicle
Trailer axis angle；
Area monitoring module, confirm monitored area for the angle according to the acquisition and by the camera device,
The monitored area includes more sub-regions, and the multiple subregion forms the panoramic field of the motor vehicle；
Mapping block, for establishing mapping of the coordinate in the monitored area per sub-regions to display screen coordinate；
Image generation module, for establishing result generation panoramic picture according to the mapping and being existed by the display device
Display screen is shown.
In embodiments of the present invention, the folder of the axis of the main car of motor vehicle and the axis of the trailer of motor vehicle can be obtained
Angle；Confirm monitored area according to the angle obtained, monitored area includes more sub-regions, and more sub-regions form motor vehicle
Panoramic field；Establish mapping of the coordinate in monitored area per sub-regions to display screen coordinate；Result is established according to mapping
Generation panoramic picture is simultaneously shown in display screen.
The subregion of monitoring is confirmed so as to the angle of main car and trailer according to motor vehicle, to obtain motor vehicle in real time
State, and monitored area with the state of motor vehicle dynamic change, so as to be in motor turning motor vehicle main car with hang
When car has angle, the state change of main car and trailer can be real-time monitored, can also show the real-time of motor vehicle in display screen
State, it is easy to check, realizes and complete panoramic mosaic is carried out to Dynamic link library car, realize to comprising multiple or more than two
Dynamic link library car monitored without dead angle, avoids the occurrence of eliminating driving blind area, improves the precision of vehicle panoramic monitoring.
Further, early warning is carried out when can also be to barrier in monitored area be present, and is corresponded within display screen
Subregion shows that display screen can show the variable angle state of the main car and trailer of motor vehicle, so as to show prison
The dynamic change of the subregion in region is surveyed, improves the flexibility of vehicle panoramic monitoring.
Further, the main car of also recordable motor vehicle, the wheelpath of trailer, and wheelpath is generated, in display screen
Real-time display is carried out on curtain, so as to which the multiple positions of car body including trailer and vehicle forward and the retrogressing of ground contact points will be included
Trajectory, shown on panorama or certain viewing angles image, realize to Dynamic link library car carry out accurately calculate and drafting include
The dynamic trajectory rear camera of the motor vehicle of trailer.
Brief description of the drawings
Fig. 1 is the structure chart of the panoramic video monitoring system for the motor vehicle that the embodiment of the present invention one provides；
Fig. 2 is a kind of schematic diagram of the panoramic video monitoring of motor vehicle provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the panoramic video monitoring system for the motor vehicle that the embodiment of the present invention two provides；
Fig. 4 is the implementation process figure of the panoramic video monitoring method for the motor vehicle that the embodiment of the present invention three provides；
Fig. 5 is the schematic diagram of the panoramic video monitoring method for the motor vehicle that the embodiment of the present invention four provides；
Fig. 6 is projective transformation schematic diagram provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram of the panoramic video monitoring for another motor vehicle that the present invention implements five offers；
Fig. 8 is the flow chart of the panoramic video monitoring method for another motor vehicle that the embodiment of the present invention six provides；
Fig. 9 is the panoramic video monitoring schematic diagram of motor vehicle provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The panoramic video monitoring method and system of motor vehicle in the embodiment of the present invention can be applied to include main car and trailer
Motor vehicle panoramic video monitoring in, wherein, trailer refers to by vehicle traction and the vehicle of unpowered drive device itself.By
One automobile (lorry or tractor, fork truck) and the combination of one or more than one trailer.Cargo vehicle and towing motorcar are vapour
The driving car section of car team car, referred to as main car；It is referred to as trailer from motor-car section by what main car was drawn.Different from of the prior art motor-driven
The panoramic video of car monitors, and the state of the main car and trailer of Dynamic link library can be monitored and be shown in real time in the embodiment of the present invention
Show, including the corner of main car and trailer can be also presented, and then the panoramic field of motor vehicle can be monitored.
Following problem existing for the vehicle panoramic video system of prior art：1st, can not be to including two or more
Dynamic link library car monitored without dead angle；2nd, complete panoramic mosaic can not be carried out to Dynamic link library car and splicing view is present
The problem of dead angle；3rd, because car body is longer, connection body angle change, caused tradition is overlooked visual angle panoramic view and single taken the photograph
It is accustomed to as head view can not meet that driver observes, influences the problem of driver effectively observes car body and neighboring area；4th, to dynamic
The problem of state connection car accurately can not calculate and draw trailer partial dynamic trajectory.Motor vehicle provided in an embodiment of the present invention
Panoramic video monitoring method can effectively solve the problems, such as that above prior art is present.
It is described in detail below in conjunction with specific implementation of the specific embodiment to the present invention.
Embodiment one：
Fig. 1 shows the structure chart of the panoramic video monitoring system for the motor vehicle that the embodiment of the present invention one provides, such as Fig. 1 institutes
Show, system provided in an embodiment of the present invention includes master control set 11, the display device 12 being connected with master control set 11, tape deck
13 and multiple camera devices 14.Wherein, master control set 11 may include angle acquisition module 111, area monitoring module 112, reflect
Penetrate module 113 and image generation module 114.
Wherein, tape deck 13 can be the sensor for obtaining angle, as obtaining between main car and trailer
The angular transducer of angle of turn, include but is not limited to mechanical, infrared type angularly sensor.Camera device 14 can be used for defeated
Enter the acquisition of video, input video can be the diversified forms such as simulation, numeral.
Angle acquisition module 111, the axis of the main car of the motor vehicle detected for obtaining tape deck 13 with it is motor-driven
The angle of the axis of the trailer of car.
As an alternative embodiment, the axis of the main car for the motor vehicle that can be detected by tape deck 13 with
The angle of the axis of the trailer of motor vehicle.Detected such as by angular transducer the axis of the main car of motor vehicle with it is motor-driven
The angle of the axis of the trailer of car.As shown in Fig. 2 for motor vehicle provided in an embodiment of the present invention panoramic video monitor show
It is intended to, when the main car of motor vehicle rotates, as the axis of the main cars of Fig. 2 (b) and the axis of trailer form angle theta.
Area monitoring module 112, for the angle that is obtained according to angle acquisition module 111 and true by camera device 14
Recognize monitored area, monitored area includes more sub-regions, and more sub-regions form the panoramic field of motor vehicle.
As an alternative embodiment, the scope foundation of more sub-regions of monitored area in the embodiment of the present invention
The axis of the main car of motor vehicle and the angle dynamic change of the axis of the trailer of motor vehicle.It is further alternative, the present invention
The panoramic field of motor vehicle in embodiment is three-dimensional area of space, is when correspondingly feeding back in the display screen of display device
The plane domain of two dimension or the area of space of three-dimensional.In the specific implementation, the axis of main car and the extension of motor vehicle can be monitored in real time
The angle of the axis of car, set in real time by division of the real-time angle to the subregion of monitored area.Further, one
The subregion of individual monitored area can be for one or more camera devices.
As shown in Fig. 2 (a), it is assumed that the panoramic field of motor vehicle is divided into six regions in advance, respectively forefoot area a1, after
Region a2, left front region a3, right forefoot area a4, left back region a5, right rear region a6, initial division it is contemplated that the size of main car,
The size of trailer and the imaging region of camera device are divided.Further alternative, this is that example division is six regions,
The division numbers in region can be specifically confirmed according to the size of motor vehicle and the actual monitoring of motor vehicle.
As shown in Fig. 2 (b), the angle theta in the axis for the main car that motor vehicle be present and the axis of the trailer of motor vehicle
When, main car is turned left, and Fig. 2 (b) is compared to Fig. 2 (a), and the subregion of monitored area is changed with angle theta, such as Fig. 2 (b)
Middle forefoot area b1, left front region b3, right forefoot area b4, right regions of the rear region b6 compared to Fig. 2 (a) generate change.
As shown in Fig. 2 (c), the angle theta in the axis for the main car that motor vehicle be present and the axis of the trailer of motor vehicle
When, main car is turned right, and Fig. 2 (c) is compared to Fig. 2 (a), and the subregion of monitored area is changed with angle theta, such as Fig. 2 (c)
Middle forefoot area c1, left front region c3, right forefoot area c4, left back regions of the region c5 compared to Fig. 2 (a) generate change.
Mapping block 113, for establish area monitoring module 112 monitoring region in per sub-regions coordinate to show
The mapping of screen coordinate.
As an alternative embodiment, mapping block 113, for establishing the region of the monitoring of area monitoring module 112
In per sub-regions coordinate to display screen coordinate mapping.Wherein, the coordinate per sub-regions is every in the region of monitoring
The camera coordinate of sub-regions.
Further alternative, the master control set 11 in the embodiment of the present invention can also include：First computing module and second
Computing module.
First computing module, the first perspective transformation matrix for calculating benchmark coordinate system to camera imaging coordinate system.
Second computing module, the second perspective transformation matrix for calculating benchmark coordinate system to display screen coordinate system.
Further, mapping block 113 is specifically used for：Built according to the first perspective transformation matrix and the second perspective transformation matrix
Mapping of the coordinate of every sub-regions to display screen coordinate in vertical monitored area.
In the specific implementation, the frame of reference can be real world coordinate system, i.e. ground level coordinate system.Calculated by first
Module calculating benchmark coordinate system establishes the frame of reference to camera to the first perspective transformation matrix of camera imaging coordinate system
The mapping relations of imaging coordinate system, pass through the second perspective of the second computing module calculating benchmark coordinate system to display screen coordinate system
Transformation matrix, the frame of reference is established to the mapping relations of display screen coordinate system, so as to establish camera imaging coordinate system
To the mapping relations of display screen coordinate system.In the specific implementation, mapping block 113 is specifically used for according to the first perspective transformation matrix
Mapping of the coordinate in monitored area per sub-regions to display screen coordinate is established with the second perspective transformation matrix.Such as Fig. 2 institutes
Show, the coordinate of six sub-regions is mapped on display screen coordinate.
Image generation module 114, for establishing result generation panoramic picture according to the mapping of mapping block 113 and passing through display
Device 12 is shown in display screen.
As an alternative embodiment, image generation module 114 is specifically used for building according to the mapping of mapping block 113
Vertical result, the pixel value of the imaging in monitored area per sub-regions is extracted, to showing corresponding to every sub-regions in monitored area
Show that region carries out pixel filling, show filling result within display screen by display device 12.In the specific implementation, mapping block
After 113 establish mapping relations, the pixel value of the imaging in monitored area per sub-regions can be obtained in real time, passes through display device 12
The panorama sketch of motor vehicle can be shown on the display screen, can show the variable angle state of the main car and trailer of motor vehicle.Such as
Shown in Fig. 2, it can be the two-dimensional panoramic illustrated example for the motor vehicle that display device is shown in display screen, further, may be used also
The three-dimensional panorama figure of motor vehicle is shown, is not limited by the embodiment of the present invention specifically.
Further alternative, master control set 11 may include warning module 115, for monitoring that monitored area has obstacle
During thing, carry out early warning and pass through viewing area corresponding to the subregion where display device 12 within display screen barrier
Shown.
In the specific implementation, vehicle panoramic monitoring system provided in an embodiment of the present invention can also be to each height of monitored area
Region carries out detection of obstacles, when finding barrier, progress early warning, and can be in display screen by display device 12
In viewing area corresponding to the subregion where barrier is shown.Wherein, early warning includes audio alert, light report
It is alert etc., do not limited by the embodiment of the present invention specifically.So as in states such as such as motor vehicle starting, turning, reversing and lane changes
Under, to carrying out pedestrian and detection of obstacles in vision dead zone, carry out the prompting and early warning of the forms such as voice.
Further alternative, master control set 11 provided in an embodiment of the present invention may include：The He of transport condition acquisition module 116
Wheelpath generation module 117.
Transport condition acquisition module 116, for obtaining the steering wheel angle, front wheels of motor-vehicles steering angle and machine of motor vehicle
The transport condition of motor-car.
In the specific implementation, transport condition acquisition module 116 can be used for steering wheel angle, the front wheels of motor-vehicles for obtaining motor vehicle
The transport condition of steering angle and motor vehicle, wherein, the transport condition of motor vehicle may include motor vehicle forward travel state and retrogressing
State.Specifically, it can obtain steering wheel angle by way of the computer system out of motor vehicle or outer sensor, go forward side by side
One step calculates car front wheel steering angle, or directly obtains car front wheel steering angle.
Wheelpath generation module 117, for the row according to steering wheel angle, front wheels of motor-vehicles steering angle and motor vehicle
Sail state, calculate main car, the wheel trochoid of trailer of motor vehicle, and within display screen the main car of real-time display motor vehicle,
The wheelpath of trailer.
In the specific implementation, the video of single channel or multi-path camera can be carried out by mapping and coordinate change by mapping block 113
Change, certain viewing angles image can be shown on screen.The wherein image of the wheelpath of certain viewing angles image such as motor vehicle, enters one
Step, it may also include wheelpath image of the compartment of specific trailer, main car etc..
Wheelpath generation module 117, for steering wheel angle, the machine got according to transport condition acquisition module 116
The transport condition of motor-car front wheel steering angle and motor vehicle, calculates main car, the wheel trochoid of trailer of motor vehicle, and is showing
The main car of real-time display motor vehicle, the wheelpath of trailer in screen.Specifically, driving of the motor vehicle in diverse location can be calculated
Trajectory, the vehicle forward of the multiple positions of car body and ground contact points including can further calculating comprising trailer and the rail retreated
Trace, and carry out real-time display on panorama or certain viewing angles image.The embodiments of the invention provide the panoramic video of motor vehicle
Monitoring system, including master control set, the display device being connected with master control set, tape deck and multiple camera devices, master control
Device includes angle acquisition module, area monitoring module, mapping block and image generation module.Angle acquisition module can obtain machine
The axis of the main car of motor-car and the angle of the axis of the trailer of motor vehicle；Area monitoring module can according to acquisition angle it is true
Recognize monitored area, monitored area includes more sub-regions, and more sub-regions form the panoramic field of motor vehicle；Mapping block can
Establish mapping of the coordinate in monitored area per sub-regions to display screen coordinate；Image generation module can be established according to mapping
As a result generate panoramic picture and shown in display screen.
The subregion of monitoring is confirmed so as to the angle of main car and trailer according to motor vehicle, to obtain motor vehicle in real time
State, and monitored area with the state of motor vehicle dynamic change, so as to be in motor turning motor vehicle main car with hang
It when car has angle, can real-time monitor, the real-time status of motor vehicle can be also shown in display screen, is easy to check, realizes
Complete panoramic mosaic is carried out to Dynamic link library car, realized to being carried out comprising multiple or more than two Dynamic link library car without dead angle
Monitoring, avoids the occurrence of eliminating driving blind area, improves the precision of vehicle panoramic monitoring.
Further, early warning is carried out when warning module can also be to having barrier in monitored area, and in display screen
Corresponding sub-region shows that display screen can show the variable angle state of the main car and trailer of motor vehicle in curtain, so as to
The dynamic change of the subregion of monitored area can be shown, improves the flexibility of vehicle panoramic monitoring.
Further, the main car of also recordable motor vehicle, the wheelpath of trailer, and wheelpath is generated, in display screen
Real-time display is carried out on curtain, so as to which the multiple positions of car body including trailer and vehicle forward and the retrogressing of ground contact points will be included
Trajectory, shown on panorama or certain viewing angles image, realize to Dynamic link library car carry out accurately calculate and drafting include
The dynamic trajectory rear camera of the motor vehicle of trailer.
Embodiment two：
Fig. 3 shows the schematic diagram of the panoramic video monitoring system for the motor vehicle that the embodiment of the present invention two provides, such as Fig. 3 institutes
Show, including angular transducer 31, multi-path camera 32, CAN communication unit 33, videograph and playback unit 34, car-mounted display
Unit 35 and master control borad 36, wherein, master control borad 36 can be found in the master control set in the embodiment described in Fig. 1, angular transducer
31 can be found in the tape deck in the embodiment described in Fig. 1, and multi-path camera 32 can be found in the shooting in the embodiment described in Fig. 1
Device, car-mounted display unit 35 can be found in the display device in the embodiment described in Fig. 1.
Angular transducer 31 is used to obtain the angle of turn between headstock and vehicle body, including but not limited to mechanical, red
Outer formula angularly sensor.Multi-path camera 32 is separately mounted to around the main car and trailer of motor vehicle, such as available CAN (scenes
Bus) communication unit refers to by connecting automobile OBD (On-Board Diagnostic, onboard diagnostic system) interfaces and automobile
Internal network is communicated, and uses CAN agreement.Videograph and playback unit 34 include but is not limited to multi-path camera
In the video of input per camera all the way recorded and played back and to the record of the panoramic picture video of synthesis and returned
Put, playback can be the direct broadcasting for recording original video or the broadcasting to the output video after record Video processing.
Car-mounted display unit 35 can be shown system panoramic video and Ge Lu video frequency outputs to Vehicular display device, show trigger signal
The including but not limited to triggering of electricity frequency, CAN communication triggering and video frequency output triggering.
Embodiment three：
Fig. 4 shows the implementation process figure of the panoramic video monitoring method for the motor vehicle that the embodiment of the present invention three provides, bag
Step S401~S404 is included, details are as follows：
Step S401, obtain the angle of the axis of the main car of motor vehicle and the axis of the trailer of motor vehicle.
As an alternative embodiment, the axis of the main car of detectable motor vehicle and the trailer of motor vehicle
The angle of axis.The axis of the axis of the main car of motor vehicle and the trailer of motor vehicle is detected such as by angular transducer
The angle of line.As shown in Fig. 2 motor vehicle main car rotate when, can get main car axis and trailer axis it is linear
Into angle theta.
Step S402, confirm monitored area according to the angle obtained, monitored area includes more sub-regions, more sub-regions
Form the panoramic field of motor vehicle.
As an alternative embodiment, the scope foundation of more sub-regions of monitored area in the embodiment of the present invention
The axis of the main car of motor vehicle and the angle dynamic change of the axis of the trailer of motor vehicle.It is further alternative, the present invention
The panoramic field of motor vehicle in embodiment is three-dimensional area of space, is when correspondingly feeding back in the display screen of display device
The plane domain of two dimension or the area of space of three-dimensional.In the specific implementation, the axis of main car and the extension of motor vehicle can be monitored in real time
The angle of the axis of car, set in real time by division of the real-time angle to the subregion of monitored area.Further, one
The subregion of individual monitored area can be for one or more camera devices.Specifically can Fig. 2 (a)~Fig. 2 as described in Example 1
(c) shown in, it is not repeated.
Step S403, establish mapping of the coordinate in monitored area per sub-regions to display screen coordinate.
As an alternative embodiment, the coordinate in establishing the region of monitoring per sub-regions is to display screen coordinate
Mapping can specifically include：Established according to the first perspective transformation matrix and the second perspective transformation matrix in monitored area per height
Mapping of the coordinate in region to display screen coordinate.Wherein, the coordinate per sub-regions is every sub-regions in the region of monitoring
Camera coordinate.
Further, before S401 of the embodiment of the present invention, step can also be included：
First perspective transformation matrix of the calculating benchmark coordinate system to camera imaging coordinate system.
Second perspective transformation matrix of the calculating benchmark coordinate system to display screen coordinate system.
In the specific implementation, the frame of reference can be real world coordinate system, i.e. ground level coordinate system.Calculating benchmark coordinate
It is the first perspective transformation matrix to camera imaging coordinate system, establishes mapping of the frame of reference to camera imaging coordinate system
Relation, the second perspective transformation matrix of calculating benchmark coordinate system to display screen coordinate system, establishes the frame of reference to display screen
The mapping relations of curtain coordinate system, so as to establish camera imaging coordinate system to the mapping relations of display screen coordinate system.Specifically
In realization, the coordinate established according to the first perspective transformation matrix and the second perspective transformation matrix in monitored area per sub-regions arrives
The mapping of display screen coordinate.As shown in Fig. 2 the coordinate of six sub-regions is mapped on display screen coordinate.
Step S404, establish result generation panoramic picture according to mapping and shown in display screen.
As an alternative embodiment, establish result according to mapping, extract in monitored area per sub-regions into
The pixel value of picture, pixel filling is carried out to viewing area corresponding to every sub-regions in monitored area, shown within display screen
Fill result.In the specific implementation, after establishing mapping relations, the pixel of the imaging in monitored area per sub-regions can be obtained in real time
Value, the panorama sketch of motor vehicle can be shown on the display screen, can show the variable angle state of the main car and trailer of motor vehicle.
As shown in Fig. 2 can be the two-dimensional panoramic illustrated example of the motor vehicle shown in display screen, further, machine may also display
The three-dimensional panorama figure of motor-car, is not limited specifically by the embodiment of the present invention.
In embodiments of the present invention, the folder of the axis of the main car of motor vehicle and the axis of the trailer of motor vehicle can be obtained
Angle；Confirm monitored area according to the angle obtained, monitored area includes more sub-regions, and more sub-regions form motor vehicle
Panoramic field；Establish mapping of the coordinate in monitored area per sub-regions to display screen coordinate；Result is established according to mapping
Generation panoramic picture is simultaneously shown in display screen.
The subregion of monitoring is confirmed so as to the angle of main car and trailer according to motor vehicle, to obtain motor vehicle in real time
State, and monitored area with the state of motor vehicle dynamic change, so as to be in motor turning motor vehicle main car with hang
It when car has angle, can real-time monitor, the real-time status of motor vehicle can be also shown in display screen, is easy to check, realizes
Complete panoramic mosaic is carried out to Dynamic link library car, realized to being carried out comprising multiple or more than two Dynamic link library car without dead angle
Monitoring, avoids the occurrence of eliminating driving blind area, improves the precision of vehicle panoramic monitoring.
Further, early warning is carried out when can also be to barrier in monitored area be present, and is corresponded within display screen
Subregion shows that display screen can show the variable angle state of the main car and trailer of motor vehicle, so as to show prison
The dynamic change of the subregion in region is surveyed, improves the flexibility of vehicle panoramic monitoring.
Example IV：
Fig. 5 shows the schematic diagram of the panoramic video monitoring method for the motor vehicle that the embodiment of the present invention four provides, including step
Rapid S501~S505.Wherein, the frame of reference can be real world coordinate system, i.e. ground level coordinate system.
Step S501, correct camera.
In the specific implementation, distortion correction is carried out to camera.Such as including the Lens Distortion Correction to wide-angle lens and tangentially
Distortion correction, it is ensured that shown in the panoramic picture of motor vehicle in effective coverage.Camera imaging is in real world coordinate system
The perspective transform of scene, it can such as be handled by the way of fitting of a polynomial.
Step S502, geographical coordinates is calculated to the perspective transformation matrix of each camera imaging coordinate.
In the specific implementation, setting ground level coordinate system as Xw, the image coordinate system after camera i distortion corrections is Xci, ground
The perspective transformation matrix of camera coordinate after coordinate system to correction is Mpi, i.e. the first perspective transformation matrix.Then have：
Xci=Mpi·Xw
Wherein, Xci=(Xci, Yci, hci)；Xw=(Xw, Yw, 1)；
Calculating matrix Mpi, XciSampled point corresponding to four groups can be at least taken with Xw, can such as use linear transformation and singular value point
The methods of solution, do not limited by the embodiment of the present invention specifically.
Step S503, calculate the camera imaging coordinate after the coordinate to corresponding correct in the region of monitoring per sub-regions
Perspective transformation matrix.
In the specific implementation, by angular transducer, the real-time axis of main car for obtaining motor vehicle and the trailer of motor vehicle
Axis angle theta, and obtain the actual size of the main car and trailer of motor vehicle, the imaging region of each camera carried out
Division, the video image per sub-regions come from one or more cameras.Wherein, the coordinate per sub-regions is monitoring
Camera coordinate in region per sub-regions.
If subregion i corresponds to camera i, with reference to step S501 and step S502, you can calculate the seat in subregion i
Mark XwiCamera imaging transformation of coordinates matrix A after to correctioni。
Step S504, geographical coordinates is calculated to the affine transformation matrix of screen coordinate.
In the specific implementation, geographical coordinates is calculated to the affine transformation matrix B of screen coordinateaffine, screen coordinate system is set
Overlapped with earth axes.And equiaffine map function is translated, rotated and scaled to screen coordinate system, if corresponding conversion
Matrix is respectively Tt、Tr、Ts.Then affine transformation matrix of the earth axes to screen coordinate system：
Step S505, the earth axes after affine transformation are calculated to the perspective transformation matrix of screen coordinate system.
As shown in fig. 6, Xprp=(the x that set up an officeprp, yprp, zprp) be affine transformation after earth axes in any point
Xwa=(xaffines, yaffines, zaffines) reference point that is projected on screen, subpoint Xws=(xws, yws, zwsp), wherein
ZwspFor definite value, zaffines=Axaffines+Byaffines+ C is planar function.Then have：
Zws=Zwsp
Thus can calculate it is some to corresponding point in the earth axes after screen coordinate system and affine transformation, and then
The earth axes after affine transformation can be calculated to the perspective transformation matrix B of screen coordinate systempers.And then it can obtain screen
Relation between coordinate system and earth axes is Xs=Bpers·Baffine·Xw.Further, arrived according to earth axes Xw
Transformation relation between screen coordinate system Xs, multi-angle display image can be generated.
Mapping of the coordinate in monitored area per sub-regions to display screen coordinate can obtain by step S501~S505
Relation.
It is further alternative, in the embodiment of the present invention, step S501~S505 can be first carried out, presets initial monitoring sub-district
Domain, the mapping relations of the coordinate of the subregion established in monitored area to display screen coordinate.Further, it can perform step
S401~step S404, in motor-driven vehicle going, the son of monitored area in real time according to the state of main car and trailer, can be reaffirmed
Zone state, and the coordinate in every sub-regions is mapped in display screen coordinate in real time, it is complete in real time so as to generate
Scape image, and shown.Further, the process of coordinate transform, it can in real time be calculated in display, mapping can also be closed
System is preset, and parameter is stored in main frame, and the mapping table of coordinate transform is loaded directly into system operation, then can be saved
The computing resource of system.
By the step in the embodiment of the present invention, the coordinate in monitored area per sub-regions can be obtained and sat to display screen
Target mapping relations, it is specific left side transformation calculations process, so as in real time by the image of the corresponding region of camera collection
It is mapped in display screen, realizes and complete panoramic mosaic is carried out to Dynamic link library car, realizes to comprising multiple or be more than
Two Dynamic link library cars monitored without dead angle, and the panoramic video monitoring of motor vehicle can be carried out in real time in display screen.
Embodiment five：
Fig. 7 shows the panoramic video monitoring schematic diagram of another motor vehicle provided in an embodiment of the present invention, such as Fig. 7 institutes
Show, the monitoring subregion for setting varying number, while settable varying number can be corresponded to according to the size of the main car of motor vehicle, trailer
Camera, the subregion of monitored area can specifically be divided according to length of wagon.
As shown in Fig. 7 (a), it is assumed that the panoramic field of motor vehicle is divided into eight regions in advance, respectively forefoot area e1, after
Region e2, left front region e3, right forefoot area e4, left region e5, it is right in region e6, left back region e7, right rear region e8.Fig. 7
(b) it is that main car is turned left, the subregion of monitored area is changed with angle theta, can will be each by the embodiment of the present invention
The real-time status of subregion is fed back in display screen, is realized and is carried out complete panoramic mosaic to Dynamic link library car, realizes
To comprising multiple or more than two Dynamic link library car monitor without dead angle, so as to improve the monitoring of the panoramic video of motor vehicle
Precision.
It is further alternative, can also real-time display motor vehicle main car, the wheel trochoid of trailer, as shown in Fig. 7 (b),
Heavy black be motor vehicle to the left turning driving when the wheel trochoid that is formed, when Fig. 7 (a) heavy black is motor vehicle straight-line travelling
The wheel trochoid of formation.
The embodiment of the present invention provides the vehicle panoramic shadow comprising main car and trailer based on correlation techniques such as image procossings
As monitoring method and system.Specifically can by main car and the trailer setting angle sensor in motor vehicle, obtain in real time main car and
Position relationship between trailer, and then video is gathered by the camera around motor vehicle and carries out processing in real time and is shown
Show and record, there is provided to the panoramic picture around driver's motor vehicle and each angular image, realize that real 360 degree of non-blind areas are driven
Sail, and the video image of panoramic video image and Ge Lu cameras is recorded in real time.
Embodiment six：
Fig. 8 shows the flow chart of the panoramic video monitoring method for the motor vehicle that the embodiment of the present invention five provides, including step
Rapid S801~S806.
S801, obtain the angle of the axis of the main car of motor vehicle and the axis of the trailer of motor vehicle.
S802, confirm monitored area according to the angle obtained, monitored area includes more sub-regions, and more sub-regions are formed
The panoramic field of motor vehicle.
S803, establish mapping of the coordinate in monitored area per sub-regions to display screen coordinate.
S804, establish result generation panoramic picture according to mapping and shown in display screen.
S805, obtain the transport condition of the steering wheel angle of motor vehicle, front wheels of motor-vehicles steering angle and motor vehicle.
S806, by the transport condition of steering wheel angle, front wheels of motor-vehicles steering angle and motor vehicle, calculate the master of motor vehicle
The wheel trochoid of car, trailer, and the wheelpath of real-time display motor vehicle within display screen.
In the specific implementation, in step S801~S804 embodiments three Fig. 4 step S401~S404, be specifically not repeated.
In step S805, the traveling shape of the steering wheel angle of motor vehicle, front wheels of motor-vehicles steering angle and motor vehicle is obtained
State, wherein, the transport condition of motor vehicle may include motor vehicle forward travel state and fallback state.Specifically, can be by from motor-driven
In-car computer system or the mode of outer sensor, steering wheel angle is obtained, and further calculate car front wheel steering angle, or
Directly obtain car front wheel steering angle.
In step S806, according to the transport condition of steering wheel angle, front wheels of motor-vehicles steering angle and motor vehicle, computer
Main car, the wheel trochoid of trailer of motor-car, and the driving rail of the main car of real-time display motor vehicle, trailer within display screen
Mark.
In the specific implementation, the video of single channel or multi-path camera can be mapped and coordinate transform, can show on screen
Show certain viewing angles image.The wherein image of the wheelpath of certain viewing angles image such as motor vehicle, further, it may also include tool
The wheelpath image etc. in the compartment of body trailer, main car.
According to the transport condition of steering wheel angle, front wheels of motor-vehicles steering angle and the motor vehicle got, calculate motor-driven
Main car, the wheel trochoid of trailer of car, and the main car of real-time display motor vehicle, the wheelpath of trailer within display screen.
Specifically, wheel trochoid of the motor vehicle in diverse location can be calculated, the car body including can further calculating comprising trailer is multiple
The vehicle forward of position and ground contact points and the trajectory retreated, and shown in real time on panorama or certain viewing angles image
Show.
As shown in figure 9, monitoring schematic diagram for the panoramic video of motor vehicle provided in an embodiment of the present invention, Fig. 9 (a) is normal
Panoramic video monitoring schematic diagram under transport condition, Fig. 9 (b) are that the panoramic video under left-hand bend state monitors schematic diagram, Fig. 9
(c) be under right-hand bend state panoramic video monitoring schematic diagram, wherein, thick circular arc line is trajectory, when motor vehicle is turned to the left
When, can the main car of real-time display and trailer wheel trochoid, as shown in Fig. 9 (b).When motor vehicle bends to right, can show in real time
Show the wheel trochoid of main car and trailer, as shown in Fig. 9 (c).Wheel trochoid such as Fig. 9 (a) when motor vehicle straight-line travelling
It is shown.
The embodiments of the invention provide the panoramic video monitoring method of motor vehicle, the axis of the main car of motor vehicle can be obtained
With the angle of the axis of the trailer of motor vehicle；Monitored area can be confirmed according to the angle of acquisition, monitored area includes more height
Region, and more sub-regions form the panoramic field of motor vehicle；Can establish in monitored area per sub-regions coordinate to show
The mapping of screen coordinate；Result generation panoramic picture can be established according to mapping and is shown in display screen.
The subregion of monitoring is confirmed so as to the angle of main car and trailer according to motor vehicle, to obtain motor vehicle in real time
State, and monitored area with the state of motor vehicle dynamic change, so as to be in motor turning motor vehicle main car with hang
It when car has angle, can real-time monitor, the real-time status of motor vehicle can be also shown in display screen, is easy to check, realizes
Complete panoramic mosaic is carried out to Dynamic link library car, realized to being carried out comprising multiple or more than two Dynamic link library car without dead angle
Monitoring, avoids the occurrence of eliminating driving blind area, improves the precision of vehicle panoramic monitoring.
Further, early warning is carried out when can also be to barrier in monitored area be present, and is corresponded within display screen
Subregion shows that display screen can show the variable angle state of the main car and trailer of motor vehicle, so as to show prison
The dynamic change of the subregion in region is surveyed, improves the flexibility of vehicle panoramic monitoring.
Further, the main car of also recordable motor vehicle, the wheelpath of trailer, and wheelpath is generated, in display screen
Real-time display is carried out on curtain, so as to which the multiple positions of car body including trailer and vehicle forward and the retrogressing of ground contact points will be included
Trajectory, shown on panorama or certain viewing angles image, realize to Dynamic link library car carry out accurately calculate and drafting include
The dynamic trajectory rear camera of the motor vehicle of trailer.
In embodiments of the present invention, each unit of the panoramic video monitoring system of motor vehicle can be by corresponding hardware or software
Unit realize, each unit can be independent soft and hardware unit, can also be integrated into a soft and hardware unit, herein not to
The limitation present invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (12)
1. the panoramic video monitoring method of a kind of motor vehicle, it is characterised in that methods described comprises the steps：
Obtain the angle of the axis of the main car of motor vehicle and the axis of the trailer of motor vehicle；
Angle according to the acquisition confirms monitored area, and the monitored area includes more sub-regions, the multiple subregion
Form the panoramic field of the motor vehicle；
Establish mapping of the coordinate in the monitored area per sub-regions to display screen coordinate；
Result generation panoramic picture is established according to the mapping and is shown in display screen.
2. the method as described in claim 1, it is characterised in that the axis of the main car for obtaining motor vehicle and motor vehicle
Before the angle of the axis of trailer, methods described also includes step：
First perspective transformation matrix of the calculating benchmark coordinate system to camera imaging coordinate system；
Second perspective transformation matrix of the calculating benchmark coordinate system to display screen coordinate system；
The mapping for establishing coordinate to display screen coordinate in the monitored area per sub-regions includes：
Each sub-district in the monitored area is established according to first perspective transformation matrix and second perspective transformation matrix
Mapping of the coordinate in domain to display screen coordinate.
3. the method as described in claim 1, it is characterised in that the scope of more sub-regions of the monitored area is according to described in
The axis of the main car of motor vehicle and the angle dynamic change of the axis of the trailer of motor vehicle.
4. the method as described in claim 1, it is characterised in that described to establish result generation panoramic picture simultaneously according to the mapping
Carrying out display in display screen includes：
Result is established according to the mapping, the pixel value of the imaging in the monitored area per sub-regions is extracted, to the prison
Survey viewing area corresponding to every sub-regions in region and carry out pixel filling, the filling described in real-time display in the display screen
As a result.
5. the method as described in claim 1, it is characterised in that methods described also includes：
When monitoring that the monitored area has barrier, early warning and the barrier described in the display screen are carried out
Viewing area corresponding to the subregion at place is shown.
6. the method as described in Claims 1 to 5 is any, it is characterised in that methods described also includes：
Obtain the transport condition of the steering wheel angle of motor vehicle, front wheels of motor-vehicles steering angle and motor vehicle；
By the transport condition of the steering wheel angle, the front wheels of motor-vehicles steering angle and motor vehicle, the motor vehicle is calculated
Main car, the wheel trochoid of trailer, and in the display screen motor vehicle described in real-time display wheelpath.
7. a kind of panoramic video monitoring system of motor vehicle, including master control set, the display device being connected with the master control set,
Tape deck and multiple camera devices, it is characterised in that the master control set includes：
Angle acquisition module, the axis of main car of the motor vehicle detected for obtaining the tape deck and the extension of motor vehicle
The angle of the axis of car；
Area monitoring module, confirm monitored area for the angle according to the acquisition and by the camera device, it is described
Monitored area includes more sub-regions, and the multiple subregion forms the panoramic field of the motor vehicle；
Mapping block, for establishing mapping of the coordinate in the monitored area per sub-regions to display screen coordinate；
Image generation module, for establishing result generation panoramic picture according to the mapping and being shown by the display device
Screen is shown.
8. system as claimed in claim 7, it is characterised in that the master control set also includes：
First computing module, the first perspective transformation matrix for calculating benchmark coordinate system to camera imaging coordinate system；
Second computing module, the second perspective transformation matrix for calculating benchmark coordinate system to display screen coordinate system；
The mapping block is specifically used for：The first perspective transformation matrix for being calculated according to first computing module and described
The second perspective transformation matrix that second computing module is calculated establish in the monitored area per sub-regions coordinate to show
Show the mapping of screen coordinate.
9. system as claimed in claim 7, it is characterised in that the scope of more sub-regions of the monitored area is according to described in
The axis of the main car of motor vehicle and the angle dynamic change of the axis of the trailer of motor vehicle.
10. system as claimed in claim 7, it is characterised in that described image generation module is specifically used for：
Result is established according to the mapping, the pixel value of the imaging in the monitored area per sub-regions is extracted, to the prison
Survey viewing area corresponding to every sub-regions in region and carry out pixel filling, by the display device in the display screen
Result is filled described in real-time display.
11. system as claimed in claim 7, it is characterised in that the master control set also includes：
Warning module, for when monitoring that the monitored area has barrier, carrying out early warning and passing through the display
Viewing area corresponding to subregion of the device described in the display screen where barrier is shown.
12. the system as described in claim 7~11 is any, it is characterised in that the master control set also includes：
Transport condition acquisition module, for obtaining the steering wheel angle of motor vehicle, front wheels of motor-vehicles steering angle and motor vehicle
Transport condition；
Wheelpath generation module, for according to the steering wheel angle, the front wheels of motor-vehicles steering angle and motor vehicle
Transport condition, main car, the wheel trochoid of trailer of the motor vehicle are calculated, and in the display screen described in real-time display
The main car of motor vehicle, the wheelpath of trailer.
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