CN113246863A - Panoramic all-round looking system for large automobile and image processing method - Google Patents
Panoramic all-round looking system for large automobile and image processing method Download PDFInfo
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- CN113246863A CN113246863A CN202110710178.5A CN202110710178A CN113246863A CN 113246863 A CN113246863 A CN 113246863A CN 202110710178 A CN202110710178 A CN 202110710178A CN 113246863 A CN113246863 A CN 113246863A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8033—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for pedestrian protection
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Abstract
The invention discloses a panoramic all-round looking system and an image processing method for a large automobile, wherein the panoramic all-round looking system comprises a plurality of wide-angle cameras, a processing module and a prompting module, each side surface of the large automobile is provided with at least one wide-angle camera, and the wide-angle cameras are used for collecting image data around the large automobile; the processing module is used for identifying a target object in the image data and copying the image data; the processing data is used for processing the copied image data in parallel when the target object is identified so as to generate a panoramic all-around view image of the large automobile and displaying the panoramic all-around view image in a display module of the large automobile; the processing module is further used for calling the prompting module to make a prompt when the form of the target object meets a preset rule. The invention can improve the driving safety and convenience of the large-scale vehicle, provide visual image prompt for a driver and protect the personal safety of pedestrians.
Description
Technical Field
The invention relates to a panoramic all-round looking system for a large automobile and an image processing method.
Background
With the rapid development of image and computer vision technologies, more and more technologies are applied to the field of automotive electronics, a traditional image-based reversing image system only installs a camera at the tail of a car and can only cover a limited area around the tail of the car, while blind areas around the car and the head of the car undoubtedly increase the hidden danger of safe driving, and collision and scratch events easily occur in narrow and congested urban areas and parking lots. In order to enlarge the visual field of a driver, the driver needs to be capable of sensing 360-degree all-directional environment, so that a whole set of video images around the whole vehicle are formed through the mutual cooperative action of a plurality of visual sensors and then through video synthesis processing, and the panoramic vision parking auxiliary system meets the requirements.
The panoramic all-round looking system erects 4 to 8 wide-angle cameras which can cover all the view field ranges around the vehicle, processes the multi-channel video images collected at the same time into a vehicle body top view of 360 degrees around the vehicle, and finally displays the images on a screen of a center console, so that a driver can clearly check whether barriers exist around the vehicle and know the relative direction and distance of the barriers, and the driver can be helped to park the vehicle easily. The driver can control the vehicle to park in the place or pass through a complex road surface easily, and accidents such as scraping, collision, collapse and the like are effectively reduced.
The existing panoramic looking-around system is expensive, is usually applied to high-end cars, is integrated with the car into a whole, and cannot be additionally installed.
Disclosure of Invention
The invention aims to overcome the defect of small application range of a panoramic all-round viewing system in the prior art, and provides a panoramic all-round viewing system for a large-sized automobile and an image processing method, wherein the panoramic all-round viewing system is convenient to install, can effectively improve the driving safety and convenience of the large-sized automobile, provides visual image prompt for a driver, and protects the personal safety of pedestrians.
The invention solves the technical problems through the following technical scheme:
a panoramic all-round looking system for a large automobile is characterized by comprising a plurality of wide-angle cameras, a processing module and a prompting module, wherein each side surface of the large automobile is provided with at least one wide-angle camera,
the wide-angle camera is used for collecting image data around the large automobile;
the processing module is used for identifying a target object in the image data and copying the image data;
the processing data is used for processing the copied image data in parallel when the target object is identified so as to generate a panoramic all-around view image of the large automobile and displaying the panoramic all-around view image in a display module of the large automobile;
the processing module is further used for calling the prompting module to make a prompt when the form of the target object meets a preset rule.
Preferably, the panoramic looking-around system further comprises a control module,
the processing module is used for calling the control module to brake the large automobile when the form of the target object meets a preset rule.
Preferably, the preset rule includes that the distance between the target object and the vehicle is smaller than a preset length, and the processing module is configured to identify that the target object is a human body, and determine the distance between the human body and the vehicle according to the size of the human body in the panoramic all-around image.
Preferably, the panoramic looking-around system further comprises ultrasonic sensors with the same number as the wide-angle cameras, each ultrasonic sensor is installed below the one-to-one corresponding wide-angle camera, the preset rule comprises that the distance between the target object and the vehicle is less than a preset length,
the processing module is used for acquiring an object nearest to the ultrasonic sensor through the ultrasonic sensor, and when the distance between the nearest object and the ultrasonic sensor is smaller than a preset length, highlighting the target object with the size exceeding a preset size in the display module.
Preferably, the preset rule includes that the target object is located in a blind area in the panoramic all-around image.
Preferably, the display module is a touch display screen,
the touch display screen is used for collecting a selection instruction input by a user in the panoramic all-around image;
and the processing module is used for generating a blind area in the panoramic all-around image according to the selection instruction.
Preferably, the large-scale automobile is a truck provided with a trailer, the front side, the left side and the right side of the truck are respectively provided with one wide-angle camera, the rear side, the left side and the right side of the trailer are respectively provided with one wide-angle camera,
the processing module is used for splicing the image data shot by the truck wide-angle camera into the upper part of a panoramic all-around image and splicing the image data shot by the trailer wide-angle camera into the lower part of the panoramic all-around image;
the processing module is also used for splicing the upper part and the lower part into a panoramic all-around image according to the included angle between the truck and the trailer, and displaying an image model connecting the truck and the trailer in the panoramic all-around image according to the included angle.
Preferably, a marking ruler is respectively arranged above two sides of the truck,
the processing module is used for identifying the length of the mark ruler in the image data shot by the wide-angle camera of the trailer, acquiring an included angle between the trailer and the truck according to the length of the mark ruler in the image data, wherein the longer the length of the mark ruler in the image data is, the smaller the included angle is.
Preferably, the rear of the truck is provided with the wide-angle camera,
the processing module is used for identifying the image of the trailer according to the image data shot by the wide-angle camera at the back of the truck and acquiring the included angle between the truck and the trailer according to the proportion of the image of the trailer in the image data;
the processing module is used for judging whether the included angle is larger than a preset included angle or not, if so, the upper portion and the lower portion are spliced to form a panoramic all-around image according to the included angle between the truck and the trailer, and the panoramic all-around image is compensated according to image data shot by a wide-angle camera behind the truck according to the included angle between the truck and the trailer.
The invention also provides an image processing method, which is characterized in that the image processing method utilizes the panoramic all-around viewing system to process images.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the invention can improve the driving safety and convenience of the large-scale vehicle, provide visual image prompt for a driver and protect the personal safety of pedestrians.
Drawings
Fig. 1 is a schematic structural diagram of a panoramic looking-around system according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, the present embodiment provides a panoramic looking around system.
The panoramic all-round looking system comprises a plurality of wide-angle cameras 11, a processing module and a prompting module. Each side of the large automobile is provided with at least one wide-angle camera.
The wide-angle camera is used for collecting image data around the large automobile;
the processing module is used for identifying a target object in the image data and copying the image data;
the processing data is used for processing the copied image data in parallel when the target object is identified so as to generate a panoramic all-around view image of the large automobile and displaying the panoramic all-around view image in a display module of the large automobile;
the processing module is further used for calling the prompting module to make a prompt when the form of the target object meets a preset rule.
The form of the target object comprises that the target object moves towards the direction of the vehicle and enters an image corresponding to a blind area of a driver.
Further, the panoramic all-round looking system also comprises a control module,
the processing module is used for calling the control module to brake the large automobile when the form of the target object meets a preset rule.
Specifically, the preset rule includes that the distance between the target object and the vehicle is smaller than a preset length, and the processing module is configured to identify that the target object is a human body, and determine the distance between the human body and the vehicle according to the size of the human body in the panoramic all-around image.
Furthermore, the panoramic all-round looking system also comprises ultrasonic sensors with the same number as the wide-angle cameras, each ultrasonic sensor is arranged below the corresponding wide-angle camera, the preset rule comprises that the distance between a target object and the vehicle is less than the preset length,
the processing module is used for acquiring an object nearest to the ultrasonic sensor through the ultrasonic sensor, and when the distance between the nearest object and the ultrasonic sensor is smaller than a preset length, highlighting the target object with the size exceeding a preset size in the display module.
In another embodiment, the preset rule includes that the target object is located in a blind area in the panoramic looking-around image.
The display module is a touch-control display screen,
the touch display screen is used for collecting a selection instruction input by a user in the panoramic all-around image;
and the processing module is used for generating a blind area in the panoramic all-around image according to the selection instruction.
Further, the large-scale automobile is a truck 13 provided with a trailer 12, the front, the left side and the right side of the truck are respectively provided with one wide-angle camera, the rear, the left side and the right side of the trailer are respectively provided with one wide-angle camera,
the processing module is used for splicing the image data shot by the truck wide-angle camera into the upper part of a panoramic all-around image and splicing the image data shot by the trailer wide-angle camera into the lower part of the panoramic all-around image;
the processing module is also used for splicing the upper part and the lower part into a panoramic all-around image according to the included angle between the truck and the trailer, and displaying an image model connecting the truck and the trailer in the panoramic all-around image according to the included angle.
The included angle can be used for rapidly cutting the images with preset sizes and positions for splicing, so that the panoramic view image can be rapidly obtained.
A marking ruler is respectively arranged above the two sides of the truck,
the processing module is used for identifying the length of the mark ruler in the image data shot by the wide-angle camera of the trailer, acquiring an included angle between the trailer and the truck according to the length of the mark ruler in the image data, wherein the longer the length of the mark ruler in the image data is, the smaller the included angle is.
In another embodiment, the method for obtaining the included angle is further provided, the wide-angle camera is arranged at the back of the truck,
the processing module is used for identifying the image of the trailer according to the image data shot by the wide-angle camera at the back of the truck and acquiring the included angle between the truck and the trailer according to the proportion of the image of the trailer in the image data;
the processing module is used for judging whether the included angle is larger than a preset included angle or not, if so, the upper portion and the lower portion are spliced to form a panoramic all-around image according to the included angle between the truck and the trailer, and the panoramic all-around image is compensated according to image data shot by a wide-angle camera behind the truck according to the included angle between the truck and the trailer.
Further, when the processing module detects that the angle between the trailer and the truck is larger than the preset angle and the target object is close to the trailer in the trailer deflection direction, a prompt of steering a steering wheel to the deflection direction is prompted in the display screen.
And if the processing module detects that the vehicle does the operation of steering the steering wheel to the deflecting direction, braking is carried out.
With the panoramic looking-around system, the embodiment further provides an image processing method, including:
the wide-angle camera collects image data around the large automobile;
in the same step, the processing module identifies a target object in the image data and copies the image data, and the processing data processes the copied image data in parallel when identifying the target object to generate a panoramic all-around image of the large automobile and displays the panoramic all-around image in a display module of the large automobile;
the processing module also calls the prompting module to make a prompt when the form of the target object meets a preset rule.
The image processing method comprises the following steps:
and the processing module calls the control module to brake the large automobile when the form of the target object meets a preset rule.
The preset rule comprises that the distance between the target object and the vehicle is smaller than a preset length, and the image processing method comprises the following steps: the processing module identifies that the target object is a human body and judges the distance between the human body and the vehicle according to the size of the human body in the panoramic all-around image.
The image processing method comprises the following steps: the processing module obtains an object nearest to the ultrasonic sensor through the ultrasonic sensor, and when the distance between the nearest object and the ultrasonic sensor is smaller than a preset length, a target object with a highlight size exceeding a preset size is displayed in the display module.
The preset rule comprises that the target object is located in a blind area region in the panoramic all-around image.
The image processing method comprises the following steps:
the touch display screen collects a selection instruction input by a user in the panoramic all-around image;
and the processing module generates a blind area in the panoramic all-around image according to the selection instruction.
The image processing method comprises the following steps:
the processing module is used for splicing the image data shot by the truck wide-angle camera into the upper part of a panoramic all-around image and splicing the image data shot by the trailer wide-angle camera into the lower part of the panoramic all-around image;
the processing module is also used for splicing the upper part and the lower part into a panoramic all-around image according to the included angle between the truck and the trailer, and displaying an image model connecting the truck and the trailer in the panoramic all-around image according to the included angle.
The image processing method comprises the following steps:
the processing module identifies the length of the marking ruler in image data shot by the wide-angle camera of the trailer, obtains an included angle between the trailer and the truck according to the length of the marking ruler in the image data, and the longer the length of the marking ruler in the image data is, the smaller the included angle is.
In another embodiment, the image processing method includes:
the processing module identifies an image of the trailer according to image data shot by a wide-angle camera at the back of the truck, and obtains an included angle between the truck and the trailer according to the proportion of the image of the trailer in the image data;
the processing module judges whether the included angle is larger than a preset included angle or not, if so, the upper portion and the lower portion are spliced to form a panoramic all-around image according to the included angle between the truck and the trailer, and the panoramic all-around image is compensated according to image data shot by a wide-angle camera behind the truck according to the included angle between the truck and the trailer.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A panoramic all-round looking system for a large automobile is characterized by comprising a plurality of wide-angle cameras, a processing module and a prompting module, wherein each side surface of the large automobile is provided with at least one wide-angle camera,
the wide-angle camera is used for collecting image data around the large automobile;
the processing module is used for identifying a target object in the image data and copying the image data;
the processing data is used for processing the copied image data in parallel when the target object is identified so as to generate a panoramic all-around view image of the large automobile and displaying the panoramic all-around view image in a display module of the large automobile;
the processing module is further used for calling the prompting module to make a prompt when the form of the target object meets a preset rule.
2. The panoramic surround view system of claim 1, further comprising a control module,
the processing module is used for calling the control module to brake the large automobile when the form of the target object meets a preset rule.
3. The panoramic looking-around system of claim 1, wherein the preset rule includes that the distance between the target object and the vehicle is less than a preset length, and the processing module is configured to recognize that the target object is a human body and determine the distance between the human body and the vehicle according to the size of the human body in the panoramic looking-around image.
4. The panoramic looking-around system of claim 1, further comprising as many ultrasonic sensors as there are wide-angle cameras, each mounted under a one-to-one correspondence of wide-angle cameras, wherein the predetermined rules include that the distance of the target object from the vehicle is less than a predetermined length,
the processing module is used for acquiring an object nearest to the ultrasonic sensor through the ultrasonic sensor, and when the distance between the nearest object and the ultrasonic sensor is smaller than a preset length, highlighting the target object with the size exceeding a preset size in the display module.
5. The panoramic looking-around system of claim 1, wherein the predetermined rules include that the target object is located in a blind area in the panoramic looking-around image.
6. The panoramic surround view system of claim 5, wherein the display module is a touch display screen,
the touch display screen is used for collecting a selection instruction input by a user in the panoramic all-around image;
and the processing module is used for generating a blind area in the panoramic all-around image according to the selection instruction.
7. The panoramic looking around system of claim 1, wherein said large vehicle is a truck with a trailer, said truck having one said wide angle camera on each of the front, left and right sides, said trailer having one said wide angle camera on each of the rear, left and right sides,
the processing module is used for splicing the image data shot by the truck wide-angle camera into the upper part of a panoramic all-around image and splicing the image data shot by the trailer wide-angle camera into the lower part of the panoramic all-around image;
the processing module is also used for splicing the upper part and the lower part into a panoramic all-around image according to the included angle between the truck and the trailer, and displaying an image model connecting the truck and the trailer in the panoramic all-around image according to the included angle.
8. The panoramic looking around system of claim 7, wherein a marker ruler is provided above each side of the truck,
the processing module is used for identifying the length of the mark ruler in the image data shot by the wide-angle camera of the trailer, acquiring an included angle between the trailer and the truck according to the length of the mark ruler in the image data, wherein the longer the length of the mark ruler in the image data is, the smaller the included angle is.
9. The panoramic looking around system of claim 7, wherein said truck is provided with one said wide angle camera on its rear face,
the processing module is used for identifying the image of the trailer according to the image data shot by the wide-angle camera at the back of the truck and acquiring the included angle between the truck and the trailer according to the proportion of the image of the trailer in the image data;
the processing module is used for judging whether the included angle is larger than a preset included angle or not, if so, the upper portion and the lower portion are spliced to form a panoramic all-around image according to the included angle between the truck and the trailer, and the panoramic all-around image is compensated according to image data shot by a wide-angle camera behind the truck according to the included angle between the truck and the trailer.
10. An image processing method, wherein the image processing method utilizes the panoramic looking around system of any one of claims 1 to 9 for image processing.
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