CN113570751A - Vehicle event data recorder system of panorama clitellum camera - Google Patents
Vehicle event data recorder system of panorama clitellum camera Download PDFInfo
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
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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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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
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- 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
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
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Abstract
The invention discloses a vehicle event data recorder system of a panoramic annular camera, which comprises a sensor module, a main control module and a control module, wherein the sensor module is used for acquiring image information, audio information, acceleration information and position information of a panoramic annular camera related to a vehicle and sending the acquired information to the main control module; the main control module is used for receiving the information sent by the sensor module, aligning the received driving data corresponding to the panoramic annular image information, the audio information, the acceleration information and the position information, and sending the processed driving data to the storage module; the storage module is used for circularly storing the driving data sent by the main control module; the communication module is used for enabling the automobile data recorder system to be communicated with the mobile terminal/cloud end; the touch display module is used for displaying the panoramic annular image information received by the main control module in real time and setting and checking the automobile data recorder system; and the power supply module is used for providing electric energy for the automobile data recorder system.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted panoramic sensing and recording, in particular to a vehicle event data recorder system of a panoramic annular camera.
Background
As a device for improving driving safety and simplifying traffic accident responsibility judgment, the automobile data recorder is provided with one set of most vehicles. The existing automobile data recorder records the front view field by a single lens, and the double lenses are mostly used for operating vehicles. The traditional single-lens automobile data recorder can only record the environmental information right in front of the vehicle, and cannot record the vehicle-side information, and the scheme of using the double lenses increases the acquisition cost for common people.
As disclosed in patent publication No. CN104853114A, a single-lens panoramic automobile data recorder system includes: the device comprises a shell, a main control module arranged in the shell, and a power module, a storage module, a sound collection module, a communication module and a camera module which are respectively connected with the main control module. The camera module includes: the image acquisition device is connected with the image processing module. The image acquisition device includes: the single-lens panoramic camera comprises a connecting bracket component fixedly connected with the casing, a single-lens panoramic camera fixed on the connecting bracket component, and a fisheye lens arranged on the single-lens panoramic camera and used for collecting images, wherein the center of the fisheye lens is vertically arranged downwards. Although the above patent can capture an image in the largest range, the fisheye lens is adopted, and the fisheye lens has high distortion, which is not beneficial to subsequent image processing.
The Panoramic Annular Lens is a secondary reflection Lens with a Panoramic Annular Lens (PAL), can realize the recording of horizontal 360-degree optical information in a monocular mode, can acquire environmental information in a primary imaging mode, and can realize the single-Lens driving recording with low cost and wide visual angle by replacing a common optical Lens with the Panoramic Annular Lens, so the invention provides a driving recorder system of the Panoramic Annular camera.
Disclosure of Invention
The invention aims to provide a vehicle event data recorder system of a panoramic annular camera aiming at the defects of the prior art, and panoramic video recording in front of a vehicle, at the side of the vehicle, in the vehicle and behind the vehicle is realized in a single-lens mode.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vehicle event data recorder system of a panoramic annular camera comprises a main control module, a sensor module, a touch display module, a storage module, a communication module and a power supply module; the main control module is respectively connected with the sensor module, the touch display module, the storage module, the communication module and the power supply module;
the sensor module is used for acquiring panoramic annular image information, audio information, acceleration information and position information related to the vehicle and sending the acquired information to the main control module;
the main control module is used for receiving the information sent by the sensor module, aligning the received driving data corresponding to the panoramic annular image information, the audio information, the acceleration information and the position information, and sending the processed driving data to the storage module;
the storage module is used for circularly storing the driving data sent by the main control module;
the communication module is used for enabling the automobile data recorder system to be communicated with the mobile terminal/cloud end and transmitting the stored automobile data to the mobile terminal/cloud end;
the touch display module is used for displaying the panoramic annular image information received by the main control module in real time and setting and checking the automobile data recorder system;
and the power supply module is used for providing electric energy for the automobile data recorder system.
Further, the sensor module comprises an image acquisition module, an audio module, an IMU module and a GPS module;
the image acquisition module is used for acquiring the panoramic annular image information corresponding to the vehicle in real time based on the panoramic annular camera module and transmitting the acquired panoramic annular image information to the main control module;
the audio module is used for recording the environmental audio information corresponding to the vehicle in real time and transmitting the recorded environmental audio information to the main control module;
the IMU module is used for acquiring acceleration information corresponding to the vehicle in real time and transmitting the acquired acceleration information to the main control module;
and the GPS module is used for acquiring the position information corresponding to the vehicle in real time and transmitting the acquired position information to the main control module.
Furthermore, the storage module is also used for separately storing the emergency events; wherein the emergency event comprises a crash event.
Further, the alignment processing of the driving data in the main control module specifically includes: and calculating the current vehicle running speed in real time according to the acceleration information acquired by the IMU module and the position information acquired by the GPS module, and marking the panoramic annular image based on the calculated speed.
Furthermore, the main control module is also used for carrying out lane line reminding, vehicle approach reminding, fatigue driving reminding and speed limit reminding on the vehicle.
Further, the lane line reminding specifically comprises: the method comprises the steps of segmenting image information of the panoramic annular belt, extracting image information in front of a vehicle, converting the extracted image information in front of the vehicle into a bird's-eye view image, then counting histogram information, judging whether a lane line has obvious offset in the histogram information, and if yes, controlling an audio module to output warning information by a main control module.
Further, the vehicle approach reminding specifically comprises: the method comprises the steps of segmenting image information of the panoramic annular belt, extracting image information of a side window of the vehicle, carrying out distortion removal processing on the extracted image information of the side window of the vehicle, identifying the vehicle and objects beside the window, judging whether an approaching object exists or not, and if so, controlling an audio module to output warning information by a main control module.
Further, the fatigue driving reminding specifically comprises: the method comprises the steps of segmenting image information of the panoramic annular belt, extracting facial features of a driver, detecting the face of the driver once at intervals by using a face recognition method, judging whether the similarity between the face of the driver detected n times and the extracted facial features of the driver is higher than a first preset threshold value, counting the driving time of the driver if the similarity is higher than the first preset threshold value, judging whether the driving time of the driver exceeds a second preset threshold value, and controlling an audio module to output warning information by a main control module if the similarity is higher than the first preset threshold value.
Further, the speed limit reminding specifically comprises: and acquiring speed limit information corresponding to the current position of the vehicle, judging whether the current speed of the vehicle exceeds the acquired speed limit information, and if so, controlling the audio module to output warning information by the main control module.
Furthermore, the communication module is WIFI, 4G or 5G.
Compared with the prior art, the invention has the beneficial effects that:
1. the single-lens panoramic automobile data recorder scheme based on the panoramic annular lens can be used for recording panoramic videos in front of the automobile, on the side of the automobile, in the automobile and behind the automobile.
2. The panoramic recorder realized by the single-lens structure has the advantages of small volume, light weight, high speed and low hardware cost.
3. The f-theta distortion of the panoramic annular lens is much lower than that of a fisheye lens with the same field angle, the panoramic annular lens is easy to calibrate, the calibrated distortion-removed image is very convenient for rear-end algorithm processing and human eye observation, various advanced driving assistance algorithms can be carried, and the expansibility is strong.
Drawings
FIG. 1 is a block diagram of a car recorder system of a panoramic annular camera according to an embodiment;
FIG. 2 is a schematic structural diagram of a car recorder with a panoramic annular camera according to an embodiment
FIG. 3 is a front view of a car recorder of a panoramic annular camera provided in an embodiment;
FIG. 4 is a side view of a vehicle event data recorder of a panoramic annular camera provided in accordance with an embodiment;
fig. 5 is a schematic operation diagram of a vehicle event data recorder system of a panoramic annular camera according to an embodiment.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
The invention aims to provide a vehicle event data recorder system of a panoramic annular camera aiming at the defects of the prior art.
Example one
The embodiment provides a vehicle event data recorder system of a panoramic annular camera, as shown in fig. 1, comprising a main control module 11, a sensor module 12, a touch display module 13, a storage module 14, a communication module 15 and a power module 16; the main control module 11 is respectively connected with the sensor module 12, the touch display module 13, the storage module 14, the communication module 15 and the power module 16.
The automobile data recorder is arranged on the back of the rearview mirror, and the panoramic annular lens is vertically downward; the schematic diagram of the automobile data recorder is shown in figures 2-4, and the shooting effect is shown in figure 5.
In the power module 16, it is used to supply power to the tachograph system.
The sensor module 12 is configured to acquire image information, audio information, acceleration information, and position information of a panoramic annular zone related to the vehicle, and send the acquired information to the main control module.
The sensor module comprises an image acquisition module, an audio module, an IMU module and a GPS module;
the image acquisition module is used for acquiring the panoramic annular image information corresponding to the vehicle in real time based on the panoramic annular camera module and transmitting the acquired panoramic annular image information to the main control module;
the imaging principle of the panoramic annular lens is that light rays are reflected secondarily by the head unit and then finally imaged on the image acquisition module through refraction of the subsequent lens group, wherein the light rays are reflected twice by the panoramic annular lens head unit to reduce the angle of view of incidence on the subsequent lens group, so that the design and optimization of the subsequent lens group are facilitated, the light rays from the edge of the field of view cannot be compressed due to multiple times of refraction, and the real imaging effect of a large-field-of-view image is guaranteed to the maximum extent.
Compared with the layer-by-layer refraction of the fisheye lens, the f-theta distortion of the panoramic annular lens is lower; in application, the panoramic annular lens is easier to calibrate than a fisheye lens with the same field angle, and the subsequent algorithm processing is facilitated.
The audio module is used for recording the environmental audio information corresponding to the vehicle in real time and transmitting the recorded environmental audio information to the main control module;
the audio module comprises a microphone and a loudspeaker, the microphone is used for recording the current environment audio environment information of the vehicle in real time, and the loudspeaker is used for outputting information corresponding to the instruction transmitted by the main control module.
The IMU module is used for acquiring acceleration information corresponding to the vehicle in real time and transmitting the acquired acceleration information to the main control module;
the inertial measurement unit IMU is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure angular velocity and acceleration of the object in three-dimensional space, and then solve the attitude of the object.
In the embodiment, the inertial measurement unit IMU is directly installed in the automobile data recorder, and when the vehicle runs, the IMU can directly detect the acceleration of the vehicle.
And the GPS module is used for acquiring the position information corresponding to the vehicle in real time and transmitting the acquired position information to the main control module.
The main control module 11 is configured to receive information sent by the sensor module, align the received driving data corresponding to the panoramic annular image information, the audio information, the acceleration information, and the position information, and send the processed driving data to the storage module;
the main control module aligns the image, the audio, the acceleration and the position information input by the sensor module according to time, namely, the image, the audio, the acceleration and the position information are matched with each other at the same time, the current vehicle running speed is calculated after the time, the acceleration and the position information are filtered, and the time and the speed are added and marked to the panoramic annular image.
The main control module is also used for monitoring the acceleration fed back by the current IMU module in real time, and immediately recording the driving data of 30 seconds before and after the acceleration exceeds a threshold value preset by a user if the acceleration is monitored, and storing the driving data into a non-erased storage module.
The storage module 14 is used for circularly storing the driving data sent by the main control module;
the storage module circularly stores the panoramic annular image and the audio information processed by the main control module together.
The storage module is also used for independently storing the emergency events; wherein the emergency event comprises a crash event.
Because the occupied memory of the image data is very large, emergency situations such as emergency braking, emergency steering wheel hitting or car accidents are determined as emergency events, when the monitored acceleration greatly exceeds a preset threshold value, the images of the first 30 seconds and the images of the second 30 seconds are independently stored by taking the time point as a reference, so that the images are not covered by the pictures shot later, and the images in a period of time before and after the accident are permanently stored and can be used as the basis for judging the subsequent accident.
The embodiment can save effective data not covered by pictures shot later, and can delete redundant images based on cyclic storage, thereby improving the effective utilization rate of space.
The communication module 15 is configured to enable the vehicle event data recorder system to communicate with the mobile terminal/cloud end, and transmit the stored vehicle event data to the mobile terminal/cloud end;
the communication module is a WIFI, 4G and 5G communication unit.
The embodiment can also upload the image stored in the storage module to a terminal or a cloud server, and the uploading mode can be automatic uploading or manual uploading according to the selection of the user. The image information in the automobile data recorder can be conveniently checked by a user at any time, and when the data in the automobile data recorder is lost, the image data can be acquired through the cloud end/the mobile terminal.
And the touch display module 13 is used for displaying the panoramic annular image information received by the main control module in real time, and setting and checking the automobile data recorder system through touch.
And after the main control module acquires the image information of the panoramic annular band, displaying/playing the image information through the touch display module.
The touch display screen module can also display the strength of a wireless signal, the electric quantity of the automobile data recorder and the like.
The touch display screen module is also used for switching networks through the touch display screen module when a user wants to switch the networks.
The touch display screen module can also set the trigger time for starting the emergency help-seeking key, for example, short touch or long press for 1 second or 3 seconds or 5 seconds can be set by self definition through the touch display screen to trigger alarm.
The specific implementation manner of the automobile data recorder system of the panoramic annular camera in this embodiment is as follows: the automobile data recorder performs self-checking after being started and powered on, starts a cycle recording thread after confirming that an automobile data recorder system can normally run, aligns input information of a sensor module according to time by a main control module, calculates the current vehicle running speed after filtering according to an IMU module, a GPS module and time data, adds and marks the time and the speed into an image, displays image information after adding marks in a touch display module, and stores the image information after adding marks and audio in a storage module in a cycle mode.
After the start of the loop recording thread is finished, the collision recording thread is used for servo, the main control module monitors the acceleration fed back by the current IMU module in real time, if the acceleration exceeds a threshold value set by a user, the driving data of 30s before and after the current IMU module is recorded immediately, and the driving data is stored in the non-erasing storage module.
Compared with the prior art, the beneficial effect of this embodiment is:
1. the single-lens panoramic automobile data recorder scheme based on the panoramic annular lens can be used for recording panoramic videos in front of the automobile, on the side of the automobile, in the automobile and behind the automobile.
2. The panoramic recorder realized by the single-lens structure has the advantages of small volume, light weight, high speed and low hardware cost.
3. The f-theta distortion of the panoramic annular lens is much lower than that of a fisheye lens with the same field angle, the panoramic annular lens is easy to calibrate, the calibrated distortion-removed image is very convenient for rear-end algorithm processing and human eye observation, various advanced driving assistance algorithms can be carried, and the expansibility is strong.
Example two
The vehicle event data recorder system of a panoramic annular camera that this embodiment provided differs with embodiment one in that:
the main control module of the embodiment is also used for carrying out lane line reminding, vehicle approach reminding, fatigue driving reminding and speed limit reminding on the vehicle.
Lane line reminding: the method comprises the steps of segmenting image information of the panoramic annular belt, extracting image information in front of a vehicle, converting the extracted image information in front of the vehicle into a bird's-eye view image, then counting histogram information, extracting lane lines, judging whether the lane lines have obvious offset in the histogram information, and if yes, controlling an audio module to output warning information by a main control module, namely sending sound for reminding through a loudspeaker of the audio module.
Vehicle approach alert: the method comprises the steps of segmenting image information of the panoramic annular belt, extracting image information of a side window of the vehicle, carrying out distortion removal processing on the extracted image information of the side window of the vehicle, identifying the vehicle and objects beside the window, judging whether an approaching object exists or not, and if so, controlling an audio module to output warning information by a main control module.
The distortion removal processing of the present embodiment is specifically:
establishing a unit sphere model, making a section along the direction of an optical axis, positioning an undistorted image on the section, and determining the height of an undistorted expanded image according to the vertical field angle of a lens;
determining the width of the undistorted unfolded image according to the width of the segmented image;
determining the image position needing undistorted expansion according to the position of the segmented image;
and remapping the part of the annular belt image which does not need to be unfolded without distortion by utilizing camera internal parameters, and projecting the part onto the tangent plane according to the height and the width to finish the unfolding without distortion.
In the present embodiment, the object beside the window includes a pedestrian, other vehicles, and the like.
When the pedestrian is a pedestrian, the vehicle and the pedestrian are identified, and an alarm signal is output to the pedestrian who is approaching quickly, namely, the alarm is output through a loudspeaker of the audio module.
When the vehicles are other vehicles, the vehicles are identified in a license plate identification mode, and when the size of the license plate is larger than 80px 25px, the vehicles are considered to be too close, and a prompt is output through a loudspeaker of the audio module.
The method specifically comprises the following steps: after the license plate is identified, the pixel size occupied by the license plate can be judged, and the distance of the vehicle can be roughly estimated according to the resolution ratio used by the current camera because the real size of the license plate is the unified standard.
In the panoramic annular image, the width required to identify the license plate level is 80px, and for the radial direction, it is required that: the license plate can be seen only when the license plate is observed at 80 × 0.14/0.44 ≈ 25.45 ≈ 25 px.
If the resolution of the CMOS Sensor is 1288 x 968, the full field of view imaging of the panoramic annular zone with 950px as the radial direction is a typical value, which occupies the field of view of 200 degrees, and since f-theta is less than 1%, the corresponding angle of each pixel in the radial direction can be approximately considered to be equal.
Then 25px corresponds to a radial angle of: 25 × 200/950 ≈ 5.26 °.
Under the best condition, namely the normal line of the license plate points to the center of the lens, the number of pixels occupied by the license plate is the most at the moment, an isosceles triangle is constructed by taking 5.26 degrees as a vertex angle and taking the bottom side as 0.14m, and the waist length is x, then the method is obtained according to the cosine theorem:
the waist length x is 1.53m calculated according to the formula, and the waist length is approximately equal to the height under a small angle, namely the license plate is about 1 m 5 away from the vehicle, which is the vehicle safety distance.
And (3) reminding of fatigue driving: the method comprises the steps of segmenting image information of a panoramic annular zone, extracting facial features of a driver, detecting the Face of the driver once at intervals of 5s by using a Face recognition method (HoF Face Detector), considering that the same person is driving a vehicle if the similarity between the Face of the driver detected n times (10 times) continuously and the extracted facial features of the driver is higher than a first preset threshold value (70%), counting the driving time of the driver, judging whether the driving time of the driver exceeds a second preset threshold value, and if so, controlling an audio module to output warning information by a main control module.
Judging whether the driving time of the driver exceeds a second preset threshold specifically comprises the following steps: and judging whether the timer continuously counts for 1 hour or not, or judging whether the running of the automobile data recorder system is accumulated for 3 hours or not, and if so, carrying out fatigue driving reminding.
Speed limit reminding: and acquiring speed limit information corresponding to the current position of the vehicle, judging whether the current speed of the vehicle exceeds the acquired speed limit information, and if so, controlling the audio module to output warning information by the main control module.
The method specifically comprises the following steps: the main control module uploads the position information to the cloud end through the communication module according to the position information acquired by the current GPS module, sends a speed limit query request to the cloud end, compares the speed limit information with the current speed after receiving the speed limit information sent by the cloud end, and outputs a prompt through a loudspeaker of the audio module if overspeed behavior is found
Compared with the prior art, the invention has the beneficial effects that:
1. the single-lens panoramic automobile data recorder scheme based on the panoramic annular lens can be used for recording panoramic videos in front of the automobile, on the side of the automobile, in the automobile and behind the automobile.
2. The panoramic recorder realized by the single-lens structure has the advantages of small volume, light weight, high speed and low hardware cost.
3. The f-theta distortion of the panoramic annular lens is much lower than that of a fisheye lens with the same field angle, the panoramic annular lens is easy to calibrate, the calibrated distortion-removed image is very convenient for rear-end algorithm processing and human eye observation, various advanced driving assistance algorithms can be carried, and the expansibility is strong.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle event data recorder system of a panoramic annular camera is characterized by comprising a main control module, a sensor module, a touch display module, a storage module, a communication module and a power supply module; the main control module is respectively connected with the sensor module, the touch display module, the storage module, the communication module and the power supply module;
the sensor module is used for acquiring panoramic annular image information, audio information, acceleration information and position information related to the vehicle and sending the acquired information to the main control module;
the main control module is used for receiving the information sent by the sensor module, aligning the received driving data corresponding to the panoramic annular image information, the audio information, the acceleration information and the position information, and sending the processed driving data to the storage module;
the storage module is used for circularly storing the driving data sent by the main control module;
the communication module is used for enabling the automobile data recorder system to be communicated with the mobile terminal/cloud end and transmitting the stored automobile data to the mobile terminal/cloud end;
the touch display module is used for displaying the panoramic annular image information received by the main control module in real time and setting and checking the automobile data recorder system;
and the power supply module is used for providing electric energy for the automobile data recorder system.
2. The automobile data recorder system of the panoramic annular camera is characterized in that the sensor module comprises an image acquisition module, an audio module, an IMU module and a GPS module;
the image acquisition module is used for acquiring the panoramic annular image information corresponding to the vehicle in real time based on the panoramic annular camera module and transmitting the acquired panoramic annular image information to the main control module;
the audio module is used for recording the environmental audio information corresponding to the vehicle in real time and transmitting the recorded environmental audio information to the main control module;
the IMU module is used for acquiring acceleration information corresponding to the vehicle in real time and transmitting the acquired acceleration information to the main control module;
and the GPS module is used for acquiring the position information corresponding to the vehicle in real time and transmitting the acquired position information to the main control module.
3. The vehicle event data recorder system of the panoramic annular camera is characterized in that the storage module is also used for storing emergency events separately; wherein the emergency event comprises a crash event.
4. The vehicle event data recorder system of panorama clitellum camera of claim 2, characterized in that, the alignment processing of driving data in the master control module specifically is: and calculating the current vehicle running speed in real time according to the acceleration information acquired by the IMU module and the position information acquired by the GPS module, and marking the panoramic annular image based on the calculated speed.
5. The automobile data recorder system of the panoramic annular camera as claimed in claim 2, wherein the main control module is further configured to perform lane line reminding, vehicle approach reminding, fatigue driving reminding, and speed limit reminding on the vehicle.
6. The vehicle event data recorder system of panorama clitellum camera of claim 5, characterized in that, the lane line is reminded specifically: the method comprises the steps of segmenting image information of the panoramic annular belt, extracting image information in front of a vehicle, converting the extracted image information in front of the vehicle into a bird's-eye view image, then counting histogram information, judging whether a lane line has obvious offset in the histogram information, and if yes, controlling an audio module to output warning information by a main control module.
7. The automobile data recorder system of the panoramic annular camera as claimed in claim 6, wherein the vehicle approach reminder is specifically: the method comprises the steps of segmenting image information of the panoramic annular belt, extracting image information of a side window of the vehicle, carrying out distortion removal processing on the extracted image information of the side window of the vehicle, identifying the vehicle and objects beside the window, judging whether an approaching object exists or not, and if so, controlling an audio module to output warning information by a main control module.
8. The vehicle event data recorder system of panorama clitellum camera of claim 6, characterized in that, the tired driving is reminded specifically: the method comprises the steps of segmenting image information of the panoramic annular belt, extracting facial features of a driver, detecting the face of the driver once at intervals by using a face recognition method, judging whether the similarity between the face of the driver detected n times and the extracted facial features of the driver is higher than a first preset threshold value, counting the driving time of the driver if the similarity is higher than the first preset threshold value, judging whether the driving time of the driver exceeds a second preset threshold value, and controlling an audio module to output warning information by a main control module if the similarity is higher than the first preset threshold value.
9. The automobile data recorder system of the panoramic annular camera as claimed in claim 6, wherein the speed limit reminder is specifically: and acquiring speed limit information corresponding to the current position of the vehicle, judging whether the current speed of the vehicle exceeds the acquired speed limit information, and if so, controlling the audio module to output warning information by the main control module.
10. The vehicle event data recorder system of a panorama clitellum camera of claim 1, characterized in that, the communication module is WIFI, 4G, 5G.
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