CN204367998U - A kind of novel electron back-sight visual system - Google Patents

Abstract

The utility model relates to a kind of novel electron back-sight visual system, comprise more than 3 cameras, image processing module and read-out, vehicle body both sides arrange camera, tail of body arranges camera, described camera is connected with image processing module, described image processing module is connected by wire harness with read-out, state in the image control mold and be provided with graphics processing unit, video decoding chip and video coding chip, the figure signal of acquisition is sent to pattern process module by camera, after video decoding chip decoding, become digital signal and be input to graphics processing unit, the signal finally exported converts analog video signal to and is input to read-out and shows after video coding chip, the utility model replaces former back mirror by camera, camera volume is much smaller than back mirror, vision dead zone can be eliminated, optimize contour of the vehicle, reduce air resistance and noise, each camera collection image to be integrated in car on read-out by logic, facilitate driver's operation.

Description

A kind of novel electron back-sight visual system

Technical field

The utility model relates to vehicle security drive field, is specifically related to a kind of novel electron back-sight visual system.

Background technology

Automobile rearview mirror is positioned at the left and right sides of automobile head and the front of automotive interior.The situation of automobile rearview mirror reflection automobile rear, side and below, make driver indirectly can see the situation of these positions clearly, it plays a part " second eye ", expands the field range of driver.

Traditional rear-view mirror volume is large, and rear seat windscreen lower end is blind area, and current common method increases wide-angle rear-view mirror in traditional rear-view mirror, reduces region, blind area; Current Some vehicles is also equipped with common vehicle backing backsight image system, this system can only show the image in tailstock portion, and the angle of field of common reverse backsight system is about 120 ° simultaneously, there is certain visual dead angle, can not observe the full detail of vehicle tail; For above two kinds of back mirrors and system, some vehicles install full-view camera additional on conventional mirror, full-view camera energy dead zone-eliminating, but do not replace conventional mirror, conventional mirror volume is large, affects aerodynamic coefficient and aeroacoustics.

Application number be 201310438762.5 patent discloses a kind of electric rear-view mirror for vehicle, to substitute with interconnective three cameras of wire and three corresponding read-outs the optical rearview mirror generally adopted now as rear-view mirror system, and three cameras are placed in an automobile left side respectively, right foremost with car after middle part, the read-out of display camera signals is placed in the front of chaufeur, make chaufeur just can check automobile left side without rotation head, right side and car after space, in this scheme, do not show image how to process, and multiple read-out needs chaufeur to check multiple position, also inconvenient when driving a car.

Utility model content

In order to make up prior art problem, the purpose of this utility model is to provide a kind of novel electron back-sight visual system, and can eliminate vision dead zone, volume is little, reduces air resistance and noise.

The purpose of this utility model can be achieved through the following technical solutions:

A kind of novel electron back-sight visual system, comprise at least 3 cameras, image processing module and read-out, vehicle body both sides arrange camera, and tail of body arranges camera, described camera is connected with image processing module, and described image processing module is connected by wire harness with read-out;

Graphics processing unit, video decoding chip and video coding chip is provided with in described the image control mold, the figure signal of acquisition is sent to pattern process module by camera, after video decoding chip decoding, become digital signal and be input to graphics processing unit, the signal finally exported converts analog video signal to and is input to read-out and shows after video coding chip.

Further, the camera of described vehicle tail is arranged near registration mark light.

Preferably, described camera is CMOS fish-eye camera or CCD fish-eye camera.

Further, described pattern process module has driving record function.

Further, described graphics processing unit is connected with CAN Transmit-Receive Unit and CAN control unit, CAN Transmit-Receive Unit and control unit are mainly used to receive and signal in process CAN, for the switching of the output and picture that control image, realize CAN diagnosis and system online updating simultaneously.

Further, described read-out is arranged on room mirror position.

The beneficial effects of the utility model:

(1), by camera replace former back mirror, camera volume, much smaller than back mirror, optimizes contour of the vehicle, reduces air resistance and noise.

(2), camera adopts CMOS fish-eye camera or CCD fish-eye camera, relative to traditional rear-view mirror, can eliminate vision dead zone.

(3), each camera collection image is integrated in car on read-out by logic, relative to using the back-sight visual system of polylith read-out display to individual camera, facilitates driver's operation.

Accompanying drawing explanation

Fig. 1 is a kind of novel electron back-sight visual system of the utility model hardware block diagram.

Fig. 2 is a kind of novel electron back-sight visual system of the utility model schematic diagram.

Fig. 3 is a kind of novel electron back-sight visual system of the utility model image processing flow figure.

Fig. 4 is that a kind of novel electron back-sight visual system of the utility model overlooks synthesis schematic diagram.

Fig. 5 is a kind of novel electron back-sight visual system of the utility model system of axes schematic diagram.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail, but the multitude of different ways that the utility model can be defined by the claims and cover is implemented.

As depicted in figs. 1 and 2, a kind of novel electron back-sight visual system, comprise more than 3 cameras 1, image processing module and read-out 2, camera is 3 in the present embodiment, wherein, tail of body arranges a camera 1, this camera is arranged near registration mark light, vehicle body both sides respectively arrange a camera 1, described camera 1 is connected with image processing module, described image processing module is connected by wire harness with read-out 2, described camera is CMOS fish-eye camera or CCD fish-eye camera, make camera watch region without dead angle, described pattern process module has driving record function.

Graphics processing unit, video decoding chip and video coding chip is provided with in described the image control mold, the figure signal of acquisition is sent to pattern process module by camera, after video decoding chip decoding, the TSC-system formula of camera input or the analog signal of pal mode convert the digital signal of the yuv format of 8bi ts to and are input to graphics processing unit, graphics processing unit is by correct image, splicing, synthesis, and the image after synthesis converts analog video signal to and is input to read-out 2 and shows after video coding chip.

As shown in Figure 2, described graphics processing unit is connected with CAN Transmit-Receive Unit and CAN control unit, and system accepts the signal that reverses gear that car load CAN sends, angular signal, PASS on-off signal, turn sign etc., is carried out distinguishing, resolving by the above-mentioned signal accepted.Above-mentioned signal is for the different display modes of control DVD.As the startup of the whistle control system that reverses gear, angular signal is transferred for car subordinate line in system.Turn sign, for realizing the realization of left-hand rotation, right-hand rotation view mode, controls the output of image and the switching of picture, realizes CAN diagnosis and system online updating simultaneously.

Described read-out 2 is arranged on room mirror position, facilitates driver to check.

By the detailed interpretation of images synthesis flow of Fig. 3 and Fig. 4:

(1), first native system will demarcate fish-eye camera, obtains the inside and outside parameter of camera.The intrinsic parameter of acquisition being acted on the digital image that fish-eye camera obtains, is distortionless digital image by correcting fisheye image.

(2), different from angle according to the installation site of camera, left and right sides camera directly obtains the birds-eye view of the left and right sides, rear side camera obtain image be transparent view.

(3), the splicing of image needs can carry out when 3 width images are birds-eye view with synthesis.Therefore rear view is needed to be converted to rear birds-eye view by corresponding coordinate system transformation.

(4), because of the setting angle of 3 cameras and highly different, the light-inletting quantity of camera is different, causes the brightness of 3 width images different, for enabling the image brightness of synthesis consistent.By the mode of histogram adjusting, the luminance difference between 3 width birds-eye vieies is adjusted in a scope allowed, obtain the birds-eye view that 3 width brightness are basically identical.

(5), for the operand of data can be reduced when successive image splicing and synthesis, first image is cut out, the region obtained after the birds-eye view cutting of left side is the superposition in M region, n-quadrant and O region, and the region that right side birds-eye view cuts out rear acquisition is the superposition in S region, Zone R territory, Q region.The region that rear side birds-eye view cuts out rear acquisition is the superposition in P region, n-quadrant, O region, Q region, Zone R territory.

(6), from the image after cutting out, be easy to obtain a left side, the public domain of rear birds-eye view is n-quadrant and the superposing of O region.Afterwards, the public domain of right side birds-eye view is Q region and the superposing of Zone R territory.

(7), behind the public domain obtaining left back, rear right, appoint in left back public domain and get straight line A, times get straight line B in rear right the region in.

(8), after acquisition straight line A, B, left, rear, right top view area respectively with straight line A, B for cutting out on border.The top view area obtaining left side is M region and the superposing of n-quadrant, and is defined as region I ₁; The top view area obtaining rear side is O region, P region, Q region, is defined as region I ₂; The top view area obtaining right side is S region and the superposing of Zone R territory, and is defined as region I ₃.

(9), set up Images uniting mapping table, namely find the corresponding point coordinate in each pixel regional in step 7 in composograph.

(10), according to mapping table synthesis stitching image.

(11), output image.

After image procossing, display control logic is on the display screen 2 as follows:

1, after vehicle powers on, system works is started working and read-out can show image always.

2, under vehicle is in the state moved forward, read-out only shows composograph.

A, be in the work of left steering lamp when vehicle state under, read-out display composograph and left side camera take the photograph image.

B, be in the work of right steering lamp when vehicle state under, read-out display composograph and right side camera take the photograph image.

C, be in the work of reversing gear when vehicle state under, read-out display composograph and rear side camera take the photograph image.

Certainly, as required, the control logic adjustable of image display.

Below the details of above-mentioned image processing flow is described:

1. camera calibration process

The system of axes that A, camera calibration process relate to

As shown in Figure 5, in the process of camera calibration, having related to 3 coordinate system, is the world coordinate system for representing absolute three coordinates in objective world respectively; Using pick up camera as the camera coordinate system of initial point; Image coordinate system is divided into again image physical coordinates system and image pixel coordinates system, and wherein using optical axis and imaging surface intersection point as initial point is image physical coordinates system, the pixel doing upper angle with imaging surface for the origin of coordinates be image pixel coordinates system.Usual:

Xcyc plane parallel is in xy or uv plane.

The space homogeneous coordinates of 1 P under world coordinate system, camera coordinate system and image coordinate system are respectively

X _w=[X _w, Y _w, Z _w, 1] ^t, x=[x, y, z, 1] ^t[u, v, 1] ^t, then have:

$\left[\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right]=\left[\begin{array}{cc}R& t\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]=M_2\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]---\left(1\right)$

$\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\frac{1}{z}\left[\begin{array}{cccc}{\mathrm{\α}}_x& 0& u_0& 0\\ 0& {\mathrm{\α}}_0& v_0& 0\\ 0& 0& 1& 0\end{array}\right]=\frac{1}{z}{M}_1\left[\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right]---\left(2\right)$

$\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\frac{1}{z}\left[\begin{array}{cccc}{\mathrm{\α}}_x& 0& u_0& 0\\ 0& {\mathrm{\α}}_y& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& t\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]=\frac{1}{z}{M}_1{M}_2\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]=\frac{1}{z}{\mathrm{MX}}_W---\left(3\right)$

Wherein, R, t are rotation matrix and the translation vector that world coordinates is tied to camera coordinate system, α _x, α _yfor the camera focus represented by image row and column pixel, u ₀, v ₀for principal point, M is 3 × 3 matrixes, claims projection matrix; M ₁for intrinsic parameters of the camera, M ₂for pick up camera ambient parameter.

Fish-eye radial direction and tangential distortion model can approximate representation be:

$\begin{array}{c}{u}^{\mathrm{dist}}=u+(u-u_0)[k_1{r}^2+k_2{r}^4+k_3{r}^6+k_4(r^2/u+2u)]\\ v^{\mathrm{dist}}=v+(v-v_0)[k_1{r}^2+k_2{r}^4+k_3{r}^6+k_5(r^2/v+2v)]\\ r=\sqrt{u^2+v^2}\end{array}---\left(4\right)$

Wherein, k=[k ₁, k ₂, k ₃, k ₄, k ₅] be distortion factor, k ₁, k ₂, k ₃radial distortion item, k ₄, k ₅it is tangential distortion item.

After founding mathematical models, corresponding calibration method can be used to solve." Zhang Zhengyou standardization " is adopted in native system.

Concrete calibration process is as follows:

(1) gridiron pattern is put on ground as demarcation thing

(2) camera takes the image of ten width different angles to gridiron pattern

(3) respectively to every width image detection angle point, and whole angle point is preserved

(4) intrinsic parameter of pick up camera, distortion factor and whole outer parameters is calculated according to the angle point preserved

(5) refinement is optimized.

2. transparent view is converted to birds-eye view

Complete the conversion overlooked, be mainly to find the corresponding relation of point in world coordinate system and image coordinate system mid point.

In the present system, due to the setting angle θ of camera, setting height(from bottom) h, horizontal view angle , vertical visual angle β all determines, resolution is that m*n also determines simultaneously.Now can derive with picture centre is the conversion formula 3 that the image coordinate of initial point is tied to world coordinate system.

$\left\{\begin{array}{c}x(u,v)=\frac{h(m\tan \mathrm{\θ}+2u\tan )}{m-2u\tan \mathrm{\θ}\tan \mathrm{\α}}\\ y(u,v)=\frac{2v\tan \mathrm{\β}\sqrt{h^2+x^2}}{n}\end{array}\right.$

Formula 3

3. the foundation of mapping form

In mapping form, be expressed as (I, X, Y) by the coordinate of each point, wherein I is the regional in step 7, represents the abscissa of current point in regional and ordinate, such as (I as X, Y ₁, 5,6) and represent that current point is at region I ₁middle abscissa is 5, and ordinate is the point of 6.

Above content is only to the utility model structure example and explanation; affiliated those skilled in the art make various amendment to described specific embodiment or supplement or adopt similar mode to substitute; only otherwise depart from the structure of utility model or surmount this scope as defined in the claims, protection domain of the present utility model all should be belonged to.

Claims (6)

1. a novel electron back-sight visual system, is characterized in that, comprises at least 3 cameras, image processing module and read-out, vehicle body both sides arrange camera, tail of body arranges camera, and described camera is connected with image processing module, and described image processing module is connected by wire harness with read-out;

Graphics processing unit, video decoding chip and video coding chip is provided with in described the image control mold, the figure signal of acquisition is sent to pattern process module by camera, after video decoding chip decoding, become digital signal and be input to graphics processing unit, the signal finally exported converts analog video signal to and is input to read-out and shows after video coding chip.

2. a kind of novel electron back-sight visual system according to claim 1, it is characterized in that, the camera of described vehicle tail is arranged near registration mark light.

3. a kind of novel electron back-sight visual system according to claim 1 or 2, is characterized in that, described camera is CMOS fish-eye camera or CCD fish-eye camera.

4. a kind of novel electron back-sight visual system according to claims 1 to 3 any one, it is characterized in that, described pattern process module has driving record function.

5. a kind of novel electron back-sight visual system according to claim 1, it is characterized in that, described graphics processing unit is connected with CAN Transmit-Receive Unit and CAN control unit, CAN Transmit-Receive Unit and control unit are mainly used to the signal receiving and process in CAN, for the switching of the output and picture that control image, realize CAN diagnosis and system online updating simultaneously.

6. a kind of novel electron back-sight visual system according to claim 1, it is characterized in that, described read-out is arranged on room mirror position.