CN101588482A - Vehicular virtual panoramic electronic system - Google Patents
Vehicular virtual panoramic electronic system Download PDFInfo
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Abstract
The invention provides a vehicular virtual panoramic electronic system, mainly comprising a special pick-up head A installed in a distribution type, a central processing unit B and a display and human-machine interface C, wherein the core of the system is the central processing unit including a video collection unit D, a video quiver prevention unit E, a video synthesis unit F, a projection and mapping unit G, a target detection unit H and a GIS unit I. The invention implements the seamless splicing to the video image collected by the special pick-up head A installed in a distribution type based on the ground by the video synthesis unit F, thus achieving a single real time panoramic video which can cover the whole range around the vehicle body without a blind zone and is converted into various effects to be displayed on the display and human-machine interface C by the projection and mapping unit G. Meanwhile, the target detection unit H can actively identify the periphery vehicles and travelers. The map information of the GIS unit I can be displayed in a way that is overlapped with the real time video, thereby providing an all-directional virtual panoramic real time video, and the integrated obstruction prewarning and navigation information for the vehicle drive operating staff.
Description
Technical field
The present invention relates to provide the electronic system of driving auxiliary image information.
Background technology
Because the existence of vision blind area, driver's true and accurate fully understands the position distance relation of car body and surrounding environment during steering vehicle, often so cause some accidents.In fields such as mining activities, employed large-scale engineering machinery, the length and width of large-scale carrier vehicle are all about several meters to ten meters, tens of even rice, it is more limited that personnel's the visual field is controlled in driving, therefore in the mining area, environment such as exploitation field, owing to the accident that driver behavior personnel vision blind area causes is more frequent.
Solving this class problem fundamentally is exactly the sensor signal of passing through certain mode, remedies the blind area that visually produces.Existing solution has the use Doppler radar, ultrasonic wave, schemes such as radiofrequency signal generation and detection module, these schemes are by detecting the barrier of all directions and remind the driver behavior personnel with the display mode of certain figure hull vehicle body periphery sensor installation, but all there is the problem of accuracy and intuitive in existing scheme, its result of detection often can not accurately be judged the foundation of surrounding enviroment as the driver behavior personnel, lacks validity.
In number of patent application 200410089462.1, propose a kind of device of automobile surrounding condition dynamic supervision, in number of patent application 200610113157.0, proposed a kind of panorama visible driving ancillary equipment.In these two equipment, do not possess the anti-shake unit of camera image, can not solve because the video that the vehicle body vibrations produce is fuzzy.Simultaneously, these two kinds of equipment do not have projection and map unit (G), can not carry out the conversion of display effect and pattern to spliced image, therefore, can only provide single image, and can not solve splicing back image continuity and conforming problem.Projection mapping of the present invention unit (G) provides multiple display effect and pattern to the driver behavior personnel, makes it select to switch with individual adaptation according to actual needs, and has solved the consistency and the continuity problem of image splicing back seam crossing.
In the present invention, object detection unit (H) and GIS unit (G) have also been increased, the target acquisition function and the navigation information that provide by these two unit identify, make system that image information is provided merely, but possess the target detection and the prompt facility of autonomous type, really accomplish to offer the comprehensive vehicle-surroundings environmental information of driver behavior personnel.
At top problem, the present invention proposes a kind of Vehicular virtual panoramic electronic system, possess following characteristics:
1. based on the synthetic mode of video, offer the real realtime graphic of user, rather than simple aspect, the user can the real observation surrounding enviroment.
2. image obtains the panorama composograph by after synthetic, rather than simple image array, and intuitive is good.Equipment carries out corresponding model projection to panorama sketch, and multiple display mode can be provided, and switches according to oneself watch custom and actual environment for the user.
3. equipment provides the video image of overlooking effect, and the user not only can observe surrounding enviroment information, and image can also accurately provide the accurate position relation of associated vehicle equipment with environment.
4. system comprises object detection unit (H), can initiatively discern the special scenes and the target of periphery, initiatively reminds and warns the vehicle driving operation personnel and dodge.
5. system comprises GIS unit (I), specific cartographic information and virtual panoramic image can be combined the road among the GIS, barrier, sign, information such as mobile thing, according to user's configuration requirement, can correspondence be added in the panoramic picture, polynary driving navigation information is provided.
Summary of the invention
The present invention mainly comprises following content:
1. Vehicular virtual panoramic electronic system, it comprises the special-purpose camera (A) of distributed installation, cpu (B), show and man-machine interface (C), wherein, the core of this cover system is a cpu, comprises video acquisition unit (D), the anti-shake unit of video (E) video synthesis unit (F), projection and map unit (G).As Fig. 1: shown in the system architecture diagram.
2. described special-purpose camera (A) is the wide-angle lens more than 120, and have dampening assembly in inside, 4 cameras are installed around the vehicle body on dilly, 6 cameras are installed around heavy construction equipment and load-carrying vehicle vehicle body, at profile and special equipment and the vehicle of structure, 8 cameras are installed around vehicle body.
3. described cpu (B) also comprises the anti-shake unit of video (E), dampening assembly by hardware and inner anti-shake unit, and system can effectively eliminate because that body vibrations causes is image blurring.
4. described video synthesis unit (F) and projection and map unit (G) offer the seamless spliced panorama of vehicle driving operation personnel and overlook composograph, and provide the panorama overhead view image that comprises the fish eyes effect at least (as Fig. 3: shown in the panorama vertical view of fish eyes effect), the close shot overhead view image (as Fig. 4: shown in the undistorted close shot vertical view) that does not have how much distortions, the front view picture, rearview also provides the basic display effect combination display mode that stack shows side by side as four kinds of basic display effects.The driver behavior personnel can select to switch to different display effects and pattern by showing with man-machine interface (C) according to on-the-spot actual environment and individual adaptedness to the different-effect mode image.
5. described object detection unit (H), when offering driver behavior personnel virtual panoramic image, can also initiatively carry out check and analysis to image, and target identification extraction, and the method by stack pattern identification and voice suggestion on image, remind the obstacle and the mobile thing of the existence of driver behavior personnel periphery.
6. video synthesis unit (F), can carry out computing and analysis to the mutual corresponding relation of image, therefore, the special-purpose camera (A) of native system does not need corresponding angular transducer, video synthesis unit (F) is analyzed the correspondence position relation of each minute video automatically, produce the mutual corresponding relation of each minute video when synthetic, and be stored in the internal memory of central authorities' processing, and can eliminate automatically because the image shift error that installation and long-term factors such as vibration equipment loss cause.
7. cpu (B) comprises projection and map unit (G), a plurality of video source are not simply to stitch together, but carry out projection mapping according to vision mode, therefore, synthetic video effect is continuously consistent at naked eyes, can not have tangible crease and the discontinuous effect of splicing.
8. object detection unit (H) is when offering driver behavior personnel virtual panoramic image, can also initiatively carry out check and analysis to image, and target identification extraction, and the method by stack pattern identification and voice suggestion on image, remind the obstacle and the mobile thing of the existence of driver behavior personnel periphery.
9.GIS unit (I) can offer the cartographic information of driver behavior personnel symbolism, the cartographic information that the GIS unit provides can combine with the virtual panoramic image, road among the GIS, barrier, information such as sign, according to user's configuration requirement, can correspondence be added in the panoramic picture, polynary driving navigation information is provided.
Description of drawings:
Fig. 1: system architecture diagram
Fig. 2: installation site figure
Fig. 3: the panorama vertical view of fish eyes effect
Fig. 4: the close shot vertical view of undistorted effect
Fig. 5: figure configuration interface
Embodiment
Solution of the above problems of the present invention is, by at hull, a plurality of cameras are installed on car body or the equipment, the scope that these cameras are taken is overlay device environment on every side fully, synthesize by the video that these cameras are clapped, obtain panoramic video, the field range of this video is level 360 degree, vertical 180 degree, and to ground scope non-blind area, then by the respective projection model, this video-projection is mapped in the display screen scope, and the vehicle body image overlay is arrived the corresponding position of image central authorities, by using different projection models, offer at last and drive the fish eyes effect panorama that the control personnel overlook, the undistorted close shot of overlooking, and the image of all directions, driving the control personnel can be according to adaptability and the custom of oneself, and the requirement of actual environment for use, select to meet the view mode of own demand.Simultaneously, system also is added to the result of target detection analysis and the navigation information among the GIS in the panoramic picture, provides vehicle operating more initiatively to instruct.
1. by being installed on vehicle body several special-purpose cameras (A) on every side the environment around the vehicle body is taken in real time; and real time video image is transferred to cpu (B); in special-purpose camera (A), has damping part; can eliminate the dither that engine produced and be delivered to camera substantially; alleviate the violent low-frequency vibration that produces owing to the road reason simultaneously, special-purpose camera is played a protective role.Special-purpose camera (A) camera lens is 120 degree and above wide-angle lens, all have more than 90 degree in the visual field of level and vertical both direction, special-purpose camera (A) is spent towards oblique below 45 near the position at top around being installed in vehicle body, and under the condition that the vehicle body environment allows, may be evenly distributed unexpectedly, for vehicles such as mine dumpers, the special-purpose camera (A) of side can be installed in headstock, and the special-purpose camera at rear portion can be installed on the axletree of wagon box bottom.By adjustment, guarantee to cover All Ranges around the vehicle body, as Fig. 2: shown in the figure of installation site to the camera angle of inclination.
2. cpu (B) uses the High Performance DSP processor, and high speed DDR internal memory and jumbo storage chip can satisfy the demand of high-definition picture computing.Wherein dsp processor is not less than the 600Mhz dominant frequency, and internal memory is not less than 64MB.
3. the real-time video transmission of many special-purpose cameras (A) is arrived cpu (B) back by video acquisition unit (D) digital collection and synchronous each road video.The principle of video acquisition unit (D) synchronization video is to distinguish according to timeslice, the frame of video of each special-purpose camera (A) is not strict synchronism in time, under the frame per second of 25fps, be considered as synchronous frame according to each frame of video in 40 milliseconds, the kinematic error that is caused by body movement in this time can be ignored.And then each road video is fed to the anti-shake unit of video (E), and the anti-shake unit of video (E) carries out estimation and processing to video, eliminates because the fuzzy and flating that vibration produces.
4. video synthesis unit (F) stores the splicing relation that obtains in the data storage into synchronously and carry out anti-shake processed video and mate and correlation analysis, and to each frame synchronization and anti-shake after video splice in real time.Multichannel data is synthesized one road panoramic video, and the top view with vehicle body is superimposed upon the middle suitable scope of panoramic video again, obtains final panoramic video.Special-purpose camera (A) uses 120 degree and above wide-angle lens, can guarantee that the single channel realtime graphic that each camera is taken all has the visual angle that surpasses 90 degree in level and vertical range, when installing, vehicle body guarantees that camera covers vehicle body periphery All Ranges fully, therefore, the panoramic picture that obtains is 360 degree visual angles in the horizontal direction, in vertical direction is 180 degree visual angles, and just its field range is a hemisphere.This image can cover all scopes of vehicle body periphery and non-blind area simultaneously, is 180 degree at the vertical direction visual angle, therefore, the line-of-sight distance of vehicle body periphery is the infinity, is subjected to the camera influential effect in actual use, and its sight line theoretical is the sighting distance of camera just.
5. the panoramic picture after video synthesizes can reflect vehicle body all environmental information and non-blind areas on every side, the vehicle driving operation personnel watch but this panoramic picture is not best suited for, do not meet people's visual custom yet, projection and map unit (G) project to panoramic picture on the sphere according to people's adaptability, form the panorama plan view of fish eyes effect, project on the plane, form undistorted close shot and overlook effect, and provide independent forward sight and backsight view, can select best video display effect and integrated mode for the driver behavior personnel according to environmental demand and individual adaptation to different view effect stack tilings so that different display modes to be provided simultaneously.
6. the single panoramic picture after synthetic is input to object detection unit (H) simultaneously, object detection unit is used the method for pattern recognition, specific objective in the image is carried out check and analysis, object detection unit (H) is at first carried out edge extracting to panoramic picture, and the result of edge extracting may exist barrier, personnel in the image, vehicle, the partial contour line of mark also comprises in the environment because shade the contrast region that factors such as illumination produce.After result behind the edge extracting carries out UNICOM's domain analysis and filtering, the noise spot that removal causes owing to reasons such as noises, remaining zone is as the suspected target zone, obtain mutually deserved zone in the original video by the suspected target zone, histogram is carried out in this zone, the geometrical Characteristics Analysis at tone and edge, whether be vehicle, pedestrian or barrier if judging at last.If there is other vehicle around the vehicle body, perhaps personnel, object detection unit (H) passes to projection and map unit (G) with target after detecting target, projection and map unit identify out with certain graphics mode with target, and initiatively point out vehicle driving operation personnel careful operation or take to dodge.
7. simultaneously, GIS unit (I) can be to vehicle body present position and cartographic information real-time analysis, if have relevant road at periphery, barrier, identification information, GIS unit (I) passes to projection and map unit (G) with relevant information, and shows and point out the driver behavior personnel by patterned mode.
8. by the control interface in demonstration and the man-machine interface (C), the driver behavior personnel can be switched the effect and the pattern of graphical display, in demonstration and man-machine interface, can provide a configuration interface (as Fig. 5: shown in the figure configuration interface) display effect and pattern to be switched to the user, at first be to carry out the final election operation to display effect, comprise basic display effect and some kinds of combination display modes in the check box, after final election is finished, only need to click touch-screen or button, the then display effect of the final election switching that then can circulate.Be to select the driver behavior personnel to wish the GIS information that superposes and show in GIS additional information check box then, GIS information is divided into some classes, and the driver behavior personnel can select to show or do not show by class.Be target detection information at last, at target detection information check box, whether driver behavior need the detected vehicle of object detection unit can be selected forever, and personnel are identified on the final video image.
9. native system is by the panoramic picture that provides effect and pattern to select to switch and the warning of target detection initiatively, GIS info alert, make up a complete and comprehensive information platform can for the driver behavior personnel, the driver behavior personnel very first time is made a response to any hidden danger in the environment, thereby effectively improve the driver behavior vehicle, maximum dimensions of vehicle, the fail safe of heavy construction equipment and operating accuracy.
Claims (9)
1. Vehicular virtual panoramic electronic system, it comprises the special-purpose camera (A) of distributed installation, cpu (B), show and man-machine interface (C), wherein, cpu comprises video acquisition unit (D), the anti-shake unit of video (E) video synthesis unit (F), projection and map unit (G).Special-purpose camera (A) is from the video of a plurality of angle shot vehicle body peripheries, and pass to cpu (B), video acquisition unit in the cpu (D) is responsible for the collection digitlization of many videos, the shake of the anti-shake unit of video (E) removal of images, video synthesis unit (F) is spliced into single full-view video image with a plurality of images, projection and map unit (G) are shone upon full-view video image, obtain being fit to the effect of eye-observation and present to the user by showing with man-machine interface (C) demonstration, the user also can control the effect and the pattern of display video by demonstration and man-machine interface (C), and whole system is carried out function setting.
2. Vehicular virtual panoramic electronic system according to claim 1 is annotated, and it is characterized in that: special-purpose camera (A) is that 120 degree reach the wide-angle imaging head with upward angle of visibility.The quantity of camera is 4 on dilly, is 4 ~ 6 on heavy construction equipment and load-carrying vehicle, and at the equipment and the vehicle of distinctive appearance and structure, its quantity is 6 ~ 8.
3. Vehicular virtual panoramic electronic system according to claim 1, it is characterized in that: special-purpose camera (A) inside modules has dampening assembly, in cpu (B), also comprise the anti-shake unit of video, by dampening assembly and the anti-shake unit of video (E), system can effectively eliminate since body vibrations cause image blurring.
4. Vehicular virtual panoramic electronic system according to claim 1, it is characterized in that: can provide multiple display effect and pattern to the vehicle driving operation personnel, the driver behavior personnel can be according to on-the-spot actual environment, with the adaptedness of individual, select to switch to different display effects and pattern by man-machine interface (C) to the different-effect mode image.
5. Vehicular virtual panoramic electronic system according to claim 4, it is characterized in that: video synthesis unit (F) and projection and map unit (G) offer the seamless spliced panorama of vehicle driving operation personnel and overlook composograph, and provide the panorama that comprises fish eyes effect overhead view image, the close shot overhead view image that does not have how much distortions, the front view picture, rearview also provides the basic display effect combination display mode that stack shows side by side as four kinds of basic display effects.
6. according to one of them described Vehicular virtual panoramic electronic system of claim 1-5, it is characterized in that: described video synthesis unit (F), can carry out computing and analysis to the mutual corresponding relation of image, therefore, the special-purpose camera (A) of native system does not need corresponding angular transducer, video synthesis unit (F) is analyzed the correspondence position relation of each minute video automatically, and can eliminate automatically because the image shift error that installation and long-term factors such as vibration equipment loss cause.
7. according to one of them described Vehicular virtual panoramic electronic system of claim 1-5, it is characterized in that: cpu (B) comprises projection and map unit (G), a plurality of video source are not simply to stitch together, but carry out projection mapping according to vision mode, therefore, synthetic video effect is continuously consistent at naked eyes, can not have tangible crease and the discontinuous effect of splicing.
8. Vehicular virtual panoramic electronic system according to claim 1, it is characterized in that: cpu (B) also comprises object detection unit (H), when offering driver behavior personnel virtual panoramic image, can also initiatively carry out check and analysis to image, and target identification extraction, and the method by stack pattern identification and voice suggestion on image, remind the obstacle and the mobile thing of the existence of driver behavior personnel periphery.
9. according to claim 1 or 8 described Vehicular virtual panoramic electronic systems, it is characterized in that: cpu (B) also comprises GIS unit (I), the GIS unit can offer the cartographic information of driver behavior personnel symbolism, the cartographic information that the GIS unit provides can combine with the virtual panoramic image, the road among the GIS, barrier, information such as sign, according to user's configuration requirement, can correspondence be added in the panoramic picture, polynary driving navigation information is provided.
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