CN101804798B

CN101804798B - Image monitoring system and method of vehicle

Info

Publication number: CN101804798B
Application number: CN2009100082689A
Authority: CN
Inventors: 张佳媛
Original assignee: Whetron Electronics Co Ltd
Current assignee: Whetron Electronics Co Ltd
Priority date: 2009-02-17
Filing date: 2009-02-17
Publication date: 2011-12-14
Anticipated expiration: 2029-02-17
Also published as: CN101804798A

Abstract

The invention discloses image monitoring system and method of a vehicle. The image monitoring system comprises an image retrieving unit, an ultrasonic sensing unit, a caution unit, a display unit and a processing unit, wherein the image retrieving unit and the ultrasonic sensing unit are in charge of retrieving an image of an external environment of a vehicle body and carry out distance detection on the condition of the external environment of the vehicle body; and the processing unit is interworked with the image retrieving unit, the ultrasonic sensing unit, the caution unit and the display unit, the image of the outside of the vehicle body and the distance information of a barrier can be received by the image retrieving unit and the ultrasonic sensing unit, barrier positioning and image coordinate transformation are executed according to the image and the distance information, and an image picture with real-time barrier marking is provided, thus an optimal parking assistance effect is achieved.

Description

Automobile image monitoring system and method thereof

Technical field

The present invention is about a kind of automobile image monitoring system and method thereof.

Background technology

Present reversing aid system, mainly contain video camera image display system, reverse radar system and Reverse Sensor in conjunction with image system, and these three kinds of reversing aid systems are as described below:

1. video camera image display system: camera head 1 shooting is set obtains the image of vehicle periphery and be shown on the telltale 2, as shown in Figure 1, the scope angle that its camera head 1 can be obtained image is 167 °, and the shortcoming of this video camera image display system is the image that only shows vehicle periphery on the telltale 2, can't obstruction detection 3 distances.

2. reverse radar system: the straight-line distance of sensor and obstacle 3 is learnt in ultrasound sensors 4 detectings, as shown in Figure 2, its survey straight-line distance be 50cm and 65cm, and the shortcoming of this reverse radar system is the askiatic picture, and true bearing that can't disturbance in judgement thing 3.

3. Reverse Sensor is in conjunction with image system: ultrasound sensors 4 and the distance values of obstacle 3 and the image of vehicle periphery are shown on the telltale 2, and this Reverse Sensor is only to show the image of vehicle periphery and the numerical value (50cm) of 3 pairs of ultrasound sensors 4 straight-line distances of obstacle on the telltale 2 in conjunction with the shortcoming of image system; But steerman can't learn directly that obstacle 3 is perpendicular to the distance of vehicle, or obstacle 3 is in the distance (as shown in Figure 3) of the left back or the right abaft of vehicle.

From the above, the information that present vehicle monitoring system offers steerman is unilateral, only show the image of vehicle periphery and obstacle numerical value on the telltale to the sensor straight-line distance, but steerman but can't directly be learnt the distance of obstacle perpendicular to vehicle, or obstacle is in the distance of the left back or the right abaft of vehicle, therefore steerman still needs to spend attention and time, search the position of obstacle with respect to vehicle, so the function of present vehicle monitoring system is still not enough, is necessary to be improved.

Summary of the invention

The object of the present invention is to provide a kind of automobile image monitoring system and method thereof, can reduce the driver and search attention and the time that obstacle spends, the function of the environment and the obstacle accurate location of person's identification vehicle periphery that reaches the driver assistance.

For realizing above purpose, the present invention has taked following technical scheme: automobile image monitoring system and method thereof, image acquisition unit, ultrasonic sensing cell, caution unit, display unit and processing unit have been comprised, wherein this image acquisition unit and ultrasonic sensing cell can be arranged at the car body periphery, capture the image of car body external environment condition and car body external environment situation is done the distance detecting by photography and supersonic mode;

And this processing unit and image acquisition unit, the ultrasonic sensing cell, caution unit and display unit are situated between mutually and connect, this processing unit receives car body rear image frame by image acquisition unit, the ultrasonic sensing cell receives car body rear obstacle range information, orient the actual position and the obstacle distance of obstacle by received ultrasonic range information, cooperate built-in process software again, convert the actual position of obstacle to obstacle shows in the image position, and with obvious mark sign, the dysintegration object distance is from being indicated on the image frame with mark, to indicate obstacle position and distance in real time, make the driver learn position and the vertical distance of obstacle with respect to vehicle, search attention and the time that obstacle is spent to reduce the driver, the function of the environment and the obstacle accurate location of person's identification vehicle periphery that reaches the driver assistance.

The present invention compared with prior art has following advantage:

1. automobile image monitoring system of the present invention and method thereof can indicate tangible mark in the obstacle position in the vehicle periphery image, the driver can learn position and the vertical distance of obstacle with respect to vehicle.

2. automobile image monitoring system of the present invention and method thereof can reduce the driver and search attention and the time that obstacle spends, with the function of the environment and the obstacle accurate location of person's identification vehicle periphery that reaches the driver assistance.

Description of drawings

Fig. 1 is the scheme drawing of existing video camera image display system;

Fig. 2 is the scheme drawing of existing reverse radar system;

Fig. 3 is the scheme drawing of existing Reverse Sensor in conjunction with image system;

Fig. 4 is the Organization Chart of automobile image monitoring system of the present invention and method thereof;

Fig. 5 is the embodiment scheme drawing of automobile image monitoring system of the present invention and method thereof.

Description of reference numerals: 1, camera head, 2, telltale, 3, obstacle, 4, ultrasound sensors, 51, the ultrasonic sensing cell, 52, image acquisition unit, 53, caution unit, 54, display unit, 55, processing unit, 6, image acquisition unit, 7, display unit, 8, obstacle, 9, the ultrasonic sensing cell, 10, mark, 11, car body.

The specific embodiment

Below in conjunction with the drawings and specific embodiments content of the present invention is described in further details.

Embodiment:

See also Fig. 4, be the Organization Chart of automobile image monitoring system of the present invention and method thereof, by among the figure as can be known, mainly comprise:

Ultrasonic sensing cell 51, a plurality of ultrasound sensors have been comprised, and this ultrasonic sensing cell 51 can be arranged at the car body periphery, by ultrasonic car body external environment situation is done the distance detecting again, and imports car body rear obstacle range information into processing unit 55;

Image acquisition unit 52, can be arranged at the car body periphery, capture the image of car body external environment condition by the mode of photography, and car body rear image frame imported on the processing unit 55, the scope of its indication range and 51 detectings of ultrasonic sensing cell partly overlaps, and a zone is partly set in the overlapping of image acquisition unit 52 and 51 liang of scopes of ultrasonic sensing cell by processing unit 55, in conjunction with the image of actual position of obstacle and vehicle periphery;

Caution unit 53, being situated between mutually with processing unit 55 connects, and crosses when near at car body and obstacle distance, gives a warning and gives steerman;

Display unit 54 can show real-time sign image frame, and this display unit 54 can be touch control screen and directly do the system adjustment for the user and set;

Processing unit 55, with ultrasonic sensing cell 51, image acquisition unit 52, caution unit 53 and display unit 54 are situated between mutually and connect, this processing unit 55 is to receive car body rear obstacle range information and car body rear image frame by ultrasonic sensing cell 51 and image acquisition unit 52, by received ultrasonic range information, processing unit 55 can be learnt the actual position of obstacle, obstacle cooperates built-in process software again with the vertical distance information of car body, convert the actual position of obstacle to obstacle shows in the image position coordinate, and with an obvious mark sign, carry out the location of obstacle, and again the dysintegration object distance is imported on the display unit 54 from indicating with mark, indicate obstacle position and distance in real time, to reach the best auxiliary effect of stopping.

See also Fig. 5, embodiment scheme drawing for automobile image monitoring system of the present invention and method thereof, the present invention is by the position at ultrasonic sensing cell 9 obstruction detections 8 actual places and the vertical distance of obstacle 8 and car body 11, again in the vehicle periphery image with tangible mark 10, obstacle 8 positions in the corresponding sign vehicle periphery image, and carry out the vertical distance of dysintegration thing 8 and car body 11, be shown on the display unit 7, and implementation step be as follows:

Step 1: the definition world coordinate system, with coordinate the position of actual car body 11 surrounding environments is described, for example as figure five, as if being X-axis, be Y-axis perpendicular to the direction of car body 11 with car body 11 rear transverse edges; X-axis can represent that obstacle 8 is positioned at the lateral excursion distance on car body 11 left sides or right side, and Y-axis can be represented the vertical distance of obstacle 8 and car body 11;

Step 2: ultrasonic sensing cell 9 is installed on vehicle, described according to step 1, can get each other position coordinate of sensor;

Step 3: image acquisition unit 6 is set obtains the image of vehicle periphery and be shown on the display unit 7, the position of image environment around the car body 11 is described by definition image coordinate system with coordinate;

Step 4: and the image capturing range that image acquisition unit 6 shows on display unit 7 can partly overlap with the scope of ultrasonic sensing cell 9 detectings;

Step 5: control ultrasonic sensing cell 9 makes its sensor output signal, and receives this output signal with this sensor and adjacent sensor thereof;

Step 6: signals that this ultrasonic sensing cell 9 is received itself, can learn the distance of this sensor and obstacle, again by the signal that sensor received adjacent, can learn that this sensor arrives the distance of adjacent sensor through obstacle 8 with this sensor;

Step 7: integrate ultrasonic sensing cell 9 position coordinates and detecting distance, can learn the coordinate position of obstacle 8 in world coordinate system and the vertical distance of obstacle 8 and car body 11;

Step 8: by the coordinate transformation of world coordinate system and image coordinate system, convert the actual position of obstacle 8 to obstacle 8 shows in the image position, be shown in the image on obstacle 8 display positions with obvious mark 10 correspondences;

Step 9: dysintegration thing 8 and the vertical distance of car body 11 and sign mark 10 corresponding to image show around the car body on the image frame, indicates obstacle 8 positions and distance in real time on display unit;

Step 10: when obstacle 8 and car body 11 hypotelorisms, the caution unit will give a warning.

Above-listed detailed description is at the specifying of possible embodiments of the present invention, and this embodiment is not in order to limiting claim of the present invention, and the equivalence that all the present invention of disengaging do is implemented or change, all should be contained in the claim of this case.

Claims

1. an automobile image monitoring system is characterized in that, comprising:

The ultrasonic sensing cell is arranged at the car body periphery, in order to obtaining the exterior obstacle distance information of car body, and imports car body rear obstacle range information into processing unit;

Image acquisition unit is arranged at the car body periphery, in order to the image of acquisition car body external environment condition, and imports car body rear image frame into processing unit;

Processing unit, being situated between mutually with image acquisition unit, ultrasonic sensing cell, display unit connects, and carrying out obstacle location and image coordinate conversion, and the information after will integrating is imported display unit into;

Display unit is in order to show the image frame of real-time sign, to reach the best auxiliary effect of stopping;

Wherein, this processing unit is integrated ultrasonic sensing cell position coordinate and detecting distance, can learn the coordinate position of obstacle in world coordinate system and the vertical distance of obstacle and car body, and see through the coordinate transformation of world coordinate system and image coordinate system, convert the actual position of obstacle to obstacle shows in the image position, and be shown in the image on the obstacle display position with an obvious mark correspondence, indicate obstacle position and distance in real time on display unit.

2. automobile image monitoring system as claimed in claim 1 is characterized in that: described ultrasonic sensing cell comprises a plurality of ultrasound sensors.

3. automobile image monitoring system as claimed in claim 1 is characterized in that: described processing unit is connected with the caution unit, crosses when near at car body and obstacle distance, gives a warning and gives steerman.

4. an automobile image monitoring method is characterized in that, comprising:

Step 1: define world coordinate system, describe the position of actual car body surrounding environment with coordinate;

Step 2: the ultrasonic sensing cell is installed on vehicle, described according to step 1, can get each other position coordinate of sensor;

Step 3: image acquisition unit is set obtains the image of vehicle periphery and be shown on the display unit, the position of image environment around the car body is described by definition image coordinate system with coordinate;

Step 4: and the image capturing range that image acquisition unit shows on display unit can partly overlap with the scope of ultrasonic sensing cell detecting;

Step 5: control ultrasonic sensing cell makes its sensor output signal, and receives this output signal with this sensor and adjacent sensor thereof;

Step 6: the signal that this sensor itself is received, can learn the distance of this sensor and obstacle, again by the signal that sensor received adjacent, can learn that this sensor is through the distance of obstacle to adjacent sensor with this sensor;

Step 7: integrate ultrasonic sensing cell position coordinate and detecting distance, can learn the coordinate position of obstacle in world coordinate system and the vertical distance of obstacle and car body;

Step 8: by the coordinate transformation of world coordinate system and image coordinate system, convert the actual position of obstacle to obstacle shows in the image position, be shown in the image on the obstacle display position with an obvious mark correspondence;

Step 9: the vertical distance of dysintegration thing and car body with show corresponding to the sign mark of image around the car body on the image frame, indicate obstacle position and distance in real time on display unit;

Step 10: when obstacle and car body hypotelorism, the caution unit will give a warning.