CN102137252A - Vehicle-mounted virtual panoramic display device - Google Patents
Vehicle-mounted virtual panoramic display device Download PDFInfo
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Abstract
The invention discloses a panoramic visual auxiliary driving device capable of providing the ambient environment of a vehicle. The device disclosed by the invention comprises a three-dimensional cambered reflector arranged at the top of a vehicle body as well as an A/D converter, an SDRAM (synchronous dynamic random access memory) memory, an image processing unit, a display, a peripheral backup memory and a man-machine interface, wherein the convex direction of the reflector is point to the ground, and a camera head is arranged below the reflector to form a panoramic camera head. An analog video signal acquired by a panoramic camera is converted into a digital video signal by virtue of the A/D converter, the digital video signal is processed by the image processing unit and then sent into a display to be displayed, and the processed digital video signal is stored in the peripheral backup memory, and the content displayed by the display is controlled by the man-machine interface.
Description
Technical field
The present invention a kind ofly uses on vehicle, can show the device of the outer image of car, and particularly a kind of panorama visible auxiliary driving device that vehicle-periphery is provided comprises: camera head, man-machine interface, display unit, image processor, and electric supply installation.
Background technology
When the vehicle driver drives on different kinds of roads, it advances, retreats or steering procedure is made judgement by driver's observation external environment condition within the vision fully, and the observation to vehicular sideview and rear portion environment in existing vehicle is to realize by being arranged at car body both sides and room mirror.When steering vehicle, because there is the blind area in driver's seat, and vehicle mirrors can't reflect the relative scale relation between external environment condition and this car, driver's true and accurate fully understands the position distance relation of car body and external environment condition, can only carry out roughly judgement with its experience, therefore easily cause the generation of accident.Especially, for large-scale haulage vehicle, all at several meters to tens of meters, driver's the visual field is more limited for the length and width of large engineering vehicle, and the accident that causes thus is more frequent.
Therefore the field range that enlarges the driver becomes the preferred option that can effectively avoid accident to take place.Existing solution has the detecting module of technology such as utilizing Doppler effect, ultrasonic ranging, this two classes scheme is respectively by surveying barrier and the speed of related movement between car body and the relative position relation of all directions to vehicle body periphery sensor installation, and reminds the driver with certain message stream mode.Yet all there is the problem of precision and intuitive in these two kinds of schemes, and its result of detection often can not directly accurately be judged the foundation of surrounding environment as the driver.
Propose a kind of panorama visible driving ancillary equipment in the Chinese patent application 200610113157.0, in number of patent application 200910143695.8, proposed a kind of Vehicular virtual panoramic electronic system.In these two kinds of equipment, all be to adopt to place a plurality of video cameras at the car body special angle, by electronic technology the mode of image splicing is obtained panoramic video again, all can not obtain panoramic video with single camera, therefore the video camera cumulative volume is big, installation wiring is complicated, data processing performance to electronic system requires height, power consumption and cost height.In addition, this multiple-camera scheme that is arranged in vehicle body side takes level angle to install more, and this judges that to the driver horizontal range of car body and barrier is disadvantageous.If take downward-sloping installation, then can horizontal visual range be restricted because the video camera setting height(from bottom) is not enough again.
Summary of the invention
The invention provides a kind of Vehicular virtual panoramic display unit that overcomes the prior art deficiency.
Vehicular virtual panoramic display unit of the present invention is the three-dimension curved surface speculum 19 that a convex direction directed towards ground outside it is set at the car body top, camera head 20 is set below speculum, constitute panoramic shooting device 1 by camera head 20 and three-dimension curved surface speculum 19, in device, also be provided with: A/D converter 3, SDRAM memory 4, graphics processing unit 17, display 12, peripheral hardware backup of memory 14 and man-machine interface 16, wherein: the analog video signal of being gathered by panoramic camera 1 is converted to digital video signal after graphics processing unit 17 is sent into display 12 demonstrations after handling through A/D converter 3, and in 14 storages of external equipment part memory, display 12 content displayed are by alternating interface between man and computer 16 controls.
The three-dimension curved surface speculum 19 of Vehicular virtual panoramic display unit of the present invention, its speculum toroidal function are positive spherical function or elliptic function or hyperbolic functions.
In the Vehicular virtual panoramic display unit of the present invention, the vision signal that panoramic shooting device 1 is gathered is finished the image expansion of polar coordinates to rectangular coordinate by pixel mapping look-up table means 8 after being converted to corresponding video format, after the distortion of geometric correction module 9 correcting images, send into buffer memory in the static random access memory 10 again, simultaneously video flowing after handling, display controller 11 is shown on display 12, and can switch by controller 15 control visual angles, show the visual angle of constantly switching through human-computer interaction interface 16.
In the Vehicular virtual panoramic display unit of the present invention, graphics processing unit 17 can be by SDRAM storage control module 5, format converting module 6,7, pixel mapping look-up table means 8, geometric correction module 9, static memory 10, compressed encoding module 13 and controller 15 formations that are used to control the visual angle switching and store.Compressed encoding module 13 adopts differential pulse coding among the present invention.
Graphics processing unit 17 adopts the field programmable logic array device in the Vehicular virtual panoramic display unit of the present invention.
Also be provided with audio collection device 2 in the Vehicular virtual panoramic display unit of the present invention, in the graphics processing unit 17 of device, also be provided with differential pulse coding module 13, peripheral hardware backup of memory 14 is looked for storing, the memory of audio signal, look, audio signal through format converting module 6,7 processed video flow through send into after differential pulse coding module 13 is compressed look, audio memory 14 stores.
The present invention has following advantage:
1, single camera is installed and can be gathered panoramic video, compare with the scheme that adopts a plurality of video cameras, installation and wiring are simple, and cost is low.
2, in roof panoramic camera, 1 are installed) image of overlooking the visual angle is provided, can show car body and barrier position and relative horizontal range relation more intuitively.2) comprise the picture at part car body top in the image of Xian Shiing, more help size and distance that the driver is object of reference disturbance in judgement thing with the car body.These advantages are prior aries, and it is not available particularly to adopt multiple-camera to be installed in the scheme of each side of car body.
3, the single ring-type panoramic video of gathering is launched and proofread and correct, being different from the multiple-camera scheme need splice the video of gathering and proofread and correct, the video stream data amount of this programme still is the data volume of single camera after expansion, processing speed to image processing device requires low, and introduce the DPCM coding, the storage data volume is further reduced.Owing to adopted these measures, electronic device cost of the present invention is reduced greatly.
4, have panoramic video and audio storage function, and the audio frequency gathered in real time, video signal recording can be preserved, play the effect of the black box of similar aircraft, this resets to incident afterwards, and it is useful that the identification of accident and responsibility and sharing is undoubtedly.
5, graphics processing unit of the present invention adopts the FPLA device, can reduce installation cost on the one hand, on the other hand, with the special DSP processor is that the graphics processing unit of core is compared, and have following advantage: 1) flexibility is strong, is convenient to hardware circuit design and upgrading, 2) fast operation, directly use hardware description language design hardware circuit, carries out image processing algorithm, the software compute mode of replacement DSP.
6, traditional analog video camera and VGA display, highly versatile have been adopted in video acquisition of the present invention and demonstration respectively.
7, the present invention realizes the controlled function such as real-time switching at visual angle by independent human-computer interaction interface, the real-time visual angle picture after being switched by the display demonstration.Display and human-computer interaction interface are separately helped display and man-machine interface are installed in optimum position in the car respectively, do not influence driver's normal observation and operation.
Description of drawings
Fig. 1 is a panoramic camera structural scheme of mechanism of the present invention, and wherein 19 is the three-dimension curved surface speculum, and 20 for being provided with camera head below speculum, and 21 for being used to be connected and fixed the fixed lever of curved reflector 19 and camera head 20.
Fig. 2 is the system schematic of one embodiment of the present of invention, wherein: 1 is the reflective panoramic camera that is made of Fig. 1,2 is microphone, 3 is A/D converter, 4 is the SDRAM memory, 5 is the SDRAM Memory Controller, 6 for YUV422 is converted to the modular converter of YUV444 form, and 7 for YUV444 is converted to the modular converter of rgb format, and 8 is the pixel mapping look-up table means, 9 are the geometric correction module, 10 is static memory in the SRAM sheet, and 11 is display controller, and 12 is display, 13 is the DPCM coding module, 14 is external sound, the video backup of memory, 15 is the soft nuclear control device of NIOS II, 16 is human-computer interaction interface, 17 is graphics processing unit, and 18 is circuit board.
Fig. 3 is the image of gathering of the present invention and expansion back image and calibrated image schematic diagram, wherein scheme A and be image signal through the system acquisition of Fig. 2 embodiment, figure B is that original image directly launches and without the image of correcting, figure C is the image after the system of embodiment 2 launches back and correction.
Fig. 4 is that panoramic shooting device of the present invention is provided with position view, and Fig. 5 is Fig. 4 vertical view.
Fig. 6 is the coding principle schematic diagram of compressed encoding module 13.
Fig. 7 is the decoding principle schematic of compressed encoding module 13.
Embodiment
Do detailed explanation below in conjunction with the system of the most preferred embodiment that provides by accompanying drawing.
At first press panoramic camera 1 of structure preparation of Fig. 1, the toroidal function that three-dimension curved surface speculum 19 wherein adopts is a hyperboloid; And video camera 20 has adopted ccd video camera.This panoramic camera is arranged at the outer roof top of vehicle, preferably it is arranged at vehicle position after a while, i.e. Fig. 4 and position shown in Figure 5.The Vehicular virtual panoramic display unit of Jian Liing can show the visual field of vehicle rear better in such a way.
Set up the system of present embodiment by Fig. 2, wherein graphics processing unit 17 mechanisms adopt programmable logic array, i.e. fpga chip.Outside fpga chip, be provided with: A/D converter 3, SDRAM memory 4, display controller 11, display 12, external sound, video backup of memory 14 and human-computer interaction interface 16.Microphone 2 and reflective panoramic camera 1 will be set simultaneously in addition by in the access A/D converter shown in Figure 2.
In fpga chip, set up SDRAM Memory Controller 5 in the hardware description language mode, YUV422 is converted to the modular converter 6 of YUV444 form, YUV444 is converted to the modular converter 7 of rgb format, pixel mapping look-up table means 8, static memory 10 in the geometric correction module 9, SRAM sheet, display controller 11, DPCM coding module 13, the soft nuclear control device 15 of NIOS II.Obviously adopt this mode more to save chip cost, circuit board wiring and size than the scheme of a plurality of special digital signal processing chips, but the also debugging difficulty of simplified system simultaneously.
More than each device connect by shown in Figure 2, wherein " heavy line " represents video data stream, " fine line " expression audio data stream, " dotted line " expression control signal, the direction of " arrow " expression data flow or signal flow, wherein four-headed arrow represents that signal is a transmitted in both directions.
According to basic design of the present invention, the high disposal ability of real-time reflective panoramic video processing requirements.For example, TSC-system formula video standard required for 30 frame/seconds, about 0.25 million pixel of every frame, i.e. per second 7.5 million pixel flows.The pal mode video standard required for 25 frame/seconds, and the pixel count of every frame is more, and total pixel flow and TSC-system formula are suitable substantially.And the treating capacity of each pixel is depended on the specific algorithm of employing.No matter present analog video stream is PAL or NTSC, and its data volume is certain, and the two is basic identical.If directly sample quantification,, all comprise R for each pixel if the pixel depth of each pixel is set to 10bit (pixel depth that the VGA standard is specified), G, three components of B, then data volume is 7.5M/s * 10bit * 3=225Mbit/s, data volume is very big.Usual way is to use dsp processor array or the high-end DSP of monolithic to finish.Consider the look up table operations of this Video processing among the present invention, need a large amount of memory resources, for dsp processor, because the restriction in cost and space, need external RAM memory and corresponding control logic, and there is bandwidth constraints in the external memorizer control logic, makes one of its main bottleneck that becomes the processing of DSP high speed image.Simultaneously, be the problem that there is very flexible in the graphics processing unit of core with the special DSP processor.Therefore adopted the FPGA device, provide alternative Video processing platform: FPGA to support efficient simultaneous streaming structure, this high-speed hardware real-time implementation for image processing algorithm is most important; The embedded SRAM memory of FPGA inside is that the ideal of look up table operations is selected; FPGA can Efficient and Flexible the establishment of establishment, particularly digital signal processing unit of realization digital circuit.
SDRAM memory control module 5 among the present invention is used for dispatching video stream data writing and reading at SDRAM memory 4.Analog video and audio signal by reflective panoramic camera 1 and microphone 2 collections, in A/D converter 3 with the TSC-system formula vision signal of simulation through sampling, quantize to be converted to the digital video frequency flow of YUV422 form, simulated audio signal is converted to the single channel digital audio signal of pcm encoder.Because the digital video frequency flow of A/D converter 3 outputs is still according to analog video NTSC form, divide odd field and even field alternately to transmit, be that two field picture could be formed a complete two field picture, so need utilize SDRAM memory 4 as the video stream buffer pond, one image on the buffer memory, again adjacent two image is superposeed in SDRAM memory control module 5, form a complete frame of digital vision signal.
6 and 7 is video format conversion modules among the present invention, in 6, with the YUV422 format digital video conversion of signals of SDRAM memory control module 5 outputs is the YUV444 form, make three components of Y, U, V of each pixel have the identical numerical value of figure place, be convenient to further Video processing, in 7, be rgb format with the YUV444 format conversion again, be used for the demonstration of display.
The expansion of panoramic video is realized by pixel mapping look-up table 8 among the present invention.Pixel mapping look-up table 8 is cores of algorithm among the present invention, and its effect is the annular image that reflective panoramic camera is gathered, and downconverts under the rectangular coordinate system from polar coordinate system, finishes and launches operation, with symbol people visual observation custom.Its specific implementation is that the hardware digital circuit in FPGA is finished, by resolving the toroidal function of speculum, (this mapping is not to shine upon one by one to obtain the mapping table of each pixel in the rectangular coordinate system of each pixel in the polar coordinates, the pixel that in the rectangular coordinate system some are not mapped directly into is filled by interpolation arithmetic), this mapping table passes through hardware description language, store in the SRAM memory of FPGA, again as required, call concrete data in this look-up table by decoding circuit, finish the real-time expansion of panoramic picture individual element.
General display is a flat liquid crystal display at present, so display 12 has also adopted this display among the present invention.The length-width ratio of flat liquid crystal display screen mainly is 4: 3 or 16: 9.For panoramic picture, 360 degree panoramic pictures of expansion are that a length-width ratio is 11: 1 a rectangular image, and directly keeping intact is presented on the general display, can waste the large area region of screen upper and lower part.Owing to Vehicular display device size generally less (mostly being 7 cun), the 360 degree panoramic pictures that directly show often can't be seen details clearly again.Therefore the present invention has adopted the mode of " zone is selected ", the panoramic picture of 360 degree is divided into front, rear, left and right four parts, the unfolded image that promptly on flat-panel screens, only shows 90 degree, when needs switch different display parts, only need by switching push button, can be real-time finish the visual angle handover operation.Concrete process is, press the direction diverter switch of human-computer interaction interface 16 as the driver and select corresponding direction, the direction switching signal is by the soft nuclear control device 15 of NIOS II of inquiry direction signal, send into pixel mapping look-up table means 8, effective mapping area of look-up table is switched to 90 selected degree direction visual angles.The soft nuclear control device 15 of NIOS II also is used for controlling the small-sized liquid crystal display screen demonstration of human-computer interaction interface 16, and the effect of this small-sized liquid crystal display screen is to show the residing visual field, the visual field directional information that is showing at present.The soft nuclear control device 15 of NIOS II also is used for the poke agreement according to the SSD hard disk, controls external data of looking audio frequency backup of memory 14 and writes storage.
Among the present invention in the SRAM sheet static memory 10 realize a video stream buffer pond, its effect is frame of digital images of storing 90 degree of finishing expansion and corrective operations and being selected by human-computer interaction interface, for display controller 11 uses.
Compressed encoding module 13 among the present invention adopts differential pulse modulating-coding DPCM, be used for video and audio frequency deposit in external look audio frequency backup of memory 14 before, it is carried out the DPCM coding, make the three-channel bit wide of RGB become 5, saved the memory space of half, the perusal effect does not have difference with the image that does not have compression.DPCM coding is the english abbreviation of differential pulse coding modulation, and its coded system is that the difference signal between two adjacent sampled values is encoded, and realizes the compression to pcm encoder, the encoding and decoding principle as shown in Figure 6 and Figure 7, wherein:
Among the figure, S (n)---current input pixel sampling value;
Sp (n)---the prediction signal value that obtains by predictive coding;
E (n)---pixel residual signals value (difference signal);
Eq (n)---the prediction error signal values after the quantification;
Sr (n)---rebuild pixel signal values;
DPCM adopts the linear prediction mode, and the difference signal linear combination of prediction signal after by M the quantification of n before constantly obtains:
Wherein ki is a predictive coefficient.
Simple DPCM cataloged procedure used in the native system is as follows: (ki=1)
1. initialization: Sp (0)=0;
2.E(n)＝S(n)-Sp(n)；
3.E (n) obtain Eq (n) behind the quantization encoding;
4.
5. repeated for the 2nd step.
Display interface device of the present invention has adopted the VGA interface standard, and present most of displays adopt this interface standard.Consider the versatility of native system, therefore adopt this interface standard to finish demonstration.
Among the present invention view data imported into look, storage in the audio memory 14, adopt the SSD solid state hard disc memory of SATAII interface among the embodiment.14 effect is similar to " black box " on the aircraft, is used for the scene of the accident scene playback after the car accident, and this reappears for afterwards sight and the distribution of accident responsibility, even teaching all has positive effect.
Device model used in the embodiments of the invention is: the fpga chip of graphics processing unit 17 is CycloneII 2C70 of altera corp, the chip model of A/D converter 3 is ADV7180, the chip model of SDRAM memory 4 is IS42S16160B, and the chip model of display controller 11 is ADV7123.By on the device that constitutes driver in concrete use can see the visual field of a certain 90 degree directions by the display in the driver's cabin 12, and can need to select the visual field observed, image that can comprehensive observation vehicle's surroundings from display by human-computer interaction interface.Because the image of being produced is by overlooking the vehicle body image all around that the visual angle obtains, overlooking the visual angle has shown car body and barrier more intuitively than the horizontal view angle horizontal range.Simultaneously, overlook the picture that comprises part car body top in the visual angle, this helps size and distance that the driver is object of reference disturbance in judgement thing with the car body.Certainly in concrete enforcement, can also be implemented in embedding and the corresponding reference distance mark of this car size in the picture by software mode, can more clearly show the ambient conditions of outside vehicle like this.
Claims (7)
1. Vehicular virtual panoramic display unit, comprise: the panoramic shooting device, man-machine interface, display unit, image processor, and electric supply installation, it is characterized in that on vehicle, being provided with the three-dimension curved surface speculum (2) of a convex direction directed towards ground outside it, camera head (3) is set below speculum, constitute panoramic shooting device (1) by camera head (3) and three-dimension curved surface speculum (2), in device, also be provided with: A/D converter (3), SDRAM memory (4), graphics processing unit (17), display (12), peripheral hardware backup of memory (14) and man-machine interface (16), wherein: the analog video signal of being gathered by panoramic camera (1) is converted to digital video signal after graphics processing unit (17) is sent into display (12) demonstration after handling through A/D converter (3), and in external equipment part memory (14) storage, display (12) content displayed is by alternating interface between man and computer (16) control.
2. the described Vehicular virtual panoramic display unit of claim 1, the speculum toroidal function that it is characterized in that the three-dimension curved surface speculum is positive spherical function or elliptic function or hyperbolic functions.
3. the described Vehicular virtual panoramic display unit of claim 2, it is characterized in that after being converted to corresponding video format, finishing the image expansion of polar coordinates to rectangular coordinate by pixel mapping look-up table means (8) through the vision signal that becomes panorama camera head (1) to gather, after the distortion of geometric correction module (9) correcting image, send into buffer memory in the static random access memory again, simultaneously video flowing is shown on display after display controller is handled.
4. the described Vehicular virtual panoramic display unit of claim 3, it is characterized in that graphics processing unit (17) is by SDRAM storage control module (5), format converting module (6) and (7), pixel mapping look-up table means (8), geometric correction module (9), static memory (10), compressed encoding module (13) and controller (15) formation that is used to control the visual angle switching and stores.
5. claim 3 or 4 described Vehicular virtual panoramic display unit is characterized in that compressed encoding module (13) adopts the differential pulse coding module.
6. the described Vehicular virtual panoramic display unit of claim 5 is characterized in that graphics processing unit (17) adopts field programmable logic array device.
7. the described Vehicular virtual panoramic display unit of claim 6, it is characterized in that also being provided with in the device audio collection device (2), in the graphics processing unit (17) of device, also be provided with differential pulse coding module (13), peripheral hardware backup of memory (14) is looked for storing, the memory of audio signal, look, audio signal is flowed through to send into after differential pulse coding module (13) is compressed through format converting module (6) and (7) processed video and is looked, audio memory (14) is stored, and is shown after alternating interface between man and computer (16) is handled by controller (15) control of switching of control visual angle and storage.
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| CN110667477A (en) * | 2019-11-11 | 2020-01-10 | 西南交通大学 | Vehicle night video processing system and method |
| CN111866432A (en) * | 2020-06-19 | 2020-10-30 | 成都东方盛行电子有限责任公司 | Non-frame-coding rate conversion method in field mode |
| CN111866432B (en) * | 2020-06-19 | 2022-03-29 | 成都东方盛行电子有限责任公司 | Non-frame-coding rate conversion method in field mode |
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