CN102774380A - Method for judging running state of vehicle - Google Patents
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- CN102774380A CN102774380A CN2011101223484A CN201110122348A CN102774380A CN 102774380 A CN102774380 A CN 102774380A CN 2011101223484 A CN2011101223484 A CN 2011101223484A CN 201110122348 A CN201110122348 A CN 201110122348A CN 102774380 A CN102774380 A CN 102774380A
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Abstract
The invention relates to a simple method for judging a running state of a vehicle. A vehicle movement distance and a rotation direction of front and rear frames are calculated by matching of feature points in a look-around image, so that the running state of the vehicle is judged and the representation of a look-around system is properly switched. The invention solves the problem that in the conventional vehicle running state judging process, complex signals such as a vehicle speed signal, a vehicle corner signal, a gear signal and the like are required; a function of directly judging the state of the vehicle is achieved by processing the look-around image; and meanwhile, the representation of the look-around system is properly switched, so that safe, visual and specific prompting information is given to the driver. According to the invention, the mode of judging the running state of the vehicle is simplified; and a great quantity of equipment cost is saved.
Description
Technical field
This project relates to multi-view camera viewing system, especially a kind of method of simple and easy judgement vehicle running state.
Background technology
Current society, automobile has become a kind of requisite vehicle.People are enjoying convenience that automobile brings and while efficiently, motor traffic accidents, and the problem that environmental pollution that motor vehicle exhaust emission brings and traffic tie-up bring has become increasingly serious global social concern.Therefore, utilize various advanced persons' automotive safety technology, equipment and theory minimizing traffic accident and raising automotive safety that very big market potential is arranged.
The last century is after the nineties, and along with the widespread use in automobile product of Eltec, control technology, sensor technology and new material, the automotive safety technology has obtained swifter and more violent development.Existing nowadays the automotive safety Study on Technology is by the research and development of single safety method, merges collaborative integrated, systematization and intelligent direction development mutually to various safety methods.Intelligentized automobile safety system is a core with modern Detection Techniques, photoelectric sense technology, computer technology and automatic control technology; Has specific identification judgement; Can under various complex situations, assist chaufeur or Control of Automobile voluntarily automatically, guarantee traffic safety.
Conventional truck status information sensor: car speed sensor, gear position sensor, brake and throttle equal controller.Form the sensing network of vehicle in conjunction with the CAN bus of vehicle, whole automotive control system is connected unified management, realize data sharing and collaborative work each other, obtain vehicle current states information.
Differentiate vehicle-state thereby look around the coupling that parking assisting system carries out image characteristic point through the indeformable characteristics of the image of aerial birds-eye view, characteristics of image commonly used can be an edge feature, color characteristic, textural characteristics, shape facility, spatial relationship characteristic.Can use any matching process commonly used, such as spatial convoluted, SIFT characteristic matching, unique point gray scale coupling scheduling algorithm.
This patent is applicable to vehicle-mountedly looks around drive assist system and looks around reversing aid system.
(1) prior art one relevant: the synthetic and display system of panoramic view picture with the present invention
Be installed in vehicle camera all around through after the viewpoint change, form the overhead view image of many virtual vertical shootings respectively.As shown in Figure 1.
In the initial alignment treating process, each camera can be obtained with respect to the position of vehicle axis system.According to the station-keeping data of camera, can these overhead view images be synthesized processing, be spliced into the panorama sketch that a width of cloth vehicle is looked around.Under the identical situation of the height of each virtual camera and focal length, the dimension scale of these overhead view images is identical, can directly splice processing.Add schematic top plan view, the figure as a result that gets final product to the end spliced on around birds-eye view from car.As shown in Figure 2.
Look around image display system and generally come the automatically regulating display format through the judgement to present vehicle-state, system automatically switches to and looks around image display mode when perhaps moveing backward such as vehicle low speed, and shows the place ahead or rear wide-angle image in assistant window.Automatically switch to the birds-eye view in the right side or the left side of amplification if judge vehicle system when turning right or turn left, and show in assistant window whether image affirmation rear, rear has vehicles or pedestrians.The speed of a motor vehicle and gear, steering wheel angle information generally obtain through direct line or through vehicle CAN bus through vehicle-borne various sensors.
Patent documentation 1: Japanese Patent JPA2002-067158
Patent documentation 2: Japanese Patent JPA2008-34966
(2) prior art two relevant: based on the vehicle monitoring management system of CAN/GSM with the present invention
Be for automotive development with CAN bus.The vehicle-mounted monitoring equipment of this system at first obtains detailed vehicle condition information from the CAN interface of vehicle, relies on gsm mobile communication system and monitoring and control centre to communicate then, realizes comprehensive, dynamic, the real-time monitoring of vehicle.
Patent documentation 3: domestic patent 100410021177.6
Patent documentation 4: domestic patent 200510110841.9
(3) prior art three relevant: adaptive cruise control (Adaptive Cruise Control is called for short ACC) system with the present invention
Through information such as sensor unit perception this car state and environment, the ACC controller is handled running information, confirms the control command of vehicle; Actuating unit mainly is made up of brake pedal, acceleration pedal and vehicle transmission system control actr etc., is used to realize the vehicle acceleration, deceleration, and chaufeur is through the demonstration of man-machine interface initialization system parameter and state of the system.
Patent documentation 5: domestic patent
200480009929
Patent documentation 6: domestic patent
200780002900
(4) prior art four relevant: constant speed cruising system with the present invention
Run jointly after the pass by the speed of driver's requirement; Just automatically keep the speed of a motor vehicle without accelerator pedal; Make vehicle with fixing speed. when after long-time driving on the express highway; The driver just need not go to control Das Gaspedal again, and generally speaking, cruise can be automatically terminated when the driver steps on brake pedal or power-transfer clutch.
Patent documentation 5: British patent
200680024573.1
Patent documentation 6: Japanese Patent
200510098034.X
After above-mentioned prior art was analyzed, the contriver found:
All need pass through GES with upper type; Complex informations such as vehicle angular signal and gear signal; Carry out Treatment Analysis after obtaining through direct line or vehicle CAN bus; The specialized equipment that information acquisition and processings needs are a large amount of, so these systems are used for medium-to-high grade car, commonality is not high.Secondly, owing to restrictions such as road conditionss, the instream factor of system is not high in China.Even this type systematic breaks down, chaufeur is also paid no attention to.In addition; Since maintenance technique can not with the synchronous develop rapidly of automotive technology, many maintainers still understand systematicly deficiency to such, disturb or damage so that in maintenance process, unintentionally this system is caused; Can't analyse phenomenon of the failure scientifically, accurately the failure judgement root.In sum,, especially look around and lack a kind of extras cost that do not need in the image synthesis system, directly obtain the easy means of car status information for vehicle active safety and DAS (Driver Assistant System).
Summary of the invention
The present invention proposes a kind of simple and direct, the differentiation means that cost performance is high.The vehicle viewing system is through being installed in the image that vehicle many cameras are all around taken; Through aforesaid view transformation handle obtain many virtual be the downward birds-eye view of central vertical with the vehicle, and be spliced into a complete birds-eye view (as shown in Figure 2) through composition algorithm.Because overhead view image synthetic in the vehicle moving process can not be out of shape, the coupling through for unique point in the two continuous frames image can calculate data such as vehicle miles of relative movement, the anglec of rotation, judges that vehicle is current to advance or the state that falls back.System makes corresponding processing according to the information of differentiating, and then switches to the rear camera like reversing, and turn right and then switch to the right side camera, and the switching of function etc.
Description of drawings
Figure 1A, Figure 1B are that processing obtains virtual birds-eye view to untreated reverse image through viewpoint change.
Fig. 2 A, Fig. 2 B are the vehicle-mounted viewing system instances that many orders camera constitutes.
Fig. 3 looks around the practical implementation step of judging vehicle-state.
Practical implementation
For making the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that embodiment of the present invention is done to describe in detail further below.
Implementation step 1: the generation of panoramic view picture
Like 103 processing modules in the accompanying drawing 3, the view data of gathering in real time by many ultra wide-angle imaging heads of vehicle's surroundings, through the wide-angle correction, viewpoint change and image such as synthesize at public technology, are spliced into a complete birds-eye view (as shown in Figure 2).
Implementation step 2: the extraction of characteristics of image
Like 104 processing modules in the accompanying drawing 3, in synthetic birds-eye view, seek and to mate the characteristics of image of usefulness.Characteristics of image commonly used has color characteristic, textural characteristics, shape facility, spatial relationship characteristic.Such as selecting Harris corner point or SIFT unique point etc.
Non-patent literature 1 (Harris corner point): C. Harris and M.J. Stephens. A combined corner and edge detector. In
Alley Vision Conference, pages 147 – 152,1988.
Non-patent literature 2 (SIFT unique point): Lowe, David G. (1999). " Object recognition from local scale-invariant features ". Proceedings of the International Conference on Computer Vision. 2. pp. 1150 – 1157
Implementation step 3: the obtaining of the coupling of characteristics of image and characteristic mobile vector
Like 105 processing modules in the accompanying drawing 3, carry out matching treatment to the characteristics of image that searches out in the birds-eye view of front and back frame.The characteristic matching algorithm can adopt any algorithm commonly used, such as spatial convoluted, and SIFT characteristic matching, unique point gray scale coupling scheduling algorithm.The mobile vector of frame characteristic before and after the characteristic of successful match can be obtained.
Implementation step 4: the calculating of vehicle translation vector and rotation amount
Like 106 processing modules in the accompanying drawing 3, the mobile vector of the terrain surface specifications in the composite diagram can be approximated to be vehicle translation vector and rotation amount (in the opposite direction).Because each Feature Extraction positional error in the composite diagram, the mistake coupling equal error that Feature Points Matching occurs generally need carry out COMPREHENSIVE CALCULATING to these characteristic mobile vectors and obtain vehicle translation vector and rotation amount.Usually can use method of least square or RANSAC method etc. at random.
Non-patent literature 3 (RANSAC parameter estimation method): Martin A. Fischler and Robert C. Bolles (June 1981). " Random Sample Consensus:A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography ".
Comm. of the ACM 24: 381 – 395.
Implementation step 5: the calculating of vehicle moving velocity, the anglec of rotation
Like 107 processing modules in the accompanying drawing 3; Vehicle translation vector through calculating in system clock (timestamp) and the step 4 of frame before and after the record and rotation amount just can calculate the speed that vehicle moves and the angle of rotation; Can also calculate the acceleration/accel of displacement, parameters such as the cireular frequency of rotation.
The realization formula is following:
(V is the speed of a motor vehicle, and Φ is the vehicle anglec of rotation, and A is an acceleration/accel, and A1 is a rotating angular acceleration)
Implementation step 6: the judgement of vehicle running state
Like 108 processing modules in the accompanying drawing 3, through the vehicle moving velocity, acceleration/accel, parameters such as the anglec of rotation and cireular frequency are judged vehicle running state.Below be some examples.
When vehicle translation vector direction forward, moving velocity is greater than the low speed threshold value that provides in advance, the anglec of rotation is less than the turning threshold value that provides in advance the time, the judgement vehicle is the motoring condition that normally advances;
When vehicle translation vector direction forward, moving velocity is greater than the low speed threshold value that provides in advance, vehicle acceleration is a negative value, the anglec of rotation judges that vehicle is the Easy abeadl motoring condition less than the turning threshold value that provides in advance the time;
When vehicle translation vector direction forward, moving velocity is less than the low speed threshold value that provides in advance, the anglec of rotation judges that vehicle is the ease ahead motoring condition less than the turning threshold value that provides in advance the time;
When vehicle translation vector direction forward, moving velocity is less than the low speed threshold value that provides in advance, vehicle acceleration is less than the turning threshold value that provides in advance the time, to judge that vehicle is the double ring ahead motoring condition on the occasion of, the anglec of rotation;
When vehicle translation vector direction forward, the anglec of rotation is greater than the turning threshold value that provides in advance, spin velocity be on the occasion of the time, judge that vehicle is for beginning to get into turn condition;
When vehicle translation vector direction forward, the anglec of rotation is greater than the turning threshold value that provides in advance, when spin velocity is negative value or zero, judges that vehicle is for keeping turn condition;
When the vehicle translation vector was close to zero, the judgement vehicle was a dead ship condition;
When vehicle translation vector direction backward the time, judge that vehicle is the reversing state.
Implementation step 7: the switching that viewing system shows
Like 108 processing modules in the accompanying drawing 3, carry out the switching that viewing system shows through vehicle running state.Below be some examples.
When vehicle gets into the ease ahead motoring condition by normal forward traveling through the Easy abeadl motoring condition, start viewing system and show that assistant window shows the vehicle front wide-angle image.
When vehicle got into dead ship condition by the ease ahead motoring condition, the viewing system assistant window can show wide-angle image all around respectively at interval according to certain hour.
When vehicle got into normal forward traveling by halted state through the Easy abeadl motoring condition, the closing ring viewing system showed.So that chaufeur is attentively driven.
When vehicle begins to get into turn condition by normal forward traveling, and when keeping turn condition, start viewing system and show that assistant window shows the side camera wide-angle image of turn direction.
After vehicle was got into normal forward traveling and continued a period of time by the maintenance turn condition, the closing ring viewing system showed.So that chaufeur is attentively driven.
Claims (6)
1. a method of judging vehicle running state is characterized in that, said method comprises:
In the composograph of vehicle-mounted viewing system, the characteristics of image that automatic searching can be followed the trail of, and in next frame, carry out characteristic matching, obtain the mobile vector of each characteristic
In the composograph of vehicle-mounted viewing system, obtain vehicle movement and hand of rotation through the characteristic mobile vector COMPREHENSIVE CALCULATING after each coupling
In the composograph of vehicle-mounted viewing system,, judge vehicle running state through the displacement and the anglec of rotation of frame vehicle before and after calculating.
2. method according to claim 1 is characterized in that, chooses the aerial unique point of overlooking on the picture of vehicle and matees, and birds-eye view obtains by the ultra wide-angle imaging head of vehicle's surroundings is synthetic.
3. method according to claim 1 is characterized in that, the selected characteristic amount uses any one matching algorithm to obtain corresponding point, and the changes in coordinates of record corresponding point is as mobile vector.
4. method according to claim 1 is characterized in that, according to the mobile vector of certain character pair point, uses 2 range formulas and angle formula to obtain a little moving velocity and the angle of rotation.
5. whether whether whether method according to claim 1 is characterized in that, can judge according to the data that calculate whether vehicle is current normally moves ahead, slow down, stop, move backward, status information such as whether turn.
6. method according to claim 1 is characterized in that, carries out the switching that viewing system shows according to the car status information of judging
When vehicle gets into the ease ahead motoring condition by normal forward traveling through the Easy abeadl motoring condition, start viewing system and show that assistant window shows the vehicle front wide-angle image
When vehicle got into dead ship condition by the ease ahead motoring condition, the viewing system assistant window can show wide-angle image all around respectively at interval according to certain hour
When vehicle got into normal forward traveling by halted state through the Easy abeadl motoring condition, the closing ring viewing system showed, so that chaufeur is attentively driven
When vehicle begins to get into turn condition by normal forward traveling, and when keeping turn condition, start viewing system and show that assistant window shows the side camera wide-angle image of turn direction
After vehicle was got into normal forward traveling and continued a period of time by the maintenance turn condition, the closing ring viewing system showed, so that chaufeur is attentively driven.
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| CN104159078A (en) * | 2014-08-11 | 2014-11-19 | 惠州市德赛西威汽车电子有限公司 | Plotting-type independent module dynamic trajectory reversing aid system and method thereof |
| CN105015418A (en) * | 2015-07-17 | 2015-11-04 | 惠州华阳通用电子有限公司 | Video switching method for vehicle-mounted display screen |
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| CN104159078B (en) * | 2014-08-11 | 2017-10-24 | 惠州市德赛西威汽车电子股份有限公司 | One kind point paints formula standalone module dynamic trajectory rear camera reversing aid system and its method |
| CN104159078A (en) * | 2014-08-11 | 2014-11-19 | 惠州市德赛西威汽车电子有限公司 | Plotting-type independent module dynamic trajectory reversing aid system and method thereof |
| CN105711497A (en) * | 2014-12-18 | 2016-06-29 | 视惟科技股份有限公司 | Backup camera system for automatically switching tri-state view angle and backup camera device of backup camera system |
| CN105015418A (en) * | 2015-07-17 | 2015-11-04 | 惠州华阳通用电子有限公司 | Video switching method for vehicle-mounted display screen |
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| CN106569245A (en) * | 2015-10-10 | 2017-04-19 | 腾讯科技（深圳）有限公司 | Vehicle positioning method and device |
| CN105430325A (en) * | 2015-11-03 | 2016-03-23 | 苏交科集团股份有限公司 | Method and system for positioning traffic flow direction rapidly in road monitoring video image |
| CN105946718A (en) * | 2016-06-08 | 2016-09-21 | 深圳芯智汇科技有限公司 | Vehicle-mounted terminal and reversing image toggle display method thereof |
| CN106251643B (en) * | 2016-09-21 | 2019-01-11 | 绍兴文理学院 | The system and method for vehicle monitoring is realized based on wireless sensor network |
| CN106251643A (en) * | 2016-09-21 | 2016-12-21 | 绍兴文理学院 | The system and method for vehicle monitoring is realized based on wireless sensor network |
| CN107914708A (en) * | 2016-10-07 | 2018-04-17 | 福特全球技术公司 | Rear barrier analyte detection and range estimation |
| CN106525070A (en) * | 2016-10-31 | 2017-03-22 | 成都路行通信息技术有限公司 | Automobile motion state detection method and system |
| CN106525070B (en) * | 2016-10-31 | 2019-07-19 | 成都路行通信息技术有限公司 | A kind of detection method and system of motion state of automobile |
| CN111836005A (en) * | 2019-04-23 | 2020-10-27 | 东莞潜星电子科技有限公司 | Vehicle-mounted 3D panoramic all-around driving route display system |
| CN111251997A (en) * | 2020-03-13 | 2020-06-09 | 北京汽车集团越野车有限公司 | Method, device and system for switching and controlling video image display modes of forward-looking camera |
| WO2021226772A1 (en) * | 2020-05-11 | 2021-11-18 | 上海欧菲智能车联科技有限公司 | Surround view display method and apparatus, computer device, and storage medium |
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| CN113674138B (en) * | 2020-05-14 | 2023-09-01 | 杭州海康威视数字技术股份有限公司 | Image processing method, device and system |
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