CN103950410A - Panoramic auxiliary driving method and system - Google Patents
Panoramic auxiliary driving method and system Download PDFInfo
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- CN103950410A CN103950410A CN201410176321.7A CN201410176321A CN103950410A CN 103950410 A CN103950410 A CN 103950410A CN 201410176321 A CN201410176321 A CN 201410176321A CN 103950410 A CN103950410 A CN 103950410A
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Abstract
The invention discloses a panoramic auxiliary driving method and system. The system comprises a detecting module, an identifying module, a calculating module and a display module. According to the system, all-round real-time images around a vehicle without a dead angle through fisheye cameras mounted in the front direction, the rear direction, the left direction and the right direction of the vehicle can be obtained; four images can be calibrated to normal angle images combing with parameters of the fisheye cameras calibrated in advance; surrounding vehicles can be identified real-timely through a vehicle identification algorithm; then the position of a current vehicle on a current lane can be calculated through a lane test algorithm; finally, according to a certain scaling factor, relative position information between the current vehicle and the surrounding vehicles and the current lane is simulatively displayed on the central control display with an overlook angle; therefore, a driver can clearly see the relative position of the current vehicle among the surrounding vehicles through a 360 degree of panoramic display, so that the driving safety of the driver is improved.
Description
Technical field
The present invention relates to automobile technical field, relate in particular to a kind of panorama type auxiliary driving method and system.
Background technology
At present, common DAS (Driver Assistant System) (ADAS, Advanced Driver Assistance System) is mainly for the spacing of vehicle front and the identification in track, and its identification angular field of view is limited, and driver assistance carries out driver behavior comprehensively.
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention propose one can 360 degree (or claim the formula of overlooking, or claim hawkeye visual angle) the panorama auxiliary driving method and the system that detect, to improve the drive safety of chaufeur.
In order to achieve the above object, the present invention proposes a kind of panorama type auxiliary driving method, comprising:
By being arranged on the camera when vehicle in front front, rear, left and right four direction, detect the realtime graphic information that obtains current vehicle periphery;
The realtime graphic information of the current vehicle periphery described detection being obtained according to predetermined vehicle identification algorithm is carried out vehicle identification, and around obtaining, other vehicle is with respect to distance and position when vehicle in front;
By lane detection algorithm, calculate when the relative position of vehicle in front in current track;
Other vehicle around, with respect to distance and position when vehicle in front, and is presented on middle control telltale when the relative position information of vehicle in front in current track.
Preferably, described detection obtains also comprising after the step of realtime graphic information of current vehicle periphery:
In conjunction with the camera parameter of demarcating in advance, go distortion and proofread and correct and process detecting the realtime graphic information of the vehicle periphery obtaining.
Preferably, described detection obtains also comprising before the step of realtime graphic information of current vehicle periphery:
By default standardization, described camera is demarcated, obtained respectively each camera parameter.
Preferably, the realtime graphic information of the current vehicle periphery described detection being obtained according to predetermined vehicle identification algorithm is carried out vehicle identification, obtains other vehicle around and comprises with respect to working as the distance of vehicle in front and the step of position:
Location information according to other vehicle obtaining in realtime graphic, in conjunction with the setting height(from bottom) of camera, adopt predetermined vehicle identification algorithm, calculate the position of other vehicle from corresponding camera, and identify length and the headstock position of vehicle below of car side, the side vehicle of the tailstock, the side vehicle of front vehicles, obtain around other vehicle with respect to distance and position when vehicle in front.
Preferably, by lane detection algorithm, calculate and comprise in the step of the relative position in current track when vehicle in front:
By forward and backward camera, carry out respectively lane detection;
By the track and the horizontal angle that detect, calculate when the relative position of vehicle in front in current track.
Preferably, the method also comprises:
In the time that vehicle in front needs lane change, according to when the moving velocity of vehicle in front, and when the relative position of vehicle in front and side vehicle, calculate when whether safety of vehicle in front lane change, if dangerous, the corresponding lane mark that glimmers, and send alarm sound.
Preferably, the method also comprises:
In the time of the unexpected sudden stop of front truck, in the display position when between vehicle in front and front truck, send alerting signal.
The present invention also proposes a kind of panorama type DAS (Driver Assistant System), comprising:
Detection module, for by being arranged on the camera when vehicle in front front, rear, left and right four direction, detects the realtime graphic information that obtains current vehicle periphery;
Identification module, carries out vehicle identification for the realtime graphic information of the current vehicle periphery that described detection obtained according to predetermined vehicle identification algorithm, obtains around other vehicle with respect to distance and position when vehicle in front;
Computing module, for by lane detection algorithm, calculates when the relative position of vehicle in front in current track;
Display module, for by other vehicle around with respect to distance and position when vehicle in front, and be presented on middle control telltale when the relative position information of vehicle in front in current track.
Preferably, this system also comprises:
Processing module, for described camera being demarcated by default standardization, obtain respectively each camera parameter, and in conjunction with the camera parameter of demarcating in advance, go distortion and proofread and correct and process preferably detecting the realtime graphic information of the vehicle periphery obtaining, described identification module, also for the location information at realtime graphic according to other vehicle obtaining, in conjunction with the setting height(from bottom) of camera, adopt predetermined vehicle identification algorithm, calculate the position of other vehicle from corresponding camera, and identify the tailstock of front vehicles, the car side of side vehicle, the headstock position of the length of side vehicle and below vehicle, around obtaining, other vehicle is with respect to distance and position when vehicle in front,
Described computing module, also, for by forward and backward camera, carries out respectively lane detection; By the track and the horizontal angle that detect, calculate when the relative position of vehicle in front in current track.
Preferably, this system also comprises:
Warning module, in the time that vehicle in front needs lane change, according to the moving velocity when vehicle in front, and when the relative position of vehicle in front and side vehicle, calculate when whether safety of vehicle in front lane change, if dangerous, the corresponding lane mark that glimmers, and send alarm sound; And in the time of the unexpected sudden stop of front truck, in the display position when between vehicle in front and front truck, send alerting signal.
A kind of panorama type auxiliary driving method and system that the present invention proposes, by being contained in the car fish-eye camera of four direction all around, can obtain without the realtime graphic of looking around around the car at dead angle, in conjunction with the fish-eye camera parameter of demarcating in advance, can proofread and correct four images and become normal visual angle image, by vehicle identification algorithm, can Real time identification go out vehicle around and (comprise the tailstock of front vehicles, the car side of side vehicle, the headstock of vehicle below), again by lane detection algorithm, can calculate when vehicle in front is in the position in current track, finally, according to certain scaling, by the relative position information when vehicle in front, be presented on middle control telltale with the form of birds-eye view, (or claim the formula of overlooking by 360 degree panorama types thus, or claim hawkeye visual angle) demonstration, chaufeur can be seen clearly when the vehicle in front relative position in vehicle around, thereby driver assistance carries out driver behavior comprehensively, improve the drive safety of chaufeur.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of panorama type auxiliary driving method the first embodiment of the present invention;
Fig. 2 is that in the present invention, vehicle DAS (Driver Assistant System) panorama type (overlooking formula) shows schematic diagram;
Fig. 3 is the schematic flow sheet of panorama type auxiliary driving method the second embodiment of the present invention;
Fig. 4 is the schematic flow sheet of panorama type auxiliary driving method the 3rd embodiment of the present invention;
Fig. 5 is the high-level schematic functional block diagram of panorama type DAS (Driver Assistant System) the first embodiment of the present invention;
Fig. 6 is the high-level schematic functional block diagram of panorama type DAS (Driver Assistant System) the second embodiment of the present invention;
Fig. 7 is the high-level schematic functional block diagram of panorama type DAS (Driver Assistant System) the 3rd embodiment of the present invention.
In order to make technical scheme of the present invention clearer, clear, be described in further detail below in conjunction with accompanying drawing.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, a kind of panorama type auxiliary driving method that first embodiment of the invention proposes, comprising:
Step S101, by being arranged on the camera when vehicle in front front, rear, left and right four direction, detects the realtime graphic information that obtains current vehicle periphery;
The present embodiment is respectively provided with a fish-eye camera in front face, four positions of sided mirror unit and rear car plate portion of vehicle respectively, by four fish-eye cameras, detect the image of vehicle front, rear, left and right four direction, can obtain without the vehicle periphery at dead angle look around real-time flake visual angle graphicinformation, and can be by going distortion and proofreading and correct the image that obtains normal visual angle.
Step S102, the in real time normal visual angle graphicinformation of the current vehicle periphery described detection being obtained according to predetermined vehicle identification algorithm is carried out vehicle identification, and around obtaining, other vehicle is with respect to distance and position when vehicle in front;
Detecting and proofread and correct after the in real time normal visual angle graphicinformation that obtains current vehicle periphery, the four width realtime graphics that obtain are carried out to vehicle identification, to obtain other vehicle with respect to distance and position when vehicle in front.
In the time that realtime graphic information is carried out to vehicle identification, can adopt predetermined vehicle identification algorithm, such as adopting AdaBoost sorting algorithm based on Haar feature (or the svm classifier algorithm based on LBP feature etc.), can identify other vehicle around and (comprise the tailstock of front vehicles, the car side of side vehicle, the headstock of the length of side vehicle and below vehicle) with respect to distance and position when vehicle in front.Certainly, for different four directions, the pattern of identification is respectively face and car side face before face after car, car, and this just need to learn these patterns in advance, and its learning process can complete on background server.The above-mentioned AdaBoost sorting algorithm based on Haar feature, the svm classifier algorithm based on LBP feature etc. are the prior art of computer vision and image processing field, do not repeat them here.
Step S103, by lane detection algorithm, calculates when vehicle in front is at the relative position in current track;
Obtaining behind the position of other vehicle in realtime graphic, by pinhole imaging system principle, in conjunction with the setting height(from bottom) of camera, calculate other vehicle from the distance of each camera and the length of side vehicle.
Then,, for forward sight and rearview camera, carry out respectively lane detection.By track and horizontal angle, can calculate when the relative position of vehicle in front in current track, comprise when vehicle in front is with respect to the relative position of other vehicle around.
Step S104, with respect to distance and position when vehicle in front, and is presented at other vehicle around on middle control telltale when the relative position information of vehicle in front in current track.
Finally, according to certain scaling, to overlook formula visual angle, the relative position information when vehicle in front is presented on middle control telltale.Thus, by the demonstration of panorama type (overlooking formula), chaufeur can be seen clearly when the vehicle in front relative position in vehicle around, as shown in Figure 2.
The present embodiment passes through such scheme, by being contained in the car fish-eye camera of four direction all around, can obtain without the realtime graphic of looking around around the car at dead angle, in conjunction with the fish-eye camera parameter of demarcating in advance, can proofread and correct four images and become normal visual angle image, by vehicle identification algorithm, can Real time identification go out vehicle around and (comprise the tailstock of front vehicles, the car side of side vehicle, the headstock of vehicle below), again by lane detection algorithm, can calculate when vehicle in front is in the position in current track, finally, according to certain scaling, by the relative position information when vehicle in front, be presented on middle control telltale with the form of birds-eye view, (or claim the formula of overlooking by 360 degree panorama types thus, or claim hawkeye visual angle) demonstration, chaufeur can be seen clearly when the vehicle in front relative position in vehicle around, thereby driver assistance carries out driver behavior comprehensively, improve the drive safety of chaufeur.
As shown in Figure 3, a kind of panorama type auxiliary driving method that second embodiment of the invention proposes, on the basis of the first embodiment shown in above-mentioned Fig. 1, at above-mentioned steps S101: also comprise before detecting the realtime graphic information that obtains current vehicle periphery:
Step S100, demarcates described camera by default standardization, obtains respectively each camera parameter.
At above-mentioned steps S101: also comprise after detecting the realtime graphic information that obtains current vehicle periphery:
Step S105, in conjunction with the camera parameter of demarcating in advance, goes distortion and proofreaies and correct and process detecting the realtime graphic information of the vehicle periphery obtaining.
The difference of the first embodiment shown in the present embodiment and above-mentioned Fig. 1 is, the present embodiment also comprises each camera is carried out to parameter calibration, and in conjunction with the camera parameter of demarcating, go distortion and proofread and correct the scheme of processing detecting the realtime graphic information of the vehicle periphery obtaining, to improve the accuracy of Image Information Processing.
Particularly, in the time that camera is installed, first system demarcates four cameras, can be by standardizations such as Zhang Zhengyou, obtain respectively each camera parameter.
Obtain in detection after the realtime graphic information of current vehicle periphery, in conjunction with the camera parameter of demarcating in advance, convert by homography, can go distortion processing to obtaining four width images, correction of spherical formula image becomes normal vision image.
Then, four width images after proofreading and correct are carried out respectively to vehicle identification, detect vehicle around (comprise the tailstock of front vehicles, the car side of side vehicle, after the headstock of vehicle) position.
Thus, by each camera is carried out to parameter calibration, and in conjunction with the camera parameter of demarcating, go distortion and proofread and correct the scheme of processing detecting the realtime graphic information of the vehicle periphery obtaining, improve the accuracy of Image Information Processing, and then improved the accuracy of vehicle location identifying information.
As shown in Figure 4, a kind of panorama type auxiliary driving method that third embodiment of the invention proposes, on the basis of the second embodiment shown in above-mentioned Fig. 3, at above-mentioned steps S104: also comprise after being presented on middle control telltale when the relative position information of vehicle in front in current track:
Step S106, in the time that vehicle in front needs lane change, according to the moving velocity when vehicle in front, and when the relative position of vehicle in front and side vehicle, calculate when whether safety of vehicle in front lane change, if dangerous, the corresponding lane mark that glimmers, and send alarm sound; And, in the time of the unexpected sudden stop of front truck, in the display position when between vehicle in front and front truck, send alerting signal.
The difference of the second embodiment shown in the present embodiment and above-mentioned Fig. 3 is, the present embodiment also comprises the vehicle early warning scheme obtaining after panorama shows.
Particularly, in the present embodiment, first, obtaining when after the relative position information of vehicle in front in current track, can be by the demonstration of panorama type (overlooking formula), chaufeur can be seen clearly when the vehicle in front relative position in vehicle around, facilitate chaufeur to carry out safe driving operation according to the location information showing.
In addition,, in the time that chaufeur is thought lane change, system can be according to current speed, and when the relative position of vehicle in front and side vehicle, calculate whether safety of Current Transform track, if dangerous, the corresponding lane mark that can glimmer, and send alarm sound, remind chaufeur to take care.
In addition, as another kind of application scenarios, in the time of the unexpected emergency brake of front truck, panorama demonstration meeting is sent alerting signal in the demonstration when between front truck and front truck, comprises equally the warning of sound and image two aspects, thus, has improved the traffic safety of chaufeur.
As shown in Figure 5, first embodiment of the invention proposes a kind of panorama type DAS (Driver Assistant System), comprising: detection module 201, identification module 202, computing module 203 and display module 204, wherein:
Detection module 201, for by being arranged on the camera when vehicle in front front, rear, left and right four direction, detects the realtime graphic information that obtains current vehicle periphery;
Identification module 202, carries out vehicle identification for the realtime graphic information of the current vehicle periphery that described detection obtained according to predetermined vehicle identification algorithm, obtains around other vehicle with respect to distance and position when vehicle in front;
Computing module 203, for by lane detection algorithm, calculates when the relative position of vehicle in front in current track;
Display module 204, for by other vehicle around with respect to distance and position when vehicle in front, and be presented on middle control telltale when the relative position information of vehicle in front in current track.
The present embodiment is respectively provided with a fish-eye camera in front face, four positions of sided mirror unit and rear car plate portion of vehicle respectively, by four fish-eye cameras, detect the image of vehicle front, rear, left and right four direction, can obtain without the vehicle periphery at dead angle look around real-time flake visual angle graphicinformation, and can be by going distortion and proofreading and correct the image that obtains normal visual angle.
Detecting and proofread and correct after the in real time normal visual angle graphicinformation that obtains current vehicle periphery, the four width realtime graphics that obtain are carried out to vehicle identification, to obtain other vehicle with respect to distance and position when vehicle in front.
In the time that realtime graphic information is carried out to vehicle identification, can adopt predetermined vehicle identification algorithm, such as adopting AdaBoost sorting algorithm based on Haar feature (or the svm classifier algorithm based on LBP feature etc.), can Real time identification go out other vehicle around and (comprise the tailstock of front vehicles, the car side of side vehicle, the headstock of the length of side vehicle and below vehicle) with respect to distance and position when vehicle in front.Certainly, for different four directions, the pattern of identification is respectively face and car side face before face after car, car, and this just need to learn these patterns in advance, and its learning process can complete on background server.The above-mentioned AdaBoost sorting algorithm based on Haar feature, the svm classifier algorithm based on LBP feature etc. are the prior art of computer vision and image processing field, do not repeat them here.
Obtaining behind the position of other vehicle in realtime graphic, by pinhole imaging system principle, in conjunction with the setting height(from bottom) of camera, calculate other vehicle from the distance of each camera and the length of side vehicle.
Then,, for forward sight and rearview camera, carry out respectively lane detection.By track and horizontal angle, can calculate when the relative position of vehicle in front in current track, comprise when vehicle in front is with respect to the relative position of other vehicle around.
Finally, according to certain scaling, to overlook formula visual angle, the relative position information when vehicle in front is presented on middle control telltale.Thus, by the demonstration of panorama type (overlooking formula), chaufeur can be seen clearly when the vehicle in front relative position in vehicle around, as shown in Figure 2.
The present embodiment passes through such scheme, by being contained in the car fish-eye camera of four direction all around, can obtain without the realtime graphic of looking around around the car at dead angle, in conjunction with the fish-eye camera parameter of demarcating in advance, can proofread and correct four images and become normal visual angle image, by vehicle identification algorithm, can Real time identification go out vehicle around and (comprise the tailstock of front vehicles, the car side of side vehicle, the headstock of vehicle below), again by lane detection algorithm, can calculate when vehicle in front is in the position in current track, finally, according to certain scaling, by the relative position information when vehicle in front, be presented on middle control telltale with the form of birds-eye view, (or claim the formula of overlooking by 360 degree panorama types thus, or claim hawkeye visual angle) demonstration, chaufeur can be seen clearly when the vehicle in front relative position in vehicle around, thereby driver assistance carries out driver behavior comprehensively, improve the drive safety of chaufeur.
As shown in Figure 6, second embodiment of the invention proposes a kind of panorama type DAS (Driver Assistant System), on the basis of the first embodiment shown in above-mentioned Fig. 5, also comprises:
Processing module 205, for described camera being demarcated by default standardization, obtain respectively each camera parameter, and in conjunction with the camera parameter of demarcating in advance, go distortion and proofread and correct and process detecting the realtime graphic information of the vehicle periphery obtaining.
The difference of the first embodiment shown in the present embodiment and above-mentioned Fig. 5 is, the present embodiment also comprises each camera is carried out to parameter calibration, and in conjunction with the camera parameter of demarcating, go distortion and proofread and correct the scheme of processing detecting the realtime graphic information of the vehicle periphery obtaining, to improve the accuracy of Image Information Processing.
Particularly, in the time that camera is installed, first system demarcates four cameras, can be by standardizations such as Zhang Zhengyou, obtain respectively each camera parameter.
Obtain in detection after the realtime graphic information of current vehicle periphery, in conjunction with the camera parameter of demarcating in advance, convert by homography, can go distortion processing to obtaining four width images, correction of spherical formula image becomes normal vision image.
Then, four width images after proofreading and correct are carried out respectively to vehicle identification, detect vehicle around (comprise the tailstock of front vehicles, the car side of side vehicle, after the headstock of vehicle) position.
Thus, by each camera is carried out to parameter calibration, and in conjunction with the camera parameter of demarcating, go distortion and proofread and correct the scheme of processing detecting the realtime graphic information of the vehicle periphery obtaining, improve the accuracy of Image Information Processing, and then improved the accuracy of vehicle location identifying information.
As shown in Figure 7, third embodiment of the invention proposes a kind of panorama type DAS (Driver Assistant System), on the basis of the second embodiment shown in above-mentioned Fig. 6, also comprises:
Warning module 206, in the time that vehicle in front needs lane change, according to the moving velocity when vehicle in front, and when the relative position of vehicle in front and side vehicle, calculate when whether safety of vehicle in front lane change, if dangerous, the corresponding lane mark that glimmers, and send alarm sound; And in the time of the unexpected sudden stop of front truck, in the display position when between vehicle in front and front truck, send alerting signal.
The difference of the second embodiment shown in the present embodiment and above-mentioned Fig. 6 is, the present embodiment also comprises the vehicle early warning scheme obtaining after panorama shows.
Particularly, in the present embodiment, first, obtaining when after the relative position information of vehicle in front in current track, can be by the demonstration of panorama type (overlooking formula), chaufeur can be seen clearly when the vehicle in front relative position in vehicle around, facilitate chaufeur to carry out safe driving operation according to the location information showing.
In addition,, in the time that chaufeur is thought lane change, system can be according to current speed, and when the relative position of vehicle in front and side vehicle, calculate whether safety of Current Transform track, if dangerous, the corresponding lane mark that can glimmer, and send alarm sound, remind chaufeur to take care.
In addition, as another kind of application scenarios, in the time of the unexpected emergency brake of front truck, panorama demonstration meeting is sent alerting signal in the demonstration when between front truck and front truck, comprises equally the warning of sound and image two aspects, thus, has improved the traffic safety of chaufeur.
Embodiment of the present invention panorama type auxiliary driving method and system, by being contained in the car fish-eye camera of four direction all around, can obtain without the realtime graphic of looking around around the car at dead angle, in conjunction with the fish-eye camera parameter of demarcating in advance, can proofread and correct four images and become normal visual angle image, by vehicle identification algorithm, can Real time identification go out vehicle around and (comprise the tailstock of front vehicles, the car side of side vehicle, the headstock of vehicle below), again by lane detection algorithm, can calculate when vehicle in front is in the position in current track, finally, according to certain scaling, by the relative position information when vehicle in front, be presented on middle control telltale with the form of birds-eye view, (or claim the formula of overlooking by 360 degree panorama types thus, or claim hawkeye visual angle) demonstration, chaufeur can be seen clearly when the vehicle in front relative position in vehicle around, thereby driver assistance carries out driver behavior comprehensively, improve the drive safety of chaufeur.
Above are only the preferred embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or flow process conversion that utilizes specification sheets of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a panorama type auxiliary driving method, is characterized in that, comprising:
By being arranged on the camera when vehicle in front front, rear, left and right four direction, detect the realtime graphic information that obtains current vehicle periphery;
The realtime graphic information of the current vehicle periphery described detection being obtained according to predetermined vehicle identification algorithm is carried out vehicle identification, and around obtaining, other vehicle is with respect to distance and position when vehicle in front;
By lane detection algorithm, calculate when the relative position of vehicle in front in current track;
Other vehicle around, with respect to distance and position when vehicle in front, and is presented on middle control telltale when the relative position information of vehicle in front in current track.
2. method according to claim 1, is characterized in that, the step that described detection obtains the realtime graphic information of current vehicle periphery also comprises afterwards:
In conjunction with the camera parameter of demarcating in advance, go distortion and proofread and correct and process detecting the realtime graphic information of the vehicle periphery obtaining.
3. method according to claim 2, is characterized in that, the step that described detection obtains the realtime graphic information of current vehicle periphery also comprises before:
By default standardization, described camera is demarcated, obtained respectively each camera parameter.
4. method according to claim 2, it is characterized in that, the realtime graphic information of the current vehicle periphery described detection being obtained according to predetermined vehicle identification algorithm is carried out vehicle identification, obtains other vehicle around and comprises with respect to working as the distance of vehicle in front and the step of position:
Location information according to other vehicle obtaining in realtime graphic, in conjunction with the setting height(from bottom) of camera, adopt predetermined vehicle identification algorithm, calculate the position of other vehicle from corresponding camera, and identify length and the headstock position of vehicle below of car side, the side vehicle of the tailstock, the side vehicle of front vehicles, obtain around other vehicle with respect to distance and position when vehicle in front.
5. according to the method described in claim 1,2,3 or 4, it is characterized in that, by lane detection algorithm, calculate and comprise in the step of the relative position in current track when vehicle in front:
By forward and backward camera, carry out respectively lane detection;
By the track and the horizontal angle that detect, calculate when the relative position of vehicle in front in current track.
6. method according to claim 5, is characterized in that, also comprises:
In the time that vehicle in front needs lane change, according to when the moving velocity of vehicle in front, and when the relative position of vehicle in front and side vehicle, calculate when whether safety of vehicle in front lane change, if dangerous, the corresponding lane mark that glimmers, and send alarm sound.
7. method according to claim 5, is characterized in that, also comprises:
In the time of the unexpected sudden stop of front truck, in the display position when between vehicle in front and front truck, send alerting signal.
8. a panorama type DAS (Driver Assistant System), is characterized in that, comprising:
Detection module, for by being arranged on the camera when vehicle in front front, rear, left and right four direction, detects the realtime graphic information that obtains current vehicle periphery;
Identification module, carries out vehicle identification for the realtime graphic information of the current vehicle periphery that described detection obtained according to predetermined vehicle identification algorithm, obtains around other vehicle with respect to distance and position when vehicle in front;
Computing module, for by lane detection algorithm, calculates when the relative position of vehicle in front in current track;
Display module, for by other vehicle around with respect to distance and position when vehicle in front, and be presented on middle control telltale when the relative position information of vehicle in front in current track.
9. system according to claim 8, is characterized in that, also comprises:
Processing module, demarcates described camera for the standardization by default, obtains respectively each camera parameter, and in conjunction with the camera parameter of demarcating in advance, goes distortion and proofread and correct and process detecting the realtime graphic information of the vehicle periphery obtaining;
Described identification module, also for the location information at realtime graphic according to other vehicle obtaining, in conjunction with the setting height(from bottom) of camera, adopt predetermined vehicle identification algorithm, calculate the position of other vehicle from corresponding camera, and identify length and the headstock position of vehicle below of car side, the side vehicle of the tailstock, the side vehicle of front vehicles, obtain around other vehicle with respect to distance and position when vehicle in front;
Described computing module, also, for by forward and backward camera, carries out respectively lane detection; By the track and the horizontal angle that detect, calculate when the relative position of vehicle in front in current track.
10. system according to claim 8 or claim 9, is characterized in that, also comprises:
Warning module, in the time that vehicle in front needs lane change, according to the moving velocity when vehicle in front, and when the relative position of vehicle in front and side vehicle, calculate when whether safety of vehicle in front lane change, if dangerous, the corresponding lane mark that glimmers, and send alarm sound; And in the time of the unexpected sudden stop of front truck, in the display position when between vehicle in front and front truck, send alerting signal.
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