CN104097572A - Vehicle driving auxiliary device and method - Google Patents
Vehicle driving auxiliary device and method Download PDFInfo
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- CN104097572A CN104097572A CN201310125499.4A CN201310125499A CN104097572A CN 104097572 A CN104097572 A CN 104097572A CN 201310125499 A CN201310125499 A CN 201310125499A CN 104097572 A CN104097572 A CN 104097572A
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Abstract
The invention discloses a vehicle driving auxiliary device and a vehicle driving auxiliary method. The vehicle driving auxiliary device comprises lenses and a processing module, wherein the lenses are arranged at the rear end of a vehicle and are used for capturing the menu of the environment behind the vehicle to form an environment image; the processing module is used for reading the environment image, a driving image and a reversing image are selectively differentiated by the environment image according to the driving state or reversing state of the vehicle, and a display unit is controlled to display. The effect of reducing the number of lenses arranged at the rear end of the vehicle is achieved by a camera which can simultaneously capture the driving image and the reversing image.
Description
Technical field
The present invention relates to a kind of driving assistant device and method thereof, relate to especially and a kind ofly can capture the travelling image of rear vehicle end and the driving assistant device of reverse image and method thereof simultaneously.
Background technology
When running car, often because driver is careless, the variation of visual dead angles or external environment causes unexpected event Fang Sheng.And along with the development of Eltec, just the powerful arithmetic capability by driving computing machine is in conjunction with capture technical research parking assistance system for many researchists, Ji can be warned unexpected generation in advance, effectively auxiliary driver when driving.Parking assistance system (as common reverse radar system) is mainly with ultrasound sensors sensing and rear obstacle distance, then with sound size or frequency separation obstacle distance.Along with image sensor universalness, part reverse radar system is more taken actual scenery image, experiences the spatial relationship of vehicle and surrounding obstacle for driver's intuition.The driver that the skill of driving is more not familiar carries out reverse action by the auxiliary driver of this type of parking assistance system, can avoid side swipe vehicle's surroundings obstacle, allows vehicle avoid damaged in collision.
Refer to Fig. 1, the camera lens installing schematic diagram of its rear view of vehicle that is known technology.As shown in the figure, because reverse radar system is the image in order to take when reversing vehicle 99 rears, so need be installed in the position of rear bumper arm 991.Meanwhile, in the process of driving, also often need to take the image after vehicle, thus also must install camera lens at rear seat windscreen 992 places, to take the image of rear view of vehicle road in the time driving a vehicle.Thus, only rear view of vehicle just must at least fill plural camera lens, could the complete environmental images that presents car rear end.
Summary of the invention
Because the problem of above-mentioned known technology, object of the present invention is providing a kind of driving assistant device and method thereof exactly, to reduce the camera lens installing number in known technology.
For achieving the above object, the present invention takes following technical scheme:
According to an object of the present invention, a kind of driving assistant device is proposed, comprise camera lens and processing module.Camera lens is installed in the rear end of a vehicle, and the environment of its acquisition rear view of vehicle, to produce environmental images.Processing module reads environmental images, and processing module, according to the driving states of vehicle or reversing state, is optionally distinguished travelling image and reverse image by environmental images, and controls display unit and show.
Better one, driving assistant device can more comprise Image Segmentation module and judge module.It is Part I image and Part II image that Image Segmentation module is distinguished described environmental images, and Part I image and Part II image have the characteristic area of mutual overlapping; Judge module is the position in Part I image and Part II image according to characteristic area, judges that Part I image is travelling image, and Part II image is reverse image.
Better one, driving assistant device can more comprise anamorphic image correction module, in the time of driving, anamorphic image correction module reads the described Part I image of the radial distortion of tool, and according to correction parameter, Part I image reduction is become to travelling image, in the time of reversing, anamorphic image correction module reads the Part II image of the radial distortion of tool, and is reverse image according to correction parameter by Part II image reduction.
Better one, processing module can be according to normal images, and by the anamorphic image of the relative normal images of lens shooting, calculates the deformation of image rate between anamorphic image and normal images, to obtain correction parameter.
Better one, the rear end of described vehicle comprises rear seat windscreen portion and rear car cap, the described environmental images that described lens shooting rear seat windscreen portion and rear car cap are faced, in the time that described processing module reads described environmental images, state according to described vehicle in driving or reversing, optionally divides into described environmental images in the face of the travelling image of this rear seat windscreen portion of described vehicle or in the face of the reverse image of the rear car cap of described vehicle.
According to another object of the present invention, a kind of driving householder method is proposed, it comprises: install camera lens in the rear end of vehicle, and capture the environment of rear view of vehicle, to produce environmental images; And utilize processing module to read environmental images, processing module, according to the driving states of vehicle or reversing state, is optionally distinguished travelling image and reverse image by environmental images, and controls display unit and show.
Better one, driving householder method can more comprise: utilize Image Segmentation module to distinguish this environmental images for Part I image and Part II image, Part I image and Part II image have the characteristic area of mutual overlapping; And utilize judge module according to characteristic area the position in Part I image and Part II image, judge that Part I image is travelling image, Part II image is reverse image.
Better one, when driving householder method can more be included in driving, utilizes anamorphic image correction module to read the Part I image of the radial distortion of tool, and according to correction parameter, Part I image is proofreaied and correct, to become travelling image; In the time of reversing, read the Part II image of the radial distortion of tool, and be reverse image according to correction parameter by Part II image reduction.
Better one, processing module can be utilized normal images, and by the anamorphic image of the relative normal images of lens shooting, and calculate the deformation of image rate between anamorphic image and normal images, to obtain correction parameter.
Better one, the rear end of vehicle can comprise rear seat windscreen portion and rear car cap, the environmental images that lens shooting rear seat windscreen portion and rear car cap are faced, in the time that processing module reads environmental images, state according to vehicle in driving or reversing, optionally divides into environmental images in the face of the travelling image of the rear seat windscreen of vehicle or in the face of the reverse image of the rear car cap of vehicle.
The invention has the beneficial effects as follows: from the above, according to driving assistant device of the present invention and method thereof, it can install a pick-up lens that can simultaneously capture travelling image and reverse image in rear vehicle end, reach the effect that reduces car rear end camera lens and arrange number.
Brief description of the drawings
Fig. 1 is the camera lens installing schematic diagram of the rear view of vehicle of known technology.
Fig. 2 is the first schematic diagram of driving assistant device of the present invention.
The environmental images schematic diagram that Fig. 3 A captures for camera lens of the present invention.
Fig. 3 B is the calibrated environmental images schematic diagram of the present invention.
Fig. 4 is the system block diagrams of driving assistant device of the present invention.
Fig. 5 is the camera lens installing schematic diagram of the driving assistant device of another embodiment of the present invention.
Fig. 6 is the diagram of circuit of the driving householder method of one embodiment of the invention.
Fig. 7 is the processing module operation workflow figure of one embodiment of the invention.
Drawing reference numeral: 110: camera lens; 99,100,200: vehicle; 101,992: rear seat windscreen portion; 102: rear car cap; 120: processing module; 130: display unit; 140: Image Segmentation module; 150: judge module; 160: adjustment of image module; 201: after lift tailgate; 991: rear bumper arm; A: environmental images; A1: Part I image; A2: Part II image; B1: travelling image; B2: reverse image; S: characteristic area; P1, P2: R point; S11-S12, S121-S123: steps flow chart.
Detailed description of the invention
Refer to Fig. 2, Fig. 3 A, Fig. 3 B and Fig. 4, Fig. 2 is the schematic diagram of driving assistant device of the present invention, the environmental images schematic diagram that Fig. 3 A captures for camera lens of the present invention, Fig. 3 B is the calibrated environmental images schematic diagram of the present invention, the system block diagrams that Fig. 4 is driving assistant device of the present invention.
As shown in the figure, driving assistant device comprises camera lens 110 and processing module 120.Camera lens 110 is installed in the rear end of vehicle 100, to capture the environment at vehicle 100 rears, and produces environmental images A.120 of processing modules are the state in driving or the state of reversing according to vehicle 100, optionally environmental images A is distinguished to travelling image and reverse image, and controls display unit 130 and show.
The camera lens 110 that is noted that the present embodiment at this is fish eye lens, but not as limit.In other embodiments of the invention, camera lens 110 can be the wide-angle lens of other type.
Thus, because fish-eye visual angle is close to 180 degree, the environmental images A at acquisition car rear that therefore can be complete.Therefore the environmental images A of the present embodiment can further distinguish travelling image B1 and reverse image B2.More specifically, travelling image B1 is vehicle 100 while advancing, the shown car rear image of drive recorder on the market, the large environmental images A that slightly the rear seat windscreen portion 101 of vehicle faces of travelling image B1.And reverse image B2 is while being vehicle rollback, the environmental images A that the rear car cap 102 of the rear end of vehicle 100 is faced, during in order to auxiliary steerman reversing, grasps the road conditions at vehicle 100 rears.
The present embodiment is because camera lens 110 is wide-angle lens, so compared to known technology, 100, vehicle need, at a camera lens of the rear end of car installing, can replace the drive recorder camera lens at known rear and the function of Reverse Sensor simultaneously, reaches and simplifies effect that camera lens arranges.
Because the camera lens 110 of the present embodiment is fish eye lens, thus the scenery image that its environmental images A capturing is radial distortion, as shown in Figure 3A.The present embodiment can pass through a series of image treatment method, is normal environmental images in Fig. 3 B by the scenery image reduction of radial distortion in Fig. 3 A, and the upper part of distinguishing the environmental images A in Fig. 3 B is travelling image B1, and lower position is reverse image B2.The image treatment method of the present embodiment will be described in detail below.
First, the present embodiment can more comprise Image Segmentation module 140, judge module 150 and adjustment of image module 160.It is Part I image A1 and Part II image A2 that Image Segmentation module 140 can be distinguished environmental images A.Wherein, Part I image A1 and Part II image A2 have the characteristic area S of mutual overlapping.
Judge module 150 is electrically connected Image Segmentation module 140, the judge module 150 of the present embodiment can be according to characteristic area S the position in Part I image A1 and Part II image A2, judge that Part I image A1 and Part II image A2 belong to respectively travelling image B1 or belong to reverse image B2.
More specifically, the position of the present embodiment characteristic area S is positioned at the below of Part I image A1, and judge module 150 can judge that Part I image A1 should belong to travelling image B1 by this.In like manner, because the position of characteristic area S is positioned at the top of Part II image A2, should belong to reverse image so judge module 150 can judge Part II image A2, but the present invention is not as limit.In other embodiments of the invention, the position of characteristic area S can be positioned at the top of Part I image A1, and now judge module 150 can judge that Part I image should be reverse image.
Distortion correction module 160 can be electrically connected between judge module 150 and processing module 120, in order to proofread and correct Part I image A1 or the Part II image A2 of radiation distortion.More specifically, judge module 150 can be proofreaied and correct Part I image A1 or Part II image A2 according to a correction parameter.
For example, in the time that vehicle 100 is advanced, the anamorphic image correction module 150 of the present embodiment can read the Part I image A1 of the radial distortion of tool, and according to correction parameter, Part I image A1 reduction is become to normal travelling image B1.In like manner, in the time of reversing, anamorphic image correction module 15 can read the Part II image A2 of the radial distortion of tool, and according to correction parameter, Part II image A2 reduction is become to normal reverse image B2.
Wherein, correction parameter can utilize processing module 120 in advance according to a normal images, and is taken the anamorphic image of relative normal images by camera lens 110, and calculates the deformation of image rate between anamorphic image and normal images, to obtain correction parameter.
For example, the environmental images schematic diagram that the camera lens that Fig. 3 A is one embodiment of the invention captures.Wherein, centered by the characteristic of the captured scenery of fish eye lens, the pel spacing in region is less, and distance center region is far away, and pel spacing is larger.Overall image perception is as the center-point by image, radial to image distortion around.And Fig. 3 B calibrated environmental images schematic diagram that is the present invention.Taking the calibrated normal images later of Fig. 3 B as example, deformation of image rate can be with reference to two R point P1, P2 in figure 3B and this two R point P1, the position of P2 in 3A figure, and can learn the deformation of image rate of the environmental images of radiating distortion in Fig. 3 A, and then obtain correction parameter.
The correction parameter that is noted that driving assistant device of the present invention at this can be set before driving assistant device dispatches from the factory, and setting means is not limited in the mode of above-mentioned calculating deformation of image rate.In other embodiments of the invention, also can calculate the parameters such as the radius of curvature of fish eye lens itself, push back out the deformation of image rate of the captured image of fish eye lens.
It is worth mentioning that, the present embodiment, by can intercept the camera lens 110 of reverse image and travelling image simultaneously, can reduce in fact camera lens 110 numbers of the vehicle 100 required installings in rear end.Wherein, the camera lens 110 of the present embodiment is wide-angle lens, and as fish eye lens etc., and its camera lens can be installed in as Fig. 2 is trial the rear car cap 102 of the rear end of vehicle 100, but not as limit.Refer to Fig. 5, the camera lens installing schematic diagram of its driving assistant device that is another embodiment of the present invention.As shown in the figure, the vehicle 200 of the present embodiment is Recreational Vehicle, lift tailgate 201, and camera lens 110 lifts after being installed in tailgate 201, to capture travelling image and reverse image simultaneously after its rear end comprises.
Then refer to Fig. 6, the diagram of circuit of the driving householder method that it is one embodiment of the invention.As shown in the figure, first, as step S11: installing camera lens is in the rear end of vehicle, and the environment that captures rear view of vehicle is to produce environmental images.
Then, as step S12: utilize processing module to read environmental images, processing module, according to the driving states of vehicle or reversing state, is optionally distinguished travelling image and reverse image by environmental images, and control display unit and show.
Refer to Fig. 7, the processing module operation workflow figure that it is one embodiment of the invention.Wherein, in step S12, can more comprise step S121: utilize Image Segmentation block region time-sharing environment image for Part I image and Part II image, Part I image and Part II image have the characteristic area of mutual overlapping.
Then, as step S122: utilize judge module according to characteristic area the position in Part I image and Part II image, judge that Part I image is travelling image, Part II image is reverse image.
Then, when when driving, as step S123: utilize anamorphic image correction module to read the Part I image of the radial distortion of tool, and according to correction parameter, Part I image is proofreaied and correct, to become travelling image.When reversing, as step S124: utilize anamorphic image correction module to read the Part II image of the radial distortion of tool, and be this reverse image according to correction parameter by Part II image reduction.
In sum, the present invention is owing to can receive the required reverse image of reversing in the installing of car rear simultaneously, and the camera lens of the rear view of vehicle travelling image of driving a vehicle required, so can reduce the camera lens installing number of rear vehicle end.In other words, driving ancillary system of the present invention and method do not need rear seat windscreen and the rear bumper arm at vehicle respectively to install respectively recording journey camera lens and reverse image camera lens etc., and therefore the present invention can reduce the number of camera lens installing.
The foregoing is only illustrative, but not be restricted person.Anyly do not depart from spirit of the present invention and category, and equivalent modifications or change that it is carried out all should be contained in accompanying claims.
Claims (10)
1. a driving assistant device, is characterized in that, it comprises:
Camera lens, is installed in the rear end of vehicle, and it captures the environment of described rear view of vehicle, to produce environmental images; And
Processing module, reads described environmental images, and described processing module, according to the driving states of described vehicle or reversing state, is optionally distinguished travelling image and reverse image by described environmental images, and controls display unit and show.
2. driving assistant device as claimed in claim 1, is characterized in that, more comprises:
Image Segmentation module, distinguishing described environmental images is Part I image and Part II image, described Part I image and described Part II image have the characteristic area of mutual overlapping; And
Judge module, the position according to described characteristic area in described Part I image and described Part II image, judges that described Part I image is described travelling image, described Part II image is described reverse image.
3. driving assistant device as claimed in claim 2, it is characterized in that, more comprise anamorphic image correction module, in the time of driving, described anamorphic image correction module reads the described Part I image of the radial distortion of tool, and according to correction parameter, described Part I image reduction is become to described travelling image, in the time of reversing, described anamorphic image correction module reads the described Part II image of the radial distortion of tool, and is described reverse image according to described correction parameter by described Part II image reduction.
4. driving assistant device as claimed in claim 3, it is characterized in that, described processing module is according to normal images, and by the anamorphic image of the relatively described normal images of described lens shooting, calculate the deformation of image rate between described anamorphic image and described normal images, to obtain described correction parameter.
5. driving assistant device as claimed in claim 1, it is characterized in that, the rear end of described vehicle comprises rear seat windscreen portion and rear car cap, the described environmental images that described in described lens shooting, rear seat windscreen portion and described rear car cap are faced, in the time that described processing module reads described environmental images, state according to described vehicle in driving or reversing, optionally divides into described environmental images in the face of the travelling image of the described rear seat windscreen portion of described vehicle or in the face of the reverse image of the described rear car cap of described vehicle.
6. a driving householder method, is characterized in that, it comprises:
Install camera lens in the rear end of vehicle, and capture the environment of described rear view of vehicle, to produce environmental images; And
Utilize processing module to read described environmental images, described processing module, according to the driving states of described vehicle or reversing state, is optionally distinguished travelling image and reverse image by described environmental images, and controls display unit and show.
7. driving householder method according to claim 6, is characterized in that, more comprises:
Utilize Image Segmentation module to distinguish described environmental images for Part I image and Part II image, described Part I image and described Part II image have the characteristic area of mutual overlapping; And
Utilize judge module according to described characteristic area the position in described Part I image and described Part II image, judge that described Part I image is described travelling image, described Part II image is described reverse image.
8. driving householder method according to claim 7, it is characterized in that, while being more included in driving, utilize anamorphic image correction module to read the described Part I image of the radial distortion of tool, and according to correction parameter, described Part I image is proofreaied and correct, to become described travelling image; In the time of reversing, read the described Part II image of the radial distortion of tool, and be described reverse image according to described correction parameter by described Part II image reduction.
9. driving householder method according to claim 8, it is characterized in that, described processing module is utilized normal images, and by the anamorphic image of the relatively described normal images of described lens shooting, and calculate the deformation of image rate between described anamorphic image and described normal images, to obtain described correction parameter.
10. driving householder method according to claim 6, it is characterized in that, the rear end of described vehicle comprises rear seat windscreen portion and rear car cap, the described environmental images that described in described lens shooting, rear seat windscreen portion and described rear car cap are faced, in the time that described processing module reads described environmental images, state according to described vehicle in driving or reversing, optionally divides into described environmental images in the face of the travelling image of the rear seat windscreen of described vehicle or in the face of the reverse image of the rear car cap of described vehicle.
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| CN105882525A (en) * | 2016-04-13 | 2016-08-24 | 乐视控股（北京）有限公司 | Method, device and system for displaying rear view |
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