CN104309531A - Vehicle front view system and use method thereof - Google Patents
Vehicle front view system and use method thereof Download PDFInfo
- Publication number
- CN104309531A CN104309531A CN201410517379.3A CN201410517379A CN104309531A CN 104309531 A CN104309531 A CN 104309531A CN 201410517379 A CN201410517379 A CN 201410517379A CN 104309531 A CN104309531 A CN 104309531A
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- image
- camera
- ecu
- vehicle
- light deflector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
Abstract
The invention discloses a vehicle front view system. The system comprises a camera, a camera shield and a reflector, wherein a top shield plate in the camera shield comprises a horizontal top plate and a tilting top plate; one end of the tilting top plate is vertically connected with a lateral connecting plate through the horizontal top plate, and the other end of the tilting top plate is arranged close to the optical axis of the camera; the reflector which is arranged close to the optical axis is fixedly connected with the inner side of the tilting top plate. During use, A/B region images are firstly acquired, wherein the A region image indicates the image of a pavement close to a vehicle, and the B region image indicates the image of a view below a ground vanishing line in front of the camera; the A region image is processed to obtain characteristic data of the pavement close to the vehicle; the B region image is processed according to the characteristic data of the pavement to obtain front lane line target data and vehicle target data; the safety condition of a driving environment is analyzed according to the obtained data so as to control the vehicle. According to the design, the robustness of the obtained front lane line target data and vehicle target data is higher, and image information of a near blind region and a remote blind region can be simultaneously acquired.
Description
Technical field
The present invention relates to automobile assistant driving system regions, particularly relate to viewing system and using method thereof before a kind of vehicle, be specifically applicable to strengthen obtain front lane mark target data, vehicle target data robustness.
Background technology
Automobile assistant driving system, by judging the safety of travel conditions to environment information, if find to there is the situation hindering driving safety, helps chaufeur to realize safety traffic by warning or other intervention means.Automobile assistant driving system usually needs to monitor in this front side 100 meters and moves even more at a distance or the state of static target, detect this car traveling-position and the relation between direction and road (track), promptly and accurately obtaining these information has very important meaning to the object that driver assistance realizes safety traffic.
Automobile assistant driving system adopts monocular cam to obtain the graphicinformation of traveling ahead environment usually, by the identifying processing of image to obtain vehicle target information in traveling ahead environment and lane information.
On the one hand, in order to accurately identify front vehicles target, in image recognition processing process, vehicle target to be identified in image is needed to have enough pixel counts, and in order to ensure that the vehicle target far away apart from camera can have enough pixel counts, must adopt the camera that visual angle is less, but during the camera monitoring traveling ahead environment adopting visual angle less, the blind area that certain distance does not observe must be there is, i.e. nearly blind area in camera front nearby certain distance.
On the other hand, in order to accurately identify front lane information and vehicle target information, need to obtain pavement of road characteristic information exactly, this requires that the certain area in carriageway image can not be blocked by front vehicles, and in actual travel environment, apart from outside this car certain distance, always have other vehicle to travel, they can obstruct the road on lane markings, hinder the accurate identification to pavement of road information, i.e. blind area far away, causes the robustness of the front lane mark target data of acquisition, vehicle target data more weak.
Chinese patent, application publication number is CN102795162A, Shen Qing Publication day is that the application for a patent for invention on November 28th, 2012 discloses a kind of automobile and for the forward sight camera of automobile and formation method thereof, described forward sight camera comprises a lens mount, in described lens mount, arrange an imager chip, a wiring board, described imager chip is connected with described wiring board; Wherein, it also comprises one and is arranged on camera lens module on described lens mount, described camera lens module comprise be arranged on corresponding described imager chip top position in described lens mount optical lens, be arranged on prism above described optical lens, be arranged on the shade for avoiding described prismatic reflection light mutually to disturb between described optical lens and described prism.Although this design can see the image of headstock both sides by the setting of prism simultaneously, improve driving safety, but the lane markings on its front vehicles that still can not solve easily existence in blind area far away obstructs the road, hinder the accurate identification to pavement of road information, cause the defect that the robustness of the front lane mark target data of acquisition, vehicle target data is more weak.
Summary of the invention
The object of the invention is to overcome the front lane mark target data of the acquisition existed in prior art, the more weak defect of robustness of vehicle target data and problem, viewing system and using method thereof before the vehicle that the robustness of a kind of front lane mark target data of acquisition, vehicle target data is stronger are provided.
For realizing above object, technical solution of the present invention is: viewing system before a kind of vehicle, comprise camera, shooting head-shield and light microscopic, described shooting head-shield comprises side gussets and the top cover plate, the end cover plate that are connected perpendicular with its upper and lower two ends, position in shooting head-shield between top cover plate, end cover plate is provided with the camera be connected with ECU signal, and the nearly camera of light microscopic is arranged;
Described light microscopic is light deflector, described top cover plate comprises horizontal top and inclined roof panels, one end of described horizontal top is connected with the top of side gussets is vertical, the other end of horizontal top is connected with one end of inclined roof panels, the optical axis of the nearly camera of the other end of inclined roof panels is arranged, and is fixedly connected with the light deflector of dipped beam axle setting in the inner side of inclined roof panels.
Described horizontal top, end cover plate, optical axis are parallel to each other between two, and between horizontal top, inclined roof panels, form the overhead guard angle at promising obtuse angle;
The nearly overhead guard angle in top of described light deflector is arranged, the top of light deflector is between the camera lens of overhead guard angle, camera, the bottom dipped beam axle of light deflector is arranged, the bottom of light deflector is between inclined roof panels, optical axis, the minute surface angle of promising acute angle is formed, this minute surface angle and the complementation of overhead guard angle between the bottom of light deflector and horizon.
The bottom of described light deflector and optical axis intersection, the angle between the bottom of light deflector and optical axis is minute surface angle.
A using method for viewing system before above-mentioned vehicle, this using method comprises ECU successively and obtains image, ECU process image, ECU analysis & control;
Described image comprises A district image and B district image, and described A district image refers to the image on the du vehicule road surface that camera is taken by light deflector, and described B district image refers to the image of the following what comes into a driver's of ground, camera front vanishing line;
Described ECU obtains image and refers to: first ECU obtains comprising A district image, the B district image of running environment information by camera;
Described ECU process image refers to: ECU first processes A district image, to obtain the road surface characteristic data of du vehicule, then processes B district image according to these road surface characteristic data, to obtain lane mark target data, the vehicle target data in B district image;
Described ECU analysis & control refers to: the first road surface characteristic data according to above-mentioned gained of ECU, lane mark target data, vehicle target data analysis go out the safety case of running environment, then control vehicle according to the safety case of this running environment.
The area of described A district image is less than B district image.
The area ratio of described A district image, B district image is 4:6.
Described ECU obtains image, and this step also comprises ECU and obtains vehicle-state and driver's operation information from CAN.
Described ECU analysis & control, carries out control to vehicle in this step and refers to that ECU sends warning and/or control command by CAN.
Compared with prior art, beneficial effect of the present invention is:
1, light microscopic before a kind of vehicle of the present invention in viewing system and using method thereof is light deflector, top cover plate comprises horizontal top and inclined roof panels, one end of inclined roof panels is connected with side gussets after horizontal top, the optical axis of the nearly camera of the other end is arranged, and the light deflector of dipped beam axle setting is fixedly connected with in the inner side of inclined roof panels, this design in use, the image of camera shooting comprises two parts, a part is the image on the du vehicule road surface through mirror reflection, the i.e. image of nearly blind area, another part is the image in camera front, the i.e. image of blind area far away, now, by the Image Acquisition pavement of road characteristic information of nearly blind area, analyze according to the image of this pavement of road characteristic information to blind area far away again, thus overcome front vehicles in prior art obstruct the road on lane markings, hinder the defect that pavement of road information is accurately identified, and then strengthen the front lane mark target data obtained, the robustness of vehicle target data.Therefore, the present invention obtain front lane mark target data, vehicle target data robustness stronger.
2, the image on road surface near light deflector collection vehicle is passed through to obtain pavement of road characteristic information in viewing system and using method thereof before a kind of vehicle of the present invention, thus the defect that the robustness overcoming front lane mark target data, vehicle target data in blind area far away is more weak, but while overcoming, light deflector also overcomes the defect of nearly blind area in prior art simultaneously, can with a camera take the photograph simultaneously near road surface, front what comes into a driver's graphicinformation.Therefore, the present invention can obtain the graphicinformation of nearly blind area, blind area far away simultaneously.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is application schematic diagram of the present invention.
Fig. 3 is use diagram of circuit of the present invention.
In figure: light deflector 1, camera 2, optical axis 21, camera lens 22, shooting head-shield 3, side gussets 31, top cover plate 32, horizontal top 321, inclined roof panels 322, end cover plate 33, overhead guard angle X, minute surface angle Y.
Detailed description of the invention
Illustrate that the present invention is further detailed explanation with detailed description of the invention below in conjunction with accompanying drawing.
See Fig. 1 and Fig. 2, viewing system before a kind of vehicle, comprise camera 2, shooting head-shield 3 and light microscopic, described shooting head-shield 3 comprises side gussets 31 and the top cover plate 32, the end cover plate 33 that are connected perpendicular with its upper and lower two ends, position in shooting head-shield 3 between top cover plate 32, end cover plate 33 is provided with the camera 2 be connected with ECU signal, and the nearly camera 2 of light microscopic is arranged;
Described light microscopic is light deflector 1, described top cover plate 32 comprises horizontal top 321 and inclined roof panels 322, one end of described horizontal top 321 is connected with the top of side gussets 31 is vertical, the other end of horizontal top 321 is connected with one end of inclined roof panels 322, the optical axis 21 of the nearly camera 2 of the other end of inclined roof panels 322 is arranged, and is fixedly connected with the light deflector 1 of dipped beam axle 21 setting in the inner side of inclined roof panels 322.
Described horizontal top 321, end cover plate 33, optical axis 21 are parallel to each other between two, and between horizontal top 321, inclined roof panels 322, form the overhead guard angle X at promising obtuse angle; The top nearly overhead guard angle X of described light deflector 1 is arranged, the top of light deflector 1 is between the camera lens 22 of overhead guard angle X, camera 2, the bottom dipped beam axle 21 of light deflector 1 is arranged, the bottom of light deflector 1 is between inclined roof panels 322, optical axis 21, the minute surface angle Y of promising acute angle is formed, this minute surface angle Y and overhead guard angle X complementation between the bottom of light deflector 1 and horizon.
The bottom of described light deflector 1 is crossing with optical axis 21, and the angle between the bottom of light deflector 1 and optical axis 21 is minute surface angle Y.
See Fig. 2 and Fig. 3, the using method of viewing system before a kind of above-mentioned vehicle, this using method comprises ECU successively and obtains image, ECU process image, ECU analysis & control;
Described image comprises A district image and B district image, and described A district image refers to the image on the du vehicule road surface that camera 2 is taken by light deflector 1, and described B district image refers to the image of the following what comes into a driver's of ground, camera 2 front vanishing line;
Described ECU obtains image and refers to: first ECU obtains comprising A district image, the B district image of running environment information by camera 2;
Described ECU process image refers to: ECU first processes A district image, to obtain the road surface characteristic data of du vehicule, then processes B district image according to these road surface characteristic data, to obtain lane mark target data, the vehicle target data in B district image;
Described ECU analysis & control refers to: the first road surface characteristic data according to above-mentioned gained of ECU, lane mark target data, vehicle target data analysis go out the safety case of running environment, then control vehicle according to the safety case of this running environment.
The area of described A district image is less than B district image.
The area ratio of described A district image, B district image is 4:6.
Described ECU obtains image, and this step also comprises ECU and obtains vehicle-state and driver's operation information from CAN.
Described ECU analysis & control, carries out control to vehicle in this step and refers to that ECU sends warning and/or control command by CAN.
Principle of the present invention is described as follows:
In vehicle travel process, the camera that existing automobile assistant driving system adopts is when obtaining vehicle front lane mark target data, vehicle target data, outside this car certain distance, always have other vehicle to travel, they can obstruct the road on lane markings, hinder the accurate identification to pavement of road information, i.e. blind area far away, cause the robustness of the front lane mark target data of acquisition, vehicle target data more weak.But simultaneously, in order to ensure safety traffic when vehicle travels, need to keep one to fix on distance with front truck, can not be blocked apart from interior road surface at this, if this road section surface characteristic data can be obtained, just can on this basis, be used for strengthening the robustness of front lane mark target data, vehicle target data.But in the prior art, be the nearly blind area of camera here, cannot take under prior art.
For overcoming the above problems, the present invention is provided with light deflector in shooting head-shield, and light deflector provides a part of what comes into a driver's by being reflected into camera, blocks a part of what comes into a driver's simultaneously and makes it can not enter camera to avoid interference the reflection of light deflector.Now, the image of camera shooting comprises two parts: A district image and B district image.Wherein, A district image is camera (vehicle) front near zone pavement image information (light deflector and camera optical axis included angle, light deflector installation site, reflector size size determine that camera can photograph area division nearby), can not be blocked by other mobile object, for obtaining pavement image feature; The graphicinformation that B district image comprises camera (vehicle) road ahead and other driving vehicle (can photograph the ground scenery picture of below ground vanishing line, sky scenery picture more than ground vanishing line because shooting head-shield block shooting less than), for lane information, vehicle or other move or the identification of static target information.
A district image does not have other mobile object under normal circumstances and blocks, there is complete pavement image, believable pavement image feature can be obtained accordingly, using the foundation as B district image procossing, thus strengthen the robustness of front lane mark target data, vehicle target data.
Embodiment 1:
See Fig. 1 and Fig. 2, viewing system before a kind of vehicle, comprise light deflector 1, camera 2 and shooting head-shield 3, described shooting head-shield 3 comprises side gussets 31 and the top cover plate 32 that be connected perpendicular with its upper and lower two ends, end cover plate 33, top cover plate 32 is positioned in shooting head-shield 3, position between end cover plate 33 is provided with the camera 2 be connected with ECU signal, described top cover plate 32 comprises horizontal top 321 and inclined roof panels 322, described horizontal top 321, the overhead guard angle X at promising obtuse angle is formed between inclined roof panels 322, horizontal top 321, end cover plate 33, optical axis 21 is parallel to each other between two, one end of horizontal top 321 is connected with the top of side gussets 31 is vertical, the other end of horizontal top 321 is connected with one end of inclined roof panels 322, the optical axis 21 of the nearly camera 2 of the other end of inclined roof panels 322 is arranged, the inner side of inclined roof panels 322 is fixedly connected with the light deflector 1 of dipped beam axle 21 setting, the top nearly overhead guard angle X of this light deflector 1 is arranged, the top of light deflector 1 is positioned at overhead guard angle X, between the camera lens 22 of camera 2, the bottom dipped beam axle 21 of light deflector 1 is arranged, the bottom of light deflector 1 is positioned at inclined roof panels 322, between optical axis 21, the minute surface angle Y of promising acute angle is formed between the bottom of light deflector 1 and horizon, this minute surface angle Y and overhead guard angle X complementation.
See Fig. 2 and Fig. 3, the using method of viewing system before a kind of above-mentioned vehicle, this using method comprises ECU successively and obtains image, ECU process image, ECU analysis & control;
Described ECU obtains image and refers to: first ECU obtains comprising A district image, the B district image of running environment information by camera 2, and meanwhile, ECU obtains vehicle-state and driver's operation information from CAN; Described A district image refers to the image on the du vehicule road surface that camera 2 is taken by light deflector 1, and described B district image refers to the image of the following what comes into a driver's of ground, camera 2 front vanishing line, and the area of A district image is less than B district image;
Described ECU process image refers to: ECU first processes A district image, to obtain the road surface characteristic data of du vehicule, then processes B district image according to these road surface characteristic data, to obtain lane mark target data, the vehicle target data in B district image;
Described ECU analysis & control refers to: the first road surface characteristic data according to above-mentioned gained of ECU, lane mark target data, vehicle target data analysis go out the safety case of running environment, safety case again according to this running environment controls vehicle, and this control refers to that ECU sends warning and/or control command by CAN.
Claims (8)
1. viewing system before a vehicle, comprise camera (2), shooting head-shield (3) and light microscopic, described shooting head-shield (3) comprises side gussets (31) and the top cover plate (32), the end cover plate (33) that are connected perpendicular with its upper and lower two ends, in shooting head-shield (3), the position be positioned between top cover plate (32), end cover plate (33) is provided with the camera (2) be connected with ECU signal, and the nearly camera of light microscopic (2) is arranged, and it is characterized in that:
Described light microscopic is light deflector (1), described top cover plate (32) comprises horizontal top (321) and inclined roof panels (322), one end of described horizontal top (321) is connected with the top of side gussets (31) is vertical, the other end of horizontal top (321) is connected with one end of inclined roof panels (322), the optical axis (21) of the nearly camera of the other end (2) of inclined roof panels (322) is arranged, and is fixedly connected with the light deflector (1) that dipped beam axle (21) arranges in the inner side of inclined roof panels (322).
2. viewing system before a kind of vehicle according to claim 1, is characterized in that:
Described horizontal top (321), end cover plate (33), optical axis (21) are parallel to each other between two, and form the overhead guard angle (X) at promising obtuse angle between horizontal top (321), inclined roof panels (322);
The nearly overhead guard angle (X) in top of described light deflector (1) is arranged, the top of light deflector (1) is positioned between the camera lens (22) of overhead guard angle (X), camera (2), bottom dipped beam axle (21) of light deflector (1) is arranged, the bottom of light deflector (1) is positioned between inclined roof panels (322), optical axis (21), form the minute surface angle (Y) of promising acute angle between the bottom of light deflector (1) and horizon, this minute surface angle (Y) is complementary with overhead guard angle (X).
3. viewing system before a kind of vehicle according to claim 2, is characterized in that: the bottom of described light deflector (1) is crossing with optical axis (21), and the angle between the bottom of light deflector (1) and optical axis (21) is minute surface angle (Y).
4. the using method of viewing system before a kind of vehicle described in claim 1,2 or 3, this using method comprises ECU successively and obtains image, ECU process image, ECU analysis & control, it is characterized in that:
Described image comprises A district image and B district image, and described A district image refers to the image on the du vehicule road surface that camera (2) is taken by light deflector (1), and described B district image refers to the image of the following what comes into a driver's of camera (2) ground, front vanishing line;
Described ECU obtains image and refers to: first ECU obtains comprising A district image, the B district image of running environment information by camera (2);
Described ECU process image refers to: ECU first processes A district image, to obtain the road surface characteristic data of du vehicule, then processes B district image according to these road surface characteristic data, to obtain lane mark target data, the vehicle target data in B district image;
Described ECU analysis & control refers to: the first road surface characteristic data according to above-mentioned gained of ECU, lane mark target data, vehicle target data analysis go out the safety case of running environment, then control vehicle according to the safety case of this running environment.
5. the using method of viewing system before a kind of vehicle according to claim 4, is characterized in that: the area of described A district image is less than B district image.
6. the using method of viewing system before a kind of vehicle according to claim 5, is characterized in that: the area ratio of described A district image, B district image is 4:6.
7. the using method of viewing system before a kind of vehicle according to claim 4, is characterized in that: described ECU obtains image, and this step also comprises ECU and obtains vehicle-state and driver's operation information from CAN.
8. the using method of viewing system before a kind of vehicle according to claim 4, is characterized in that: described ECU analysis & control, carries out control refer to that ECU sends warning and/or control command by CAN in this step to vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410517379.3A CN104309531B (en) | 2014-09-30 | 2014-09-30 | Viewing system and using method thereof before a kind of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410517379.3A CN104309531B (en) | 2014-09-30 | 2014-09-30 | Viewing system and using method thereof before a kind of vehicle |
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| CN104309531A true CN104309531A (en) | 2015-01-28 |
| CN104309531B CN104309531B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410517379.3A Active CN104309531B (en) | 2014-09-30 | 2014-09-30 | Viewing system and using method thereof before a kind of vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108322636A (en) * | 2017-12-29 | 2018-07-24 | 吉林大学 | A kind of speed estimator, vehicle and method of estimation based on machine vision |
| CN110868520A (en) * | 2018-08-28 | 2020-03-06 | 本田技研工业株式会社 | Vehicle image pickup unit |
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| WO2013001978A1 (en) * | 2011-06-27 | 2013-01-03 | アイシン精機株式会社 | Surrounding monitoring device |
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| CN2177253Y (en) * | 1993-05-14 | 1994-09-14 | 赵邑宁 | Camera and photograph multipurpose device |
| CN1683983A (en) * | 2004-04-13 | 2005-10-19 | 株式会社自动网络技术研究所 | Camera device |
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|---|---|
| CN104309531B (en) | 2016-08-17 |
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