CN104859542B - Vehicle-mounted monitoring system and vehicle-mounted monitoring processing method - Google Patents
Vehicle-mounted monitoring system and vehicle-mounted monitoring processing method Download PDFInfo
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- CN104859542B CN104859542B CN201510274231.6A CN201510274231A CN104859542B CN 104859542 B CN104859542 B CN 104859542B CN 201510274231 A CN201510274231 A CN 201510274231A CN 104859542 B CN104859542 B CN 104859542B
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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
-
- 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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- 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
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
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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
- B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
Abstract
The present invention relates to a kind of vehicle-mounted monitoring system and method, the vehicle-mounted monitoring system includes being separately mounted to first to fourth camera and image processor symmetrical all around of vehicle.The image processor includes the first graphics processing unit and the second graphics processing unit.View is looked down in the first to fourth road image generation first that first graphics processing unit is used for according to captured by first to fourth camera, and this first looks down view with the first via image and the 4th road image to show main body.Second graphics processing unit is used to look down view according to first to fourth road image generation second, and this second looks down view with the second road image and the 3rd road image to show main body.Vehicle-mounted monitoring system of the invention and vehicle-mounted monitoring processing method can effectively reduce blind area and improve the security of vehicle drive.
Description
Technical field
The present invention relates to technical field of automotive electronics, more particularly to a kind of vehicle-mounted monitoring system and vehicle-mounted monitoring treatment side
Method.
Background technology
People drive when, especially during moveing backward, parking, it is often necessary to observe the situation of vehicle periphery, typically
Rearview mirror is both provided with vehicle, but only by rearview mirror, the careless slightly security incident such as will collide, knock into the back.Cause
This, various automobile assistant driving systems are arisen at the historic moment, such as ultrasonic ranging backing system, reverse image system and vehicle-mounted
360 degree are looked around monitoring system etc..
Current vehicle-mounted 360 degree are looked around monitoring system and are gathered by all around locate four cameras installed in vehicle
The environment picture of vehicle front, rear, the left side and the right four direction, distortion correction, projective transformation, sanction are carried out through processor
Cut after the treatment such as splicing, obtain 360 degree of eye view images of 3 D stereo of width vehicle-surroundings environment, and in eye view image
Centre position is superimposed with a vehicle graphic for reducing according to a certain percentage and forms one together looks down view, and this is looked down view and passes through
Vehicular display device is shown to driver, with the position where helping driver to be visually known the environment of vehicle-surroundings and vehicle,
So as to reach assisting car backing, park, drive a vehicle monitoring with auxiliary security drive effect.
Fig. 1 is refer to, Fig. 1 is that a kind of vehicle-mounted 360 degree width looked around shown by monitoring system of the prior art are looked down
View.As shown in figure 1, looking down view and being mainly captured four are gathered by four cameras installed in vehicle all around
Width picture splicing is formed, wherein, the reality at four angles of picture shown in Fig. 1 is extended respectively to from four angles of vehicle in Fig. 1
Line then represents seam crossing of the four width pictures in splicing.
Although the shown environment for looking down position and periphery that view can well help driver to understand vehicle,
But picture is during splicing, the seam crossing of adjacent pictures occurs a range of blind area.Fig. 2 is refer to, Fig. 2 is figure
The blind area schematic diagram looked down in view shown in 1.As shown in Fig. 2 being extended respectively at four angles of Fig. 2 from four angles of vehicle body
Solid line still represent seam crossing of the four width pictures in splicing, and the blind sector part at four angles of vehicle body then represents and looks down
The blind area that view is produced after splicing, if there is barrier in the position of blind area, then regarded by looking down of showing of display
Figure, driver will be unable to watch the barrier, be prone to accidents.Therefore, monitoring system presence is looked around for above-mentioned vehicle-mounted 360 degree
Certain potential safety hazard.
In order to solve the above problems, there is a kind of combination display mode at present, using captured by one or more camera
Picture combination Fig. 1 shown in view of looking down be supplied to driver by many picture composition display modes.Fig. 3 is refer to, Fig. 3 is
A kind of display picture schematic diagram of many picture composition display modes of the prior art.As shown in figure 3, the display picture in Fig. 3
Left area be shown it is overall look down view, and the camera being then provided in before vehicle that right area shows is clapped
The picture taken the photograph.As can be seen here, two blind areas of corner in left and right can be by the display picture in Fig. 3 before the vehicle body shown in Fig. 2
The right area in face is evaded well, but two blind areas of corner in left and right are then still deposited behind vehicle body shown in Fig. 2
.Fig. 4 is refer to again, and Fig. 4 is the display picture schematic diagram of another many picture composition display modes of the prior art.As schemed
Shown in 4, the left area of the display picture in Fig. 4 is shown entirety and looks down view, and the top of right area is shown
It is arranged on the picture captured by the camera before vehicle, what the lower section of right area showed is then provided in taking the photograph for vehicle back
Picture as captured by head, it can be seen that, by the display picture of Fig. 4, not only two corners in left and right before the vehicle body shown in Fig. 2
The blind area at place can be evaded well, and two blind areas of corner in left and right can also well enter professional etiquette behind vehicle body
Keep away.
However, the combined picture shown in Fig. 4, although large range of blind area can be evaded, but shown on display
View is too many, very not directly perceived, and driver will first judge which view is above shooting when the display picture of display is watched
Picture captured by head, which view is picture below captured by camera, and view is excessively easily obscured, and is easily caused
Driver misunderstands, dangerous all the better.
The content of the invention
In view of this, embodiments of the invention provide a kind of vehicle-mounted monitoring system, and not only can effectively reduce blind area can also
Improve the security of vehicle drive.
Specifically, a kind of vehicle-mounted monitoring system that embodiments of the invention are provided includes being separately mounted to the front and rear of vehicle
Left and right symmetrical first to fourth camera and image processor.First to fourth camera is used to shoot simultaneously
Vehicle-surroundings environment.The image processor includes the first graphics processing unit and the second graphics processing unit.At first image
The first to fourth road image that reason unit is used for according to captured by first to fourth camera generates first and looks down view, its
In, this first looks down view with the first via image and the 4th road image to show main body, the second road image and the 3rd
The image part Chong Die with the first via image and the 4th road image in road is tailored.Second graphics processing unit is used for basis
View is looked down in first to fourth road image generation second, wherein, this second looks down view with the second road image and the 3rd
Road image is display main body, and the first via image and the 4th road image are Chong Die with the second road image and the 3rd road image
Part is tailored.
A kind of vehicle-mounted monitoring processing method for vehicle-mounted monitoring system that embodiments of the invention are also provided, the vehicle-mounted prison
Control system includes being separately mounted to the first to fourth symmetrical all around camera of vehicle.The method includes following
Step：Vehicle-surroundings environment is shot simultaneously by first to fourth camera；And first to fourth taken the photograph according to this
The first to fourth road image generation first as captured by head is looked down view and second and looks down view, wherein, this first is looked down and regards
Figure with the first via image and the 4th road image be display main body, the second road image and the 3rd road image and the first via
The part that image and the 4th road image are overlapped is tailored, and this second looks down view with the second road image and the 3rd road image
To show main body, the first via image and the 4th road image part quilt Chong Die with the second road image and the 3rd road image
Cut out.
The vehicle-mounted monitoring system and vehicle-mounted monitoring processing method that the above embodiment of the present invention is provided pass through first, second figure
Generate first, second respectively as processing unit and look down view, first looks down view takes the photograph with positioned at the first of vehicle front and rear
First via image and the 4th road image as captured by head and the 4th camera are display main body, and second looks down view with positioned at car
The second road image and the 3rd road image captured by the second camera and the 3rd camera of the left and right sides are display main body, knot
Close first, second and look down view viewing simultaneously, the barrier that appearance is looked down in view blind area in wherein width typically can be another
Width is looked down in view and is seen, and is regarded so as to effectively reduce blind area, and only need to first, second this two width of display simultaneously to look down
Figure, picture is simple, reduces the risk that driver misunderstands, and improves the security of vehicle drive.
It is that above and other objects, features and advantages of the invention can be become apparent, preferred embodiment cited below particularly,
And coordinate institute's accompanying drawings, it is described in detail below.
Brief description of the drawings
Fig. 1 is that a kind of vehicle-mounted 360 degree width looked around shown by monitoring system of the prior art look down view.
Fig. 2 is the blind area schematic diagram looked down in view shown in Fig. 1.
Fig. 3 is a kind of display picture schematic diagram of many picture composition display modes of the prior art.
Fig. 4 is the display picture schematic diagram of another many picture composition display modes of the prior art.
A kind of structured flowchart of vehicle-mounted monitoring system that Fig. 5 is provided by one embodiment of the invention.
Fig. 6 is the structured flowchart of the image processor of the vehicle-mounted monitoring system shown in Fig. 5.
The first splicing for looking down view that first graphics processing unit of image processors of the Fig. 7 shown in Fig. 6 is generated
Schematic diagram.
The second splicing for looking down view that second graphics processing unit of image processors of the Fig. 8 shown in Fig. 6 is generated
Schematic diagram.
Fig. 9 is first looking down view and second and look down view and be simultaneously displayed on a width display picture in the embodiment of the present invention
On schematic diagram.
Figure 10 is the blind area for looking down view of the invention and the blind area area for looking down view of the prior art relatively shows
It is intended to.
A kind of vehicle-mounted monitoring processing method that Figure 11 is provided by one embodiment of the invention.
Specific embodiment
Further to illustrate the present invention to realize technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Accompanying drawing and preferred embodiment, to according to specific embodiment of the invention, structure, feature and its effect, describing in detail as after.
Refer to Fig. 5, a kind of structured flowchart of vehicle-mounted monitoring system that Fig. 5 is provided by one embodiment of the invention.Such as
Shown in Fig. 5, vehicle-mounted monitoring system 10 includes the first camera 11, second camera 12, the 3rd camera 13, the 4th camera
14th, image processor 16 and display 18.
First to fourth camera 11-14 can be separately mounted to the headstock of vehicle, car both sides and the tailstock, symmetrical to set
Put, such as, the first camera 11 may be provided on the preceding barrier of vehicle, second, third camera 12,13 can be separately positioned on a left side
The lower section of right rear view mirror, the 4th camera 14 may be provided on the rear bumper of vehicle.Additionally, first to fourth camera 11-
The center at 14 edges all around that can be also separately mounted to roof, symmetrical setting.First to fourth camera 11-
14 is wide-angle camera, preferably ultra wide-angle imaging head (visual range is up to 180 degree).First to fourth camera 11-14
For shooting vehicle-surroundings environment simultaneously, and first to fourth captured road image is supplied to image processor 16.
Please also refer to Fig. 6, Fig. 6 is the structured flowchart of image processor 16.As shown in fig. 6, image processor 16 includes
Pretreatment module 160, the first graphics processing unit 161, the second graphics processing unit 162, display module 165 and memory module
166.It is understood that each module in image processor 16 in the present embodiment can be using hardware, software or its combination
Realize.
The pretreatment module 160 is used to enter first to fourth road image captured by first to fourth camera 11-14
Row pretreatment, such as be converted into digital picture from analog image.First graphics processing unit 161 is used for pretreatment module
160 pre-processed after first to fourth road image carry out distortion correction, projective transformation, synthesis splicing, with generate
One first is looked down view.Second graphics processing unit 162 is used for first according to captured by first to fourth camera
First to fourth road image after being pre-processed to the 4th road image or to pretreatment module 160 carry out distortion correction,
Projective transformation, synthesis splicing, view is looked down to generate one second.First, second looks down view is vehicle-surroundings ring
360 degree of the border eye view image of the 3 D stereo and middle position synthesis in eye view image has one to reduce according to a certain percentage
Vehicle graphic forms one and looks down view together.
In other embodiments, the pretreatment module 160 can be omitted, and its corresponding function is incorporated into image procossing
Among other modules of device 16, such as it is incorporated among the first graphics processing unit 161 and the second graphics processing unit 162.
Please also refer to Fig. 7, Fig. 7 is the first splicing schematic diagram for looking down view.As shown in fig. 7, the first image procossing list
Unit 161 is with the first via image V1 captured by the first camera 11 and the 4th camera 14 positioned at vehicle front and rear and the
Four road image V4 are display main body, are pointed to captured by the second camera 12 and the 3rd camera 13 of left and right vehicle wheel both sides the
Two road image V2 and the 3rd road image V3 are Chong Die with first via image V1 and the 4th road image V4 partly referring to the first via respectively
Image V1 and the 4th road image V4 are cut out, then to the seam portion of the adjacent image in first to fourth road image V1-V4
This is generated after being processed and first looks down view.Further, first graphics processing unit, 161 pairs of first to fourth road figures
When carrying out splicing as V1-V4, view is looked down in the edge of selection first via image V1 and the 4th road image V4 as first
Jointing line, and the second road image V2 and the 3rd road image V3 portions Chong Die with first via image V1 and the 4th road image V4 respectively
Point it is tailored in the edge of correspondence first via image V1 and the 4th road image V4, first for being consequently formed looks down view can be maximum
Change ground and represent the first camera 11 and first via image V1 and the 4th road image V4 captured by the 4th camera 14, reduce first
The blind area of road image V1 and the 4th road image V4 caused by splicing.
Fig. 8 is refer to, Fig. 8 is the second splicing schematic diagram for looking down view.As shown in figure 8, the second graphics processing unit 162
With the second road image V2 and the 3rd road figure captured by the camera 13 of second camera 12 and the 3rd positioned at left and right vehicle wheel both sides
As V3 is display main body, the first via captured by first camera 11 and the 4th camera 14 at vehicle front and rear is pointed to
Image V1 and the 4th road image V4 are Chong Die with the second road image V2 and the 3rd road image V3 partly referring to the second road image respectively
V2 and the 3rd road image V3 are cut out, then the seam portion of the adjacent image in first to fourth road image V1-V4 is carried out
This is generated after treatment and second looks down view.Further, second graphics processing unit, 162 pairs of first to fourth road images
When V1-V4 carries out splicing, view is looked down in the edge of the second road image V2 of selection and the 3rd road image V3 as second
Jointing line, and first via image V1 and the 4th road image V4 parts Chong Die with the second road image V2 and the 3rd road image V3 respectively
It is tailored in the edge of the second road image V2 of correspondence and the 3rd road image V3, second for being consequently formed looks down view maximizing
Ground represents the second road image V2 and the 3rd road image V3 captured by the camera 13 of second camera 12 and the 3rd, reduces by the second tunnel
The blind area of image V2 and the 3rd road image V3 caused by splicing.
Fig. 6 is refer again to, wherein, generated through the first graphics processing unit 161 and the treatment of the second graphics processing unit 162
First, second looks down view is respectively supplied to display module 165, and display module 165 is carried out for looking down view to first, second
It is supplied to display 18 to be shown after treatment and is supplied to memory module 166 to be stored.
In this example it is shown that module 165 is used to look down view to first, second and merge treatment, by first, the
Two look down view is integrated into the complete display picture of a width and is shown, so as in the left and right of display 18 or upper and lower two parts
Display first, second looks down view respectively simultaneously on screen, as shown in figure 9, wherein, left side picture is shown first to be looked down and regard
Figure, the right picture is shown second and looks down view.
In other embodiments, the vehicle-mounted monitoring system 10 may include two displays, be respectively used to display first, second
View is looked down, now, display module 165 merges treatment without looking down view to first, second, respectively offer first, the
Two look down view is shown to two displays, is stored up to memory module 166 while providing first, second and looking down view
Deposit.
Please also refer to Figure 10, wherein, Figure 10 is that the blind area for looking down view of the invention regards with of the prior art looking down
The comparison schematic diagram of the blind area area of figure.As shown in Figure 10, what fan-shaped C1 was represented is the first vehicle looked down in view at one
The blind area area of corner, but it is visual during the major part of sector C1 looks down view second；What fan-shaped C2 was represented is second to bow
The vehicle looked down from a height in view same corner blind area area, but the major part of sector C2 can in looking down view first
Depending on.As can be seen here, after being processed through image processor 16, with reference to shown by display 18 first, second looks down view, blind area
Two overlapping region C3 of sector C1 and C2 will be reduced to.That is, look down what view was watched with reference to first, second simultaneously
Words, appearance is seen in the barrier that wherein width is looked down in view blind area typically can look down view in another width, so as to have
Effect reduces blind area, and if the big I of blind sector be reduced to by image processing algorithm design it is misaligned if, that
Just without overlapping region, that is, realize non-blind area display safely.Additionally, vehicle-mounted monitoring system of the invention only needs to two
Width looks down view, and picture is simple, reduces the risk that driver misunderstands, and improves the security of vehicle drive.
Figure 11 is refer to, a kind of vehicle-mounted monitoring processing method that Figure 11 is provided by one embodiment of the invention, the method is fitted
For the vehicle-mounted monitoring system 10 shown in Fig. 5.The method is comprised the following steps：
Step S101, is shot to vehicle-surroundings environment simultaneously by first to fourth camera 11-14；
In this step, vehicle-mounted monitoring system 10 is by installed in all around locate symmetrical setting the of vehicle
One to the 4th camera 11-14 to vehicle-surroundings environment shoot and is obtained first to fourth road image simultaneously, and by this first
Image processor 16 is supplied to the 4th road image.
Step S102, pre-processes to first to fourth road image captured by first to fourth camera 11-14；
In this step, captured by 160 couples of first to fourth camera 11-14 of the pretreatment module of image processor 16
First to fourth road image is pre-processed, such as be converted into digital picture from analog image.
In other embodiments, the step can also be omitted.
Step S103, generates first and second and looks down view respectively；
In this step, first, second graphics processing unit 161,162 of image processor 16 respectively according to this first to
First to fourth road image or first to fourth road figure pretreated to preprocessed module 160 captured by 4th camera
As carrying out distortion correction, projective transformation, synthesis splicing, view is looked down to generate first, second respectively.
Wherein, as shown in fig. 7, the first graphics processing unit 161 is with positioned at the first camera 11 of vehicle front and rear
It is display main body with the first via image V1 captured by the 4th camera 14 and the 4th road image V4, is pointed to left and right vehicle wheel both sides
The camera 13 of second camera 12 and the 3rd captured by the second road image V2 and the 3rd road image V3 respectively with first via figure
As what V1 and the 4th road image V4 were overlapped is cut out partly referring to first via image V1 and the 4th road image V4, then to first to
The seam portion of the adjacent image in the 4th road image V1-V4 generates this and first looks down view after being processed.Further,
When first graphics processing unit, 161 couples of first to fourth road image V1-V4 carry out splicing, selection first via image V1 and
The edge of the 4th road image V4 is used as the first jointing line for looking down view, and the second road image V2 and the 3rd road image V3 difference
The part overlapped with first via image V1 and the 4th road image V4 is at corresponding first via image V1 and the edge of the 4th road image V4
Place is tailored, and first for being consequently formed represents captured by the first camera 11 and the 4th camera 14 with looking down view maximizing
First via image V1 and the 4th road image V4, reduce blind area caused by splicing of first via image V1 and the 4th road image V4.
As shown in figure 8, the second graphics processing unit 162 is taken the photograph with the second camera 12 and the 3rd positioned at left and right vehicle wheel both sides
The second road image V2 and the 3rd road image V3 as captured by first 13 are display main body, are pointed to the first of vehicle front and rear
First via image V1 captured by the camera 14 of camera 11 and the 4th and the 4th road image V4 respectively with the second road image V2 and
What the 3rd road image V3 was overlapped is cut out partly referring to the second road image V2 and the 3rd road image V3, then to first to fourth tunnel
The seam portion of the adjacent image in image V1-V4 generates this and second looks down view after being processed.Further, this second
When 162 couples of first to fourth road image V1-V4 of graphics processing unit carry out splicing, the second road image V2 and the 3rd tunnel are selected
The edge of image V3 is used as the second jointing line for looking down view, and first via image V1 and the 4th road image V4 are respectively with second
Cut in the edge of the second road image V2 of correspondence and the 3rd road image V3 the part that road image V2 and the 3rd road image V3 are overlapped
Cut out, second for being consequently formed represents second captured by the camera 13 of second camera 12 and the 3rd with looking down view maximizing
Road image V2 and the 3rd road image V3, reduces blind areas of the second road image V2 and the 3rd road image V3 caused by splicing.
Step S104, shows that this first and second looks down view.
In this step, through the first graphics processing unit 161 and the second graphics processing unit 162 treatment generation first,
Second looks down view is respectively supplied to display module 165, and display module 165 is processed for looking down view to first, second
It is supplied to display 18 to be shown afterwards.In this example it is shown that module 165 pair first, second is looked down view and is closed
And process, look down view by first, second and be integrated into the complete display picture of a width and shown, so as on a left side for display 18
View is looked down in display first, second respectively simultaneously on right or upper and lower two parts screen, as shown in figure 9, wherein, left side picture shows
What is shown is first to look down view, and the right picture is shown second and looks down view.In other embodiments, the vehicle-mounted monitoring system
10 may include two displays, are respectively used to display and first, second look down view, now, display module 165 without to first,
Second looks down view merges treatment, and offer first, second respectively is looked down view and shown to two displays.
Additionally, the method can also further include storage this first and second the step of look down view.
In sum, the vehicle-mounted monitoring system 10 and its vehicle-mounted monitoring processing method that the present invention is provided pass through first, second
Graphics processing unit 161,162 generates first, second and looks down view respectively, and first looks down view with positioned at vehicle front and rear
The first camera 11 and the 4th camera 14 captured by first via image V1 and the 4th road image V4 be display main body, second
View is looked down with the second road image V2 captured by the camera 13 of second camera 12 and the 3rd positioned at left and right vehicle wheel both sides and
3rd road image V3 is display main body, looks down view with reference to first, second and watches simultaneously, and a width wherein occur, to look down view blind
Barrier in area can typically be seen in another width looks down view, so as to effectively reduce blind area, and only need to simultaneously
First, second this two width of display looks down view, and picture is simple, reduces the risk that driver misunderstands, and improves vehicle drive
Security.
The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, though
So the present invention is disclosed as above with preferred embodiment, but is not limited to the present invention, any those skilled in the art, not
Depart from the range of technical solution of the present invention, when making a little change using the technology contents of the disclosure above or be modified to equivalent change
The Equivalent embodiments of change, as long as being, without departing from technical solution of the present invention content, to implement to more than according to technical spirit of the invention
Any simple modification, equivalent variations and modification that example is made, still fall within the range of technical solution of the present invention.
Claims (17)
1. a kind of vehicle-mounted monitoring system, it is characterised in that the vehicle-mounted monitoring system includes：
The first to fourth symmetrical all around camera of vehicle is separately mounted to, first to fourth camera is used
In shooting vehicle-surroundings environment simultaneously；And
Image processor, the image processor includes：
First graphics processing unit, first graphics processing unit is used for first according to captured by first to fourth camera
View is looked down in road image, the second road image, the 3rd road image and the 4th road image generation first, wherein, this first looks down view
It is display main body, the second road image and the 3rd road image and the first via figure with the first via image and the 4th road image
The part that picture and the 4th road image are overlapped is tailored；And
Second graphics processing unit, second graphics processing unit is used for according to the first via image, the second road image, the 3rd tunnel
View is looked down in image and the 4th road image generation second, wherein, this second looks down view with the second road image and the 3rd tunnel
Image is display main body, the first via image and the 4th road image portion Chong Die with the second road image and the 3rd road image
Divide and be tailored.
2. vehicle-mounted monitoring system as claimed in claim 1, it is characterised in that first graphics processing unit is to the first via figure
When picture, the second road image, the 3rd road image and the 4th road image carry out splicing, the first via image and the 4th tunnel are selected
The edge of image is used as first jointing line for looking down view.
3. vehicle-mounted monitoring system as claimed in claim 2, it is characterised in that second graphics processing unit is to the first via figure
When picture, the second road image, the 3rd road image and the 4th road image carry out splicing, the second road image and the 3rd tunnel are selected
The edge of image is used as second jointing line for looking down view.
4. vehicle-mounted monitoring system as claimed in claim 1, it is characterised in that the image processor further includes to pre-process mould
Block, the pretreatment module is used to carry out pre- place to the first via image, the second road image, the 3rd road image and the 4th road image
Reason.
5. vehicle-mounted monitoring system as claimed in claim 1, it is characterised in that the image processor further includes to pre-process mould
Block, the pretreatment module is used for the first via image, the second road image, the 3rd road image and the 4th road image from analog image
It is converted into digital picture.
6. vehicle-mounted monitoring system as claimed in claim 1, it is characterised in that the image processor further includes to show mould
Block, the display module is used to first look down view and this second is looked down view and merge treatment to this, and this first is looked down
View and this second look down view and be integrated into the complete display picture of a width and shown.
7. vehicle-mounted monitoring system as claimed in claim 6, it is characterised in that the vehicle-mounted monitoring system further includes display
Device, the display is used to show the complete display picture.
8. vehicle-mounted monitoring system as claimed in claim 1, it is characterised in that the vehicle-mounted monitoring system further includes that two show
Show device, two displays are respectively used to display, and this first looks down view and this second looks down view.
9. vehicle-mounted monitoring system as claimed in claim 1, it is characterised in that the image processor further includes to store mould
Block, the memory module is used to storing this and first looks down view and this second looks down view.
10. a kind of vehicle-mounted monitoring processing method for vehicle-mounted monitoring system, the vehicle-mounted monitoring system includes being separately mounted to car
First to fourth symmetrical all around camera, it is characterised in that the method is comprised the following steps：
Vehicle-surroundings environment is shot simultaneously by first to fourth camera；And
First via image, the second road image, the 3rd road image and the 4th road figure according to captured by first to fourth camera
As generation first is looked down view and second and looks down view, wherein, this first looks down view with the first via image and the 4th tunnel
Image is display main body, the second road image and the 3rd road image portion Chong Die with the first via image and the 4th road image
Point be tailored, this second look down view with the second road image and the 3rd road image be display main body, the first via image with
The 4th road image part Chong Die with the second road image and the 3rd road image is tailored.
11. methods as claimed in claim 10, it is characterised in that according to the first via image, the second road image, the 3rd tunnel
Image and the 4th road image generate this and first look down during view to the first via image, the second road image, the 3rd road figure
When picture and the 4th road image carry out splicing, select the edge of the first via image and the 4th road image as this first
Look down the jointing line of view.
12. methods as claimed in claim 11, it is characterised in that according to the first via image, the second road image, the 3rd tunnel
Image and the 4th road image generate this and second look down during view to the first via image, the second road image, the 3rd road figure
When picture and the 4th road image carry out splicing, select the edge of the second road image and the 3rd road image as this second
Look down the jointing line of view.
13. methods as claimed in claim 10, it is characterised in that the method is further included：
Generate this first look down view and this second look down view before to the first via image, the second road image, the 3rd tunnel
Image and the 4th road image are pre-processed.
14. methods as claimed in claim 10, it is characterised in that the method is further included：
Generate this first look down view and this second look down view before by the first via image, the second road image, the 3rd tunnel
Image and the 4th road image are converted into digital picture from analog image.
15. methods as claimed in claim 10, it is characterised in that the method is further included：
First view is looked down and this second is looked down view and merge treatment to this, this first is looked down into view and this second is bowed
View of looking down from a height is integrated into the complete display picture of a width and is shown.
16. methods as claimed in claim 10, it is characterised in that the method is further included：
Show that this first looks down view and this second looks down view respectively.
The 17. vehicle-mounted monitoring processing methods for being used for vehicle-mounted monitoring system as claimed in claim 10, it is characterised in that the method
Further include：
Store this and first look down view and this second looks down view.
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| CN1921621A (en) * | 2006-09-18 | 2007-02-28 | 李博航 | Panorama visible driving ancillary equipment |
| CN101442618A (en) * | 2008-12-31 | 2009-05-27 | 葛晨阳 | Method for synthesizing 360 DEG ring-shaped video of vehicle assistant drive |
| KR100966288B1 (en) * | 2009-01-06 | 2010-06-28 | 주식회사 이미지넥스트 | Around image generating method and apparatus |
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