CN105491325A - 用于图像存储和检索的带gps的后视相机 - Google Patents

用于图像存储和检索的带gps的后视相机 Download PDF

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CN105491325A
CN105491325A CN201510500469.6A CN201510500469A CN105491325A CN 105491325 A CN105491325 A CN 105491325A CN 201510500469 A CN201510500469 A CN 201510500469A CN 105491325 A CN105491325 A CN 105491325A
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present image
camera
vehicle
gps
image
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M·R·费尔柴尔德
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Aptiv Technologies Ltd
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Delphi Automotive Systems LLC
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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
    • B60R1/20—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
    • B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • 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
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
    • 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
    • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20224—Image subtraction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

公开用于图像存储和检索的带GPS的后视相机。后视相机(16)系统(10)包括相机(16)、全球定位系统(10)(GPS)设备以及控制器(30)。相机(16)被配置用于从靠近车辆(12)的视场(22)捕捉图像(40)。GPS设备(18)被配置用于确定当前图像(40)的当前位置(56)。控制器(30)被配置用于确定当前位置(56)是否与先前位置(58)对应，将先前位置(58)的先前图像(54)与当前图像(40)相比较，并指示在当前图像(40)中是否存在意外对象(14)。

Description

用于图像存储和检索的带GPS的后视相机
技术领域
本公开一般涉及后视相机系统，尤其涉及使用全球定位系统(GPS)设备来确定某一位置的当前图像与相同位置的先前图像是否不同并指示是否在当前图像中是否存在意外对象。
发明背景
众所周知，在车辆上安装备用或后视相机，从而驾驶员更容易地观察车辆后是否有意外对象。然而，驾驶员糟糕的视力和粗心的驾驶习惯可能会导致其未能发觉意外对象。
发明内容
根据一个实施例，提供用于检测车辆后的意外对象的后视相机系统。该系统包括相机、全球定位系统(GPS)设备以及控制器。相机被配置用于从靠近车辆的视场捕捉图像。GPS设备被配置用于确定当前图像的当前位置。控制器被配置用于判断当前位置是否与先前位置对应，将先前位置的先前图像与当前图像相比较，并指示在当前图像中是否存在意外对象。
在阅读优选实施例的以下细节描述的基础上，其他特征和优势会变得更加清晰，优选实施例仅通过非限制性示例并参照附图来提供。
附图说明
现在参照附图通过示例的方式对本发明进行描述，在附图中：
图1是根据一个实施例的配备有被配置用于检测靠近车辆的意外对象的系统的车辆的侧视图；
图2是根据一个实施例的图1中系统的示图；
图3是根据一个实施例的图1中车辆后区域的示例场景；
图4是根据一个实施例的图1中车辆后区域的示例场景；
图5是根据一个实施例的图1中系统所显示的图像示例。
具体实施方式
图1示出后视相机系统的非限制性示例，该后视相机系统(以下称为系统10)适用于车辆12上，用来检测车辆12后的对象，尤其是意外对象14。如下面将更详细描述的，系统10通常被配置用于向车辆12的驾驶员20提供意外对象14在车辆12附近的通知。在本示例中，意外对象14是在车辆12后行走的孩子。系统10也可用于检测车辆12可能碰撞到的成年人、动物、其他车辆、或任何障碍物。系统10包括被配置用于从靠近车辆12(例如后面)的视场22捕捉当前图像40(图4)的相机16。通常情况下，相机16安装在车辆12上，使得视场22有益于检测驾驶员20不容易看到的对象。在本非限制性示例中，视场22被指定在车辆12之后。但是，可以构想，系统10可以被配置用于检测车辆12旁边或前面的对象。
图2进一步示出系统10的非限制性示例。相机16通常被配置用于输出图像数据26，图像数据26指示通过相机16的像素(未显示)检测的可见光的颜色(如色调和饱和度)和可见光强度。可以由对于共307200像素表征为640x480的像素阵列提供合适的相机分辨率。更高或者更低分辨率的相机可以从各种各样渠道购得。该相机需要有足够高的分辨率，使得向驾驶员20显示图像数据26时，有足够多的细节使驾驶员20辨别显示的是什么。
系统10还包括全球定位系统设备，以下简称GPS设备18，被配置用于确定当前图像40的当前位置56。当前位置56可以通过但不限于本领域技术人员所熟知的GPS坐标和/或车辆12的方位(即车辆面对的方向)来表征。合适的GPS设备可以从各种各样的渠道购得。
继续参照图1和图2，系统10可以包括控制器30，被配置用于接收来自相机16的图像数据26和来自GPS设备18的GPS数据28。控制器30包括处理器(未显示)，诸如微处理器或者本领域技术人员清楚的其他控制电路。控制器30可以包括储存器(未显示)(包括诸如电子可擦除可编程只读存储器(EEPROM)的非易失性储存器)，用于存储来自相机16的一个或多个图像、来自GPS设备18的位置、例程、阈值等。一个或多个例程可由处理器来执行，以执行处理由控制器30所接收的信号来将图像数据26与GPS数据28组合或者融合的步骤，如本文所述。
控制器30利用GPS设备18来确定当前位置56(图4)是否与先前位置58(图3)相对应。如果当前位置56与先前位置58相对应，即大致相同，可以预期，先前图像54与当前图像40相匹配。如果这些位置相对应，控制器30将之前存储在控制器30中的先前位置58的先前图像54与从相机16所接收的当前图像40相比较。如果这些图像不匹配，即在当前图像40中出现意外对象14，系统10被配置用于指示在当前图像40中存在意外对象14，并可以通过多种方式来传递该指示，如以下更详细解释。可以购得适用于将先前图像54与当前图像40相比较以确定在视场22中是否存在意外对象14的视频图像减法/比较软件。
系统10还包括显示器32，被配置用于向驾驶员20显示与由控制器30输出的显示信号34相对应的图像。适用于显示器32的设备可以购得。显示器32可以位于车辆12上驾驶员容易观看显示器32的任何位置，例如作为驾驶员20正前方仪器显示面板的一部分，或者作为驾驶员座位与乘客座位之间的居中仪器安排的一部分，或者作为后视镜组件的一部分。系统10还可以包括警报指示器36，比如指示灯、声音警报器或者与方向盘或驾驶员座位耦合的振动设备。通常，警报指示器36被配置用于当在当前图像40中检测到意外对象14时，接收来自控制器30的警报信号38，并响应于警报信号38，输出光、声音、触觉或者其他动作来引起驾驶员20的注意。
图3是由控制器30存储的来自相机16的先前图像54的非限制性示例。系统10可以被配置为使得驾驶员20可以查看先前图像54，并指定先前图像54的部分作为排除区域44，和/或指定先前图像54的部分作为感兴趣区域42。在本示例中，感兴趣区域42为车辆20后面的车道，排除区域44为与车道相邻的草地。排除区域44可以包括意料的或者已知的对象60，诸如邮箱。通过指定先前图像54中的部分，控制器30能够更快地将当前图像40与先前图像54对齐并进行比较，以确定是否存在意外对象14(如图4所示)。换言之，系统10被配置用于忽略在先前图像54中排除区域44内的已知对象60。
系统10可被配置为使得例如通过让显示器32为触摸屏显示器并且系统10可被操作使得驾驶员20能够在排除区域显示在显示器上时用手指划过排除区域，驾驶员能够指定先前图像54中哪个部分是先前图像54的排除区域44。或者，系统10可以基于预期的或先前检测到的车辆12的行驶路径，自动确定先前图像54中哪部分是排除区域44。
图5示出可以在显示器32上出现的作为当前图像40的高亮图像52的非限制性示例，其中意外对象被显示为高亮对象50。高亮对象50可以通过涂覆对比色(比如红色)或者按阶梯方式(例如亮-暗-亮等)改变高亮对象的强度来强调，以便强调当前图像中示出的意外对象来让驾驶员20更容易察觉。
相应地，提供了了后视相机系统(系统10)和用于系统10的控制器30。通过利用GPS数据28来检测车辆12经常光顾的位置(例如驾驶员的车库或者工作场所的停车场)，这些位置的先前图像可以存储在控制器30中，然后与来自相机16的当前图像40进行比较，以便更容易确定在车辆12附近或者在预期的行驶路径上是否有意外对象14。
虽然本发明就其优选实施例来进行描述，但这并不旨在如此受限，相反只受限于所附权利要求书中所阐述的范围。

Claims (5)

1.一种用于检测车辆(12)后的意外对象(14)的后视相机系统(10)，所述系统(10)包括：
相机(16)，被配置用于从靠近车辆(12)的视场(22)捕捉当前图像(40)；
全球定位系统(GPS)设备(18)，被配置用于确定当前图像(40)的当前位置(56)；
控制器(30)，被配置用于确定当前位置(56)是否与先前位置(58)对应，将先前位置(58)的先前图像(54)与当前图像(40)相比较，并指示在当前图像(40)中是否存在意外对象(14)。
2.如权利要求1所述的系统(10)，其中所述系统(10)包括警报指示器(36)，并且所述控制器(30)还被配置用于如果在当前图像(40)中存在意外对象(14)，激活警报指示器(36)。
3.如权利要求1所述的系统(10)，其中所述系统包括显示器(32)，被配置用于显示当前图像(40)并强调当前图像(40)中所示的意外对象(14)。
4.如权利要求1所述的系统(10)，其中所述系统(10)被配置用于忽略在先前图像(54)的排除区域(44)中的已知对象(60)。
5.如权利要求4所述的系统(10)，其中所述系统(10)被配置为使得驾驶员(20)能够指定先前图像(54)的排除区域(44)。
CN201510500469.6A 2014-10-03 2015-08-14 用于图像存储和检索的带gps的后视相机 Pending CN105491325A (zh)

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EP3002158B1 (en) 2018-02-28

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