CN105539289A - Parking door opening early-warning method based on four-camera 360-degree circular observation - Google Patents
Parking door opening early-warning method based on four-camera 360-degree circular observation Download PDFInfo
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- CN105539289A CN105539289A CN201510932196.2A CN201510932196A CN105539289A CN 105539289 A CN105539289 A CN 105539289A CN 201510932196 A CN201510932196 A CN 201510932196A CN 105539289 A CN105539289 A CN 105539289A
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- early warning
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- computer ecu
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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
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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
- B60R2300/10—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
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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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
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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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Alarm Systems (AREA)
- Image Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a parking door opening early-warning method based on four-camera 360-degree circular observation. A front camera, a rear camera, a left camera and a right camera of an automobile and a travel computer ECU (Electronic Control Unit) connected with the cameras are arranged. The method specifically includes the following steps that firstly, an accurate early-warning range is calibrated and an image range lookup table is programmed into a DSP (Digital Signal Processor) connected with the travel computer ECU; and secondly, the travel computer ECU is connected with the DSP, original images collected by the cameras are processed through the DSP, and therefore whether parking door opening operation is safe or not is judged. By the adoption of the method, an adopted early-warning mode belongs to the field of image processing, a background subtraction method is adopted as a main method to be matched with other image processing algorithms, and therefore relatively-moving objects in the images are captured. The early-warning method is not used for detecting an obstacle, so that the situation that a false alarm is given due to the fact that a static object is in the region is avoided.
Description
Technical field
The present invention relates to image and technical field of video processing, specifically a kind of parking enabling method for early warning of looking around based on four cameras 360 degree.
Background technology
Traffic accident between the current era vehicle of traffic prosperity is of common occurrence.On automobile, passenger when getting off and side of opening the door travels the motor bike of coming or storage battery car and bumps against situation about causing casualties and happen occasionally.Parking enabling forewarn system shifts to an earlier date reminding passengers when passenger opens the door when button fly front whether safety.
The over-borrowing of existing parking enabling forewarn system helps ultrasonic transduter, infrared pickoff etc. on the market.These sensors coordinate special ECU to realize the mode such as sound or LED light to send early warning signal.
Sensors with auxiliary electrode adopts the mode of detection of obstacles to produce early warning usually.So some occasion can produce erroneous judgement when around have static object in measurement range or stop time two sidecars stops too closely all may produce false alarm.Such sensor usually can produce wrong report when being used for detection of obstacles and rear mobile object identification, impacts at heart to chaufeur.
Summary of the invention
The object of the present invention is to provide a kind of parking enabling method for early warning of looking around based on four cameras 360 degree, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme:
Based on the parking enabling method for early warning that four cameras 360 degree are looked around, comprise the camera of automobile all around on four direction, and the car running computer ECU be connected with camera, concrete grammar is as follows:
(1) early warning range is accurately demarcated, by the programming of image range look-up table in the dsp processor be connected with car running computer ECU;
(2) car running computer ECU connects dsp processor, by dsp processor to camera collection to original image process, thus judge that parking is opened the door whether safety, its concrete determination methods:
A. car running computer ECU reads CAN data, when car door lock opening and vehicle are in halted state, start dsp processor, otherwise does not start; If automobile is in dead ship condition and arrangements for automotive doors does not have locking state, the time exceeding setting just can be triggered parking enabling and to be given warning in advance program;
B.DSP treater reads the view data of four-way CCD camera by car running computer ECU, and the look-up table demarcated by dsp processor inside extracts the image in early warning range;
C.DSP treater obtains multiframe picture to the image in early warning range within the regular hour, and be that main image processing method identifies mobile object by quiet and secluded poor method, and interpretation mobile object is relative and the velocity magnitude of automobile sport, judge the position relationship of mobile object and automobile simultaneously, once mobile object enters into early warning range, early warning can be carried out;
Real-time for the data of detection is sent in car running computer ECU by d.DSP treater, and the early warning information of graphicinformation and dsp processor is sent in navascreen by car running computer ECU simultaneously, reminds chaufeur by picture cues.
As the further scheme of the present invention: the calibration method of early warning range in described step (1), be connected with the notebook PC that calibration software is housed by netting twine by car running computer ECU, its concrete steps are as follows:
A. reached by automobile on spacious place, lay the calibration point of distance vehicle body about 1.5m respectively on vehicle right and left both sides, vehicle right and left both sides are respectively uniformly distributed four calibration points, and the distance between two calibration points is determined by motor vehicle length;
B. use notebook PC to obtain the original image of camera on four direction, and mark the position of each calibration point in original image respectively according to prompting mouse in calibration software;
C. generate calibration scale by calibration software, calculate image range look-up table by calibration software, finally by look-up table programming in the dsp processor be connected with car running computer ECU, can calibration process be completed.
As the further scheme of the present invention: in described step (2), dsp processor is according to look-up table, will represent the image zooming-out of the early warning range of setting out by the image processing techniques such as Morphology Algorithm or template matches in original image.
As the further scheme of the present invention: in described step (2), picture cues can adopt different colours and different conditions prompting according to mobile object distance auto body distance.
Compared with prior art, the invention has the beneficial effects as follows: the alarm mode that the present invention adopts belongs to image processing field, adopt Background difference to be the object that other image processing algorithms of main cooperation realize catching relative motion in image.The method not detects obstacle, has stationary object to appear at the phenomenon producing wrong report in region so there will not be.The present invention utilizes the video source of four cameras as forewarn system of 360 degree of viewing systems on automobile, can reduce and install more multisensor and damage to vehicle body in the hardware cost that brings and rear process of assembling.In addition in the selection of warning device, the method that the present invention adopts video early warning is directly exported on the navigation screen that carries at vehicle body directly to embody, and such alarm mode can reduce the installation of other devices, decreases the overall cost of hardware simultaneously.
Detailed description of the invention
Below in conjunction with the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In the embodiment of the present invention, a kind of parking enabling method for early warning of looking around based on four cameras 360 degree, comprises the camera of automobile all around on four direction, and the car running computer ECU be connected with camera, and concrete grammar is as follows:
(1) demarcate early warning range accurately, be connected by car running computer ECU by netting twine with the notebook PC that calibration software is housed, its concrete steps are as follows:
A. reached by automobile on spacious place, lay the calibration point of distance vehicle body about 1.5m respectively on vehicle right and left both sides, vehicle right and left both sides are respectively uniformly distributed four calibration points, and the distance between two calibration points is determined by motor vehicle length;
B. use notebook PC to obtain the original image of camera on four direction, and mark the position of each calibration point in original image respectively according to prompting mouse in calibration software;
C. generate calibration scale by calibration software, calculate image range look-up table by calibration software, finally by look-up table programming in the dsp processor be connected with car running computer ECU, can calibration process be completed;
(2) car running computer ECU connects dsp processor, by dsp processor to camera collection to image process, thus judge that parking is opened the door whether safety, its concrete determination methods:
A. car running computer ECU reads CAN data, when car door lock opening and vehicle are in halted state, start dsp processor (namely starting early warning program), otherwise does not start; If automobile is in dead ship condition and arrangements for automotive doors does not have locking state, the time exceeding setting just can be triggered parking enabling and to be given warning in advance program;
B.DSP treater reads the view data of four-way CCD camera by car running computer ECU, (this look-up table passes through Morphology Algorithm to the image extracted in early warning range by the inner look-up table demarcated of dsp processor, the image processing techniques such as template matches will represent the image zooming-out of the early warning range of setting out in original image, thus obtain new image, this image just can represent the image in alarm range);
C.DSP treater obtains multiframe picture to the image in early warning range within the regular hour, and identify mobile object by quiet and secluded poor method and other image processing methods, and interpretation mobile object is relative and the velocity magnitude of automobile sport, judge the position relationship of mobile object and automobile simultaneously, once mobile object enters into early warning range, early warning can be carried out;
Real-time for the data of detection is sent in car running computer ECU by d.DSP treater, the early warning information of graphicinformation and dsp processor is sent in navascreen by car running computer ECU simultaneously, remind chaufeur by picture cues, picture cues can adopt different colours and different conditions prompting according to mobile object distance vehicle body distance.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this specification sheets is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of specification sheets is only for clarity sake, those skilled in the art should by specification sheets integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (4)
1., based on the parking enabling method for early warning that four cameras 360 degree are looked around, comprise the camera of automobile all around on four direction, and the car running computer ECU be connected with camera, it is characterized in that, concrete grammar is as follows:
(1) early warning range is accurately demarcated, by the programming of image range look-up table in the dsp processor be connected with car running computer ECU;
(2) car running computer ECU connects dsp processor, by dsp processor to camera collection to original image process, thus judge that parking is opened the door whether safety, its concrete determination methods:
A. car running computer ECU reads CAN data, when car door lock opening and vehicle are in halted state, start dsp processor, otherwise does not start; If automobile is in dead ship condition and arrangements for automotive doors does not have locking state, the time exceeding setting just can be triggered parking enabling and to be given warning in advance program;
B.DSP treater reads the view data of four-way CCD camera by car running computer ECU, and the look-up table demarcated by dsp processor inside extracts the image in early warning range;
C.DSP treater obtains multiframe picture to the image in early warning range within the regular hour, and be that main image processing method identifies mobile object by quiet and secluded poor method, and interpretation mobile object is relative and the velocity magnitude of automobile sport, judge the position relationship of mobile object and automobile simultaneously, once mobile object enters into early warning range, early warning can be carried out;
Real-time for the data of detection is sent in car running computer ECU by d.DSP treater, and the early warning information of graphicinformation and dsp processor is sent in navascreen by car running computer ECU simultaneously, thus reminds chaufeur.
2. a kind of parking enabling method for early warning of looking around based on four cameras 360 degree according to claim 1, it is characterized in that, the calibration method of early warning range in described step (1), be connected with the notebook PC that calibration software is housed by netting twine by car running computer ECU, its concrete steps are as follows:
A. reached by automobile on spacious place, lay the calibration point of distance vehicle body about 1.5m respectively on vehicle right and left both sides, vehicle right and left both sides are respectively uniformly distributed four calibration points, and the distance between two calibration points is determined by motor vehicle length;
B. use notebook PC to obtain the original image of camera on four direction, and mark the position of each calibration point in original image respectively according to prompting mouse in calibration software;
C. generate calibration scale by calibration software, calculate image range look-up table by calibration software, finally by look-up table programming in the dsp processor be connected with car running computer ECU, can calibration process be completed.
3. a kind of parking enabling method for early warning of looking around based on four cameras 360 degree according to claim 1, it is characterized in that, in described step (2), dsp processor is according to look-up table, will represent the image zooming-out of the early warning range of setting out by the image processing techniques of Morphology Algorithm or template matches in original image.
4. a kind of parking enabling method for early warning of looking around based on four cameras 360 degree according to claim 1, it is characterized in that, in described step (2), picture cues can adopt different colours and different conditions prompting according to mobile object distance auto body distance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510932196.2A CN105539289B (en) | 2015-12-14 | 2015-12-14 | A kind of parking enabling method for early warning looked around based on four 360 degree of cameras |
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| CN201510932196.2A CN105539289B (en) | 2015-12-14 | 2015-12-14 | A kind of parking enabling method for early warning looked around based on four 360 degree of cameras |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108252591A (en) * | 2018-01-22 | 2018-07-06 | 哈尔滨拓博科技有限公司 | A kind of anticollision door device of view-based access control model identification and processing |
| CN108446592A (en) * | 2018-02-08 | 2018-08-24 | 深圳市赛格导航科技股份有限公司 | A kind of method of controlling security of car door, device, mobile unit and storage medium |
| CN108909623A (en) * | 2017-04-28 | 2018-11-30 | 丰田自动车株式会社 | Image display device |
| CN109094337A (en) * | 2018-09-28 | 2018-12-28 | 东南（福建）汽车工业有限公司 | A kind of action control automobile power back door system and method based on AVM |
| CN109552315A (en) * | 2017-09-26 | 2019-04-02 | 纵目科技（上海）股份有限公司 | Full visual field camera engine control system |
| CN110371140A (en) * | 2019-08-02 | 2019-10-25 | 福建省汽车工业集团云度新能源汽车股份有限公司 | A kind of vehicle door opening early-warning system and method based on panoramic looking-around image procossing |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108446592A (en) * | 2018-02-08 | 2018-08-24 | 深圳市赛格导航科技股份有限公司 | A kind of method of controlling security of car door, device, mobile unit and storage medium |
| CN109094337A (en) * | 2018-09-28 | 2018-12-28 | 东南（福建）汽车工业有限公司 | A kind of action control automobile power back door system and method based on AVM |
| CN110371140A (en) * | 2019-08-02 | 2019-10-25 | 福建省汽车工业集团云度新能源汽车股份有限公司 | A kind of vehicle door opening early-warning system and method based on panoramic looking-around image procossing |
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