CN106157311A - Scaling method and the device of system is identified for vehicle ADAS - Google Patents
Scaling method and the device of system is identified for vehicle ADAS Download PDFInfo
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- CN106157311A CN106157311A CN201610533139.1A CN201610533139A CN106157311A CN 106157311 A CN106157311 A CN 106157311A CN 201610533139 A CN201610533139 A CN 201610533139A CN 106157311 A CN106157311 A CN 106157311A
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- photographic head
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Abstract
The embodiment of the invention discloses and a kind of identify the scaling method of system and device for vehicle ADAS, obtain the height H on the photographic head distance ground of center position before the windshield being arranged on vehicle；Obtaining the calibrating template being close on the bumper bar of vehicle to be measured distance Y after described camera imaging, described demarcating module includes actual range and the mapping relations of described actual range distance after described camera imaging；Obtain distance S between described vehicle and vehicle to be measured；According to default image-forming principle algorithmF is obtained with described H, Y, S value, pass through nominal data, improve the accuracy rate of line and point, thus be greatly improved data accuracy in computation and the raising of discrimination of image, photographic head can accurately learn the front vehicles (people, the object etc.) distance to this car.
Description
Technical field
The present embodiments relate to the technical field of ADAS, particularly relate to a kind of demarcation identifying system for vehicle ADAS
Method and device.
Background technology
In advanced drive assist system (Advanced Driver Assistant System, ADAS), the standard of demarcation
Really the method for property and demarcation can determine identify the accuracy of thing distance and demarcate efficiency.But current ADAS is identifying thing distance
Accuracy is poor with in demarcation efficiency.
Summary of the invention
The purpose of the embodiment of the present invention is to propose a kind of scaling method and device, purport identifying system for vehicle ADAS
In the problem solving to improve ADAS at the accuracy with demarcation efficiency identifying thing distance.
For reaching this purpose, the embodiment of the present invention by the following technical solutions:
First aspect, a kind of scaling method identifying system for vehicle ADAS, described method includes:
Obtain and be arranged on the height H on the photographic head distance ground of center position before the windshield of vehicle；
Obtain the calibrating template being close on the bumper bar of vehicle to be measured distance Y after described camera imaging, described
Demarcating module includes actual range and the mapping relations of described actual range distance after described camera imaging；
Obtain distance S between described vehicle and vehicle to be measured；
According to default image-forming principle algorithmJiao that f, f are described camera imaging is obtained with described H, Y, S value
Away from.
Preferably, the height H on the photographic head distance ground of center position before described acquisition is arranged on the windshield of vehicle
Before, also include:
Adjust the angle of described photographic head so that described photographic head is in level.
Preferably, the angle of the described photographic head of described adjustment so that described photographic head is in level, including:
By the described demarcation masterplate of UART preview photographic head on mobile terminals shooting after described camera imaging
Distance Y；
If the data of described demarcation masterplate are at least one red line preset of described photographic head, it is determined that described shooting
Head is in level.
Preferably, described at least one red line includes three red lines, and a middle red line is for determining described photographic head
The position of middle, the spacing of upper and lower two red lines is 30 pixels.
Preferably, the image-forming principle algorithm that described basis is presetAfter obtaining f with described H, Y, S value, also include:
Obtain at least two groups H, Y, S data, calculate corresponding f value；
F value according at least two groups got calculates average f value.
Second aspect, a kind of user vehicle ADAS identifies the caliberating device of system, and described device includes:
First acquisition module, the photographic head distance ground of center position before obtaining the windshield being arranged on vehicle
Highly H；
Second acquisition module, becomes at described photographic head for obtaining the calibrating template being close on the bumper bar of vehicle to be measured
Distance Y after Xiang, described demarcating module includes actual range and described actual range distance after described camera imaging
Mapping relations；
3rd acquisition module, for obtaining distance S between described vehicle and vehicle to be measured；
4th acquisition module, for according to the image-forming principle algorithm presetF is obtained with described H, Y, S value.
Preferably, described device also includes:
Adjusting module, for adjusting the angle of described photographic head so that described photographic head is in level.
Preferably, described adjusting module, it is used for:
By the described demarcation masterplate of UART preview photographic head on mobile terminals shooting after described camera imaging
Distance Y；
If the data of described demarcation masterplate are at least one red line preset of described photographic head, it is determined that described shooting
Head is in level.
Preferably, described at least one red line includes three red lines, and a middle red line is for determining described photographic head
The position of middle, the spacing of upper and lower two red lines is 30 pixels.
Preferably, described device also includes:
5th acquisition module, for obtaining at least two groups H, Y, S data, calculates corresponding f value；
Computing module, calculates average f value for the f value according at least two groups got.
The embodiment of the present invention provides a kind of scaling method and device identifying system for vehicle ADAS, obtains and is arranged on car
Windshield before center position photographic head distance ground height H；Obtain and be close on the bumper bar of vehicle to be measured
Calibrating template distance Y after described camera imaging, described demarcating module includes that actual range and described actual range are in institute
State the mapping relations of the distance after camera imaging；Obtain distance S between described vehicle and vehicle to be measured；According to default one-tenth
As principle algorithmObtain f with described H, Y, S value, by nominal data, the accuracy rate of line and point is improve, thus greatly
The big data accuracy in computation improving image and the raising of discrimination, photographic head can accurately learn front vehicles (people, object
Deng) to the distance of this car.
Accompanying drawing explanation
Fig. 1 is the flow process signal of a kind of scaling method identifying system for vehicle ADAS that the embodiment of the present invention provides
Figure；
Fig. 2 is the schematic diagram of a kind of demarcating module that the embodiment of the present invention provides；
Fig. 3 is a kind of method schematic diagram calculating calibration coefficient that the embodiment of the present invention provides；
Fig. 4 is the flow process signal that the another kind that the embodiment of the present invention provides identifies the scaling method of system for vehicle ADAS
Figure；
Fig. 5 is the flow process signal that the another kind that the embodiment of the present invention provides identifies the scaling method of system for vehicle ADAS
Figure；
Fig. 6 is the functional module signal that the another kind that the embodiment of the present invention provides identifies the device of system for vehicle ADAS
Figure.
Detailed description of the invention
With embodiment, the embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.It is understood that this
Specific embodiment described by place is used only for explaining the embodiment of the present invention, rather than the restriction to the embodiment of the present invention.Additionally also
It should be noted that for the ease of describing, accompanying drawing illustrate only the part relevant to the embodiment of the present invention rather than entire infrastructure.
It is the stream of a kind of scaling method identifying system for vehicle ADAS that the embodiment of the present invention provides with reference to Fig. 1, Fig. 1
Journey schematic diagram.
Identify that the scaling method of system includes as it is shown in figure 1, described for vehicle ADAS:
Step 101, obtains and is arranged on the height H on the photographic head distance ground of center position before the windshield of vehicle；
Step 102, obtain the calibrating template that is close on the bumper bar of vehicle to be measured after described camera imaging away from
From Y, described demarcating module includes actual range and the mapping relations of described actual range distance after described camera imaging；
Step 103, obtains distance S between described vehicle and vehicle to be measured；
Step 104, according to default image-forming principle algorithmF is obtained with described H, Y, S value.
Concrete, photographic head is arranged on center position before windshield.This step purpose: set photographic head and guarantee water
Flat, center, make the visual field the broadest.Set level altitude, convenient acquisition height number.
By calibrating template as in figure 2 it is shown, be placed in the middle of car dead ahead, and the front bumper of car is close to.This step purpose:
Initial set value distance is near, and the bumper bar from car is close to, and numerical value is more accurate.
Measure photographic head the left width of windshield, right width, the height of photographic head, photographic head to front bumper away from
From, and the spacing of wheel, totally 5 parameters.This step purpose: photographic head position onboard, and measure body width, as
Fruit deducts photographic head when learning with the distance of full car to front thick stick distance, is the distance between two cars to be measured.The spacing mesh of wheel
For computed range lane line distance use.
The height of labelling photographic head on calibrating template.Such as, on calibrating template, each little black square all represents default real
Border distance, if photographing the image being attached on bumper bar have several little black square inside photographic head, then by these little black squares
Finger scaling board, the height of labelling photographic head in template can be obtained in actual template, it was demonstrated that be consistent with photographic head height, and
Labelling point.This step purpose: photographic head level height, with ground level, the distance detected ability infinity, in theory can not
There is intersection point.Numerical value could be accurately.
The angle of whole photographic head, makes photographic head level.Method: by UART at pc end preview photographic head, it is ensured that in template
The label 3 red lines in photographic head in.3 lines that photographic head is preset；Article 3, the requirement of line is: middle one is center
Between position, upper and lower 2 stripe pitch 30 pixels.This step purpose: guarantee photographic head level correction in setting height.By alignment
Article 3, line, i.e. preliminary level.
Remove the label on calibrating template, utilize pc machine to set parameter, demarcate.This step purpose: for shooting
Head image recognition calculates does parameter preparation.
Calibrating template is moved 1m backward, then utilizes pc machine again to demarcate.This step purpose: setting based on photographic head
Determine height level's correction, do its accuracy demarcated of correction checking further.
Judge demarcate error, it is judged that content be 3 parameters: X-coordinate (within 10, the least more accurate), Y coordinate (10
Within, the least more accurate), the distance (this parameter has been measured and obtained, and actual value compares) of photographic head to front bumper.
Repeated measure is repeatedly.
Demarcation file is transferred to equipment by can.This step purpose: communication modes, finally allows terminal unit get
Parameter, and calculate the application of product function.
The embodiment of the present invention provides a kind of scaling method identifying system for vehicle ADAS, obtains the gear being arranged on vehicle
The height H on the photographic head distance ground of center position before wind glass；Obtain the calibration mold being close on the bumper bar of vehicle to be measured
Plate distance Y after described camera imaging, described demarcating module includes that actual range and described actual range are in described shooting
The mapping relations of the distance after head imaging；Obtain distance S between described vehicle and vehicle to be measured；According to default image-forming principle
AlgorithmObtain f with described H, Y, S value as shown in Figure 3, by nominal data, the accuracy rate of line and point is improve, from
And it being greatly improved data accuracy in computation and the raising of discrimination of image, photographic head can accurately learn front vehicles (people, thing
Body etc.) to the distance of this car.
It is the scaling method that the another kind of embodiment of the present invention offer identifies system for vehicle ADAS with reference to Fig. 4, Fig. 4
Schematic flow sheet.
Step 401, adjusts the angle of described photographic head so that described photographic head is in level；
Preferably, the angle of the described photographic head of described adjustment so that described photographic head is in level, including:
By the described demarcation masterplate of UART preview photographic head on mobile terminals shooting after described camera imaging
Distance Y；
If the data of described demarcation masterplate are at least one red line preset of described photographic head, it is determined that described shooting
Head is in level.
Wherein, described at least one red line includes three red lines, and a middle red line is for just determining described photographic head
Middle position, the spacing of upper and lower two red lines is 30 pixels.
Step 402, obtains and is arranged on the height H on the photographic head distance ground of center position before the windshield of vehicle；
Step 403, obtain the calibrating template that is close on the bumper bar of vehicle to be measured after described camera imaging away from
From Y, described demarcating module includes actual range and the mapping relations of described actual range distance after described camera imaging；
Step 404, obtains distance S between described vehicle and vehicle to be measured；
Step 405, according to default image-forming principle algorithmF is obtained with described H, Y, S value.
It is the scaling method that the another kind of embodiment of the present invention offer identifies system for vehicle ADAS with reference to Fig. 5, Fig. 5
Schematic flow sheet.
Step 501, adjusts the angle of described photographic head so that described photographic head is in level；
Step 502, obtains and is arranged on the height H on the photographic head distance ground of center position before the windshield of vehicle；
Step 503, obtain the calibrating template that is close on the bumper bar of vehicle to be measured after described camera imaging away from
From Y, described demarcating module includes actual range and the mapping relations of described actual range distance after described camera imaging；
Step 504, obtains distance S between described vehicle and vehicle to be measured；
Step 505, according to default image-forming principle algorithmF is obtained with described H, Y, S value；
Step 506, obtains at least two groups H, Y, S data, calculates corresponding f value；
Step 507, calculates average f value according to the f value of at least two groups got.
It is the function of the caliberating device that the embodiment of the present invention provides a kind of user vehicle ADAS to identify system with reference to Fig. 6, Fig. 6
Module diagram.
As shown in Figure 6, described user vehicle ADAS identifies that the caliberating device of system includes:
First acquisition module 601, the photographic head distance ground of center position before obtaining the windshield being arranged on vehicle
The height H in face；
Second acquisition module 602, for obtaining the calibrating template being close on the bumper bar of vehicle to be measured in described shooting
Head imaging after distance Y, described demarcating module include actual range and described actual range after described camera imaging away from
From mapping relations；
3rd acquisition module 603, for obtaining distance S between described vehicle and vehicle to be measured；
4th acquisition module 604, for according to the image-forming principle algorithm presetF is obtained with described H, Y, S value.
Preferably, described device also includes:
Adjusting module, for adjusting the angle of described photographic head so that described photographic head is in level.
Preferably, described adjusting module, it is used for:
By the described demarcation masterplate of UART preview photographic head on mobile terminals shooting after described camera imaging
Distance Y；
If the data of described demarcation masterplate are at least one red line preset of described photographic head, it is determined that described shooting
Head is in level.
Preferably, described at least one red line includes three red lines, and a middle red line is for determining described photographic head
The position of middle, the spacing of upper and lower two red lines is 30 pixels.
Preferably, described device also includes:
5th acquisition module, for obtaining at least two groups H, Y, S data, calculates corresponding f value；
Computing module, calculates average f value for the f value according at least two groups got.
The embodiment of the present invention provides a kind of scaling method and device identifying system for vehicle ADAS, obtains and is arranged on car
Windshield before center position photographic head distance ground height H；Obtain and be close on the bumper bar of vehicle to be measured
Calibrating template distance Y after described camera imaging, described demarcating module includes that actual range and described actual range are in institute
State the mapping relations of the distance after camera imaging；Obtain distance S between described vehicle and vehicle to be measured；According to default one-tenth
As principle algorithmObtain f with described H, Y, S value, by nominal data, the accuracy rate of line and point is improve, thus greatly
The big data accuracy in computation improving image and the raising of discrimination, photographic head can accurately learn front vehicles (people, object
Deng) to the distance of this car.
The know-why of the embodiment of the present invention is described above in association with specific embodiment.These describe and are intended merely to explain this
The principle of inventive embodiments, and the restriction to embodiment of the present invention protection domain can not be construed to by any way.Based on herein
Explanation, those skilled in the art need not to pay performing creative labour, and can to associate other of the embodiment of the present invention concrete
Embodiment, within these modes fall within the protection domain of the embodiment of the present invention.
Claims (10)
1. the scaling method identifying system for vehicle ADAS, it is characterised in that described method includes:
Obtain and be arranged on the height H on the photographic head distance ground of center position before the windshield of vehicle；
Obtain the calibrating template being close on the bumper bar of vehicle to be measured distance Y after described camera imaging, described demarcation
Module includes actual range and the mapping relations of described actual range distance after described camera imaging；
Obtain distance S between described vehicle and vehicle to be measured；
According to default image-forming principle algorithmThe focal length that f, f are described camera imaging is obtained with described H, Y, S value.
Method the most according to claim 1, it is characterised in that described acquisition hits exactly position before being arranged on the windshield of vehicle
Before the height H on the photographic head distance ground put, also include:
Adjust the angle of described photographic head so that described photographic head is in level.
Method the most according to claim 2, it is characterised in that the angle of the described photographic head of described adjustment so that described in take the photograph
As head is in level, including:
By the described demarcation masterplate of UART preview photographic head on mobile terminals shooting distance after described camera imaging
Y；
If the data of described demarcation masterplate are at least one red line preset of described photographic head, it is determined that at described photographic head
In level.
Method the most according to claim 3, it is characterised in that described at least one red line includes three red lines, centre one
Bar red line is for determining the position of the middle of described photographic head, and the spacing of upper and lower two red lines is 30 pixels.
Method the most as claimed in any of claims 1 to 4, it is characterised in that the image-forming principle that described basis is preset
AlgorithmAfter obtaining f with described H, Y, S value, also include:
Obtain at least two groups H, Y, S data, calculate corresponding f value；
F value according at least two groups got calculates average f value.
6. the caliberating device of a user vehicle ADAS identification system, it is characterised in that described device includes:
First acquisition module, the height on the photographic head distance ground of center position before obtaining the windshield being arranged on vehicle
H；
Second acquisition module, for obtaining the calibrating template being close on the bumper bar of vehicle to be measured after described camera imaging
Distance Y, described demarcating module includes actual range and the mapping of described actual range distance after described camera imaging
Relation；
3rd acquisition module, for obtaining distance S between described vehicle and vehicle to be measured；
4th acquisition module, for according to the image-forming principle algorithm presetWith described H, Y, S value obtain f, f be described in take the photograph
Focal length as head imaging.
Device the most according to claim 6, it is characterised in that described device also includes:
Adjusting module, for adjusting the angle of described photographic head so that described photographic head is in level.
Device the most according to claim 7, it is characterised in that described adjusting module, is used for:
By the described demarcation masterplate of UART preview photographic head on mobile terminals shooting distance after described camera imaging
Y；
If the data of described demarcation masterplate are at least one red line preset of described photographic head, it is determined that at described photographic head
In level.
Device the most according to claim 8, it is characterised in that described at least one red line includes three red lines, centre one
Bar red line is for determining the position of the middle of described photographic head, and the spacing of upper and lower two red lines is 30 pixels.
10. according to the device described in any one in claim 6 to 9, it is characterised in that described device also includes:
5th acquisition module, for obtaining at least two groups H, Y, S data, calculates corresponding f value；
Computing module, calculates average f value for the f value according at least two groups got.
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| CN108235776A (en) * | 2017-12-29 | 2018-06-29 | 深圳市锐明技术股份有限公司 | A kind of scaling method, device, storage medium and the terminal device of ADAS cameras |
| CN108235777A (en) * | 2017-12-29 | 2018-06-29 | 深圳市锐明技术股份有限公司 | A kind of scaling method, device, storage medium and the terminal device of ADAS cameras |
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| CN108235776A (en) * | 2017-12-29 | 2018-06-29 | 深圳市锐明技术股份有限公司 | A kind of scaling method, device, storage medium and the terminal device of ADAS cameras |
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| WO2022062893A1 (en) * | 2020-09-25 | 2022-03-31 | 深圳市道通科技股份有限公司 | Positioning method, system and apparatus for adas calibration device and readable storage medium |
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Application publication date: 20161123 |
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