CN107197207A - A kind of vehicle-mounted multi-camera system and its image pickup method - Google Patents
A kind of vehicle-mounted multi-camera system and its image pickup method Download PDFInfo
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- CN107197207A CN107197207A CN201710493625.XA CN201710493625A CN107197207A CN 107197207 A CN107197207 A CN 107197207A CN 201710493625 A CN201710493625 A CN 201710493625A CN 107197207 A CN107197207 A CN 107197207A
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- camera
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- mounted multi
- control unit
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Classifications
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- 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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The present invention provides a kind of vehicle-mounted multi-camera system, including control unit and multiple CCD camera assemblies, and the CCD camera assembly includes gateway and camera, and the multiple CCD camera assembly is electrically connected by twisted-pair feeder with described control unit；Wherein, the camera is used for shooting image, and the gateway is used to be communicated between described control unit and the camera by Ethernet.The present invention also provides a kind of image pickup method that image taking is carried out using vehicle-mounted multi-cam, reduces the post-processing workload of main frame, reaches more preferable picture splicing effect.
Description
Technical field
The present invention relates to the vehicle-mounted multi-cam communications field, and in particular to a kind of vehicle-mounted multi-camera system and utilization are vehicle-mounted
Multi-cam carries out the image pickup method of image taking.
Background technology
With the high speed development of the functions such as ADAS, the demand of vehicle-mounted camera will be multiplied, most common in the market
Have rearview camera, forward sight camera, look around camera, side view shooting it is first-class.Traditional vehicle-mounted camera is mostly with CVBS
Separate between signal output, each camera, main frame gathers the picture of each camera, carries out post-processing.Due to taking the photograph
As separate between head, it is impossible to unified, and under various circumstances, output video image YC of camera etc. is not yet
It is identical, i.e. ISP parameters（Including color correction, linearity correction, white balance, spectrum assignment etc.）Difference, this results in main frame
Post-processing workload is larger, and image mosaic effect is poor.
The content of the invention
In order to solve the above problems, the invention provides a kind of vehicle-mounted multi-camera system, it is characterised in that including control
Unit and multiple CCD camera assemblies, the CCD camera assembly include gateway and camera, and the multiple CCD camera assembly passes through double
Twisted wire is electrically connected with described control unit；
Wherein, the camera is used for shooting image, and the gateway is used for by Ethernet in described control unit and described taken the photograph
As being communicated between head.
Preferably, the CCD camera assembly puts CCD camera assembly, the right side and puts camera group including front camera component, a left side
Part, rear camera component.
Preferably, the front camera component is installed on below front bumper；Put CCD camera assembly and be installed in the left side
Below the rearview mirror of left side；Put CCD camera assembly and be installed on below right rear in the right side；And the rear camera component
It is installed on below rear bumper or below logo.
Preferably, the camera in the CCD camera assembly is wide-angle camera, and visual angle is not less than 170 degree.
Preferably, described control unit determines main camera and from camera according to information of vehicles, and principal and subordinate is taken the photograph respectively
As head is configured；Itself ISP parameter is sent to from camera by the main camera；It is described from camera by the ISP of itself
Parameter is set to identical with the ISP parameters of main camera.
Preferably, when the vehicle is running, using the camera of vehicle traveling direction as the main camera.
Preferably, in traveling straight forward, the main camera is front camera；When turning left, the master takes the photograph
As head is that camera is put on a left side；When turning right, the main camera is that camera is put on the right side；In reversing, the main camera is
Rear camera.
Preferably, carried out data transmission by custom protocol, the custom protocol includes protocol header part and effective
Loaded portion, the protocol headers point include one or more of following field：
CMD is ordered, the purposes of data is represented；
Source address SCH, represents data source nodes；
Destination address DCH, represents data destination node；
Sequence number SN, represents data order；And
Length Len, represents the data length of Payload part.
Preferably, the command type of the field order CMD includes main and subordinate node setting, main and subordinate node setting state, ISP
One or more of parameter setting, ISP parameter settings state and view data transmission.
Preferably, using the IEEE1722/UDP host-host protocols of international standard, transmission is described certainly on the basis of the agreement
Define agreement.
Preferably, described control unit determines master clock by Ethernet time unification agreement IEEE802.1AS, realizes each
Node time is unified.
The present invention also provides a kind of image pickup method that image taking is carried out using vehicle-mounted multi-cam, comprises the following steps：
Control unit determines according to information of vehicles and sets principal and subordinate's camera；
Principal and subordinate's camera will each set feedback of status to control unit；
ISP parameters are sent to described from camera by the main camera by custom protocol；And
It is described to set the ISP parameters of itself identical with host node from camera and to the main cam feedback parameter setting shape
State.
Preferably, when the vehicle is running, using the camera of vehicle traveling direction as the main camera, when vehicle stops
When, main camera keeps constant.
Preferably, in traveling straight forward, the main camera is front camera；When turning left, the master takes the photograph
As head is that camera is put on a left side；When turning right, the main camera is that camera is put on the right side；In reversing, the main camera is
Rear camera.
Brief description of the drawings
Fig. 1 is the structural representation of the vehicle-mounted multi-cam camera system of the embodiment of the present invention.
Fig. 2 is the field list of the custom protocol of the embodiment of the present invention.
Fig. 3 is the flow chart that image taking is carried out using vehicle-mounted multi-cam of the embodiment of the present invention.
The flow chart that Fig. 4 uniformly takes pictures for the vehicle-mounted multi-cam of the embodiment of the present invention.
Embodiment
The present invention is illustrated below according to accompanying drawing illustrated embodiment.This time disclosed embodiment can consider in all sides
Face is to illustrate, without limitation.The scope of the present invention is not limited by the explanation of implementation below, only by claims
Shown in scope, and including having all deformations in the same meaning and right with right.
Embodiment 1
[structure of vehicle-mounted multi-camera system]
As shown in figure 1, the structural representation of the vehicle-mounted multi-cam camera system for embodiment, vehicle-mounted multi-cam camera system
Including control unit 101 and multiple CCD camera assemblies 102,103 etc., CCD camera assembly 102,103 etc. passes through twisted-pair feeder and control
Unit 101 is electrically connected, and is illustrated below by taking CCD camera assembly 102 as an example.CCD camera assembly 102 includes gateway 104, preposition taken the photograph
Camera 106, the right side, which are put, as first 105, a left side puts camera 107, rear camera 108.
Control unit 101 determines main camera and from camera according to the direct of travel of vehicle, i.e., in traveling straight forward
When, with front camera 105 for main camera；When turning left, camera 106 is put for main camera with a left side；When turning right,
Camera 107 is put for main camera with the right side；In reversing, with rear camera 108 for main camera.Determine principal and subordinate's camera it
Afterwards, control unit 101 is configured to principal and subordinate's camera respectively according to determination situation.The present embodiment is moved forward with its straight line
Exemplified by, now front camera 105 is main camera.Main camera 105 by itself ISP parameter be sent to from camera 106,
107th, 108, the ISP parameters of itself are set to from camera 106,107,108 identical with the ISP parameters of main camera 105.From
And the ISP parameters of unified each camera, the post-processing workload of main frame is reduced, more preferable picture splicing effect is reached.
[operation of vehicle-mounted multi-camera system]
As shown in Fig. 2 being the field list of custom protocol in embodiment, as shown in figure 3, to utilize vehicle-mounted in the embodiment of the present invention
Multi-cam carries out the flow chart of image taking.The operation of vehicle-mounted multi-camera system is illustrated with reference to Fig. 2 and Fig. 3
Journey.
S201, determine that according to information of vehicles front camera is main camera
Front camera is set as camera 1, camera is put for camera 2 in a left side, camera is put for camera 3 in the right side, rearmounted shooting
Head is camera 4.By taking vehicle forward travel state as an example, in this condition, control unit determines front camera 1 according to information of vehicles
For main camera.
S202, principal and subordinate's camera are set
Control unit carries out main and subordinate node setting by custom protocol to each camera：0x01 0x00 0xFF 0x00 0x04
0x00 0x01 0x00 0x00 0x00.Wherein, 0x01 represents main and subordinate node setting command, and 0x00 represents that source address is single for control
Member, 0xFF represents that the message is broadcast message, and 0x00 represents serial number 0, and 0x04 0x00 represent the length of the data, 0x01
0x00 0x00 0x00 represent that camera 1 is main camera.
S203, camera determined after main and subordinate node, feedback result
Each camera is it is determined that after main and subordinate node, feedback of status is set to control unit, the feedback states of camera 1 by respective：
0x81 0x01 0x00 0x00 0x01 0x00 0x01；The feedback states of camera 2：0x81 0x02 0x00 0x00 0x01
0x00 0x01；The feedback states of camera 3：0x81 0x03 0x00 0x00 0x01 0x00 0x01；The feedback states of camera 4：
0x81 0x04 0x00 0x00 0x01 0x00 0x01.By taking the feedback states of camera 1 as an example, 0x81 represents that main and subordinate node is set
Status command, 0x01 represents that source address is camera 1, and 0x00 represents that destination address is control unit, and 0x00 represents serial number 0,
0x01 0x00 represent the data length, and 0x01 represents that the node is provided with.
S204, main camera send ISP parameters
Its ISP parameter is sent to camera 2, camera 3, camera 4 by camera 1 by custom protocol：0x02 0x01
0xFF 0x00 + Len + ISP data.Wherein, 0x02 represents ISP parameter setting orders, and 0x01 represents host node camera 1
Address, 0xFF represents that the message is broadcast message, and 0x00 represents serial number 0, and Len represents the length of ISP parameters, ISP data
Represent ISP parameters.
S205, from cam feedback ISP parameter setting states
Camera 2, camera 3 and camera 4 set respective ISP parameters and shooting respectively according to the ISP parameters of camera 1
First 1 is identical, and sets state to the feedback parameter of camera 1 by custom protocol：0x82 +SCH + 0x01 0x00 +
0x01 0x00 0x01.Wherein, 0x82 represents ISP parameter setting status commands, and SCH represents the source address of the order（Image
First 2,3,4）, 0x01 represents that destination address is host node camera 1, and 0x00 represents serial number 0, and 0x01 0x00 represent that data are long
Degree, 0x01 represents that the node parameter is provided with.
Embodiment 2
As shown in figure 4, being the flow chart uniformly taken pictures of vehicle-mounted multi-cam of the embodiment of the present invention, below according to the figure specifically
The bright implementation process.
S301, camera send view data to control unit
Camera（1~N）Respective view data is sent to by control unit by custom protocol： 0x03 0x01/N
0x00 0x81 0x00 0x3E + data、0x03 0x01/N 0x00 0x82 0x00 0x3E + data……0x03
0x01/N 0x00 0xFF 0x00 0x3E + data、0x03 0x01/N 0x00 0x80 0x00 0x3E + data、0x03
0x01/N 0x00 0x81 0x00 0x3E + data.By taking sequence number 0x81 as an example, 0x03 represents image data transfer command,
0x01/N represents that the source address of the order is 1~N of camera, and 0x00 represents that destination address is control unit, and 0x81 represents sequence number,
0x3E 0x00 represent data length, and data represents view data.
S302, control unit to the image real time transfer of the synchronization of multiple cameras of reception, splice and preserve
When in case of emergency, control unit receives photographing command, the camera that the reception is arrived is gathered（1~N）Figure
These images are handled, spliced and preserved by picture.
Claims (14)
1. a kind of vehicle-mounted multi-camera system, it is characterised in that including control unit and multiple CCD camera assemblies, the camera
Component includes gateway and camera, and the multiple CCD camera assembly is electrically connected by twisted-pair feeder with described control unit；
Wherein, the camera is used for shooting image, and the gateway is used for by Ethernet in described control unit and described taken the photograph
As being communicated between head.
2. vehicle-mounted multi-camera system according to claim 1, it is characterised in that the CCD camera assembly includes preposition take the photograph
CCD camera assembly, the right side, which are put, as head assembly, a left side puts CCD camera assembly, rear camera component.
3. vehicle-mounted multi-camera system according to claim 2, it is characterised in that
The front camera component is installed on below front bumper；
Put CCD camera assembly and be installed on below the rearview mirror of left side in the left side；
Put CCD camera assembly and be installed on below right rear in the right side；And
The rear camera component is installed on below rear bumper or below logo.
4. vehicle-mounted multi-camera system according to claim 1, it is characterised in that the camera in the CCD camera assembly
For wide-angle camera, visual angle is not less than 170 degree.
5. vehicle-mounted multi-camera system according to claim 1, it is characterised in that
Described control unit determines main camera and from camera according to information of vehicles, and principal and subordinate's camera is set respectively
Put；
Itself ISP parameter is sent to from camera by the main camera；
It is described the ISP parameters of itself are set to from camera it is identical with the ISP parameters of main camera.
6. vehicle-mounted multi-camera system according to claim 5, it is characterised in that when the vehicle is running, advanced with vehicle
The camera in direction is the main camera.
7. vehicle-mounted multi-camera system according to claim 6, it is characterised in that in traveling straight forward, the master
Camera is front camera；When turning left, the main camera is that camera is put on a left side；When turning right, the main shooting
Head puts camera for the right side；In reversing, the main camera is rear camera.
8. the vehicle-mounted multi-camera system according to claim 1-7, it is characterised in that data are carried out by custom protocol
Transmission, the custom protocol includes protocol header part and Payload part, and the protocol headers point are included in following field
It is one or more：
CMD is ordered, the purposes of data is represented；
Source address SCH, represents data source nodes；
Destination address DCH, represents data destination node；
Sequence number SN, represents data order；And
Length Len, represents the data length of Payload part.
9. vehicle-mounted multi-camera system according to claim 8, it is characterised in that the order class of the field order CMD
Type includes main and subordinate node setting, main and subordinate node and sets state, ISP parameter settings, ISP parameter settings state and view data transmission
One or more of.
10. vehicle-mounted multi-camera system according to claim 8, it is characterised in that use the IEEE1722/ of international standard
UDP host-host protocols, transmit the custom protocol on the basis of the agreement.
11. vehicle-mounted multi-camera system according to claim 1, it is characterised in that described control unit passes through Ethernet
Time unification agreement IEEE802.1AS determines master clock, realizes that each node time is unified.
12. a kind of image pickup method that image taking is carried out using vehicle-mounted multi-cam, it is characterised in that comprise the following steps：
Control unit determines according to information of vehicles and sets principal and subordinate's camera；
Principal and subordinate's camera will each set feedback of status to control unit；
ISP parameters are sent to described from camera by the main camera by custom protocol；And
It is described to set the ISP parameters of itself identical with host node from camera and to the main cam feedback parameter setting shape
State.
13. image pickup method according to claim 12, it is characterised in that when the vehicle is running, with vehicle traveling direction
Camera is the main camera, when the vehicle is stopped, and main camera keeps constant.
14. image pickup method according to claim 12, it is characterised in that in traveling straight forward, the main camera
For front camera；When turning left, the main camera is that camera is put on a left side；When turning right, the main camera is the right side
Put camera；In reversing, the main camera is rear camera.
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| CN201710493625.XA CN107197207A (en) | 2017-06-26 | 2017-06-26 | A kind of vehicle-mounted multi-camera system and its image pickup method |
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| CN201710493625.XA CN107197207A (en) | 2017-06-26 | 2017-06-26 | A kind of vehicle-mounted multi-camera system and its image pickup method |
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Cited By (4)
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| WO2019126546A1 (en) * | 2017-12-20 | 2019-06-27 | Texas Instruments Incorporated | Multi camera image processing |
| CN110913125A (en) * | 2019-10-28 | 2020-03-24 | 深圳市德赛微电子技术有限公司 | Synchronous communication method for multiple wireless cameras and vehicle panoramic system |
| CN115119045A (en) * | 2022-01-18 | 2022-09-27 | 长城汽车股份有限公司 | Vehicle-mounted multi-camera-based video generation method and device and vehicle-mounted equipment |
| CN115580689A (en) * | 2022-11-30 | 2023-01-06 | 武汉凡德智能科技有限公司 | Synchronous synthesis method and device for multiple cameras to collect moving target side photos |
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| WO2019126546A1 (en) * | 2017-12-20 | 2019-06-27 | Texas Instruments Incorporated | Multi camera image processing |
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| CN115580689A (en) * | 2022-11-30 | 2023-01-06 | 武汉凡德智能科技有限公司 | Synchronous synthesis method and device for multiple cameras to collect moving target side photos |
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