CN107871346B - Automobile data recorder - Google Patents

Automobile data recorder Download PDF

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CN107871346B
CN107871346B CN201611180071.XA CN201611180071A CN107871346B CN 107871346 B CN107871346 B CN 107871346B CN 201611180071 A CN201611180071 A CN 201611180071A CN 107871346 B CN107871346 B CN 107871346B
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image
acquired
image acquisition
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focusing
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CN107871346A (en
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胡向军
梁志强
徐会
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Zhuhai Jieli Technology Co Ltd
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing
    • 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

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Time Recorders, Dirve Recorders, Access Control (AREA)

Abstract

The invention provides a vehicle event data recorder, including: the device comprises a controller, a memory connected with the controller, a display device, a first image acquisition device and a second image acquisition device; the controller includes: the image acquisition module is used for acquiring a first image and a second image; the image registration module is used for carrying out image registration on the acquired first image and the acquired second image to obtain the mapping relation of the same pixel points of the acquired first image and the acquired second image; and the synthesis output module is used for synthesizing the acquired first image and the second image to obtain a synthesized image and outputting the synthesized image to the display equipment and the memory. Compared with a mode of acquiring an image from a single camera and outputting the image, the automobile data recorder has a better image effect on the output image. Therefore, the driving recording effect can be improved by the driving recording mode of the driving recorder, and the practicability of the driving recorder is improved.

Description

Automobile data recorder
Technical Field
The invention relates to the technical field of vehicle-mounted electronic products, in particular to a vehicle event data recorder.
Background
The automobile data recorder becomes a necessity of electronic products in the automobile basically, and a user can use the automobile data recorder to record real-time image information and voice information of the whole driving process, so that powerful video evidence can be provided for police in case of an accident, and meanwhile, the automobile data recorder is convenient for fast settlement of insurance companies.
According to the traditional automobile data recorder scheme, one camera is adopted to continue shooting, the shooting effect in the daytime can meet the requirement, but the relative effect becomes very poor when the day comes to night, and even a piece of paint-black picture appears. Therefore, the conventional automobile data recorder is difficult to realize the automobile data with good effect in a weak light or backlight scene, and the practicability is poor.
Disclosure of Invention
Therefore, it is necessary to provide a driving recorder which improves the practicability of the driving recorder.
A tachograph, comprising: the device comprises a controller, a memory connected with the controller, a display device, a first image acquisition device and a second image acquisition device;
the controller includes:
the image acquisition module is used for correspondingly acquiring a first image and a second image which are acquired simultaneously and comprise a common entity object from the first image acquisition device and the second image acquisition device;
the image registration module is used for carrying out image registration on the acquired first image and the acquired second image to obtain the mapping relation of the same pixel points of the acquired first image and the acquired second image;
and the synthesis output module is used for synthesizing the acquired first image and the acquired second image according to the mapping relation to obtain a synthesized image and outputting the synthesized image to the display equipment and the memory.
The automobile data recorder comprises a controller, a memory connected with the controller, a display device, a first image acquisition device and a second image acquisition device. Compared with a mode of acquiring one image from a single camera and outputting the image, the automobile data recorder synthesis output module outputs the image with better image effect. Therefore, the driving recording effect can be improved by the mode of carrying out driving recording on the synthetic image output by the synthetic output module of the driving recorder, so that the practicability of the driving recorder is improved.
Drawings
FIG. 1 is a block diagram of a vehicle event data recorder according to an embodiment;
FIG. 2 is a block diagram of a control module of the tachograph of FIG. 1;
FIG. 3 is a block diagram of elements of one module of the block diagram of FIG. 2;
fig. 4 is an imaging schematic diagram of two image acquisition devices.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, an embodiment of a driving recorder includes: the image processing device comprises a controller 10, a memory 20 connected with the controller 10, a display device 30, a first image acquisition device 40 and a second image acquisition device 50.
The controller 10 includes:
an image acquiring module 110, configured to correspondingly acquire a first image and a second image, which are acquired simultaneously and include a common solid object, from the first image acquiring device 40 and the second image acquiring device 50.
It can be understood that the two image capturing devices simultaneously capture image information including a common solid object in the advancing direction of the vehicle during the vehicle driving, and the image information is respectively recorded as a first image and a second image. It is understood that including a common physical object means that both images include the same physical object.
The image registration module 130 is configured to perform image registration on the acquired first image and the acquired second image to obtain a mapping relationship between the same pixel points of the acquired first image and the acquired second image.
It should be noted that the same pixel point refers to a pixel point corresponding to one point on the entity object and representing the same point in different images. The method of image registration may be implemented in a variety of ways, such as optical flow, image block search matching, and so on.
And a synthesis output module 150, configured to synthesize the acquired first image and second image according to the mapping relationship to obtain a synthesized image, and output the synthesized image to the display device 30 and the memory 20.
According to the mapping relationship between the same pixel points of the acquired first image and the acquired second image, the acquired first image and the acquired second image may be synthesized by the synthesis output module 150 to obtain a synthesized image.
After the composite image is obtained, the composite image is output to the display device 30 for display, and the composite image is output to the memory 20 for storage, so that the driving condition of the vehicle during driving is recorded. In one embodiment, the composite image is processed to form video data, which is then stored in memory 20.
The image acquisition module 110, the image registration module 130, and the synthesis output module 150 are formed by writing corresponding programs into the controller 10 and then burning or burning the programs.
The automobile data recorder comprises a controller 10, a memory 20 connected with the controller 10, a display device 30, a first image acquisition device 40 and a second image acquisition device 50. The image obtaining module 110 of the controller 10 obtains two images from two image capturing devices disposed on the vehicle, and then the image registration module 130 registers the two images for image synthesis, so that compared with a mode of obtaining one image from a single camera and outputting the image, the image output by the vehicle event data recorder synthesis output module 150 has a better image effect. Therefore, the driving recording effect can be improved by the method of recording driving through the synthesized image output by the synthesized output module 150 of the driving recorder, so that the practicability of the driving recorder is improved.
In one embodiment, the first image capturing device 40 is configured to capture a first image, the captured first image including color information; the second image capturing device 50 is configured to capture a second image, and the captured second image includes luminance information. As such, the first image acquired by the image acquisition module 110 also includes color information; the second image acquired by the image acquisition module 110 also includes brightness information. Therefore, the sensitivity of the synthesized image can be improved, the image noise of the synthesized image can be reduced, and the automobile data recorder still has good recording effect and good practicability even under the environment of weak light or backlight.
The brightness information, the contrast information and the saturation information of the image can be determined through the color information. Specifically, the color information may be an RGB value.
The first image may be an image in YUV format, and may also be an image in Bayer format. If the first image is an image in a Bayer format, the first image needs to be interpolated before the step of performing image enhancement processing on the acquired first image and the acquired second image to obtain an enhanced first image and an enhanced second image.
In one particular embodiment, the first image capturing device 40 is a color camera and the second image capturing device 50 is a black and white camera. Therefore, the advantages of the color camera and the black-and-white camera can be fully exerted, the light sensitivity of the composite image is further improved, and the image noise of the composite image is reduced, so that the composite image has a better recording effect even in a low-light or backlight environment, and the practicability is better.
Please refer to fig. 2, in order to further improve the image effect of the outputted composite image, thereby improving the driving recording effect and the practicability of the driving recorder. The controller 10 may further include: an image enhancement module 222 and/or an image correction module 224.
In a first implementation, the controller 10 further includes an image enhancement module 222.
The image enhancement module 222 is configured to perform image enhancement processing on the acquired first image and the acquired second image to obtain an enhanced first image and an enhanced second image.
At this time, the image registration module 230 is configured to perform image registration on the enhanced first image and the enhanced second image, so as to obtain a mapping relationship between the same pixel points of the enhanced first image and the enhanced second image.
At this time, the synthesis output module 250 is configured to synthesize the enhanced first image and the enhanced second image to obtain a synthesized image, and output the synthesized image.
In a second implementation, the controller 10 further includes an image correction module 224.
The image correction module 224 is configured to perform fisheye distortion correction on the acquired first image and the acquired second image to obtain a first planar image and a second planar image.
At this time, the image registration module 230 performs image registration on the first planar image and the second planar image to obtain a mapping relationship between the same pixel points of the first planar image and the second planar image.
In a third implementation, the controller 10 further includes: an image enhancement module 222 and an image correction module 224.
The image enhancement module 222 is configured to perform image enhancement processing on the acquired first image and the acquired second image to obtain an enhanced first image and an enhanced second image.
The image correction module 224 is configured to perform fisheye distortion correction on the enhanced first image and the enhanced second image to obtain a first planar image and a second planar image.
An image registration module 230, configured to perform image registration on the first planar image and the second planar image, so as to obtain a mapping relationship between the same pixel points of the first planar image and the second planar image.
In the second implementation manner or the third implementation manner, the synthesis output module 250 is configured to synthesize the first planar image and the second planar image according to the mapping relationship to obtain a synthesized image, and output the synthesized image to the display device 30 and the memory 20.
In the three implementations, the image enhancement processing includes enhancing at least one of saturation, brightness, and contrast of the image. Preferably, the first image or/and the second image may be interpolated, and then at least one of the saturation, the brightness, and the contrast of the first image or/and the second image may be enhanced based on the interpolation.
The fish eye distortion generated by the wide-angle or fish eye lens can be removed through a fish eye distortion correction mode, and the enhanced first image and the enhanced second image are corrected into the undistorted first plane image and the undistorted second plane image.
In the three implementation manners, the first implementation manner achieves the effect of further improving the image of the output composite image by enhancing the acquired first image and the acquired second image, so as to achieve the purposes of further improving the driving recording effect and improving the practicability of the driving recorder; the second implementation mode is a mode of carrying out fisheye distortion correction on the acquired first image and the acquired second image, so that the aims of further improving the driving recording effect and improving the practicability of the driving recorder are fulfilled; in the third implementation mode, the first image and the second image are firstly subjected to enhancement processing and then subjected to fisheye distortion correction, so that the aims of further improving the automobile data recording effect and improving the practicability of the automobile data recorder are fulfilled. It will be appreciated that the third implementation works best.
Please refer to fig. 1 and fig. 2 in combination, in order to realize the auto-focusing function during the driving recording process, thereby further improving the driving recording effect and the practicability of the driving recorder. In one embodiment, the controller 10 further comprises a device focus module 240.
The image obtaining module 210 is further configured to correspondingly obtain, from the first image capturing device 40 and the second image capturing device 50, a first image and a second image that are acquired before focusing and simultaneously include a common solid object;
the image registration module 230 is further configured to perform image registration on the acquired previous first image and the previous second image to obtain a previous mapping relationship between the same pixel points of the acquired previous first image and the acquired previous second image;
the device focusing module is used for acquiring a focusing area, determining an object distance according to the focusing area and the front mapping relation, and focusing the image acquisition device according to the object distance;
the image obtaining module 210 is further configured to correspondingly obtain, after the focusing, a first image and a second image that are simultaneously obtained and include a common solid object from the first image capturing device 40 and the second image capturing device 50.
In this embodiment, the manner of acquiring the focus area may be to acquire a preset area as the focus area. The preset area may be any one of a center area of the image and a preceding vehicle area obtained by identifying the image, wherein the preceding vehicle area is a vehicle which runs closest to the vehicle on which the image capturing device is mounted.
It can be understood that, the manner of acquiring the focusing area may also be that after receiving the focusing area setting instruction, the focusing area is determined according to the focusing area setting instruction. The focusing area setting instruction is an instruction input by a user through the image acquisition equipment, and the instruction is used for setting a focusing area.
In order to further improve the image effect of the output synthetic image, the driving recording effect is improved, and the practicability of the driving recorder is improved. The controller 10 further includes: an image enhancement module 222 and/or an image correction module 224. Preferably, the controller 10 further comprises an image enhancement module 222 and an image correction module 224.
An image enhancement module 222, configured to perform image enhancement processing on the acquired previous first image and previous second image to obtain an enhanced previous first image and an enhanced previous second image;
the image correction module 224 is configured to perform fisheye distortion correction on the enhanced front first image and the enhanced front second image to obtain a front first plane image and a front second plane image.
The image registration module 230 is further configured to perform image registration on the previous first planar image and the previous second planar image to obtain a previous mapping relationship between the same pixel points of the previous first planar image and the previous second planar image.
In one embodiment, the automobile data recorder further comprises a housing, and the first image acquisition device 40 and the second image acquisition device 50 are partially or completely accommodated in the housing; the housing includes a reference surface; the straight line formed by the first image capturing device 40 and the second image capturing device 50 is parallel or perpendicular to the reference plane, which is parallel to the horizontal plane during operation. Therefore, the calculation amount of the equipment in focusing by the focusing module is reduced, the resource overhead is reduced, and the practicability of the automobile data recorder is further improved. In one embodiment, the housing is rectangular and the reference surface is a bottom surface of the housing.
Referring to fig. 3, in one embodiment, the device focusing module includes:
a focusing area acquisition unit 341 configured to acquire a focusing area;
an imaging distance obtaining unit 343, configured to obtain, according to the front mapping relationship, an imaging distance of a center point of the focusing area in the obtained front first image and the obtained front second image;
a relevant parameter obtaining unit 345, configured to obtain a focal length of the image capturing device to be focused and a central distance between optical axes of the two image capturing devices;
an object distance determining unit 347, configured to determine an object distance according to the focal length of the image capturing device to be focused, the optical axis center distance, and the imaging distance;
and the focusing execution unit 349 is configured to perform focusing on the image acquisition device to be focused according to the object distance.
Fig. 4 is an imaging schematic diagram of two image acquisition devices. Wherein Ol is the optical axis center of the first image capturing device, Or is the optical axis center of the second image capturing device. B is the distance between the optical axes of the two image capturing devices, P is an object point in front of the two image capturing devices (here, a point on the solid object corresponding to the center point of the focusing area), and P islPixel point for imaging of point P on the first image acquisition device, PrThe distance between the P point and the plane where the two image acquisition devices are located, namely the object distance, is the pixel point of the image of the P point on the second image acquisition device, the Z is the distance between the P point and the plane where the two image acquisition devices are located, and the f is the focal length of the image acquisition device to be focused, and can be the focal length of the first image acquisition device or the second image acquisition device. Is convenient for treatment and savesThe hardware cost, the focal length of the first image acquisition device is equal to that of the second image acquisition device. PlX of X coordinate on first imagel，PrX in the second imager. From the imaging principle, the following equation can be derived:
Figure BDA0001185042430000081
therefore, the temperature of the molten metal is controlled,
Figure BDA0001185042430000082
wherein d in the formula is the imaging distance of the same object point on two image acquisition devices, namely (X)l-Xr). Therefore, d can be obtained through the mapping relation after the pixel points in the image are aligned, and in addition, B and f can be obtained according to the actual situation, so that the object distance Z can be determined according to d.
It is to be understood that, in one specific embodiment, the imaging distance acquiring unit 363 is configured to acquire the imaging distance of the center point of the focusing area in the front first plane image and the front second plane coordinate image according to the front mapping relationship.
In one embodiment, the imaging distance acquiring unit 363 includes: a first subunit (not shown), configured to obtain, according to the front mapping relationship, a first abscissa of a center point of the focusing area in a first preset coordinate system of the front first planar image and a second abscissa of the center point of the focusing area in a second preset coordinate system of the front second planar image; a second subunit (not shown) for determining an imaging distance of the center point of the focusing area in the acquired first image and the acquired second image according to the first abscissa and the second abscissa. The first preset coordinate system and the second preset coordinate system are coordinate systems established in the first image and the second image in advance.
In one embodiment, the driving recorder further comprises an input device (not shown); the input device is used for receiving a focusing area setting instruction.
And the focusing area acquisition unit is used for determining a focusing area according to the focusing area setting instruction.
Therefore, an interactive interface between the automobile data recorder and a user is provided, and the practicability of the automobile data recorder is improved.
Furthermore, the size of the automobile data recorder is reduced, and the display device and the input device are integrally arranged. In particular, the display device and the input device may be touch screens.
With continued reference to fig. 1 and fig. 2, in one embodiment, the acquired first image is an acquired first preceding vehicle image, and the acquired second image is an acquired second preceding vehicle image. The two image capturing devices include a first image capturing device 40 and a second image capturing device 50. The image capturing device to be focused is the first image capturing device 40 or the second image capturing device 50. The acquired first previous image is a first previous image acquired from the first image capturing device 40 in the previous focusing process, and the acquired second previous image is a second previous image acquired from the second image capturing device 50 in the previous focusing process.
The controller 10 further includes an alarm module 260; and the alarm module is used for sending alarm information when the determined object distance is smaller than a preset threshold value.
The alarm information may include sound alarm information or/and light alarm information.
In this embodiment, the first preceding vehicle image and the second preceding vehicle image are common physical objects including a vehicle closest to the host vehicle in the traveling direction of the host vehicle. The vehicle is provided with two image acquisition devices.
So, carrying out automatic focusing, when promoting the driving recording effect, can also be when the front truck is less with this vehicle distance, when the object distance is less than predetermineeing the threshold value promptly, send alarm information, further promote the practicality of driving recording.
Finally, it should be noted that in all the above embodiments, the modules included in the controller 10 are all formed by writing or burning the corresponding programs of the modules into the controller 10. The controller 10 may be an MCU (microcontrollerunit). It will be appreciated that the program may be a software program or a hardware program, preferably a hardware program. Furthermore, the units included in the module are also formed by writing or burning the programs corresponding to the units into the controller 10.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (5)

1. A tachograph, comprising: the device comprises a controller, a memory connected with the controller, a display device, a first image acquisition device and a second image acquisition device; the first image acquisition equipment is a color camera, and the second image acquisition equipment is a black and white camera;
the controller includes:
the image acquisition module is used for correspondingly acquiring a front first image and a front second image which comprise a public entity object before focusing, simultaneously acquiring and driving a vehicle from the first image acquisition device and the second image acquisition device;
the image registration module is used for carrying out image registration on the acquired first image and the acquired second image to obtain the mapping relation of the same pixel points of the acquired first image and the acquired second image;
the device focusing module is used for acquiring a focusing area, determining an object distance according to the focusing area and the front mapping relation, and focusing the image acquisition device according to the object distance;
the image acquisition module is further used for correspondingly acquiring a first image and a second image which are acquired after the focusing and before the vehicle runs and comprise a common solid object from the first image acquisition device and the second image acquisition device; the first image includes color information; the second image includes luminance information; the color information is RGB information;
the image enhancement module is used for carrying out image enhancement processing on the acquired first image and the acquired second image to obtain an enhanced first image and an enhanced second image;
the image correction module is used for carrying out fisheye distortion correction on the enhanced first image and the enhanced second image to obtain a first plane image and a second plane image;
the image registration module is used for carrying out image registration on the first plane image and the second plane image to obtain the mapping relation of the same pixel points of the first plane image and the second plane image;
the synthesis output module is used for synthesizing the first plane image and the second plane image according to the mapping relation to obtain a synthesized image and outputting the synthesized image to the display equipment and the memory; the device focusing module includes:
a focusing area acquisition unit for acquiring a focusing area;
the imaging distance acquisition unit is used for acquiring the imaging distance d of the central point of the focusing area in the acquired first image and the acquired second image according to the front mapping relation;
the device comprises a relevant parameter acquisition unit, a parameter calculation unit and a parameter calculation unit, wherein the relevant parameter acquisition unit is used for acquiring the focal length f of image acquisition equipment to be focused and the optical axis center distance B of the two image acquisition equipment;
the object distance determining unit is used for determining an object distance z according to the focal length of the image acquisition equipment to be focused, the optical axis center distance and the imaging distance; the object distance calculation mode is as follows:
Figure FDA0002632843150000021
and the focusing execution unit is used for focusing the image acquisition equipment to be focused according to the object distance.
2. The automobile data recorder according to claim 1, further comprising a housing, wherein the first image acquisition device and the second image acquisition device are partially or completely accommodated in the housing; the housing includes a reference surface; the straight line formed by the first image acquisition device and the second image acquisition device is parallel or vertical to the reference surface, and the reference surface is parallel to the horizontal plane during work.
3. The tachograph of claim 1, further comprising an input device;
the input equipment is used for receiving a focusing area setting instruction;
and the focusing area acquisition unit is used for determining a focusing area according to the focusing area setting instruction.
4. The vehicle event data recorder of claim 3, wherein the display device and the input device are integrally provided.
5. The vehicle event data recorder of claim 1, wherein the first acquired image is a first acquired vehicle ahead image and the second acquired image is a second acquired vehicle ahead image; the two image acquisition devices comprise a first image acquisition device and a second image acquisition device; the image acquisition equipment to be focused is the first image acquisition equipment or the second image acquisition equipment; the acquired first previous image is a first previous image acquired from the first image acquisition equipment in the previous focusing process, and the acquired second previous image is a second previous image acquired from the second image acquisition equipment in the previous focusing process;
the controller also comprises an alarm module;
and the alarm module is used for sending alarm information when the determined object distance is smaller than a preset threshold value.
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