CN107878330A - A kind of vehicle chassis perspective method and vehicle chassis arrangement for perspective - Google Patents
A kind of vehicle chassis perspective method and vehicle chassis arrangement for perspective Download PDFInfo
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- CN107878330A CN107878330A CN201711277035.XA CN201711277035A CN107878330A CN 107878330 A CN107878330 A CN 107878330A CN 201711277035 A CN201711277035 A CN 201711277035A CN 107878330 A CN107878330 A CN 107878330A
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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
-
- 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
-
- 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
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- 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
-
- 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
Abstract
The invention discloses a kind of vehicle chassis perspective method and vehicle chassis arrangement for perspective, application image splicing, collection vehicle front end or rear end part road image, and spliced with history image, generate chassis fluoroscopy images, chassis fluoroscopy images truly show vehicle-surroundings and underbody road image, then virtual vehicle model is superimposed on generation chassis fluoroscopic image on the fluoroscopy images of chassis, chassis fluoroscopic image can accurately reflect trench, barrier etc. is relative to vehicle body, the particular location of wheel, quantify trench, the spacing of barrier etc. and wheel, significantly increase the display function of environment, driver's seat can greatly be extended, special vehicle and engineering truck driver is helped to check the position relationship of wheel and road, improve the security that vehicle travels under complicated running environment.
Description
Technical field
The application is related to technical field of vehicle, more particularly to a kind of vehicle chassis perspective method and vehicle chassis perspective coating
Put, suitable for the vehicle that the profiles such as special vehicle, engineering truck are roomy, driving vision is limited.
Background technology
Existing special vehicle and engineering truck are limited by whole vehicle functions and structure, and generally existing profile is roomy, driving regards
The shortcomings that open country is limited, higher is required to the operative skill of human pilot, driving difficulty and manipulation strength are larger.Particularly in vehicle
, can not accurate observation road because driver's seat is limited during by extreme terrains such as abrupt slope, limited road, trench, vertical obstacles
, in the case of unmanned commander, larger potential safety hazard be present in the current condition in road and the relative position of wheel and road.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of vehicle chassis perspective method and vehicle chassis perspective coating
Put, traveling vehicle-surroundings and underbody road image can be shown, for strengthening and extending special vehicle and engineering truck driver
The visual field, improve the complicated running environment vehicle safeties such as limited road, cross-country road.
Technical scheme is used by realizing the object of the invention, a kind of vehicle chassis perspective method, comprises the following steps：
When vehicle travels, according to vehicle heading downward collection vehicle road ahead image or rear view of vehicle road in real time
Image, the vehicle front road image gathered in real time or the rear view of vehicle road image are stored in a memory cell
In；
By the vehicle front road image of current time collection or the rear view of vehicle road image and the storage
The vehicle front road image or the rear view of vehicle road image of the last moment stored in unit is spliced, generation
Chassis fluoroscopy images, and the chassis fluoroscopy images that current time is generated are transferred in the memory cell, the chassis
Fluoroscopy images show vehicle-surroundings and underbody road image；
Virtual vehicle model is superimposed with the chassis fluoroscopy images, obtains chassis fluoroscopic image；The virtual vehicle mould
Type is established according to the body dimensions of the vehicle, wheel distributed architecture and wheel diameters, including is matched with the vehicle
Vehicle outer contour and the wheel outer contour corresponding with each wheel of the vehicle；
, will the most freshly harvested vehicle front road image or the rear view of vehicle road image and institute in subsequent time
The chassis fluoroscopy images for stating the last moment stored in memory cell are spliced, and generate newest chassis fluoroscopy images, by institute
State newest chassis fluoroscopy images and cover the historical data stored in the memory cell, complete the renewal of chassis fluoroscopy images；
Virtual vehicle model is superimposed with newest chassis fluoroscopy images, obtains newest chassis fluoroscopic image, completes bottom
The renewal of disk fluoroscopic image.
Further, it is described according to vehicle heading downward collection vehicle road ahead image or rear view of vehicle road in real time
The particular content of road image is：
Schemed by the left front image unit for being installed on the vehicle front with the downward collection vehicle front of image unit before the right side
As information, the left front image unit has left and right coincidence pattern with the proactive vehicle front image information as unit photographs in the right side
Picture；
By being installed on the left back image unit of the rear vehicle end and the downward collection vehicle rear figure of image unit behind the right side
As information, the rear view of vehicle image information that the left back image unit is shot with image unit behind the right side has left and right coincidence pattern
Picture；
When the vehicle is moving in a forward direction, it is proactive as the vehicle front of unit photographs with the right side to receive the left front image unit
Image information, and the proactive vehicle front image information as unit photographs of the left front image unit and the right side is subjected to image
Correction and splicing, front composograph is obtained, the front composograph is vehicle front road image；
When vehicle travel backwards, the rear view of vehicle that the left back image unit is shot with image unit behind the right side is received
Image information, and the rear view of vehicle image information that the left back image unit is shot with image unit behind the right side carries out image
Correction and splicing, obtain rear composograph, the rear composograph is rear view of vehicle road image.
Further, the particular content of the foundation of the virtual vehicle model is：
It is single to select a shooting behind image unit, left back image unit, the right side in image unit before left front image unit, the right side
Member, calculate the length Δ L that 1 pixel of the image unit represents；On the basis of Δ L, by the vertical view outer contour of the vehicle
And equal proportion scaling is carried out with the vertical view outer contour of each wheel of the vehicle, obtain the virtual vehicle using pixel as long measure
Model；Δ L calculation formula is：
Δ L=2htan (θ/2)/m
Wherein：H is the terrain clearance of selected image unit；θ is the angle of visual field of selected image unit；M is selected
The pixel quantity of image unit.
Further, it is described to be with the particular content that the chassis fluoroscopy images are superimposed by virtual vehicle model：
The origin of coordinates using the central point of the coverage of selected image unit as the chassis fluoroscopy images, according to choosing
Actual installation position of the fixed image unit on the vehicle, determine the origin of coordinates in the virtual vehicle model
Relative coordinate, the virtual vehicle model is superimposed on the chassis fluoroscopy images, obtains chassis fluoroscopic image.
Further, the particular content of the generation chassis fluoroscopy images is：
When the vehicle is moving in a forward direction, it is vehicle front road image that current time obtains is upper with being stored in memory cell
One moment vehicle front road image is spliced, moment coincidence pattern picture and unnecessary image before and after deletion, generates chassis perspective view
Picture, the indication range of the chassis fluoroscopy images at each moment are equal；
It is when vehicle travel backwards, rear view of vehicle road image that current time obtains is upper with being stored in memory cell
One moment rear view of vehicle road image is spliced, moment coincidence pattern picture and unnecessary image before and after deletion, generates chassis perspective view
Picture, the indication range of the chassis fluoroscopy images at each moment are equal.
Based on same inventive concept, the present invention is also corresponding to provide a kind of vehicle chassis arrangement for perspective, including at least shooting
Module, image processing module and memory module, the photographing module specifically include proactive picture group and rear shooting group, wherein：
The proactive front end that the vehicle is installed on as group, including more than 1 image unit, it is described proactive as the bat of group
Taking the photograph scope includes right ahead region and front two side areas；
Shooting group is installed on the rear end of the vehicle, including more than 1 image unit, the bat of the rear shooting group after described
Taking the photograph scope includes vehicle dead astern region and dead astern two side areas；
Described image processing module specifically includes image mosaic unit, delay concatenation unit and automobile image integrated unit,
Wherein：
Described image concatenation unit electrically connects with the photographing module, and described image concatenation unit receives described proactive as group
Or the image information of the rear shooting group shooting, and the proactive image information as organizing shooting is spliced into vehicle front road
Image, the image information that shooting group is shot described afterwards is spliced into rear view of vehicle road image；
The delay concatenation unit electrically connects with described image concatenation unit, and the delay concatenation unit receives described image
Concatenation unit splices the obtained vehicle front road image or the rear view of vehicle road image, and will receive at current time
The vehicle front road image or the vehicle front road that receives of the rear view of vehicle road image and last moment
Image or the rear view of vehicle road image are spliced into chassis fluoroscopy images；
The automobile image integrated unit electrically connects with the delay concatenation unit, and the automobile image integrated unit receives
The delay concatenation unit splices obtained chassis fluoroscopy images, and by the chassis fluoroscopy images and virtual vehicle model
It is superposed to chassis fluoroscopic image；The virtual vehicle model is according to the body dimensions, wheel distributed architecture and car of the vehicle
Size of wheel and establish, including with vehicle outer contour that the vehicle matches and the car corresponding with each wheel of the vehicle
Take turns outer contour；
The memory module specifically includes the first memory cell and the second memory cell, wherein：
First memory cell electrically connects with the delay concatenation unit, and first memory cell is described for storing
Chassis fluoroscopy images；
Second memory cell electrically connects with the automobile image integrated unit, and second memory cell is used to store
The virtual vehicle model.
Preferably, in addition to image-display units, described image display unit are electrically connected with the automobile image integrated unit
Connect, for showing the chassis fluoroscopic image.
Preferably, it is described proactive as group specifically includes left front image unit and image unit before the right side, the left front shooting list
It is first to be separately mounted to image unit before the right side at left and right sides of the driver's cabin of the vehicle or the front end of vehicle frame；
After described shooting group specifically include left back image unit and it is right after image unit, the left back image unit with it is described
Image unit is separately mounted at left and right sides of the rear end of the vehicle frame of the vehicle behind the right side；
Image unit, the left back image unit and image unit behind the right side before the left front image unit, the right side
Camera lens down.
Preferably, in addition to gearshift, the gearshift electrically connects with described image processing module, at described image
The shift signal that module receives the gearshift is managed, and determines that reception is described proactive as group or institute according to the shift signal
The image information that shooting group is shot after stating.
Preferably, in addition to variable connector, the variable connector have an output port, a control signal port and
More than 2 input ports, the proactive picture group connect the different input ports, described image respectively from the rear shooting group
Concatenation unit connects the output port, and the gearshift connects the control signal port.
By one or more technical scheme of the present invention, the invention has the advantages that or advantage：
1) vehicle chassis perspective method provided by the invention, according to road in front of vehicle heading in real time downward collection vehicle
Road image or rear view of vehicle road image, and present road image and history road image are spliced, so as to obtain
Continuous vehicle running path road image, that is, chassis fluoroscopy images, the chassis fluoroscopy images show vehicle-surroundings and car
Bottom road image, driving reference is provided for driver.
2) vehicle chassis perspective method provided by the invention, collection is vehicle front road image or rear view of vehicle road
Image, vehicle is not yet travelled to the road segments of collected image during IMAQ, and the road image at vehicle front/rear is pre-
First gather, therefore driver can be helped to find the trench in the road segments that will travel, barrier etc. in advance, thoroughly eliminate and drive
The vision dead zone for the person of sailing.
3) vehicle chassis perspective method provided by the invention, according to the body dimensions of vehicle, wheel distributed architecture and car
Size of wheel, virtual vehicle model corresponding to foundation, and virtual vehicle model is superimposed on the fluoroscopy images of chassis, it is saturating to obtain chassis
Seeing image picture, the specific position relative to vehicle body, wheel such as trench, barrier can accurately be reflected by the chassis fluoroscopic image
Put, quantify the spacing with wheel such as trench, barrier, continuous updating chassis fluoroscopy images have an X-rayed shadow with chassis in driving conditions
Picture, the display function of environment is significantly increased, can greatly extend driver's seat, help special vehicle and engineering truck to drive
The person of sailing checks the position relationship of wheel and road, improves the security that vehicle travels under complicated running environment.
4) vehicle chassis arrangement for perspective provided by the invention, for comparing in oversize vehicle side installation image collecting device
Difficulty, and the problem of required image collecting device quantity is larger, cost is higher, before being installed respectively in automobile body rear and front end
Shooting group and rear shooting group, the image collecting device quantity used are few and easy for installation；Due to proactive as group and rear shooting group
Coverage cover vehicle both sides, with the traveling of vehicle, it is proactive as group or rear shooting group constantly shoot vehicle cross with
And the region that will be driven into, extend the visual field of driver.
5) vehicle chassis arrangement for perspective provided by the invention, virtual vehicle is stored by the second memory cell being independently arranged
Model, the corresponding virtual vehicle model of each vehicle, for different vehicles, it is only necessary to virtual vehicle mould corresponding to change
Type so that vehicle chassis arrangement for perspective wide adaptability provided by the invention.
6) vehicle chassis arrangement for perspective provided by the invention, by setting automobile image integrated unit, by chassis perspective view
As being superposed to chassis fluoroscopic image with virtual vehicle model, chassis fluoroscopic image can accurately reflect the phases such as trench, barrier
For vehicle body, the particular location of wheel, driver's perfection is helped to avoid trench, barrier etc..
Brief description of the drawings
Fig. 1 is the structured flowchart of vehicle chassis arrangement for perspective in the embodiment of the present invention；
Fig. 2 is the splicing schematic diagram of chassis fluoroscopy images in the embodiment of the present invention；
Fig. 3 is the renewal schematic diagram of chassis fluoroscopy images in the embodiment of the present invention；
Fig. 4 is image unit mounting structure schematic diagram in the embodiment of the present invention；
Fig. 5 is virtual vehicle model schematic in the embodiment of the present invention；
Fig. 6 is chassis fluoroscopic image schematic diagram in the embodiment of the present invention.
Description of reference numerals：A10- photographing modules, the left front image units of A11-, image unit before the A12- right sides, A13- are left back
Image unit, image unit behind the A14- right sides；A20- image processing modules, A21- image mosaic units, A22- delay concatenation units,
A23- automobile image integrated units；A30- image-display units；A40- gearshifts；A50- memory modules, A51- first are stored
Unit, the memory cell of A52- second；The left front image informations of A61-, A61 '-last moment left front image information, A62- or so are overlapped
Image, image information before the A63- right sides, image information before the A63 '-last moment right side, moment coincidence pattern picture before and after A64-, A65- chassis
Fluoroscopy images, A65 '-last moment chassis fluoroscopy images, the unnecessary images of A66-, A67- chassis fluoroscopic image；A70- virtual vehicles
Model, A71- wheel profiles, A72- vehicle profiles, A73- vehicles, A74- wheels；A80- roads；A90- variable connectors.
Embodiment
In order that the application the technical staff in the technical field is more clearly understood that the application, below in conjunction with the accompanying drawings,
Technical scheme is described in detail by specific embodiment.
It is the structured flowchart of the vehicle chassis arrangement for perspective of the embodiment of the present invention shown in Fig. 1, in embodiments of the present invention,
The vehicle chassis arrangement for perspective is applied on one 8 wheel special vehicles, including photographing module A10, image processing module A20, image
Display unit A30, gearshift A40 and memory module A50；Image processing module A20 is in the information processing and power supply of device
The heart, directly powered by the on-vehicle battery of vehicle；Image processing module A20 becomes one with memory module A50, can pass through
FPGA controller realizes image procossing and image storage；Image processing module A20 and photographing module A10 and image-display units
A30 is electrically connected, there is provided electric energy；Image processing module A20 receives automobile gear shift device A40 shift signal.
Photographing module A10 specifically includes proactive as group and rear shooting group, the proactive front end that vehicle is installed on as group, proactive picture
The coverage of group includes right ahead region and front two side areas；Shooting group is installed on the rear end of vehicle afterwards, after
The coverage of shooting group includes vehicle dead astern region and dead astern two side areas.
In the present embodiment, it is proactive as group specifically include left front image unit A11 and it is right before image unit A12, such as Fig. 4 institutes
Show, left front image unit A11 is separately mounted to vehicle A73 driver's cabin or the front end of vehicle frame or so with image unit A12 before the right side
Both sides, its camera lens collection vehicle road ahead image down；Shooting group images after specifically including left back image unit A13 and the right side afterwards
Unit A14, left back image unit A13 are separately mounted to vehicle A73 rear end of vehicle frame or so two with image unit A14 behind the right side
Side, its camera lens collection vehicle road in the rear image down.To ensure the unification of the parameters such as the pixel of the image of collection, resolution ratio,
Be easy to image mosaic, left front image unit A11 in the embodiment of the present invention, it is right before image unit A12, left back image unit A13, the right side
Image unit A14 uses same type camera afterwards, and respective setting height(from bottom) is also identical.
Image processing module A20 specifically includes image mosaic unit A21, delay concatenation unit A22 and automobile image fusion
Unit A23, wherein：Image mosaic unit A21 electrically connects with photographing module A10, image mosaic unit A21 receive it is proactive as group or
The image information of shooting group shooting afterwards, and the proactive image information as organizing shooting is spliced into vehicle front road image, by after
The image information of shooting group shooting is spliced into rear view of vehicle road image；Be delayed concatenation unit A22 and image mosaic unit A21 electricity
Connection, delay concatenation unit A22 receive vehicle front road image or rear view of vehicle road that image mosaic unit A21 splices to obtain
Road image, and the car that the vehicle front road image or rear view of vehicle road image that current time is received receive with last moment
Road ahead image or rear view of vehicle road image are spliced into chassis fluoroscopy images A65；Automobile image integrated unit A23 is with prolonging
When concatenation unit A22 electrical connection, automobile image integrated unit A23 reception delay concatenation units A22 splices obtained chassis perspective
Image A65, and chassis fluoroscopy images A65 and virtual vehicle model A70 are superposed to chassis fluoroscopic image A67, image display is single
First A30 electrically connects with automobile image integrated unit A23, for showing chassis fluoroscopic image A67.
Gearshift A40 electrically connects with image processing module A20, and image processing module A20 receives gearshift A40 gear
Position signal, and according to shift signal determine to receive it is proactive as group or after the image information that shoots of shooting group, can specifically use with
Under type is implemented：By proactive as signal output part, the signal output part of rear shooting group and the image mosaic unit A21 letter of group
Number input is connected by a variable connector A90, referring to Fig. 1, variable connector A90 one of input port F ends
Connect the signal output part of shooting group after proactive signal output part as group, the connection of another input port R ends, output port connects
Map interlinking passes through gearshift as concatenation unit A21 signal input part, control signal port connection gearshift A40, variable connector A90
Circuit corresponding to device A40 signal behavior connection.Variable connector A90 can directly use commercially available variable connector A90, also may be used
To be realized by FPGA controller
Memory module A50 specifically includes the first storage unit A 51 and the second storage unit A 52, wherein the first memory cell
A51 electrically connects with delay concatenation unit A22, and the first storage unit A 51 is used to store chassis fluoroscopy images A65；Second storage is single
First A52 electrically connects with automobile image integrated unit A23, and the second storage unit A 52 is used to store virtual vehicle model A70.
The vehicle chassis perspective method of the present invention, goes on any species vehicle, the present embodiment is with above-mentioned vehicle
Exemplified by the arrangement for perspective of chassis, the vehicle chassis perspective method is described in detail.
After vehicle launch, adopted downwards by the left front image unit A11 and image unit A12 before the right side that are installed on vehicle front
Collect vehicle front image information, specially left front image unit A11 gathers left front image information A61, and image unit A12 is adopted before the right side
Image information A63 before collection is right, referring to Fig. 2, left front image information A61 has left and right coincidence pattern picture with image information A63 before the right side
A62。
Accordingly, by being installed on the left back image unit A13 of rear vehicle end and the downward collecting vehicles of image unit A14 behind the right side
Rear images information, specially left back image unit A13 gather left back image information, it is right after image unit A14 collections it is right after
Image information, left back image information with it is right after image information is same has left and right coincidence pattern picture.
When the vehicle is moving in a forward direction, vehicle gear keeps off for D, and image mosaic unit A21 receives left front image unit A11 and the right side
The vehicle front image information of preceding image unit A12 shooting, referring to Fig. 2, image mosaic unit A21 is by left front image information A61
Image rectification and splicing are carried out with image information A63 before the right side, the left and right coincidence pattern of the two is deleted as A62, obtains front composite diagram
Picture, front composograph are vehicle front road image.
When vehicle travel backwards, vehicle gear keeps off for R, and image mosaic unit A21 receives left back image unit A13 and the right side
The rear view of vehicle image information of image unit A14 shootings afterwards, and left back image information and image information behind the right side are subjected to image calibration
Just and splice, delete the left and right coincidence pattern picture of the two, obtain rear composograph, rear composograph is rear view of vehicle road
Image.Forward travel travels backward, the particular content all same of vehicle chassis perspective method, the letter only handled
Number difference, to save space, the hereafter vehicle chassis perspective method only with the situation of forward travel to the embodiment of the present invention
It is introduced, the corresponding situation travelled backward repeats no more.
Vehicle A73 moves forward, and vehicle gear keeps off for D, can by image unit A12 before left front image unit A11 and the right side
Vehicle front road image is constantly obtained, the vehicle front road image that splicing obtains is transferred to by image mosaic unit A21 to be prolonged
When concatenation unit A22.The vehicle front road image obtained in real time is stored in the first memory cell by delay concatenation unit A22
In A51, and the last moment that will be stored in the vehicle front road image of current time collection and first storage unit A 51
Vehicle front road image is spliced.Referring to Fig. 2, the current time vehicle front road image of collection is believed by left front image
Breath A61 is spliced with image information A63 before the right side, and the vehicle front road image of last moment is by last moment left front image
Information A61 ' is spliced with image information A63 ' before the last moment right side, the vehicle front road image of current time collection with it is upper
The vehicle front road image at one moment has front and rear moment coincidence pattern as A64, deletes the front and rear moment coincidence pattern as A64 is i.e. complete
It is saturating into the splicing of the vehicle front road image and the vehicle front road image of last moment of current time collection, generation chassis
Visible image A65, and the chassis fluoroscopy images A65 that current time is generated is transferred in the first storage unit A 51, chassis perspective view
As A65 shows vehicle-surroundings and underbody road image.
Chassis fluoroscopy images A65 has certain (on the time and spatially) length, and the chassis perspective view at each moment
As A65 indication range is equal, the duration (shooting speed of image unit) at moment is gathered by adjusting single image, can be changed
Become (space) length for the vehicle running path road image that each moment image unit photographs, chassis fluoroscopy images A65 can
Only to include the content of a per time instance shooting, can also be spliced by the content that multiple per time instances are shot, Fig. 2 institutes
Show that the vehicle front road image as the shooting of multiple per time instances splices to obtain chassis fluoroscopy images A65 schematic diagram.
Chassis fluoroscopy images A65 effect is superimposed with virtual vehicle model A70, and automobile image integrated unit A23 is by void
Intend auto model A70 to be superimposed with the chassis fluoroscopy images A65 at current time, obtain chassis fluoroscopic image A67.The virtual vehicle mould
Type A70 is pre-established according to the body dimensions of vehicle, wheel distributed architecture and wheel diameters, establishes virtual vehicle
Model A70 particular content is：
Selected before left front image unit A11, the right side behind image unit A12, left back image unit A13, the right side in image unit A14
A fixed image unit, the length Δ L that 1 pixel of selected image unit represents is calculated, due to four image unit models
Unified and setting height(from bottom) is identical, therefore selects any one image unit, and the present embodiment is by taking left front image unit A11 as an example
Illustrate.The length Δ L that left front image unit A11 1 pixel represents is calculated, on the basis of Δ L, by bowing for the vehicle
Carry out equal proportion scaling depending on outer contour and with the vertical view outer contour of each wheel of the vehicle, obtain shown in Fig. 4 with picture
Element is the virtual vehicle model A70 of long measure；Δ L calculation formula is：
Δ L=2htan (θ/2)/m
Wherein：H is left front image unit A11 A80 from the ground height；θ is the left front image unit A11 angle of visual field；M is
Left front image unit A11 pixel quantity.
The virtual vehicle model A70 established includes the vehicle outer contour A72 and and vehicle to match with vehicle A73
Wheel outer contour A71 corresponding each wheel A74.Referring to Fig. 5, the virtual vehicle model A70 established using G points as origin,
Left front image unit A11 center E point coordinates is (s, t), arbitrfary point H coordinate (p, q) table in virtual vehicle model A70
Show, once virtual vehicle model A70 is established, the coordinate of each point therein is known quantity, after virtual vehicle model A70 is established
Just it is stored in all the time in the second storage unit A 52, steam supply car image fusion unit A23 is called.
Virtual vehicle model A70 is how to ensure virtual vehicle mould with the chassis fluoroscopy images A65 maximum difficult points being superimposed
Type A70 covers chassis fluoroscopy images A65 underbody image just, and the embodiment of the present invention is solved this by the way of coordinate transformation and asked
Topic, virtual vehicle model A70 and bottom are set up by the absolute coordinate and relative coordinate of left front image unit A11 center E points
Disk fluoroscopy images A65 corresponding relation.Referring to Fig. 6, in the fluoroscopy images A65 of chassis, with left front image unit A11 shooting model
The center E points enclosed are the chassis fluoroscopy images A65 origin of coordinates, the absolute coordinate of E points centered on the coordinate (0,0), are intending car
In model A70, left front image unit A11 center E point coordinates is (s, t), the relative seat of E points centered on the coordinate (s, t)
Mark, by G point transformation can be E points by the virtual vehicle model A70 origins of coordinates by the Coordinate Conversion of center E points, virtual vehicle mould
Then correspondent transform is (p-s, q-t) to type A70 arbitrfary point H coordinate, and virtual vehicle model A70 thus is superimposed on into chassis perspective
On image A65, the chassis fluoroscopic image A67 shown in Fig. 6 is obtained.
In subsequent time, referring to Fig. 3, delay concatenation unit A22 will most freshly harvested vehicle front road image (by left front
Image information A61 with it is right before image information A63 be spliced) had an X-rayed with the last moment chassis of the first storage unit A 51 storage
Image A65 ' is spliced, and moment coincidence pattern generates newest chassis perspective view as A64 and unnecessary image A66 before and after deletion
As A65, newest chassis fluoroscopy images A65 is covered to the historical data stored in the first storage unit A 51, completes chassis perspective
The renewal of image.Chassis fluoroscopic image A67 renewal is carried out after the fluoroscopy images renewal of chassis, in newest chassis fluoroscopy images
E points in center are searched out in A65, carry out simple coordinate system conversion, that is, generate newest chassis fluoroscopic image A67.
In fact, the splicing of vehicle front road image is being carried out always from vehicle launch and when travelling, it is initially raw
Into chassis fluoroscopy images A65, after chassis fluoroscopy images A65 generations, the splicing of follow-up vehicle front road image is accomplished that
Chassis fluoroscopy images A65 renewal, continuous vehicle running path can be obtained by chassis fluoroscopy images A65 continuous updating
Road image.The renewal of chassis fluoroscopy images and chassis fluoroscopic image A67 renewal are persistently carried out in whole driving process,
Chassis fluoroscopic image A67 is presented to vehicle driver by image-display units A30, and driving reference is provided for driver.
According to the above, application image of embodiment of the present invention splicing technology, automotive front end or back-office are gathered
Portion's road image, and spliced with history image, it is true to show underbody road image, help special vehicle and engineering truck to drive
The person of sailing checks the position relationship of wheel and road, improves the security of complicated running environment vehicle traveling.
The chassis perspective method that the embodiment of the present invention is provided is not only to show the position relationship of wheel and road, Ke Yijing
Really quantify the position relationship of wheel of vehicle and road specific position (trench, barrier etc.).Because image unit is installed
Highly, the angle of visual field and pixel quantity determine the space length that pixel represents, and the embodiment of the present invention be with this space away from
Equal proportion scaling is carried out to vehicle plan structure from the basis of, obtains virtual vehicle model, virtual vehicle model and chassis are saturating
The uniform zoom that visible image is carried out on the basis of being the space length represented by one pixel of image unit to material object, this is this hair
Virtual vehicle model can be superimposed on the basic reason on the fluoroscopy images of chassis by bright embodiment.According to image unit at two not
With the absolute coordinate and relative coordinate in coordinate system, Coordinate Conversion is carried out to virtual vehicle model, so that virtual vehicle mould
Type precisely covers the region that vehicle body should cover in the fluoroscopy images of chassis, and also to have reacted vehicle each due to virtual vehicle model
Installation site and shape, the size information of wheel so that driver directly obtains the road such as wheel of vehicle and trench, barrier spy
Spacing between different position, quantifies driver behavior.
Although having been described for the preferred embodiment of the application, one of ordinary skilled in the art once knows substantially
Creative concept, then other change and modification can be made to these embodiments.So appended claims are intended to be construed to wrap
Include preferred embodiment and fall into having altered and changing for the application scope.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the application to the application
God and scope.So, if these modifications and variations of the application belong to the scope of the application claim and its equivalent technologies
Within, then the application is also intended to comprising including these changes and modification.
Claims (10)
1. a kind of vehicle chassis perspective method, it is characterised in that comprise the following steps：
When vehicle travels, according to vehicle heading downward collection vehicle road ahead image or rear view of vehicle mileage chart in real time
Picture, the vehicle front road image gathered in real time or the rear view of vehicle road image are stored in a memory cell；
By the vehicle front road image of current time collection or the rear view of vehicle road image and the memory cell
The vehicle front road image or the rear view of vehicle road image of the last moment of middle storage is spliced, and generates chassis
Fluoroscopy images, and the chassis fluoroscopy images that current time is generated are transferred in the memory cell, the chassis perspective
Image shows vehicle-surroundings and underbody road image；
Virtual vehicle model is superimposed with the chassis fluoroscopy images, obtains chassis fluoroscopic image；The virtual vehicle model root
Established according to the body dimensions of the vehicle, wheel distributed architecture and wheel diameters, including the car to match with the vehicle
Outer contour and the wheel outer contour corresponding with each wheel of the vehicle；
In subsequent time, the most freshly harvested vehicle front road image or the rear view of vehicle road image are deposited with described
The chassis fluoroscopy images of the last moment stored in storage unit are spliced, and generate newest chassis fluoroscopy images, by described in most
New chassis fluoroscopy images cover the historical data stored in the memory cell, complete the renewal of chassis fluoroscopy images；
Virtual vehicle model is superimposed with newest chassis fluoroscopy images, obtains newest chassis fluoroscopic image, it is saturating to complete chassis
The renewal of seeing image picture.
2. vehicle chassis perspective method as claimed in claim 1, it is characterised in that：It is described according to vehicle heading in real time to
The particular content of lower collection vehicle road ahead image or rear view of vehicle road image is：
Believed by the left front image unit for being installed on the vehicle front with the downward collection vehicle forward image of image unit before the right side
Breath, the left front image unit have left and right coincidence pattern picture with the proactive vehicle front image information as unit photographs in the right side；
Believed by the left back image unit for being installed on the rear vehicle end with the downward collection vehicle rear images of image unit behind the right side
Breath, the rear view of vehicle image information that the left back image unit is shot with image unit behind the right side have left and right coincidence pattern picture；
When the vehicle is moving in a forward direction, it is proactive as the vehicle front image of unit photographs with the right side to receive the left front image unit
Information, and the proactive vehicle front image information as unit photographs of the left front image unit and the right side is subjected to image rectification
And splicing, front composograph is obtained, the front composograph is vehicle front road image；
When vehicle travel backwards, the rear view of vehicle image that the left back image unit is shot with image unit behind the right side is received
Information, and the rear view of vehicle image information that the left back image unit is shot with image unit behind the right side carries out image rectification
And splicing, rear composograph is obtained, the rear composograph is rear view of vehicle road image.
3. vehicle chassis perspective method as claimed in claim 2, it is characterised in that：The tool of the foundation of the virtual vehicle model
Hold in vivo and be：
An image unit is selected in image unit behind image unit, left back image unit, the right side before left front image unit, the right side,
Calculate the length Δ L that 1 pixel of the image unit represents；On the basis of Δ L, by the vertical view outer contour of the vehicle and
Equal proportion scaling is carried out with the vertical view outer contour of each wheel of the vehicle, obtains the virtual vehicle mould using pixel as long measure
Type；Δ L calculation formula is：
Δ L=2htan (θ/2)/m
Wherein：H is the terrain clearance of selected image unit；θ is the angle of visual field of selected image unit；M is selected shooting
The pixel quantity of unit.
4. vehicle chassis perspective method as claimed in claim 3, it is characterised in that：It is described by virtual vehicle model and the bottom
Disk fluoroscopy images superposition particular content be：
The origin of coordinates using the central point of the coverage of selected image unit as the chassis fluoroscopy images, according to selected
Actual installation position of the image unit on the vehicle, determine that the origin of coordinates is relative in the virtual vehicle model
Coordinate, the virtual vehicle model is superimposed on the chassis fluoroscopy images, obtains chassis fluoroscopic image.
5. vehicle chassis perspective method as claimed in claim 1, it is characterised in that：It is described to generate the specific of chassis fluoroscopy images
Content is：
When the vehicle is moving in a forward direction, by vehicle front road image that current time obtains and upper a period of time for being stored in memory cell
Carve vehicle front road image to be spliced, moment coincidence pattern picture and unnecessary image before and after deletion, generate chassis fluoroscopy images, respectively
The indication range of the chassis fluoroscopy images at individual moment is equal；
When vehicle travel backwards, by rear view of vehicle road image that current time obtains and upper a period of time for being stored in memory cell
Carve rear view of vehicle road image to be spliced, moment coincidence pattern picture and unnecessary image before and after deletion, generate chassis fluoroscopy images, respectively
The indication range of the chassis fluoroscopy images at individual moment is equal.
6. a kind of vehicle chassis arrangement for perspective, including at least photographing module, image processing module and memory module, its feature exists
In：The photographing module specifically includes proactive picture group and rear shooting group, wherein：
The proactive front end that the vehicle is installed on as group, including more than 1 image unit, it is described proactive as the shooting model of group
Enclose including right ahead region and front two side areas；
Shooting group is installed on the rear end of the vehicle, including more than 1 image unit, the shooting model of the rear shooting group after described
Enclose including vehicle dead astern region and dead astern two side areas；
Described image processing module specifically includes image mosaic unit, delay concatenation unit and automobile image integrated unit, wherein：
Described image concatenation unit electrically connects with the photographing module, and described image concatenation unit receives described proactive as group or institute
The image information that shooting group is shot after stating, and the proactive image information as organizing shooting is spliced into vehicle front mileage chart
Picture, the image information that shooting group is shot described afterwards is spliced into rear view of vehicle road image；
The delay concatenation unit electrically connects with described image concatenation unit, and the delay concatenation unit receives described image splicing
The vehicle front road image or the rear view of vehicle road image that unit spliced obtains, and the institute that current time is received
State the vehicle front road image that vehicle front road image or the rear view of vehicle road image receive with last moment
Or the rear view of vehicle road image is spliced into chassis fluoroscopy images；
The automobile image integrated unit electrically connects with the delay concatenation unit, described in the automobile image integrated unit reception
Delay concatenation unit splices the obtained chassis fluoroscopy images, and the chassis fluoroscopy images are superimposed with virtual vehicle model
For chassis fluoroscopic image；The virtual vehicle model is according to the body dimensions, wheel distributed architecture and wheel chi of the vehicle
It is very little and establish, including with outside vehicle outer contour that the vehicle matches and the wheel corresponding with each wheel of the vehicle
Contour line；
The memory module specifically includes the first memory cell and the second memory cell, wherein：
First memory cell electrically connects with the delay concatenation unit, and first memory cell is used to store the chassis
Fluoroscopy images；
Second memory cell electrically connects with the automobile image integrated unit, and second memory cell is described for storing
Virtual vehicle model.
7. vehicle chassis arrangement for perspective as claimed in claim 1, it is characterised in that：Also include image-display units, the figure
Picture display unit electrically connects with the automobile image integrated unit, for showing the chassis fluoroscopic image.
8. vehicle chassis arrangement for perspective as claimed in claim 1, it is characterised in that：It is described proactive as group specifically includes left front take the photograph
As image unit before unit and the right side, the left front image unit is separately mounted to driving for the vehicle with image unit before the right side
Sail at left and right sides of room or the front end of vehicle frame；
After described shooting group specifically include left back image unit and it is right after image unit, the left back image unit with it is described it is right after
Image unit is separately mounted at left and right sides of the rear end of the vehicle frame of the vehicle；
Image unit, the mirror of the left back image unit and image unit behind the right side before the left front image unit, the right side
Head is down.
9. vehicle chassis arrangement for perspective as claimed in claim 1, it is characterised in that：Also include gearshift, the gearshift dress
Put and electrically connected with described image processing module, the shift signal of the described image processing module reception gearshift, and according to
The shift signal determine to receive it is described it is proactive as group or it is described after the shooting of shooting group image information.
10. vehicle chassis arrangement for perspective as claimed in claim 9, it is characterised in that：Also include variable connector, the multichannel is opened
Pass has an output port, a control signal port and more than 2 input ports, described proactive as being imaged after organizing and being described
Group connects the different input ports respectively, and described image concatenation unit connects the output port, and the gearshift connects
Connect the control signal port.
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| CN201711277035.XA CN107878330B (en) | 2017-12-06 | 2017-12-06 | Vehicle chassis perspective method and vehicle chassis perspective device |
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| CN107878330B (en) | 2020-05-05 |
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