CN107878360A - Determine the method and device on panoramic parking system demarcation opportunity - Google Patents
Determine the method and device on panoramic parking system demarcation opportunity Download PDFInfo
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- CN107878360A CN107878360A CN201610875767.8A CN201610875767A CN107878360A CN 107878360 A CN107878360 A CN 107878360A CN 201610875767 A CN201610875767 A CN 201610875767A CN 107878360 A CN107878360 A CN 107878360A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
Abstract
The embodiment of the present invention provides a kind of method and device for determining panoramic parking system demarcation opportunity, obtains the image of different visual angles environment around registration of vehicle, wherein the image of record adjacent view environment has overlapping region；If in two images corresponding to adjacent view environment, the deviation of the image of overlapping region exceedes setting deviation threshold, sends the cue that need to be re-scaled.Pass through such scheme, analyze whether automatic decision needs to re-scale panoramic parking system according to image difference, with higher accuracy, and when finding to need to re-scale panoramic parking system, driver is reminded immediately, ensure that driver gets the cue re-scaled in time, avoid driver from bringing potential safety hazard to the process of parking using having parking system devious.
Description
Technical field
The present invention relates to Vehicular intelligent control technology application field, and in particular to when one kind determines panoramic parking system demarcation
The method and device of machine.
Background technology
In order to more intuitively show the situation of vehicle periphery to driver, panoramic parking system arises at the historic moment.In panorama
In parking system, surface conditions around are shot by four cameras installed in vehicle body all around.Wherein, install
Front visual angle environment is shot in the camera of vehicle front, is installed on the camera of vehicle right to right visual angle environment
Shot, the camera for being installed on rear view of vehicle is shot to rear visual angle environment, is installed on the camera of vehicle left
Left visual angle environment is shot.Then the four width images photographed are synthesized one completely using image processing techniques
Picture is shown on liquid crystal display.So, as long as driver sees whole vehicle body each area all around with regard to can completely in the car
Domain, completely without any dead angle and blind area, brought great convenience for the process of parking and traffic safety.
Because camera and mould can not possibly reach completely the same, therefore the automobile equipped with panoramic parking system is dispatching from the factory
Before generally require and demarcated, each camera is calibrated, so as to ensure that the image of all directions can correctly splice
Come, one width panorama sketch of composition is watched for driver.But after vehicle release, during vehicle use the position of camera or
Setting angle may change, therefore the demarcation that is carried out before dispatching from the factory possibly can not be applied to actual conditions, but driver
Possibly the information that camera has occurred and that position or angle change can not be obtained, it is impossible to re-start mark to camera in time
It is fixed, the panoramic picture that driver sees when parking process can be caused error to be present, it is most likely that influence the peace during parking
Quan Xing.
The content of the invention
The embodiment of the present invention will be solved in the prior art because driver can not obtain camera position deviation, it is impossible in time
Camera in panoramic parking system is re-scaled, influence park during security the problem of.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of side for determining panoramic parking system demarcation opportunity
Method, comprise the following steps：
Obtain registration of vehicle around different visual angles environment image, wherein record adjacent view environment image have it is overlapping
Region；
If in two images corresponding to adjacent view environment, the deviation of the image of overlapping region exceedes setting deviation threshold
Value, send the cue that need to be re-scaled.
Alternatively, the method on above-mentioned determination panoramic parking system demarcation opportunity, if two width corresponding to adjacent view environment
In image, the deviation of the image of overlapping region exceedes setting deviation threshold, the step of sending the cue that need to be re-scaled
Include：
Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；
If the pixel difference value between first pixel set and second pixel set is more than the first default difference
Threshold value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, the method on above-mentioned determination panoramic parking system demarcation opportunity, if two width corresponding to adjacent view environment
In image, the deviation of the image of overlapping region exceedes setting deviation threshold, the step of sending the cue that need to be re-scaled
Include：
Obtain and be used to record the 3rd pixel set that sub-district area image is preset in the overlapping region and the in two images
Four pixel sets；
If the pixel difference value between the 3rd pixel set and the 4th pixel set is more than the second default difference
Threshold value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, the method on above-mentioned determination panoramic parking system demarcation opportunity, if two width corresponding to adjacent view environment
In image, the deviation of the image of overlapping region exceedes setting deviation threshold, the step of sending the cue that need to be re-scaled
Include：
Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；
If misaligned pixel quantity is more than the first quantity threshold in first pixel set and second pixel set
Value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, the method on above-mentioned determination panoramic parking system demarcation opportunity, if two width corresponding to adjacent view environment
In image, the deviation of the image of overlapping region exceedes setting deviation threshold, the step of sending the cue that need to be re-scaled
Include：
Obtain and be used to record the 3rd pixel set that sub-district area image is preset in the overlapping region and the in two images
Four pixel sets；
If misaligned pixel quantity is more than the second quantity threshold in the 3rd pixel set and the 4th pixel set
Value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, the method on above-mentioned determination panoramic parking system demarcation opportunity, if two width corresponding to adjacent view environment
In image, the deviation of the image of overlapping region exceedes setting deviation threshold, the step of sending the cue that need to be re-scaled
Include：
Obtain and the first position and the second place of object of reference in two images are preset in the overlapping region；
If the distance difference of the first position and the second place and the same border in the overlapping region exceedes setting
Distance threshold, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, the method on above-mentioned determination panoramic parking system demarcation opportunity, if two width corresponding to adjacent view environment
In image, the deviation of the image of overlapping region exceedes setting deviation threshold, the step of sending the cue that need to be re-scaled
Also include afterwards：
Start panoramic parking system and move automatic calibration device.
Based on same inventive concept, the embodiment of the present invention also provides a kind of dress for determining panoramic parking system demarcation opportunity
Put, it is characterised in that including：
Image collection module, the image of different visual angles environment around registration of vehicle is obtained, wherein record adjacent view environment
Image there is overlapping region；
Processing module, if in two images corresponding to adjacent view environment, the deviation of the image of overlapping region, which exceedes, to be set
Determine deviation threshold, send the cue that need to be re-scaled.
Alternatively, in the device on above-mentioned determination panoramic parking system demarcation opportunity, the processing module is specifically used for：
Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；
If the pixel difference value between first pixel set and second pixel set is more than the first default difference
Threshold value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, in the device on above-mentioned determination panoramic parking system demarcation opportunity, the processing module is specifically used for：
Obtain and be used to record the 3rd pixel set that sub-district area image is preset in the overlapping region and the in two images
Four pixel sets；
If the pixel difference value between the 3rd pixel set and the 4th pixel set is more than the second default difference
Threshold value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, in the device on above-mentioned determination panoramic parking system demarcation opportunity, the processing module is specifically used for：
Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；
If misaligned pixel quantity is more than the first quantity threshold in first pixel set and second pixel set
Value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, in the device on above-mentioned determination panoramic parking system demarcation opportunity, the processing module is specifically used for：
Obtain and be used to record the 3rd pixel set that sub-district area image is preset in the overlapping region and the in two images
Four pixel sets；
If misaligned pixel quantity is more than the second quantity threshold in the 3rd pixel set and the 4th pixel set
Value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, in the device on above-mentioned determination panoramic parking system demarcation opportunity, the processing module is specifically used for：
Obtain and the first position and the second place of object of reference in two images are preset in the overlapping region；
If the distance difference of the first position and the second place and the same border in the overlapping region exceedes setting
Distance threshold, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
Alternatively, in the device on above-mentioned determination panoramic parking system demarcation opportunity, in addition to：
Execution module, start panoramic parking system and move automatic calibration device.
Compared with prior art, above-mentioned technical proposal provided in an embodiment of the present invention at least has the advantages that：
The method and device on panoramic parking system demarcation opportunity is determined described in the embodiment of the present invention, is obtained around registration of vehicle
The image of different visual angles environment, wherein the image of record adjacent view environment has overlapping region；If adjacent view environment is corresponding
Two images in, the deviation of the image of overlapping region exceedes setting deviation threshold, sends the cue that need to be re-scaled.
By such scheme, analyze whether automatic decision needs to re-scale panoramic parking system according to image difference, have higher
Accuracy, and when finding that satisfaction re-scales condition, remind driver immediately, ensure that driver gets weight in time
The cue of new demarcation parking system, driver is avoided to bring safety hidden to the process of parking using having parking system devious
Suffer from.
Brief description of the drawings
Fig. 1 is to determine that panoramic parking system demarcates the flow chart of the method on opportunity described in one embodiment of the invention；
Fig. 2 is the splicing of the image of the four visual angle environment in registration of vehicle front, rear, left and right described in one embodiment of the invention
Result schematic diagram；
Fig. 3 A and Fig. 3 B are display result schematic diagrams of the overlay region A in the first image and the second image；
Fig. 4 is the flow chart of the method for the deviation for the image that overlapping region is determined described in one embodiment of the invention；
Fig. 5 is the flow chart of the method for the deviation for the image that overlapping region is determined described in another embodiment of the present invention；
Fig. 6 A and Fig. 6 B are the schematic diagram that subregion is preset in Fig. 3 A and Fig. 3 B described in one embodiment of the invention；
Fig. 7 is the flow chart of the method for the deviation for the image that overlapping region is determined described in one embodiment of the invention；
Fig. 8 is the flow chart of the method for the deviation for the image that overlapping region is determined described in one embodiment of the invention；
Fig. 9 is the flow chart of the method for the deviation for the image that overlapping region is determined described in one embodiment of the invention；
Figure 10 is to determine that panoramic parking system demarcates the flow chart of the method on opportunity described in another embodiment of the present invention；
Figure 11 is to determine that panoramic parking system demarcates the flow chart of the device on opportunity described in one embodiment of the invention；
The flow chart of the device on panoramic parking system demarcation opportunity is determined described in Figure 12 another embodiment of the present invention；
Figure 13 is to perform to determine that the electronics for the method that panoramic parking system demarcates opportunity is set described in one embodiment of the invention
Standby hardware architecture diagram.
Embodiment
Embodiment 1
The present embodiment provides a kind of method for determining panoramic parking system demarcation opportunity, as shown in figure 1, including following step
Suddenly：
S101：The image of different visual angles environment around registration of vehicle is obtained, wherein the image tool of record adjacent view environment
There is overlapping region；As shown in Fig. 2 by taking four cameras as an example, the image of vehicle periphery different visual angles environment includes：Registration of vehicle
First image 201 in forward sight square ring border, the second image 202 of registration of vehicle LOOK RIGHT environment, registration of vehicle back angle environment
3rd image 203, the 4th image 204 of registration of vehicle LOOK LEFT environment.Wherein, the first image 201 and the second image 202 have
Overlapping region A, the second image 202 and the 3rd image 203 have overlapping region B, and the 3rd image 203 and the 4th image 204 have
Overlapping region C, the 4th image 204 and the first image 201 have overlapping region D.Before vehicle release, to panoramic parking system
After being demarcated, position of the overlapping region in each image, the pixel set occupied just turn into Given information.If take the photograph
As head quantity increased, its principle is similar to the principle in the present embodiment, and the image of adjacent two visual angle environment must have overlapping
Region, it is only possible to obtain complete panoramic view after stitching image.
S102：Judge in two images corresponding to adjacent view environment, whether the deviation of the image of overlapping region exceedes
Set deviation threshold, if then entering step S103, otherwise return to step S101.Under normal circumstances, panoramic parking system is demarcated
After completion, four width images in Fig. 2 should be able to be realized seamless spliced, obtain the panoramic view of vehicle-periphery, therefore
In two images corresponding to adjacent view environment, the record result to the image of overlapping region should be completely the same.That is, weight
Folded region A the first image 201 with should be identical in the second image 202, accordingly, other any overlapping regions are adjacent
Record result in two images is also completely the same.If overlapping region in two images corresponding to adjacent view environment
When recording inconsistent of image, must be that position, angle of a certain camera etc. are changed, the image for causing it to photograph
Visual angle environment changed, it may be necessary to panoramic parking system is re-scaled, when this changing value it is smaller (such as
Correspond to the range deviation that caused deviation in actual environment only has several centimetres), the influence brought for the process of parking can
Ignore, now without being re-scaled to panoramic parking system.Can be to the setting in this step according to actual conditions
Deviation threshold is selected, premised on ensureing the security during parking, according to the deviation of the image of overlapping region
Measurement criteria, selection setting deviation threshold, such as：Above-mentioned deviation be according to the line number or columns of pixel be measurement unit or
Using image deviations distance as measurement unit, corresponding setting deviation threshold is also different.But the deviation can be according to mark
The mapping relations or operation relation of timing determination, it is corresponding to obtain the offset distance in actual environment, the setting deviation threshold
The offset distance threshold value that can be corresponded in actual environment.Such as, it is necessary to again when actual environment large deviations distance is more than 10 centimetres
Demarcate panoramic parking system, then counter push away can obtain pair according to the measurement unit of the deviation of the image of selected overlapping region
The setting deviation threshold answered.
S103：Send the cue that need to be re-scaled.In this step, the cue can be by instrument board
Indicator lamp is prompted, can be with additional alarm prompt tone.Purpose is to remind driver, and now panoramic parking system needs weight
New demarcation, the panoramic view now obtained have relatively large deviation, influence may be brought on the process of parking.Driver can contact as early as possible
4S shops, producer etc. re-scale to panoramic parking system.
By such scheme, mainly analyze whether automatic decision is needed to panoramic parking system again according to image difference
Demarcation, has higher accuracy, when finding that satisfaction re-scales condition, reminds driver immediately, guarantee driver and
When get the cue for re-scaling parking system, avoid driver using having parking system devious to process of parking
Bring potential safety hazard.
Embodiment 2
In the present embodiment, above-mentioned steps S102 is accomplished by the following way, and it includes as shown in Figure 4：
S301：Obtain and be used for the first pixel set and the second set of pixels that record the overlapping region image in two images
Close.
S302：Judge whether misaligned pixel quantity exceedes in first pixel set and second pixel set
First amount threshold, if then entering step S303, otherwise return to step S101.
S303：Determine that the deviation of the image of overlapping region exceedes setting deviation threshold.Need to panoramic parking system
Re-scaled.
Specifically, as shown in Figure 3 A and Figure 3 B.Fig. 3 A be in the first image 201 to overlapping region A record result A12,
Fig. 3 B are to overlapping region A record result A21 in the second image 202.From the figure, it can be seen that there is obstacle in two width figures
Thing (trees).After A12 and A21 are compared, it is determined that on the basis of barrier, including the row pixel of barrier left 10, the right side
30 row pixels of side, the row pixel of top 8, the scope of the row pixel of lower section 8, it is to overlap in both figures, remainder is misaligned
's.According to A12, A21 total pixel included and the pixel of intersection, can be easy to draw misaligned pixel
Quantity.And first amount threshold, according to the resolution ratio of different cameras in different automobile types, the angular field of view of camera,
Overlapping region size etc. determines.It can adopt for remaining overlapping region and judge in a like fashion, no longer retouch in detail herein
State.
As a kind of scheme arranged side by side with method shown in Fig. 4, above-mentioned steps S102 can also be accomplished by the following way, such as
It includes shown in Fig. 5：
S401：Obtain the 3rd pixel set for being used to record in two images and sub-district area image being preset in the overlapping region
With the 4th pixel set；As shown in Figure 3 A and Figure 3 B, overlapping region is divided into four sub-regions, selects one of sub-district
Domain is used as default subregion as the benchmark compared, such as selection upper left corner a quarter region, as shown in Figure 6 A and 6 B, i.e.,
The pixel sets of Fig. 6 A in figure 3 a are the 3rd pixel set, and the pixel sets of Fig. 6 B in figure 3b are the 4th pixel set.
S402：Judge whether the misaligned pixel quantity of the 3rd pixel set and the 4th pixel set exceedes
Second amount threshold；If then enter step S403, otherwise return to step S101.Specifically, second amount threshold can be with
Determined according to the resolution ratio of different cameras, the angular field of view of camera and default subregion size etc., can select be
The a quarter of first amount threshold.
S403：Determine that the deviation of the image of overlapping region exceedes setting deviation threshold.Need to panoramic parking system
Re-scaled.
In such scheme, it can also be multiple that the quantity of the subregion, which can be one, and sub-district is selected in the present embodiment
Area image can reduce data operation quantity, improve efficiency as comparison basis.Identical side can be used for remaining overlapping region
Formula is judged, is not described in detail herein.
Embodiment 3
Different with embodiment 2 in the present embodiment, above-mentioned steps S102 is accomplished by the following way, as shown in Figure 7 its
Including：
S501：Obtain and the first position and the second place of object of reference in two images are preset in the overlapping region；Such as
Fig. 3 A and Fig. 3 B, barrier (trees) therein can be used as default object of reference, respectively obtain the position of barrier in both figures,
The position can be determined with the line number and columns of pixel, in addition, the position can be the position where the central point of barrier,
It can also be the position where any point selected on barrier.
S502：Judge that the distance difference of the first position and the second place and the same border in the overlapping region surpasses
Setpoint distance threshold value is crossed, if then entering step S503, otherwise return to step S101.Distance difference therein can be according to picture in figure
The line number and columns of element represent.For example, boundary is 8 row pixels to barrier central point From Left in Fig. 3 A, it is apart from lower boundary
22 row pixels.Boundary is 5 row pixels to barrier central point From Left in Fig. 3 B, is 4 row pixels apart from lower boundary.Distance difference
Can be the corresponding relation according to image and actual environment, the actual range obtained after being converted.No matter which kind of mode is used,
As long as ensure that setpoint distance threshold value uses same datum with distance difference.
S503：Determine that the deviation of the image of overlapping region exceedes setting deviation threshold.Need to panoramic parking system
Re-scaled.
The default position of object of reference in the picture is selected to reduce data operation as comparison basis in the present embodiment
Amount, improve efficiency.It can adopt for remaining overlapping region and judge in a like fashion, be not described in detail herein.
Embodiment 4
It is different with embodiment 2 and 3 in the present embodiment, as shown in figure 8, above-mentioned steps S102 is real in the following manner
It is existing：
S601：Obtain and be used for the first pixel set and the second set of pixels that record the overlapping region image in two images
Close.
S602：Judge the pixel difference value between first pixel set and second pixel set whether more than
One default discrepancy threshold, if then entering step S603, otherwise return to step S101.
S603：Determine that the deviation of the image of overlapping region exceedes setting deviation threshold.Need to panoramic parking system
Re-scaled.
Wherein, the pixel difference value can use pixel difference, and pixel difference asks variance, pixel difference to ask the modes such as mean square deviation to obtain
.Wherein described pixel difference is the difference summation of all pixels value in overlapping region.Using Fig. 3 A and Fig. 3 B be gray-scale map as
Example illustrates, and the pixel value of each of which pixel calculates the pixel value of same position pixel in two width figures between 0-255
Difference, then summation i.e. can obtain pixel difference.And the described first default discrepancy threshold obtains according to the specific of the pixel difference value
Take mode to be set, can also be obtained by way of demarcation.
It is different with method shown in Fig. 8, as shown in figure 9, above-mentioned steps S102 is accomplished by the following way：
S701：Obtain the 3rd pixel set for being used to record in two images and sub-district area image being preset in the overlapping region
With the 4th pixel set.
S702：Judge the pixel difference value between the 3rd pixel set and the 4th pixel set whether more than
Two default discrepancy thresholds, if then entering step S703, otherwise return to step S101.
S703：Determine that the deviation of the image of overlapping region exceedes setting deviation threshold, that is, need to panoramic parking system
Re-scaled.Similarly, sub-district area image is selected to reduce data operation quantity as comparison basis, improve efficiency.
Embodiment 6
As shown in Figure 10, the method on the determination panoramic parking system demarcation opportunity that the present embodiment provides, comprises the following steps：
S801：The image of different visual angles environment around registration of vehicle is obtained, wherein the image tool of record adjacent view environment
There is overlapping region；
S802：Judge in two images corresponding to adjacent view environment, whether the deviation of the image of overlapping region exceedes
Set deviation threshold, if then entering step S803, otherwise return to step S801.
S803：Send the cue that need to be re-scaled.
S804：Start panoramic parking system and move automatic calibration device.
Above-mentioned steps S801-803 and the step implementation described in previous embodiment are same or similar.As it was previously stated,
When finding that panoramic parking system needs to re-scale, driver can be prompted by instrument board indicator lamp in time, and be aided with sound
Prompting.Now driver can be re-scaled by contacting 4S shops or producer to panoramic parking system.And for some cars
, automatic calibration device itself is configured with, but need driver artificially to judge whether to need to start automatic Calibration dress
Put.After the scheme in the present embodiment, when detecting that panoramic parking system needs to re-scale according to image difference algorithm,
Panoramic parking system can be started and move automatic calibration device.Focus on starting the opportunity of automatic calibration device in the present embodiment,
Therefore for how automatic Calibration is not described in detail, can be realized according to prior art.
Embodiment 7
A kind of device for determining panoramic parking system demarcation opportunity of the present embodiment offer, such as Figure 11, including：
Image collection module 701, the image of different visual angles environment around registration of vehicle is obtained, wherein record adjacent view ring
The image in border has overlapping region；As shown in Fig. 2 get first image 201 in registration of vehicle forward sight square ring border, registration of vehicle
Second image 202 of LOOK RIGHT environment, the 3rd image 203 of registration of vehicle back angle environment, registration of vehicle LOOK LEFT environment
4th image 204.Wherein, the first image 201 and the second image 202 have overlapping region A, the second image 202 and the 3rd image
203 have overlapping region B, and the 3rd image 203 and the 4th image 204 have overlapping region C, the 4th image 204 and the first image
201 have overlapping region D.
Processing module 702, if in two images corresponding to adjacent view environment, the deviation of the image of overlapping region exceedes
Deviation threshold is set, sends the cue that need to be re-scaled.Under normal circumstances, after panoramic parking system demarcation is completed, Fig. 2
In four width images should be able to realize seamless spliced, obtain the panoramic view of vehicle-periphery, therefore adjacent view environment
In corresponding two images, the record result to the image of overlapping region should be completely the same.If adjacent view environment
When recording inconsistent of the image of overlapping region in corresponding two images, must be the hair such as position, angle of a certain camera
Change is given birth to, it may be necessary to which panoramic parking system is re-scaled.Can be to the setting in this step according to actual conditions
Deviation threshold is selected, premised on ensureing the security during parking, according to the deviation of the image of overlapping region
Measurement criteria, selection setting deviation threshold, such as：Above-mentioned deviation be according to the line number or columns of pixel be measurement unit or
Using image deviations distance as measurement unit, corresponding setting deviation threshold is also different.But the deviation can be according to mark
The mapping relations or operation relation of timing determination, it is corresponding to obtain the offset distance in actual environment, the setting deviation threshold
The offset distance threshold value that can be corresponded in actual environment.Such as, it is necessary to again when actual environment large deviations distance is more than 10 centimetres
Demarcate panoramic parking system, then counter push away can obtain pair according to the measurement unit of the deviation of the image of selected overlapping region
The setting deviation threshold answered.Above-mentioned cue can be prompted by the indicator lamp on instrument board, can be with additional alarm
Prompt tone.Purpose is, reminds driver, and now panoramic parking system needs to re-scale, the panoramic view now obtained have compared with
Large deviation, influence may be brought on the process of parking.Driver can contact 4S shops, producer etc. as early as possible and panoramic parking system is carried out
Re-scale.
As a kind of optional scheme, the processing module 702 is specifically used for：
Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；If
Misaligned pixel quantity is more than the first amount threshold in first pixel set and second pixel set, it is determined that weight
The deviation of the image in folded region exceedes setting deviation threshold.
Specifically, as shown in Figure 3 A and Figure 3 B.Fig. 3 A be in the first image 201 to overlapping region A record result A12,
Fig. 3 B are to overlapping region A record result A21 in the second image 202.From the figure, it can be seen that there is obstacle in two width figures
Thing (trees).After A12 and A21 are compared, it is determined that on the basis of barrier, including the row pixel of barrier left 10, the right side
30 row pixels of side, the row pixel of top 8, the scope of the row pixel of lower section 8, it is to overlap in both figures, remainder is misaligned
's.According to A12, A21 total pixel included and the pixel of intersection, can be easy to draw misaligned pixel
Quantity.And first amount threshold, according to the resolution ratio of different cameras in different automobile types, the angular field of view of camera,
Overlapping region size etc. determines.It can adopt for remaining overlapping region and judge in a like fashion, herein
It is not described in detail.
As another optional scheme, the processing module 702 is specifically used for：
Obtain and be used to record the 3rd pixel set that sub-district area image is preset in the overlapping region and the in two images
Four pixel sets；If misaligned pixel quantity is more than the second quantity in the 3rd pixel set and the 4th pixel set
Threshold value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
It can also be multiple that the quantity of the subregion, which can be one, selected in the present embodiment sub-district area image be used as than
It is more basic, data operation quantity can be reduced, improve efficiency.It can adopt for remaining overlapping region and judge in a like fashion,
It is not described in detail herein.
The present embodiment also provides a kind of optional scheme, and the processing module 702 is specifically used for：
Obtain and the first position and the second place of object of reference in two images are preset in the overlapping region；If described
The distance difference of one position and the second place and the same border in the overlapping region exceedes setpoint distance threshold value, it is determined that weight
The deviation of the image in folded region exceedes setting deviation threshold.
The default position of object of reference in the picture of selection can reduce data operation quantity, improve efficiency as comparison basis.
It can adopt for remaining overlapping region and judge in a like fashion, be not described in detail herein.
Further, as shown in figure 12, determining the device on panoramic parking system demarcation opportunity also includes：
Execution module 703, start panoramic parking system and move automatic calibration device.For some vehicles, itself may match somebody with somebody
Automatic calibration device is equipped with, but needs driver artificially to judge whether to need to start automatic calibration device.Using the present embodiment
In scheme after, when detecting that panoramic parking system needs to re-scale according to image difference algorithm, you can start panorama pool
Car system moves automatic calibration device.Focus on starting the opportunity of automatic calibration device in the present embodiment, therefore for how certainly
Dynamic demarcation is not described in detail, and can be realized according to prior art.
Embodiment 7
The embodiment of the present application provides a kind of nonvolatile computer storage media, and the computer-readable storage medium is stored with
Computer executable instructions, the determination panorama that the computer executable instructions can perform in above-mentioned any means embodiment, which is parked, is
The method on system demarcation opportunity.
Embodiment 8
Figure 13 is the hard of the electronic equipment for the method that the execution that the present embodiment provides determines panoramic parking system demarcation opportunity
Part structural representation, the equipment include：
One or more processors 801 and memory 802, in Figure 13 by taking a processor 801 as an example.
Performing the equipment for the method for determining panoramic parking system demarcation opportunity can also include：Input unit 803 and output
Device 804.
Processor 801, memory 802, input unit 803 and output device 804 can pass through bus or other modes
Connect, in Figure 13 exemplified by being connected by bus.
Memory 802 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey
Sequence, non-volatile computer executable program and module, when being demarcated such as the determination panoramic parking system in the embodiment of the present application
Programmed instruction/module corresponding to the method for machine (for example, image collection module 701, processing module 702 shown in accompanying drawing 11).Place
Reason device 801 is stored in non-volatile software program, instruction and module in memory 802 by operation, so as to perform service
The various function application of device and data processing, that is, realize the determination panoramic parking system demarcation opportunity of above method embodiment
Method.
Memory 802 can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can be stored according to determination panoramic parking system demarcation opportunity
Device use created data etc..In addition, memory 802 can include high-speed random access memory, can also wrap
Include nonvolatile memory, for example, at least a disk memory, flush memory device or other non-volatile solid state memories
Part.In certain embodiments, memory 802 is optional including relative to the remotely located memory of processor 801, these are remotely deposited
Reservoir can pass through network connection to the device for determining panoramic parking system demarcation opportunity.The example of above-mentioned network includes but unlimited
In internet, intranet, LAN, mobile radio communication and combinations thereof.
Input unit 803 can receive the numeral or character information of input, and produce with determining panoramic parking system demarcation
The key signals input that the user of the device on opportunity is set and function control is relevant.Output device 804 may include that display screen etc. is aobvious
Show equipment.
One or more of modules are stored in the memory 802, when by one or more of processors
During 801 execution, the method that the determination panoramic parking system in above-mentioned any means embodiment demarcates opportunity is performed.
The said goods can perform the method that the embodiment of the present application is provided, and possesses the corresponding functional module of execution method and has
Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, includes but is not limited to:
(1) mobile communication equipment:The characteristics of this kind equipment is that possess mobile communication function, and to provide speech, data
Communicate as main target.This Terminal Type includes:Smart mobile phone (such as iPhone), multimedia handset, feature mobile phone, and it is low
Hold mobile phone etc..
(2) super mobile personal computer equipment:This kind equipment belongs to the category of personal computer, there is calculating and processing work(
Can, typically also possess mobile Internet access characteristic.This Terminal Type includes:PDA, MID and UMPC equipment etc., such as iPad.
(3) portable entertainment device:This kind equipment can show and play content of multimedia.The kind equipment includes:Audio,
Video player (such as iPod), handheld device, e-book, and intelligent toy and portable car-mounted navigation equipment.
(4) server:The equipment for providing the service of calculating, the composition of server are total including processor, hard disk, internal memory, system
Line etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, therefore in processing energy
Power, stability, reliability, security, scalability, manageability etc. require higher.
(5) other electronic installations with data interaction function.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
The part that technical scheme substantially in other words contributes to prior art is stated to embody in the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Make to cause a computer equipment (can be personal computer, server, or network equipment etc.) to perform each implementation
Method described in some parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (14)
- A kind of 1. method for determining panoramic parking system demarcation opportunity, it is characterised in that comprise the following steps：The image of different visual angles environment around registration of vehicle is obtained, wherein the image of record adjacent view environment has overlay region Domain；If in two images corresponding to adjacent view environment, the deviation of the image of overlapping region exceedes setting deviation threshold, hair Send the cue that need to be re-scaled.
- 2. the method according to claim 1 for determining panoramic parking system demarcation opportunity, it is characterised in that if adjacent view In two images corresponding to environment, the deviation of the image of overlapping region exceedes setting deviation threshold, sends what need to be re-scaled The step of cue, includes：Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；If the pixel difference value between first pixel set and second pixel set presets discrepancy threshold more than first, Then determine that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 3. the method according to claim 1 for determining panoramic parking system demarcation opportunity, it is characterised in that if adjacent view In two images corresponding to environment, the deviation of the image of overlapping region exceedes setting deviation threshold, sends what need to be re-scaled The step of cue, includes：Obtain the 3rd pixel set and the 4th picture for being used to record in two images and sub-district area image being preset in the overlapping region Element set；If the pixel difference value between the 3rd pixel set and the 4th pixel set presets discrepancy threshold more than second, Then determine that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 4. the method according to claim 1 for determining panoramic parking system demarcation opportunity, it is characterised in that if adjacent view In two images corresponding to environment, the deviation of the image of overlapping region exceedes setting deviation threshold, sends what need to be re-scaled The step of cue, includes：Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；If misaligned pixel quantity is more than the second amount threshold in the 3rd pixel set and the 4th pixel set, Determine that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 5. the method according to claim 1 for determining panoramic parking system demarcation opportunity, it is characterised in that if adjacent view In two images corresponding to environment, the deviation of the image of overlapping region exceedes setting deviation threshold, sends what need to be re-scaled The step of cue, includes：Obtain the 3rd pixel set and the 4th picture for being used to record in two images and sub-district area image being preset in the overlapping region Element set；If misaligned pixel quantity is more than the first amount threshold in first pixel set and second pixel set, Determine that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 6. the method according to claim 1 for determining panoramic parking system demarcation opportunity, it is characterised in that if adjacent view In two images corresponding to environment, the deviation of the image of overlapping region exceedes setting deviation threshold, sends what need to be re-scaled The step of cue, includes：Obtain and the first position and the second place of object of reference in two images are preset in the overlapping region；If the distance difference of the first position and the second place and the same border in the overlapping region exceedes setpoint distance Threshold value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 7. the method on the determination panoramic parking system demarcation opportunity according to claim any one of 1-6, it is characterised in that if In two images corresponding to adjacent view environment, the deviation of the image of overlapping region exceedes setting deviation threshold, and transmission needs weight Also include after the step of cue newly demarcated：Start panoramic parking system and move automatic calibration device.
- A kind of 8. device for determining panoramic parking system demarcation opportunity, it is characterised in that including：Image collection module, the image of different visual angles environment around registration of vehicle is obtained, wherein the figure of record adjacent view environment As having overlapping region；Processing module, if in two images corresponding to adjacent view environment, the deviation of the image of overlapping region exceedes setting partially Poor threshold value, send the cue that need to be re-scaled.
- 9. the device according to claim 8 for determining panoramic parking system demarcation opportunity, it is characterised in that the processing mould Block is specifically used for：Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；If the pixel difference value between first pixel set and second pixel set presets discrepancy threshold more than first, Then determine that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 10. the device according to claim 8 for determining panoramic parking system demarcation opportunity, it is characterised in that the processing Module is specifically used for：Obtain the 3rd pixel set and the 4th picture for being used to record in two images and sub-district area image being preset in the overlapping region Element set；If the pixel difference value between the 3rd pixel set and the 4th pixel set presets discrepancy threshold more than second, Then determine that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 11. the device according to claim 8 for determining panoramic parking system demarcation opportunity, it is characterised in that the processing Module is specifically used for：Obtain and be used for the first pixel set and the second pixel set that record the overlapping region image in two images；If misaligned pixel quantity is more than the first amount threshold in first pixel set and second pixel set, Determine that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 12. the device according to claim 8 for determining panoramic parking system demarcation opportunity, it is characterised in that the processing Module is specifically used for：Obtain the 3rd pixel set and the 4th picture for being used to record in two images and sub-district area image being preset in the overlapping region Element set；If misaligned pixel quantity is more than the second amount threshold in the 3rd pixel set and the 4th pixel set, Determine that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 13. the device according to claim 8 for determining panoramic parking system demarcation opportunity, it is characterised in that the processing Module is specifically used for：Obtain and the first position and the second place of object of reference in two images are preset in the overlapping region；If the distance difference of the first position and the second place and the same border in the overlapping region exceedes setpoint distance Threshold value, it is determined that the deviation of the image of overlapping region exceedes setting deviation threshold.
- 14. the device on the determination panoramic parking system demarcation opportunity according to claim any one of 8-13, it is characterised in that Also include：Execution module, start panoramic parking system and move automatic calibration device.
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| CN201610875767.8A CN107878360A (en) | 2016-09-30 | 2016-09-30 | Determine the method and device on panoramic parking system demarcation opportunity |
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| CN201610875767.8A CN107878360A (en) | 2016-09-30 | 2016-09-30 | Determine the method and device on panoramic parking system demarcation opportunity |
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| CN105141945A (en) * | 2014-05-16 | 2015-12-09 | 通用汽车环球科技运作有限责任公司 | Surround-view camera system (vpm) online calibration |
| CN105321160A (en) * | 2014-05-27 | 2016-02-10 | 穆阳 | Multi-camera calibration method for 3D panoramic parking |
| WO2016056197A1 (en) * | 2014-10-09 | 2016-04-14 | 株式会社デンソー | In-vehicle camera calibration device, image generation device, in-vehicle camera calibration method, and image generation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102982526A (en) * | 2011-06-01 | 2013-03-20 | 哈曼贝克自动系统股份有限公司 | Method of calibrating a vehicle vision system and vehicle vision system |
| CN105141945A (en) * | 2014-05-16 | 2015-12-09 | 通用汽车环球科技运作有限责任公司 | Surround-view camera system (vpm) online calibration |
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| WO2016056197A1 (en) * | 2014-10-09 | 2016-04-14 | 株式会社デンソー | In-vehicle camera calibration device, image generation device, in-vehicle camera calibration method, and image generation method |
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