CN107972582A - A kind of full HD ring car overlooks display system - Google Patents
A kind of full HD ring car overlooks display system Download PDFInfo
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- CN107972582A CN107972582A CN201610922333.9A CN201610922333A CN107972582A CN 107972582 A CN107972582 A CN 107972582A CN 201610922333 A CN201610922333 A CN 201610922333A CN 107972582 A CN107972582 A CN 107972582A
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
- H04N9/3173—Constructional details thereof wherein the projection device is specially adapted for enhanced portability
- H04N9/3176—Constructional details thereof wherein the projection device is specially adapted for enhanced portability wherein the projection device is incorporated in a camera
-
- 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
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
-
- 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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a kind of full HD ring car to overlook display system, wherein, including：Image capture module, image transmission module and image processing module；The image capture module is used to the multidirectional image of vehicle being acquired；The image transmission module is used to multidirectional image is encoded and is transmitted, and is decoded after transport；The multidirectional image that the image processing module is used to transmit the image transmission module carries out flake distortion correction, projective transformation and image mosaic, and handles to overlook result images.The full HD ring car of the present invention, which overlooks display system, can effectively eliminate eliminating driving blind area, and ring car overhead view image is provided for driver, and auxiliary driver passes through limited road environment, is correctly completed to park etc. and operates, raising drive safety.
Description
Technical field
The present invention relates to vehicle assistant drive technical field, more particularly to a kind of full HD ring car overlooks display system.
Background technology
In vehicle travel process, due to the limitation of body structure, driver's seat can be there are different degrees of blind area, to drive
Sail security and bring certain threat.Particularly when vehicle is travelled and (such as by narrow road surface, given another the right of way) in complicated road environment, or
When carrying out some vehicle actions (such as side position is parked, storage of moving backward), the driver to lack experience usually faces larger safe prestige
The side of body.
The content of the invention
It is an object of the invention to provide a kind of full HD ring car to overlook display system, for solving due to depositing eliminating driving blind area
Cause to be difficult to by limited road environment, difficulty of parking the problems such as.
A kind of full HD ring car of the present invention overlooks display system, wherein, including：Image capture module, image transmission module
And image processing module；The image capture module is used to the multidirectional image of vehicle being acquired；The image transmission module
For being encoded and being transmitted to multidirectional image, and decoded after transport；The image processing module is used for should
The multidirectional image of image transmission module transmission carries out flake distortion correction, projective transformation and image mosaic, and handles to overlook
Result images.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, further include：Image display mould
Block, for being shown to the vertical view result images of the image processing module.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, further include：System controls mould
Block, is controlled for overlooking full HD ring car the action process of each module of display system.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, which includes
It is installed on vehicle front, rear, left side, the four road fish-eye cameras on right side.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, which includes
HD-SDI coding modules and HD-SDI decoder modules, the HD-SDI coding modules are installed on the near-end of the image capture module, should
HD-SDI decoder modules are installed on the image processing module near-end.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, which includes：
Flake distortion correction module, projective transformation module, four tunnel image mosaic modules and four road image Coordination modules；The flake distortion school
The image that positive module is used for the input to four road fish-eye cameras carries out flake distortion correction；The projective transformation module is used for basis
Projective transformation parameter projects flake distortion correction image to vertical view visual angle by looking squarely visual angle；The four tunnels image mosaic module is used for
Four road overhead view images are cut and are spliced into the overhead view image of ring car, and record the overhead view image of ring car in the image procossing
The mapping relations of the storage address of mould source images in the block and the storage address of overhead view image；The four roads image Coordination module is used for
Judge whether overhead view image meets joining quality, it is if meeting that the address mapping relation of source images address and overhead view image is defeated
Go out, otherwise, the projective transformation parameter of the overhead view image of adjustment ring car, to eliminate the splicing gap of the overhead view image of ring car, renewal
Projective transformation parameter, and feed back to and change back projective transformation module.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, which includes：
Image output module and Vehicular display device, the image output module are used for configuration diagram as output parameter to meet the Vehicular display device
Full HD display requirement；The Vehicular display device is used to show overhead view image.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, which also wraps
Include：Pixel address mapping block, look-up table, and root are generated for the address mapping relation of storage source image address and overhead view image
According to look-up table, the four road images that image transmission module is transmitted are carried out being spliced into overhead view image.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, further include：Memory, for inciting somebody to action
The image of image transmission module output is stored.
Full HD ring car overlooks an embodiment of display system according to the present invention, wherein, further include：Dma module, is used for
The image that the image transmission module exports is stored into memory designated position.
The present invention full HD ring car overlook display system, make use of devices at full hardware video flow processing, reverse Mapping look-up table,
Ping-pong operation, the read-write of DDR3 multi-channel parallels and DDR3 batches of read-write technologies.Eliminating driving blind area can be effectively eliminated, is provided for driver
Ring car overhead view image, auxiliary driver pass through limited road environment, are correctly completed the operation such as park, and improve driving safety
Property.
Brief description of the drawings
Fig. 1 show the module map that the full HD ring car of the present invention overlooks display system；
Fig. 2 show the schematic diagram that image processing module generates reverse mode look-up table；
Fig. 3 show the principle schematic that the full HD ring car of the present invention overlooks the multichannel read-write of display system；
Fig. 4 show batch read-write schematic diagram of DDR3.
Embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Embodiment is described in further detail.
Fig. 1 show the module map that the full HD ring car of the present invention overlooks display system, as shown in Figure 1, including：Image Acquisition
Module 1, image transmission module 3, HD-SDI coding modules 4, image display 5, system control module 7, image processing module
10th, DMA 15, DDR3 19, vehicle platform 20.
As shown in Figure 1, image capture module 1 includes the fish-eye camera 2 of four direction.Image transmission module 3 includes HD-
SDI coding modules 4 and HD-SDI decoder modules 18.Image display 5 includes image output module 8 and Vehicular display device
9.Image processing module 10 includes flake distortion correction module 11, projective transformation module 12, four tunnel image mosaic modules 13, four tunnels
Image Coordination module 14 and pixel address mapping block 16.
As shown in Figure 1, for a kind of better embodiment, by FPGA 17 and ARM 6, image processing module 10 is realized
And DMA15.
As shown in Figure 1, FPGA 17 and 19 two-way interconnections of DDR3, ARM 6 are unidirectionally connected with FPGA 17, FPGA 17 and
HD-SDI decoder modules 18 unidirectionally connect, and FPGA 17 is unidirectionally connected with Vehicular display device 9 by HDMI cable, fish-eye camera 2
Unidirectionally it is connected with HD-SDI coding modules 4, HD-SDI coding modules 4 and HD-SDI decoder modules 18 are unidirectional by HD-SDI cables
Connection, the full HD ring car of the present invention are overlooked display system and are installed on vehicle platform 20.
As shown in Figure 1, full HD ring car overlooks display system after the power is turned on, system initialization process is completed first, is initialized
Process carries out initial configuration according to the order of " display-processing-transmission-collection-calibration " and enables.In display initialization procedure
In, system control module 7, can be according to 1080P60Hz by 8 register parameters of I2C bus configurations image output module
YUV422 forms export HDMI video data.In initialization procedure is handled, system control module 7 enables image procossing mould respectively
Block 10 and the enabled DMA 15 of configuration, image processing module 10 read DDR3, enable flake distortion correction module 11, projective transformation mould
Block 12, four tunnel image mosaic modules 13 and four road image Coordination modules 14, and reflected according to output initial pixel address is pre-set
Penetrate look-up table；The enabled DMA 15 of the configuration of simultaneity factor control module 7, makes its data according to 148.5MHz clock RGB 24bits
Form writes DDR3.In initialization procedure is transmitted, system control module 7 enables HD-SDI decoder modules 18, makes tetra- roads of Qi Dui defeated
The decoding for entering signal is carried out at the same time, and realizes that four road video image inputs are synchronous.In initialization procedure is gathered, system control module
7 control the work of four road fish-eye cameras 2 to enable by GPIO, realize that the collection of four road video images is synchronous.So far, system regards
Frequency path has brought into operation.In last calibration initialization procedure, to the externally input four road source images containing mark point,
It is corrected, projects and splices, form ring car and overlook result images, fine tune, most end form is carried out with reference to result images effect
Into the splicing top view highly consistent with vehicular seat face ring border, this result images pixel address corresponding with source images is reflected
Relation is penetrated, is configured to look-up table, is delivered to pixel address mapping block 16.
As shown in Figure 1, full HD ring car is overlooked after the completion of display system initialization, start to work normally.Image Acquisition mould
In block 1 tetra- road fish-eye cameras 2 of vehicle Shang difference collection vehicle front, rear, left, right four are installed on 30 ° of angles of depression
The real-time imaging in a direction, and the full HD level video image that resolution ratio is 1080p is produced, continually input to HD-SDI
Coding module 4, the module carry out HD-SDI said shanks to video flowing, by 5m-10m Distance Transmissions, are delivered to and FPGA 17
The HD-SDI decoder modules 18 of bridge joint, HD-SDI decoder modules 18 by decoding, output comprising row, field enable, pixel clock and
The RGB 24bits data flows of the video informations such as brightness, 15 moulds of DMA positioned at 17 ends of FPGA are delivered to through 17 pins of FPGA
Four road video flowings are continuously write four storage regions in DDR3 19 by block, DMA 15.Then, pixel address mapping mould
Block 16 reads the pixel partly needed from four storage regions with reference to the pixel address Map Searching table generated in initialization procedure
Information, is written in result images storage region again.Image output module 8 is read from the result images storage region in DDR319
Result images information, and video format is changed into 422 16bits of YUV by 444 24bits of RGB, add line again, field,
The signals such as data enable, 148.5MHz clocks, are delivered to Vehicular display device 9 and are shown.
As shown in Figure 1, devices at full hardware video flow processing refers to that system video logical circulation road is realized using devices at full hardware, including FPFA17
Hardware algorithm part and the circuit part of HD-SDI coding/decoding modules 18, lookup is only provided positioned at the software algorithm part of ARM6
Table, and after the completion of initialization, which no longer changes before being re-powered in next time.
Fig. 2 show the schematic diagram that image processing module generates reverse mode look-up table, as shown in Figure 1 and Figure 2, inversely
Map Searching table refers to that the look-up table that ARM6 is provided is the inverse look-up table by result images address of cache to source images address, adopts
With reverse mode compared to the Direct mapping that result images are mapped to by source images, 75% treatment effeciency can be lifted, is used
Result images and source images with calibration carry out the generation of pixel address Map Searching table.Result images pixel dot address is inversely defeated
Enter four road image Coordination modules 14, after rotated, displacement scheduling algorithm inverse operation processing, image slices vegetarian refreshments before output coordinating
Location；Image pixel dot address inversely inputs four tunnel image mosaic modules 13 before the coordination of gained, through splicing, cutting the inverse of scheduling algorithm
After calculation process, image pixel dot address before output splicing；Image pixel dot address inversely inputs throwing before the output splicing of gained
After shadow conversion module 12, after the inverse operation processing of 3 × 3 projective transformation matrixs, image slices vegetarian refreshments before projective transformation is exported
Location；Image pixel dot address inversely inputs flake distortion correction module 11 before the projective transformation of gained, by FOV algorithm inverse operations
After processing, image pixel dot address before output calibration.This address of calibration point is overlapped with the calibration dot address of source images
Degree is judged, if unanimously, the corresponding source images address of result images pixel dot address is formed one group of lookup table element, if
It is inconsistent, then adjustment four road image Coordination modules, 14 parameter is returned, re-starts above flow, untill judging unanimously.It is inverse
2073600 pixel dot addresses in result images are realized to Map Searching table to reflect to the reverse of its source image pixels dot address
Penetrate.
Fig. 3 show the principle schematic that the full HD ring car of the present invention overlooks the multichannel read-write of display system, as Fig. 1 with
And shown in Fig. 3, full HD ring car overlooks display system and uses ping-pong operation mode around the read-write operation of DDR3 19.DDR3
5 independent storage regions are divided into 19：Front source images storage region, left side source images storage region, right side source figure
As storage region, rear source images storage region and result images storage region.Each storage region can store 3 frame complete graphs
Sheet data, is represented with A, B, C respectively.While DMA15 writes A/B, pixel address mapping block 16 reads C/A, and so on, to the greatest extent may be used
Access time interval can be compressed, while avoids read/write conflict.Pixel address mapping block 16 is with image output module 8 for result
The read-write of image memory region is similarly.
As shown in Figure 1 and Figure 3, DDR319 multi-channel parallels are read and write and are referred in 19 read-write operations of DDR3, DDR3 19
5 isolated areas are divided into, and use 4 independent DMA15 modules so that can to the write operation of this 5 storage regions
Independent parallel carries out.
Fig. 4 show batch read-write schematic diagram of DDR3, and as shown in Fig. 1 and Fig. 4, batch read-write of DDR319 refers in result
Image address is into the mapping process of source images address, no matter for the write operation of result images storage region or for source figure
As the read operation of storage region, can all there is a situation where more than the 2 continuous read/write of pixel, once criticize read/write two or more picture
Vegetarian refreshments information possesses the treatment effeciency of bigger than point-by-point repeatedly read/write respectively, so as to effectively reduce operation delay.Full HD ring
Car overlooks batch read/write cell that display system is provided with 1,2,4,8 pixel, can be for continuous more than 2
Pixel information carries out batch processing.The map operation for once completing result images pixel D, E can be than individually completing to save 1 reading behaviour
Work and 1 write operation, and the map operation for once completing result images I, J, K, L can then save 3 read operations and 3 times are write behaviour
Make.
The present invention full HD ring car overlook display system, make use of devices at full hardware video flow processing, reverse Mapping look-up table,
Ping-pong operation, the read-write of DDR3 multi-channel parallels and DDR3 batches of read-write technologies.The present invention can effectively eliminate eliminating driving blind area, to drive
Member provides ring car overhead view image, and auxiliary driver passes through limited road environment, is correctly completed the operation such as park, improves and drive
Security.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of full HD ring car overlooks display system, it is characterised in that including：Image capture module, image transmission module with
And image processing module；
The image capture module is used to the multidirectional image of vehicle being acquired；
The image transmission module is used to multidirectional image is encoded and is transmitted, and is decoded after transport；
The multidirectional image that the image processing module is used to transmit the image transmission module is carried out carrying out flake distortion correction, thrown
Shadow converts and image mosaic, and handles to overlook result images.
2. full HD ring car as claimed in claim 1 overlooks display system, it is characterised in that further includes：Image display,
For being shown to the vertical view result images of the image processing module.
3. full HD ring car as claimed in claim 1 overlooks display system, it is characterised in that further includes：System control module,
The action process of each module for overlooking full HD ring car display system is controlled.
4. full HD ring car as claimed in claim 1 overlooks display system, it is characterised in that the image capture module includes peace
Loaded on vehicle front, rear, left side, right side four road fish-eye cameras.
5. full HD ring car as claimed in claim 1 overlooks display system, it is characterised in that the image transmission module includes
HD-SDI coding modules and HD-SDI decoder modules, the HD-SDI coding modules are installed on the near-end of the image capture module, should
HD-SDI decoder modules are installed on the image processing module near-end.
6. full HD ring car as claimed in claim 4 overlooks display system, it is characterised in that the image processing module includes：
Flake distortion correction module, projective transformation module, four tunnel image mosaic modules and four road image Coordination modules；
The image that the flake distortion correction module is used for the input to four road fish-eye cameras carries out flake distortion correction；
The projective transformation module is used to be projected flake distortion correction image to vertical view by looking squarely visual angle according to projective transformation parameter
Visual angle；
The four tunnels image mosaic module is used to cut four road overhead view images and be spliced into the overhead view image of ring car, and records
The mapping of the storage address of source images of the overhead view image of ring car in the image processing module and the storage address of overhead view image
Relation；
The four roads image Coordination module is used to judge whether overhead view image meets joining quality, if meeting by source images address and
The address mapping relation output of overhead view image, otherwise, the projective transformation parameter of the overhead view image of adjustment ring car, to eliminate ring car
The splicing gap of overhead view image, updates projective transformation parameter, and feeds back to and change back projective transformation module.
7. full HD ring car as claimed in claim 2 overlooks display system, it is characterised in that the image display includes：
Image output module and Vehicular display device, the image output module are used for configuration diagram as output parameter to meet the Vehicular display device
Full HD display requirement；The Vehicular display device is used to show overhead view image.
8. full HD ring car as claimed in claim 6 overlooks display system, it is characterised in that the image processing module also wraps
Include：Pixel address mapping block, look-up table, and root are generated for the address mapping relation of storage source image address and overhead view image
According to look-up table, the four road images that image transmission module is transmitted are carried out being spliced into overhead view image.
9. full HD ring car as claimed in claim 1 overlooks display system, it is characterised in that further includes：Memory, for should
The image of image transmission module output is stored.
10. full HD ring car as claimed in claim 9 overlooks display system, it is characterised in that further includes：Dma module, is used for
The image that the image transmission module exports is stored into memory designated position.
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| CN201610922333.9A CN107972582A (en) | 2016-10-25 | 2016-10-25 | A kind of full HD ring car overlooks display system |
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| CN201610922333.9A CN107972582A (en) | 2016-10-25 | 2016-10-25 | A kind of full HD ring car overlooks display system |
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