CN108376412A - A kind of driving vision requirement region computational methods of automobile front windshield - Google Patents
A kind of driving vision requirement region computational methods of automobile front windshield Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/70—Determining position or orientation of objects or cameras
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Abstract
The invention discloses a kind of driving vision of automobile front windshield requirement region computational methods, step includes：1 acquisition demarcates it with the tessellated windshield artwork of black and white；2 calculate a-quadrants, the regions A ', B area practical D coordinates value；3 are converted to practical D coordinates value the two-dimensional coordinate value in windshield artwork.The present invention measures the a-quadrant of windshield image, the regions A ', B area by calibration coefficient.The present invention can objective measurement go out windshield a-quadrant, the regions A ', B area, reduce manual measurement error, so as to be suitable for air conditioning for automobiles defrosting, fog removal performance testing experiment.
Description
Technical field
The invention belongs to automobile controls and detection field, more particularly to a kind of driving of automobile front windshield to regard
Open country requires region computational methods.
Background technology
As China's economic flourishes, automobile has been increasingly becoming the necessity of people's trip.Air conditioning for automobiles is in automobile
On be widely applied, while the defrosting-defogging system of air conditioning for automobiles generates the travel safety of automobile and riding comfort
Vital influence.If automobile does not have defrosting-defogging ability or the poor visual field that can all seriously affect driver of performance,
Cause driver that cannot continue to drive vehicle traveling, or even also occurs that the more serious situations such as traffic accident.Therefore, in order to protect
Demonstrate,prove vehicle under atrocious weather can normally travel, any vehicle is required to the defrosting-defogging system that meets the requirements, really
Protecting driver has the clearly visual field open enough.
China automobile air window system performance test standard GB 10555-2009 are to automobile window glass defrosting, demister system
Performance requirement, preparatory condition and test procedure have all carried out specification explanation before experiment.Wherein automotive front baffle A, A ', B area pair
Automobile window glass defrosting, demister system play a crucial role, in windscreen defrosting, demisting require, each vapour
Vehicle should be equipped except defrosting system, demister system, it can be ensured that restore the visibility of windscreen in cold weather conditions, defrosting is wanted
It asks and Pass Test is answered to start rear 20min, a-quadrant has 80% defrosting is completed, and starts rear 25min, and the regions A ' have 80% to be completed
Defrosting；40min after beginning, B area have 95% defrosting is completed；And demisting requires that Pass Test is answered to start rear 10min, a-quadrant
Have 90% demisting is completed, while B area has 80% demisting is completed.
In conclusion national standard content is proposition A, A ', B area, the content of this computational methods is not realized.
Many enterprises go to realize A, A without a set of standard when carrying out air-conditioner defrosting, fog removal performance test at present ', B area is in front
Display on glass, but directly have no manual drawing A, A of foundation after the test ', B area, this test method can be big
Big to reduce test efficiency, repeatability is not high enough, and test data is not accurate enough, and without objective measurement, precision is not high enough, this meeting pair
Automobile window glass defrosting, demister system test cause extreme influence, are not a kind of good automobile window glass defrosting, remove
Mist system detection method.
Invention content
The present invention in order to overcome the deficiencies of the prior art place, a kind of driving vision requirement region of automobile front windshield is provided
Computational methods, to can objective measurement go out windshield a-quadrant, the regions A ', B area, and reduce manual measurement error, to
It can be suitably used for air conditioning for automobiles defrosting, fog removal performance testing experiment.
The present invention is to solve technical problem to adopt the following technical scheme that：
The characteristics of a kind of driving vision of automobile front windshield of the present invention requires region computational methods be as follows into
Row：
A black and white gridiron pattern is arranged on the central area of automobile front windshield, and is carried using camera acquisition for step 1
The tessellated windshield artwork L of black and white；
Step 2 obtains calibration coefficient k using formula (1)：
In formula (1), X1Indicate the actual range between the two neighboring central point of black and white gridiron pattern, X2Indicate the front glass
In glass artwork L, the pixel distance between two angle point of black and white gridiron pattern；
Step 3, using the barycenter of automobile as origin O, using vehicle front as X-axis, using the left side of driver as Y-axis, to pass through
Automobile barycenter points up as Z axis, establishes vehicle axis system O-XYZ；Calculate driving vision require region in a-quadrant, the regions A ',
The practical D coordinates value of B area：
Step 3.1, the practical three-dimensional coordinate for calculating a-quadrant：
Step 3.1.1, it enables V points indicate the point of driver eye positions, V is used in combination1Point and V2Point indicates the different location of V points；
Note passes through V1Point and V2It puts and is formed by vertical plane at 13 ° of angles in the left side of X-axis and X-axis and be denoted as the first plane,
And the intersection formed with the face where the automobile front windshield, it is denoted as A1A2, intersection point is denoted as A respectively1Point and A2Point；
Note passes through V1Point is denoted as the second plane with X-axis at 3 ° of elevations angle and the plane parallel with Y-axis；
Note passes through V2Point is denoted as third plane with X-axis at 1 ° of angle of depression and the plane parallel with Y-axis；
Note passes through V1Point and V2It puts and is formed by vertical plane at 20 ° of angles on the right side of X-axis and X-axis and be denoted as fourth plane,
And the intersection formed with the face where the automobile front windshield, it is denoted as A3A4, intersection point is denoted as A respectively3Point and A4Point；
With the intersection point A1Point, A2Point, A3Point and A4Point is formed by region and is denoted as a-quadrant；
Step 3.1.2, remember that the intersection of first plane and the second plane is intersection U12, utilize formula (2), formula (3), formula
(4) the intersection U is calculated12Point vector on three axisWithAnd composition of vector
Step 3.1.3, remember that the intersection of first plane and third plane is the intersection U13, using formula (5), formula (6),
Formula (7) calculates the intersection U13Point vector on three axisWithAnd composition of vector
Step 3.1.4, remember that the intersection of second plane and fourth plane is the intersection U24, using formula (8), formula (9),
Formula (10) calculates the intersection U24Point vector on three axisWithAnd composition of vector
Step 3.1.5, remember that the intersection of the third plane and fourth plane is the intersection U34, utilize formula (11), formula
(12), formula (13) calculates the intersection U34Point vector on three axisWithAnd form to
Amount
Step 3.2, the face on the basis of automobile longitudinal central plane, symmetrical region is denoted as the regions A ' with a-quadrant, and counts
Calculate the three-dimensional coordinate in the regions A '；
Step 3.3 calculates the practical D coordinates value of B area：
Step 3.3.1, note passes through V1Point is denoted as the 5th plane with X-axis at 7 ° of elevations angle and the plane parallel with Y-axis, and with institute
The intersection that face where stating automobile front windshield is formed, is denoted as B1B2, intersection point is denoted as B respectively1Point and B2Point；
Note passes through V2Point is denoted as the 6th plane with X-axis at 5 ° of angles of depression and the plane parallel with Y-axis, and with the automotive front baffle
The intersection that face where glass is formed, is denoted as B3B4, intersection point is denoted as B respectively3Point and B4Point；
Note passes through V1Point and V2It is the 7th plane to put and be formed by vertical plane at 17 ° of angles in the left side of X-axis and X-axis；
Note face on the basis of automobile longitudinal central plane is the 8th plane with the symmetrical plane of the 7th plane；
With the intersection points B1Point, B2Point, B3Point and B4Point is formed by region and is denoted as B area；
Step 3.3.2, remember that the intersection of the 5th plane and the 7th plane is intersection U57, utilize formula (14), formula (15), formula
(16) the intersection U is calculated57Point vector on three axisWithAnd composition of vector
Step 3.3.3, remember that the intersection of the 6th plane and the 7th plane is intersection U67, utilize formula (17), formula (18), formula
(19) the intersection U is calculated67Point vector on three axisWithAnd composition of vector
Step 3.3.4, described 7th plane and the 8th plane are symmetrical about automobile longitudinal central plane, calculate intersection
U57With intersection U67The three-dimensional coordinate of B area can be calculated；
Step 3.4, caravan glass pane line edge central point be O1Point, the inclination that seating reference point is R point, windshield
Angle is α；
Step 3.5 calculates O using formula (21), formula (22), formula (23)1Coordinate value O o'clock on three axis1(x)、O1(y)
And O1(z)：
O1(x)=Rx-X4 (21)
O1(y)=0 (22)
O1(z)=Rz+Z4 (23)
In formula (21), X4Indicate R points to O1Distance of the point in X-axis, in formula (23), Z4Indicate R points to O1Point is on Z axis
Distance；
Step 3.6 passes through O using formula (24), formula (25), formula (26) calculating1It puts and is formed on the whole in windshield
Normal vectorPoint vector on three axis respectively
Step 3.7, according to V1Point, V2Point, vectorVectorVectorVectorO1Point and normal vector
Obtain the intersection point A of the a-quadrant1Point, A2Point, A3Point and A4The three-dimensional coordinate of point；
Step 3.8, the three-dimensional coordinate for similarly calculating four intersection points in the regions A '；
Step 3.7, according to V1Point, V2Point, vectorVectorO1Point and normal vectorObtain the B area
The three-dimensional coordinate of four intersection points；
Step 4, using any one vertex of the windshield artwork L as point of origin P, with adjacent with the point of origin P two
Image coordinate system P-MN is established in side respectively as M axis and N axis；A-quadrant, the regions A ', B area are calculated in the windshield
Two-dimensional coordinate value on artwork L：
Step 4.1, according to the intersection point A of the calibration coefficient k and a-quadrant1Point, A2Point, A3Point and A4The three-dimensional of point is sat
Mark, obtains two-dimensional coordinate value of the a-quadrant on the windshield artwork L；
Step 4.2 similarly obtains the two-dimensional coordinate value of the regions A ' and B area on the windshield artwork L.
Compared with prior art, beneficial effects of the present invention are embodied in：
Present invention combination camera chain creates a kind of acquisition automobile front windshield artwork in real time, and real-time display A,
A ', the areas B method, by acquisition with the tessellated windshield artwork of black and white and demarcated, to calculate A, A ', the areas B
Be converted into A, A after the practical D coordinates value in domain ', the two-dimensional image coordinate value of B area, and be shown on windshield image,
Have the characteristics that low automatic test, testing cost, convenience and high-efficiency, repeatability height, with high accuracy, the different type suitable for national standard
Automobile calculate the driving vision requirement region of its windshield automatically, for the defrosting of accurate evaluation windscreen, demisting visibility
Effective basis is established.
Description of the drawings
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is the areas automobile front windshield A of the present invention schematic diagram；
Fig. 3 is the areas automobile front windshield B of the present invention schematic diagram.
Specific implementation mode
In the present embodiment, automatically created using based on Virtual instrument LabVIEW software, camera and computer composition system
Automobile front windshield driving vision require region, that is, a-quadrant, the regions A ', B area method, a kind of driving of automobile front windshield
It is to acquire automobile front windshield artwork, and the real-time display in artwork based on camera chain that the visual field, which requires region computational methods,
A-quadrant, the regions A ', B area, specifically, as shown in Figure 1, being to carry out as follows：
A black and white gridiron pattern is arranged on the central area of automobile front windshield, and is carried using camera acquisition for step 1
The tessellated windshield artwork L of black and white；
Step 2 obtains calibration coefficient k using formula (1)：
In formula (1), X1Indicate the actual range between the two neighboring central point of black and white gridiron pattern, unit mm, X2Described in expression
In windshield artwork L, the pixel distance between two angle point of black and white gridiron pattern, unit pixel；
After the basic sampling unit pixel of known image and the correspondence of length unit millimeter, according to national standard it is found that R points
It is seating reference point, V1Point, V2Point composition V points, V1Point three-dimensional coordinate is (68, ﹣ 5,665), V2Point three-dimensional coordinate be (68, ﹣ 5,
589)。
Step 3, using the barycenter of automobile as origin O, using vehicle front as X-axis, using the left side of driver as Y-axis, to pass through
Automobile barycenter points up as Z axis, establishes vehicle axis system O-XYZ；A-quadrant, the regions A ', B area practical D coordinates value
It is calculated based on vehicle axis system O-XYZ.Calculating driving vision requires the practical three-dimensional of a-quadrant in region, the regions A ', B area to sit
Scale value：
Step 3.1, the practical three-dimensional coordinate for calculating a-quadrant
Step 3.1.1, as shown in Fig. 2, V points is enabled to indicate the point of driver eye positions, V is used in combination1Point and V2Point indicates V points
Different location；
Note passes through V1Point and V2It puts and is formed by vertical plane at 13 ° of angles in the left side of X-axis and X-axis and be denoted as the first plane,
And the intersection formed with the face where the automobile front windshield, it is denoted as A1A2, intersection point is denoted as A respectively1Point and A2Point；
Note passes through V1Point is denoted as the second plane with X-axis at 3 ° of elevations angle and the plane parallel with Y-axis；
Note passes through V2Point is denoted as third plane with X-axis at 1 ° of angle of depression and the plane parallel with Y-axis；
Note passes through V1Point and V2It puts and is formed by vertical plane at 20 ° of angles on the right side of X-axis and X-axis and be denoted as fourth plane,
And the intersection formed with the face where the automobile front windshield, it is denoted as A3A4, intersection point is denoted as A respectively3Point and A4Point；
With the intersection point A1Point, A2Point, A3Point and A4Point is formed by region and is denoted as a-quadrant；
Step 3.1.2, remember that the intersection of first plane and the second plane is intersection U12, utilize formula (2), formula (3), formula
(4) the intersection U is calculated12Point vector on three axisWithAnd composition of vector
Step 3.1.3, remember that the intersection of first plane and third plane is the intersection U13, using formula (5), formula (6),
Formula (7) calculates the intersection U13Point vector on three axisWithAnd composition of vector
Step 3.1.4, remember that the intersection of second plane and fourth plane is the intersection U24, using formula (8), formula (9),
Formula (10) calculates the intersection U24Point vector on three axisWithAnd composition of vector
Step 3.1.5, remember that the intersection of the third plane and fourth plane is the intersection U34, using formula (11), formula (12),
Formula (13) calculates the intersection U34Point vector on three axis WithAnd composition of vector
Step 3.2, the face on the basis of automobile longitudinal central plane, symmetrical region is denoted as the regions A ' with a-quadrant, and counts
Calculate the three-dimensional coordinate in the regions A '；
Step 3.3 calculates the practical D coordinates value of B area
Step 3.3.1, as shown in figure 3, note passes through V1Point is denoted as the 5th with X-axis at 7 ° of elevations angle and the plane parallel with Y-axis
Plane, and the intersection formed with the face where the automobile front windshield, are denoted as B1B2, intersection point is denoted as B respectively1Point and B2Point；
Note passes through V2Point is denoted as the 6th plane with X-axis at 5 ° of angles of depression and the plane parallel with Y-axis, and with the automotive front baffle
The intersection that face where glass is formed, is denoted as B3B4, intersection point is denoted as B respectively3Point and B4Point；
Note passes through V1Point and V2It is the 7th plane to put and be formed by vertical plane at 17 ° of angles in the left side of X-axis and X-axis；
Note face on the basis of automobile longitudinal central plane is the 8th plane with the symmetrical plane of the 7th plane；
With the intersection points B1Point, B2Point, B3Point and B4Point is formed by region and is denoted as B area；
Step 3.3.2, remember that the intersection of the 5th plane and the 7th plane is intersection U57, utilize formula (14), formula (15), formula
(16) the intersection U is calculated57Point vector on three axisWithAnd composition of vector
Step 3.3.3, remember that the intersection of the 6th plane and the 7th plane is intersection U67, utilize formula (17), formula (18), formula
(19) the intersection U is calculated67Point vector on three axisWithAnd composition of vector
Step 3.3.4, described 7th plane and the 8th plane are symmetrical about automobile longitudinal central plane, calculate intersection
U57With intersection U67The three-dimensional coordinate of B area can be calculated；
Step 3.4, caravan glass pane line edge central point be O1Point, the inclination that seating reference point is R point, windshield
Angle is α；
Step 3.5 calculates O using formula (21), formula (22), formula (23)1Coordinate value O o'clock on three axis1(x)、O1(y)
And O1(z)：
O1(x)=Rx-X4 (21)
O1(y)=0 (22)
O1(z)=Rz+Z4 (23)
In formula (21), X4Indicate R points to O1Distance of the point in X-axis, in formula (23), Z4Indicate R points to O1Point is on Z axis
Distance；
Step 3.6 passes through O using formula (24), formula (25), formula (26) calculating1It puts and is formed on the whole in windshield
Normal vectorPoint vector on three axis respectively
A-quadrant, the regions A ' and B area coordinate points are calculated, that is, calculates the intersection point of space line and space plane, passes through first
Space line direction vector and the vector product of space plane normal vector judge whether there is intersection point, if vector product is 0, then it represents that straight line
It is parallel with plane.Conversely, if vector product is not 0, calculating intersection point is carried out according to step 4.4, step 4.5 and step 4.6.
Step 4.4, according to V1Point, V2Point, vectorVectorVectorVectorO1Point and normal vector
Obtain the intersection point A of the a-quadrant1Point, A2Point, A3Point and A4The three-dimensional coordinate of point；
Step 4.5, the three-dimensional coordinate for similarly calculating four intersection points in the regions A '；
Step 4.6, according to V1Point, V2Point, vectorVectorO1Point and normal vectorObtain the B area
The three-dimensional coordinate of four intersection points；
Step 5, using any one vertex of the windshield artwork L as point of origin P, with adjacent with the point of origin P two
Image coordinate system P-MN is established in side respectively as M axis and N axis；A-quadrant, the regions A ', B area are calculated in the windshield
Two-dimensional coordinate value on artwork L：
Step 5.1, according to the intersection point A of the calibration coefficient k and a-quadrant1Point, A2Point, A3Point and A4The three-dimensional of point is sat
Mark, obtains two-dimensional coordinate value of the a-quadrant on the windshield artwork L；
Step 5.2 similarly obtains the two-dimensional coordinate value of the regions A ' and B area on the windshield artwork L.
Based on the above embodiments, a kind of driving vision of automobile front windshield requires region computational methods, principle simply easy
Understand, method innovation, DATA REASONING precision is high, easy to operate, of low cost, is very suitable for a variety of automobiles progress air conditioning for automobiles and removes
Frost, fog removal performance testing experiment carry out test data verification.
Claims (1)
1. a kind of driving vision of automobile front windshield requires region computational methods, it is characterized in that carrying out as follows：
A black and white gridiron pattern is arranged in step 1 on the central area of automobile front windshield, and using camera acquisition with described
The tessellated windshield artwork L of black and white；
Step 2 obtains calibration coefficient k using formula (1)：
In formula (1), X1Indicate the actual range between the two neighboring central point of black and white gridiron pattern, X2Indicate that the windshield is former
Scheme in L, the pixel distance between two angle point of black and white gridiron pattern；
Step 3, using the barycenter of automobile as origin O, using vehicle front as X-axis, using the left side of driver as Y-axis, to pass through automobile
Barycenter points up as Z axis, establishes vehicle axis system O-XYZ；It calculates driving vision and requires a-quadrant, the regions A ', the areas B in region
The practical D coordinates value in domain：
Step 3.1, the practical three-dimensional coordinate for calculating a-quadrant：
Step 3.1.1, it enables V points indicate the point of driver eye positions, V is used in combination1Point and V2Point indicates the different location of V points；
Note passes through V1Point and V2Point and vertical plane is formed by 13 ° of angles in the left side of X-axis and X-axis and is denoted as the first plane, and with
The intersection that face where the automobile front windshield is formed, is denoted as A1A2, intersection point is denoted as A respectively1Point and A2Point；
Note passes through V1Point is denoted as the second plane with X-axis at 3 ° of elevations angle and the plane parallel with Y-axis；
Note passes through V2Point is denoted as third plane with X-axis at 1 ° of angle of depression and the plane parallel with Y-axis；
Note passes through V1Point and V2Point and vertical plane is formed by 20 ° of angles in the right side of X-axis and X-axis and is denoted as fourth plane, and with
The intersection that face where the automobile front windshield is formed, is denoted as A3A4, intersection point is denoted as A respectively3Point and A4Point；
With the intersection point A1Point, A2Point, A3Point and A4Point is formed by region and is denoted as a-quadrant；
Step 3.1.2, remember that the intersection of first plane and the second plane is intersection U12, counted using formula (2), formula (3), formula (4)
Calculate the intersection U12Point vector on three axisWithAnd composition of vector
Step 3.1.3, remember that the intersection of first plane and third plane is the intersection U13, utilize formula (5), formula (6), formula
(7) the intersection U is calculated13Point vector on three axisWithAnd composition of vector
Step 3.1.4, remember that the intersection of second plane and fourth plane is the intersection U24, utilize formula (8), formula (9), formula
(10) the intersection U is calculated24Point vector on three axisWithAnd composition of vector
Step 3.1.5, remember that the intersection of the third plane and fourth plane is the intersection U34, utilize formula (11), formula (12), formula
(13) the intersection U is calculated34Point vector on three axisWithAnd composition of vector
Step 3.2, the face on the basis of automobile longitudinal central plane, symmetrical region is denoted as the regions A ' with a-quadrant, and calculates A '
The three-dimensional coordinate in region；
Step 3.3 calculates the practical D coordinates value of B area：
Step 3.3.1, note passes through V1Point is denoted as the 5th plane with X-axis at 7 ° of elevations angle and the plane parallel with Y-axis, and with the vapour
The intersection that face where front windshield is formed, is denoted as B1B2, intersection point is denoted as B respectively1Point and B2Point；
Note passes through V2Point is denoted as the 6th plane with X-axis at 5 ° of angles of depression and the plane parallel with Y-axis, and with the automobile front windshield
The intersection that the face at place is formed, is denoted as B3B4, intersection point is denoted as B respectively3Point and B4Point；
Note passes through V1Point and V2It is the 7th plane to put and be formed by vertical plane at 17 ° of angles in the left side of X-axis and X-axis；
Note face on the basis of automobile longitudinal central plane is the 8th plane with the symmetrical plane of the 7th plane；
With the intersection points B1Point, B2Point, B3Point and B4Point is formed by region and is denoted as B area；
Step 3.3.2, remember that the intersection of the 5th plane and the 7th plane is intersection U57, utilize formula (14), formula (15), formula (16)
Calculate the intersection U57Point vector on three axisWithAnd composition of vector
Step 3.3.3, remember that the intersection of the 6th plane and the 7th plane is intersection U67, utilize formula (17), formula (18), formula (19)
Calculate the intersection U67Point vector on three axisWithAnd composition of vector
Step 3.3.4, described 7th plane and the 8th plane are symmetrical about automobile longitudinal central plane, calculate intersection U57With
Intersection U67The three-dimensional coordinate of B area can be calculated；
Step 3.4, caravan glass pane line edge central point be O1Point, seating reference point be R points, windshield inclination angle be α；
Step 3.5 calculates O using formula (21), formula (22), formula (23)1Coordinate value O o'clock on three axis1(x)、O1(y) and O1
(z)：
O1(x)=Rx-X4 (21)
O1(y)=0 (22)
O1(z)=Rz+Z4 (23)
In formula (21), X4Indicate R points to O1Distance of the point in X-axis, in formula (23), Z4Indicate R points to O1Point on Z axis away from
From；
Step 3.6 passes through O using formula (24), formula (25), formula (26) calculating1Point and the normal direction formed on the whole in windshield
AmountPoint vector on three axis respectively
Step 3.7, according to V1Point, V2Point, vectorVectorVectorVectorO1Point and normal vectorIt obtains
The intersection point A of the a-quadrant1Point, A2Point, A3Point and A4The three-dimensional coordinate of point；
Step 3.8, the three-dimensional coordinate for similarly calculating four intersection points in the regions A '；
Step 3.7, according to V1Point, V2Point, vectorVectorO1Point and normal vectorObtain four of the B area
The three-dimensional coordinate of intersection point；
Step 4, using any one vertex of the windshield artwork L as point of origin P, with two sides adjacent with the point of origin P
Respectively as M axis and N axis, image coordinate system P-MN is established；A-quadrant, the regions A ', B area are calculated in the windshield artwork L
On two-dimensional coordinate value：
Step 4.1, according to the intersection point A of the calibration coefficient k and a-quadrant1Point, A2Point, A3Point and A4The three-dimensional coordinate of point, obtains
Two-dimensional coordinate value of the a-quadrant on the windshield artwork L；
Step 4.2 similarly obtains the two-dimensional coordinate value of the regions A ' and B area on the windshield artwork L.
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| CN112561867A (en) * | 2020-12-04 | 2021-03-26 | 北京现代汽车有限公司 | Method and device for detecting vehicle S region visual field |
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