CN108556739A - Vehicle early warning device based on binocular full-view stereo vision - Google Patents
Vehicle early warning device based on binocular full-view stereo vision Download PDFInfo
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- CN108556739A CN108556739A CN201810294360.5A CN201810294360A CN108556739A CN 108556739 A CN108556739 A CN 108556739A CN 201810294360 A CN201810294360 A CN 201810294360A CN 108556739 A CN108556739 A CN 108556739A
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- binocular
- early warning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/007—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle providing information about the distance to an obstacle, e.g. varying sound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
- B60R11/0229—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for displays, e.g. cathodic tubes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2624—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of whole input images, e.g. splitscreen
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- 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
- B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
-
- 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
- B60R2300/80—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)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of vehicle early warning devices based on binocular full-view stereo vision, including outer harvesting portion and internal control device, are related to intelligent driving field.Outer harvesting portion is horizontal by visual angle and the panoramic stereo image around the identical three binocular stereo camera collection vehicles of angle two-by-two, central processing unit processing by internal control device, it realizes image mosaic, Context awareness and velocity measuring and judgement, and early warning is sent out by alarming device.The present invention uses the cognition technology of view-based access control model, data acquisition to be easy, contain much information；Simultaneously because using single cognition technology, system complexity is reduced, to reduce cost；It realizes simultaneously to the real-time early warning of vehicle potential danger, further improves the driving ability of intelligent automobile.
Description
Technical field
The present invention relates to intelligent driving fields, and in particular to a kind of vehicle early warning dress based on binocular full-view stereo vision
It sets.
Background technology
In recent years, with Internet technology, high-precision location technique, the fast development of intelligent driving technology, market for
The active safety of automobile and intelligent demand are continuously improved, and the society of intelligent driving technology and economic value more highlight, domestic
Outer numerous enterprises are increasingly burning hot about the research of intelligent driving technology with scientific research institution.
Intelligent driving system needs to environmental information obtain and handle in real time in the process of moving, for environmental information
Acquisition modes, at present mostly in research approach, the multiple laser radars of use of 60-70% feel three dimensions around
Know, followed by carries out environment information acquisition using two-dimensional image sensor, while assisting with radar, sonar, inertial sensor etc.
Multiple sensors ensure the comprehensive and accuracy of information.The use of multiple sensors is faced with system complexity height, of high cost
Etc. problems, how to obtain more perception information with less sensory perceptual system and urgently study.
With the continuous development of depth learning technology so that the Visual intelligent driving technology based on image continues to develop
Come.Its data volume of the cognition technology of view-based access control model, which obtains, to be easy, and is contained much information, constantly by the blueness of more and more researchers
It looks at.And current panoramic picture collecting device cannot achieve the acquisition of panorama depth information during Image Acquisition, also need
Depth information acquisition is carried out dependent on other sensors.
Invention content
The technical problem to be solved by the present invention is to：In order to use a small amount of sensory perceptual system, realize to vehicle-surroundings information
Perception and the early warning of potential danger, to improve intelligent automobile driving ability, the present invention proposes a kind of based on binocular full-view stereo
The vehicle early warning device of vision.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of vehicle early warning device based on binocular full-view stereo vision, including outer harvesting portion and internal control dress
It sets；
1) outer harvesting portion includes camera support, binocular stereo camera, video frequency collection card, electric telescopic rod,
Telescopic rod drives and independent current source；
The camera support top is fixed with three binocular stereo cameras, and the binocular stereo camera is located at same height
Degree, and visual angle is horizontal, the visual angle of three video cameras is uniformly distributed in circumference range；It is stretched by electronic the camera support lower part
Contracting bar and telescopic rod are drivingly connected, and the electric telescopic rod is by the telescopic rod drive control；
The video frequency collection card is used to receive the visual pattern that three binocular stereo cameras of signal wire transmission obtain, and
The visual pattern is sent to internal control device；
The independent current source is used for as binocular stereo camera, video frequency collection card and telescopic rod driving power supply；
2) internal control device is mounted on automotive interior, including：
First wireless module, the visual image signal for receiving the video frequency collection card, is transferred to central processing unit；
Central processing unit receives the three road binocular solid camera shootings from external transmitting device by first wireless module
The visual pattern of machine, for realizing image mosaic, Context awareness and velocity measuring and judgement；
Display device, for showing full-view stereo visual pattern that the central processing unit splices with two dimensional form；
Fixing bracket, for fixing display device；
Alarming device, the signal for receiving central processing unit carry out alarm prompt.
A kind of foregoing vehicle early warning device based on binocular full-view stereo vision, further, the independent electrical
Source is solar power supply board or button cell.
Foregoing a kind of vehicle early warning device based on binocular full-view stereo vision, further, for connecting
The mechanical structure for stating camera support upper and lower part specifically includes：The camera support top connects the first disk, the camera
Holder lower part connects the second disk, and the through-hole of same number is respectively set in the first disk and the second disk at identical radius,
The hole size is identical, for being fixed using screw bolt and nut.
A kind of foregoing vehicle early warning device based on binocular full-view stereo vision, further, the telescopic rod
Driving includes built-in motor, controller, the second wireless module and control circuit, second wireless module be used to receive it is described in
The signal that central processor is sent out by the first wireless module；The controller receives the signal of second wireless module, control
Built-in motor adjusts the length of the electric telescopic rod.
A kind of foregoing vehicle early warning device based on binocular full-view stereo vision, further, the display dress
It is set to the identical display screen of two sizes, for showing the image in 180 ° of horizontal extents respectively.
A kind of foregoing vehicle early warning device based on binocular full-view stereo vision, further, the stent
Block includes fixed seat and screen frame, and the fixed seat is for fixing central processing unit, alarming device and radio transmitting device；It is described
For screen frame for fixing two display screens, the angle between the angle of the screen frame and described two display screens is adjustable
Section.
The present invention has the following technical effects using above technical scheme is compared with the prior art：
1. using multiple stereo camera shooting camera lenses, realizes the panorama monitoring of vehicle-periphery, realize 360 degree without dead angle
Vehicle early warning improves vehicle driving safety coefficient；
2. using the cognition technology of view-based access control model, compared to the cognition technology of other forms, this programme data acquisition is easy,
It contains much information；Simultaneously because using single cognition technology, system complexity is reduced, to reduce cost；
3. realizing to the real-time early warning of vehicle potential danger, the driving ability of intelligent automobile is further improved.
Description of the drawings
Fig. 1 is the car body scheme of installation of the present invention.
Fig. 2 is the outer harvesting portion schematic diagram of the present invention.
Fig. 3 is the internal control device schematic diagram of the present invention.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein (including skill
Art term and scientific terminology) there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that with in the context of the prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the meaning of idealization or too formal.
Binocular stereo camera simulates the principle of human eye observation's ambient enviroment, week is shot using two-way frame synchronization camera
External environment information is enclosed, by carrying out polar curve correction to binocular camera same number of frames image so that left and right camera image optical axis is realized
It is parallel, the perception to ambient enviroment depth information is then realized by Stereo Matching Algorithm.
For this purpose, present invention foundation problem above, in conjunction with the advantage of visual pattern, by studying and designing, it is proposed that a kind of
Based on the vehicle early warning device of binocular full-view stereo vision, 360 degree of panoramic pictures are obtained merely with binocular full-view stereo photography machine
And 360 panorama depth informations is realized with a small amount of sensory perceptual system to the perception of vehicle-surroundings information and the early warning of potential danger.
As shown in Figure 1, the present invention proposes that a kind of vehicle early warning device based on binocular full-view stereo vision, including outside are adopted
Acquisition means and internal control device.Wherein, outer harvesting portion is mounted on outside car body, specifically, it is mounted on vehicle roof,
Visual image information for acquiring 360 ° of motor vehicle environment, also includes the depth information of environment among these.Internal control device packet
The first wireless module, central processing unit, display device, alarming device and fixing bracket are included, for handling, showing that visual pattern is believed
Breath, and carry out alarm prompt.
As shown in figure 3, outer harvesting portion of the present invention includes camera support 18, binocular stereo camera 11, regards
Frequency capture card 13, electric telescopic rod 15, telescopic rod driving 16, independent current source 12 and the second wireless module 17.Wherein, camera support
18 points are upper and lower part, and two parts are independent, but can be connected and fixed by mechanical device.In the present embodiment, on camera support
The lower section in portion connects the center of circle of the first disk 141, and the top of camera support lower part connects the center of circle of the second disk 142, first
It is each at the same position of disk and the second disk to beat the identical through-hole of several sizes, it is attached fixation with bolt and nut.Binocular
Stereo camera and video frequency collection card are fixed on the top of camera support, and the lower part of camera support by electric telescopic rod and is stretched
Bar driving composition, independent current source are powered to outer harvesting portion.Entire outer harvesting portion bottom is solid using thread connecting mode
It is scheduled at automobile top luggage carrier.Camera support is made of the higher and non-aging metal material of intensity.
Three binocular stereo cameras are angularly fixed on the camera support top in the horizontal direction.In addition, this programme
Using a kind of shell of triangular prism shape, the binocular stereo camera that Jiang Santai is mutually 120 ° of angles protects, and the three of shell
A side is open respectively, exposes the camera lens of the binocular stereo camera of this one side.Shell and video camera and camera support top it
Between use adhesive bond.The upper surface of triangular prism shaped shell is equipped with solar power supply board, converts the solar into electric energy and stores up
It deposits, by voltage conversion circuit for being powered to outer harvesting portion modules；Camera support top, which is further fixed on, to be regarded
Frequency capture card and the second wireless module.
Binocular stereo camera is for acquiring video image, since current binocular stereo camera visual angle is unable to reach
180 °, therefore to realize 360 ° of overall view monitorings, it needs to use more than two binocular stereo camera, three is used in this programme
Platform.In addition, in order to make three binocular stereo cameras achieve the effect that 360 ° of overall view monitorings, every angular field of view is enabled to be more than
120°.The binocular stereo camera that the present embodiment uses includes two symmetrical wide-angle cameras and processing circuit, often
A binocular stereo camera acquisition image angle is 150 °.Binocular stereo camera can be while acquiring two-dimensional image information
Depth information is obtained, synthesis forms 3 d video images.The image information of three binocular stereo cameras acquisition passes through signal wire
Access video frequency collection card；The vision signal of three road binocular stereo cameras is carried out packing coding by video frequency collection card, passes through second
Wireless module is passed to internal control device in real time, and the second wireless module here uses Wi-Fi module.
The electric telescopic rod top is the disk for connection, is in cross distribution circular through hole on disk, is used for spiral shell
Bolt spiral shell is fixed；Centre is telescopable portion；The telescopic rod driving of bottom connection is built-in with direct current generator, controller, second wirelessly
Module and control circuit, wherein controller uses stm32f103 microcontrollers, the second wireless module to use Wi-Fi module.It is internal
Control device can send command signal by the first wireless module, then the second wireless module in being driven by telescopic rod receives, institute
It states command signal and is transmitted to controller, control direct current generator rotation makes electric telescopic rod elongate or shorten, vertical to control binocular
The height of body camera.
As shown in Fig. 2, internal control device of the present invention includes the first wireless module, and central processing unit, display device,
Alarming device and fixing bracket.
The fixing bracket includes fixed seat 21 and screen frame 23,24, and wherein fixed seat 21 is used for fixing central processing unit
22, alarming device 28 and the first wireless module 27, and be fixed near automotive interior central control board by Acetabula device；Screen
Curtain frame 24 is for fixing two display screens 25,26.Angle between the angle of the screen frame and described two display screens is equal
It can be adjusted by connecting shaft 241,242.The central processing unit uses FPGA controller, the first wireless module to use Wi-Fi module.
The central processing unit receives the visual pattern on three tunnels from outer harvesting portion, fortune by the first wireless module
Image mosaic, Context awareness, velocity measuring etc. are realized with machine learning algorithm, and voice reminder is carried out by alarming device.Wherein,
In order to which the visual pattern shown on two-dimensional screen can convey depth information, using the different depth of different colouring discriminations.
The display device is the identical display screen of two sizes, accesses central processing unit by data line respectively, is used for
Front and back 180 ° of the panoramic stereo image of display respectively.
Alarming device is used to receive the signal of central processing unit, and alarm prompt is carried out with speech form.The alarming device
The situation for sending out voice warning includes：Surrounding objects are less than safe distance with this vehicle headway；Surrounding objects are leaned on fast speed
This nearly vehicle；Surrounding evenness of road surface degree influences traffic safety；Detect risk identification.
The above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. the vehicle early warning device based on binocular full-view stereo vision, which is characterized in that including outer harvesting portion and internal control
Device processed；
1) outer harvesting portion includes camera support, binocular stereo camera, video frequency collection card, electric telescopic rod, is stretched
Bar drives and independent current source；
The camera support top is fixed with three binocular stereo cameras, and the binocular stereo camera is located at sustained height,
And visual angle is horizontal, the visual angle of three video cameras is uniformly distributed in circumference range；The camera support lower part is by electric expansion
Bar and telescopic rod are drivingly connected, and the electric telescopic rod is by the telescopic rod drive control；
The video frequency collection card is used to receive the visual pattern that three binocular stereo cameras of signal wire transmission obtain, and by institute
It states visual pattern and is sent to internal control device；
The independent current source is used for as binocular stereo camera, video frequency collection card and telescopic rod driving power supply；
2) internal control device is mounted on automotive interior, including：
First wireless module, the visual image signal for receiving the video frequency collection card, is transferred to central processing unit；
Central processing unit receives the three road binocular stereo cameras from external transmitting device by first wireless module
Visual pattern, for realizing image mosaic, Context awareness and velocity measuring and judgement；
Display device, for showing full-view stereo visual pattern that the central processing unit splices with two dimensional form；
Fixing bracket, for fixing display device；
Alarming device, the signal for receiving central processing unit carry out alarm prompt.
2. a kind of vehicle early warning device based on binocular full-view stereo vision as described in claim 1, which is characterized in that described
Independent current source is solar power supply board or button cell.
3. a kind of vehicle early warning device based on binocular full-view stereo vision as described in claim 1, which is characterized in that be used for
The mechanical structure for connecting the camera support upper and lower part specifically includes：The camera support top connects the first disk, institute
It states camera support lower part and connects the second disk, same number is respectively set at identical radius in the first disk and the second disk
Through-hole, the hole size is identical, for being fixed using screw bolt and nut.
4. a kind of vehicle early warning device based on binocular full-view stereo vision as described in claim 1, which is characterized in that described
Telescopic rod driving includes built-in motor, controller, the second wireless module and control circuit, and second wireless module is for receiving
The signal that the central processing unit is sent out by the first wireless module；The controller receives the letter of second wireless module
Number, built-in motor is controlled, the length of the electric telescopic rod is adjusted.
5. a kind of vehicle early warning device based on binocular full-view stereo vision as described in claim 1, which is characterized in that described
Display device is the identical display screen of two sizes, for showing the image in 180 ° of horizontal extents respectively.
6. a kind of vehicle early warning device based on binocular full-view stereo vision as described in claim 1 or 5, which is characterized in that
The fixed module includes fixed seat and screen frame, and the fixed seat is for fixing central processing unit, alarming device and wireless biography
Defeated device；The screen frame is for fixing two display screens, between the angle of the screen frame and described two display screens
Angle is adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810294360.5A CN108556739A (en) | 2018-03-30 | 2018-03-30 | Vehicle early warning device based on binocular full-view stereo vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810294360.5A CN108556739A (en) | 2018-03-30 | 2018-03-30 | Vehicle early warning device based on binocular full-view stereo vision |
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| CN108556739A true CN108556739A (en) | 2018-09-21 |
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| CN201810294360.5A Pending CN108556739A (en) | 2018-03-30 | 2018-03-30 | Vehicle early warning device based on binocular full-view stereo vision |
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| CN109360150A (en) * | 2018-09-27 | 2019-02-19 | 轻客小觅智能科技（北京）有限公司 | A kind of joining method and device of the panorama depth map based on depth camera |
| CN110148216A (en) * | 2019-05-24 | 2019-08-20 | 中德（珠海）人工智能研究院有限公司 | A kind of method of double ball curtain cameras and double ball curtain camera three-dimensional modelings |
| CN110203148A (en) * | 2019-06-04 | 2019-09-06 | 深圳市华芯技研科技有限公司 | A kind of binocular camera oblique photograph device based on driving |
| CN110386074A (en) * | 2019-06-25 | 2019-10-29 | 天津大学 | A kind of system and device for unmanned engineer operation equipment vision |
| CN110774979A (en) * | 2019-10-25 | 2020-02-11 | 江苏荣策士科技发展有限公司 | Vehicle night driving auxiliary system |
| CN110928318A (en) * | 2019-12-31 | 2020-03-27 | 苏州清研微视电子科技有限公司 | Binocular vision aided driving system based on FPGA |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109360150A (en) * | 2018-09-27 | 2019-02-19 | 轻客小觅智能科技（北京）有限公司 | A kind of joining method and device of the panorama depth map based on depth camera |
| CN110148216A (en) * | 2019-05-24 | 2019-08-20 | 中德（珠海）人工智能研究院有限公司 | A kind of method of double ball curtain cameras and double ball curtain camera three-dimensional modelings |
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| CN110203148B (en) * | 2019-06-04 | 2022-10-04 | 深圳市华芯技研科技有限公司 | Binocular camera oblique photographing device based on driving |
| CN110386074A (en) * | 2019-06-25 | 2019-10-29 | 天津大学 | A kind of system and device for unmanned engineer operation equipment vision |
| CN110774979A (en) * | 2019-10-25 | 2020-02-11 | 江苏荣策士科技发展有限公司 | Vehicle night driving auxiliary system |
| CN110928318A (en) * | 2019-12-31 | 2020-03-27 | 苏州清研微视电子科技有限公司 | Binocular vision aided driving system based on FPGA |
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Application publication date: 20180921 |