CN108621948A - Vehicle panoramic viewing system and panoramic looking-around image generating method - Google Patents
Vehicle panoramic viewing system and panoramic looking-around image generating method Download PDFInfo
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- CN108621948A CN108621948A CN201810669765.2A CN201810669765A CN108621948A CN 108621948 A CN108621948 A CN 108621948A CN 201810669765 A CN201810669765 A CN 201810669765A CN 108621948 A CN108621948 A CN 108621948A
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- panoramic
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- lens module
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Classifications
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- 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
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- 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
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
Abstract
The invention discloses a kind of vehicle panoramic viewing system and panoramic looking-around image generating methods, wherein, the preceding camera of vehicle panoramic viewing system is located at the front of vehicle, and left camera is located at the left side of vehicle, right camera is located at the right side of vehicle, and rear camera is located at the rear of vehicle；Preceding camera, left camera, right camera and rear camera include the identical fish eye lens module of structure, and the wide-angle of fish eye lens module is 190 °；Processor, it is connect respectively with preceding camera, left camera, right camera, rear camera and Vehicular display device, for each image information obtained from preceding camera, left camera, right camera and rear camera to be spliced into panoramic looking-around image in real time, and panoramic looking-around image transmitting to Vehicular display device is shown.The present invention enables the image information of acquisition to generate panoramic looking-around image to which panorama covers vehicle angular field of view, expands driver's seat, improves travel safety.
Description
Technical field
The present invention relates to automobile technical fields more particularly to a kind of vehicle panoramic viewing system and panoramic looking-around image to generate
Method.
Background technology
Automobile has obtained development at full speed since the end of last century is born.In recent years due to vehicle safety increasingly by
Pay attention to, pushed the appearance of many important innovations, such as anti-lock braking system, air bag, high strength safe seat storehouse and touches
Hit buffering area etc..German automobiles manufacturer takes the lead in improving driver safety and whole driving body using many advanced technologies
It tests.For example, in past 20 years, German automobiles release active track and keep auxiliary at first, pass through when automotive run-off-road
Direction of vibration disk reminds driver.Then it is exactly to utilize side radar, helps driver safety lane change.If there is vehicle is in this
The lane change blind spot of vehicle, it can pass through the bright light prompting driver in outside rear-view mirror.Occurred parking again later, and advanced and brake
Auxiliary, this is the extension of cruise control, fast application can be braked before rear-end impact will occur, to reduce accident hazard.
Over time, the gradual improvement and popularization of these functions especially introduces reverse image system to eliminate the blind of driver
Point.
Currently, the reverse image system based on image is to install camera, combining radar for backing car and car-mounted display in the tailstock
Device.But this kind of mode still has deficiency, image that can only cover limited region around the tailstock.It is regarded so that vehicle side and headstock exist
Feel blind area, this undoubtedly increases the hidden danger of safe driving；For example, in the urban district of narrow congestion and parking lot since vehicle can not be provided
The image information in front and vehicle side is susceptible to collision and scratch event.
Invention content
Vehicle panoramic viewing system and panoramic looking-around image generating method provided by the invention, main purpose are to overcome
There are vision dead zone, caused driving hidden danger for existing vehicle side and headstock.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of vehicle panoramic viewing system, including Vehicular display device, processor and preceding camera, left camera, the right side are taken the photograph
As head and rear camera；
The preceding camera is located at the front of vehicle, and the left camera is located at the left side of vehicle, the right camera position
In the right side of vehicle, the rear camera is located at the rear of vehicle；
The preceding camera, left camera, right camera and rear camera include the identical fish eye lens module of structure,
The wide-angle of the fish eye lens module is 190 °；
The processor, respectively with the preceding camera, left camera, right camera, rear camera and car-mounted display
Device connects, in real time believing each image obtained from the preceding camera, left camera, right camera and rear camera
Breath is spliced into panoramic looking-around image, and the panoramic looking-around image transmitting to the Vehicular display device is shown.
As a kind of embodiment, the preceding camera is located at right over logo or among middle net；The rear camera
At boot handle；The left camera is located at immediately below left-hand mirror；Under the right camera is located at right rear view mirror just
Side.
As a kind of embodiment, the camber angle after the installation of the fish eye lens module of the preceding camera is 20 °~
40°；Camber angle after the fish eye lens module installation of the rear camera is 20 °~40 °.
As a kind of embodiment, the camber angle after the fish eye lens module installation of the left camera is 5 °~15 °；
Camber angle after the fish eye lens module installation of the right camera is 5 °~15 °.
As a kind of embodiment, the preceding camera, the structure phase of left camera, right camera and rear camera
Together, including fish eye lens module, fixing bracket and connecting line；
The fish eye lens module, is fixed by the fixing bracket；
The connecting line is connect with the fish eye lens module, for making fish eye lens module carry out data with processor
Interaction.
As a kind of embodiment, the optical unit of fish eye lens module is 8 groups 10；Wherein, since object side
The 4th be stabilization lens, the 5th be focus lens.
As a kind of embodiment, the left camera is identical with right camera quantity, quantity is respectively 1,2,3
It is a or 4.
Correspondingly, the present invention also provides a kind of panoramic looking-around image generating method, include the following steps；
By preceding camera configuration in the front of vehicle, left camera is configured in the left side of vehicle, right camera is configured
On the right side of vehicle, rear camera is configured at the rear of vehicle；The preceding camera that is configured, left camera, right camera shooting
Head and rear camera include the identical fish eye lens module of structure, and the wide-angle of the fish eye lens module is 190 °；
The preceding camera, left camera, right camera and each image information of rear camera shooting are obtained, and right
Each described image information is spliced, and the panoramic looking-around image that splicing obtains is shown.
It is described to obtain the preceding camera, left camera, right camera and rear camera as a kind of embodiment
Each image information of shooting, splices each described image information, includes the following steps；
The preceding camera, left camera, right camera and each image information of rear camera shooting are obtained in real time,
Described image information includes vehicle body characteristic information；
Preset vehicle body standard information is compared with vehicle body characteristic information and generates corresponding Map Searching table, according to institute
It states Map Searching table and establishes each corresponding panorama Fusion Model；
Each described image information is spliced according to the panorama Fusion Model and Taylor's fitting, obtains panoramic looking-around
Image.
As a kind of embodiment, panoramic looking-around image generating method provided by the invention is further comprising the steps of；
After obtaining panoramic looking-around image, the outdoor scene characteristic information in described image information is commented according to predetermined threshold value
Estimate, alerting signal is sent out according to assessment result, while preserving assessment result.
Compared with prior art, the technical program has the following advantages：
Vehicle panoramic viewing system and panoramic looking-around image generating method provided by the invention, using positioned at the front of vehicle
Preceding camera, positioned at the left camera in the left side of vehicle, positioned at the right camera on the right side of vehicle and positioned at the rear of vehicle
Rear camera；These cameras all have the fish eye lens module that identical structure and wide-angle are 190 °；It will be each using processor
Image information is spliced into panoramic looking-around image, is shown in Vehicular display device.The image information of acquisition is set to generate panoramic looking-around
Image covers vehicle angular field of view to panorama, overcomes the problems, such as that there are vision dead zones for existing vehicle side and headstock.Driver
The panoramic looking-around image of automobile surrounding can be immediately seen by Vehicular display device in driver's cabin, therefore driver is travelling
Image is looked around to travel with the real time panoramic that can be shown according to Vehicular display device when reversing, is expanded driver's seat, is made to drive
The person of sailing understands traffic information in time, improves travel safety.
Description of the drawings
Fig. 1 is the distribution schematic diagram for the vehicle panoramic viewing system that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram for the vehicle panoramic viewing system that the embodiment of the present invention one provides；
Fig. 3 is the structural schematic diagram of the optical unit of fish eye lens module；
Fig. 4 is the structural schematic diagram of the 4th lens in Fig. 3；
Fig. 5 is the structural schematic diagram of the 5th lens in Fig. 3；
Fig. 6 is the flow diagram for the panoramic looking-around image generating method that the embodiment of the present invention three provides.
In figure：1, Vehicular display device；2, processor；3, preceding camera；4, left camera；5, right camera；6, rear camera shooting
Head；L1, the first lens；L2, the second lens；L3, the third lens；L4, the 4th lens；L41, the 41st lens；L42, the 4th
12 lens；L43, the 43rd lens；L44, the 44th lens；L45, the 45th lens；L5, the 5th lens；L51、
51st lens；L52, the 52nd lens；L53, the 53rd lens；L54, the 54th lens；L6, the 6th lens；
L7, the 7th lens；L8, the 8th lens；L9, the 9th lens；L10, the tenth lens.
Specific implementation mode
Below in conjunction with attached drawing, the technical characteristic and advantage above-mentioned and other to the present invention are clearly and completely described,
Obviously, described embodiment is only the section Example of the present invention, rather than whole embodiments.
It please refers to Fig.1 and Fig. 2, the vehicle panoramic viewing system that the embodiment of the present invention one provides, including Vehicular display device 1,
Processor 2 and preceding camera 3, left camera 4, right camera 5 and rear camera 6；Before preceding camera 3 is located at vehicle
Side, left camera 4 are located at the left side of vehicle, and right camera 5 is located at the right side of vehicle, and rear camera 6 is located at the rear of vehicle；Before
Camera 3, left camera 4, right camera 5 and rear camera 6 include the identical fish eye lens module of structure, fish eye lens mould
The wide-angle of group is 190 °；Processor 2, respectively with preceding camera 3, left camera 4, right camera 5, rear camera 6 and vehicle-mounted
Display 1 connects, each for will be obtained in real time from preceding camera 3, left camera 4, right camera 5 and rear camera 6
Image information is spliced into panoramic looking-around image, and panoramic looking-around image transmitting to Vehicular display device 1 is shown.
It should be noted that preceding camera 3, left camera 4, right camera 5 and rear camera 6 quantity be at least 1
It is a.Overall structure between them can differ, but all there are one the identical fish eye lens module of structure, the flakes for tool
The wide-angle of camera lens module is 190 °, so that it is guaranteed that the image information without dead angle on one direction of vehicle can be obtained.For example, position
It can pass by the image information of 190 ° of vehicle left side in the left camera 4 of vehicle left side.To according to the camera of above-mentioned configuration
Outdoor scene characteristic information can not only be obtained, it is often more important that the vehicle characteristic information of vehicle itself can be got.Outdoor scene feature
Information refers to removing remaining characteristic information of vehicle characteristic information in image information, for example, road markings, pedestrian, building
The characteristic informations such as object, barrier and traffic lights.
Processor 2 can be the processing chip individually reset, be not take up the resource of existing processor 2 on vehicle, keep away
Exempt from Caton phenomenon occur.The specific can be that being realized using FPGA processing boards.In this present embodiment, processor 2 can be to 4
The image information in a direction carries out being spliced to form panoramic looking-around image, and presentation is directly overlapped in image information fusion band part.This
Requirement of the kind mode to processor 2 is very low, can quickly handle image information and obtain panoramic looking-around image, then pass through car-mounted display
Device 1 is presented in real time.So that driver can be immediately seen the panorama ring of automobile surrounding in driver's cabin by Vehicular display device 1
Visible image.And panoramic looking-around image can be preserved in processor 2.Rather than existing seamed splicing on the market now
Panoramic looking-around system.The characteristics of system is all around to fill four wide-angle cameras in vehicle, wide-angle is at 150 degree to 180
Between degree, image is handled and has been shown, simply image superposition cannot be got up, but by after image procossing, it is intermediate
It is car, image is placed on periphery.But have one disadvantage in that, the problem of due to technology, the place of four image mosaics is exactly four
On a diagonal line, comprehensively smooth processing can not be carried out.Therefore, there are apparent four lines in the stitching portion of four images, usually
Using black line or gray line come the defect on concealing technique.And the above problem would not occur in the camera that the present invention configures.Yu Qi
In his embodiment, the splicing of image information can realize that high-precision is seamless using the algorithm based on deep learning in processor 2
Automatic calibration is supported in splicing.Improve the accuracy of panoramic looking-around image.It is not limited thereto.
Vehicular display device 1 is mounted in cockpit, can be realized using the existing display of vehicle；Also may be used
To be an additionally mounted Vehicular display device 1.In this present embodiment, processor 2 can be integrated in Vehicular display device 1, to subtract
Few occupied space.Driver can be immediately seen the panoramic looking-around figure of automobile surrounding in driver's cabin by Vehicular display device 1
Picture.The content shown in Vehicular display device 1 can be shown under the control of a processor 2, vehicle-mounted according to different requirements,
Display 1 can show different contents.
Vehicle panoramic viewing system provided by the invention, using positioned at the front of vehicle preceding camera 3, positioned at vehicle
The left camera 4 in left side, the right camera 5 positioned at the right side of vehicle and the rear rear camera 6 positioned at vehicle；These cameras
All have the fish eye lens module that identical structure and wide-angle are 190 °；Each image information is spliced into panorama using processor 2
Image is looked around, is shown in Vehicular display device 1.The image information of acquisition is set to generate panoramic looking-around image to which panorama covers vehicle
Angular field of view, overcomes the problems, such as that there are vision dead zones for existing vehicle side and headstock.Driver is in driver's cabin by vehicle-mounted
Display 1 can be immediately seen the panoramic looking-around image of automobile surrounding, therefore driver can basis in traveling and reversing
The real time panoramic that Vehicular display device 1 is shown looks around image to travel, and expands driver's seat, driver is made to understand road conditions in time
Information improves travel safety.
In order to improve the shooting effect of each camera, then for the installation principle of each camera being come with two aspects
It realizes.First principle be：Come apart from the ground criterion that the higher the better with camera.Second principle be：Increase as far as possible and takes the photograph
As the effective image-region of head.
For first principle：In this present embodiment, it is located at right over logo or among middle net using preceding camera 3；Afterwards
Camera 6 is located at boot handle；Left camera 4 is located at immediately below left-hand mirror；Under right camera 5 is located at right rear view mirror just
Side.Preceding camera 3 and rear camera 6 are aligned with the central axes of vehicle.Further, preceding camera 3, left camera 4, right camera
5 and rear camera 6 be located at same level.Camera is installed according to above-mentioned position so that the image letter of camera shooting
Close intermediate more multiple edge is fewer in effective image-region in breath, keeps image truer after the processing of processor 2 and natural.
For second principle：In this present embodiment, the camber angle after being installed using the fish eye lens module of preceding camera 3
It is 20 °~40 °；Camber angle after the fish eye lens module installation of rear camera 6 is 20 °~40 °.The flake mirror of left camera 4
Camber angle after the installation of head mould group is 5 °~15 °；Camber angle after the fish eye lens module installation of right camera 5 is 5 °~15 °.
Above-mentioned camber angle refers to camera after installation is fixed, the angle of the fish eye lens module and horizontal plane formation of camera.
Usually, angle is to incline upwardly toward horizontal after just referring to camera installation.In other embodiment, preceding camera
Camber angle after 3 fish eye lens module installation can be one kind in 20 °, 25 °, 30 °, 35 ° and 40 °.Rear camera 6
Camber angle after the installation of fish eye lens module can be one kind in 20 °, 25 °, 30 °, 35 ° and 40 °.The fish of left camera 4
Camber angle after the installation of glasses head mould group can be one kind in 5 °, 10 ° and 15 °.The fish eye lens module of right camera 5 is pacified
Camber angle after dress can be one kind in 5 °, 10 ° and 15 °.Camera is installed according to above-mentioned position, can be ensured effectively
Image-region.For processor 2, the work of processor 2 is by irregular Partial Transformation in original image information at one
The figure of a rule, in this transformation, image needs to stretch interpolation, and interpolation will influence clarity, and irregular image is in original
Occupied area is bigger in beginning image information, needs interpolation fewer, and image will be more clear.Therefore, when camera acquisition
In the case of pixel sum is fixed, valid pixel area occupied is bigger, and image effect is better.
For preceding camera 3, left camera 4, right camera 5 and rear camera 6, mutual overall structure can be with
It differs.But the image information that obtains of this mode is to the display matter of the burden of processor 2 and the panoramic looking-around image of display
Amount influence is too big, generally not in this way.At least same, left camera shooting may be used in preceding camera 3 and rear camera 6
First 4 and right camera 5 may be used it is same.Such case is usually caused by the fixed structure difference of camera.
Certainly, in order to improve the display quality of panoramic looking-around image, preceding camera 3, left camera 4, right camera 5 and
The structure of rear camera 6 is identical, including fish eye lens module, fixing bracket and connecting line；Fish eye lens module passes through fixation
Holder is fixed；Connecting line is connect with fish eye lens module, for making fish eye lens module carry out data interaction with processor 2.Gu
Fish eye lens module is fixed on vehicle by fixed rack, and fish eye lens module internal has accurate stepper motor, may be implemented
Camera lens Telescopic and focusing can accurately control rotation angle, also exportable larger torque, can be turned with crawl, emergency stop
Speed and corner, which do not receive non-resistance or drag size, to be influenced.
It is illustrated in figure 3 the structural schematic diagram of the optical unit of fish eye lens module, the optical unit of fish eye lens module
It is 8 groups 10；Wherein, the 4th since object side is stabilization lens, and the 5th is focus lens.Specifically, optical unit
Include the first lens L1 configured in order since object side, the second lens L2, the third lens L3, the 4th lens L4, the 5th thoroughly
Mirror L5, the 6th lens L6, the 7th lens L7, the 8th lens L8, the 9th lens L9 and the tenth lens L10；And the first lens L1,
Second lens L2, the third lens L3, the 4th lens L4, the 5th lens L5, the 6th lens L6, the 7th lens L7, the 8th lens L8,
9th lens L9 and the tenth lens L10 coaxial arrangements.I.e. stabilization lens are the 4th lens L4, and focus lens are the 5th lens
L5.In focusing, the 5th lens L5 is moved along optical axis.When stabilization makes corrections, the 4th lens L4 is vertical relative to optical axis
It is moved on direction.Wherein, the second lens L2 and the 9th lens L9 is double surface non-spherical lens.So that fish eye lens module
Focal length is short, and visual angle is big, and visual angle reaches 190 degree, for shooting at close range a wide range of Landscape Creation condition.
It should be noted that as shown in figure 4, the 4th lens L4 may include the 41st lens being sequentially coaxially arranged
L41, the 42nd lens L42, the 43rd lens L43, the 44th lens L44 and the 45th lens L55.Such as Fig. 5
Shown, the 5th lens L5 can be made of lens group.4th lens L4 of this group's composition has good stabilization
It can so that the picture image that vehicle obtains in the process of moving is stablized.
For example, the 5th lens L5 may include the 51st lens L51 being sequentially coaxially arranged, the 52nd lens L52,
53rd lens L53 and the 54th lens L54.In other embodiment, the 4th lens L4 and the 5th lens L5 can be with
It is combined and is formed by other lenses.5th lens L5 of this group composition has good fixed-focus performance, can quick fixed-focus, and
Moving range is small, realizes the fixed-focus group of lightweight.
Left camera 4 is identical with 5 quantity of right camera, and quantity is respectively 1,2,3 or 4.Left camera 4 and the right side
Camera 5 is equally spaced in the both sides of vehicle.Increase the quality of camera shooting by the way that multiple cameras are arranged, and to processing
The burden of the processing of device 2 will not be too heavy.
The content shown in Vehicular display device 1 can be processor 2 control under show.According to different requirements,
Vehicular display device 1 can show different contents.For example, Vehicular display device 1 include can touch control display, can touch control display ring
Touching signals should be generated in user's operation, processor 2 can control the content of the display of Vehicular display device 1 according to touching signals, than
Such as switch panoramic looking-around image be forward sight, backsight, it is left front regard, right forward sight visual angle.And according to preset journey built in processor 2
Sequence come realize auto-changeover control Vehicular display device 1 show content, that is to say, that processor 2 can obtain vehicle vehicle letter
Breath, information of vehicles here includes being not limited to speed, direction information, gear information and identity information etc..It can be according to vehicle
The panoramic looking-around image that information shows Vehicular display device 1 is switched over or is adjusted.Such as when reversing gear, when turning, directly
Show that panoramic looking-around image, remaining time are not shown.In this citing that just differs.
Vehicle panoramic viewing system provided by Embodiment 2 of the present invention, difference lies in further include movement with embodiment one
End, mobile terminal are connect with processor 2, for carrying out data interaction with processor 2.Mobile terminal includes being not limited to mobile phone terminal, the ends PC
And tablet end etc..Remote monitoring service can be carried out by mobile terminal, it is raw on the Vehicular display device 1 for being installed on automotive interior
At automobile and its panoramic looking-around image of surrounding enviroment, and can be directly displayed in mobile terminal.
Make two side view field standard-sized sheet of vehicle, no longer by dead angle or so safety, if vehicle back car just enters the dead of both sides
When angular region, changing Lane is just easily caused danger in driving.The invention avoids such situations, and panoramic looking-around image is complete
It is presented in Vehicular display device 1, allows safety without dead angle, uncertain dangerous situation of dodging.It is driven on the way in more landform, panorama
The situation that the picture of image helps driver to confirm vehicle periphery is looked around, by being drawn in real time around 1 display automobile of Vehicular display device
Face facilitates it to carry out pavement behavior confirmation to the region for easily forming driving blind spot, and picture shows the wheel direction of automobile.Certainly
This function can also bring more facilities when parking.
Based on the design of same invention, the embodiment of the present invention three provides a kind of panoramic looking-around image generating method, this method
Implementation can refer to above system process realize, repeat place it is no longer redundant later.
The embodiment of the present invention three provides a kind of panoramic looking-around image generating method, includes the following steps；
S100, preceding camera is configured in the front of vehicle, left camera is configured in the left side of vehicle, by right camera
Configuration configures rear camera at the rear of vehicle on the right side of vehicle；The preceding camera that is configured, left camera, right camera shooting
Head and rear camera include the identical fish eye lens module of structure, and the wide-angle of fish eye lens module is 190 °；
S200, preceding camera, left camera, right camera and each image information of rear camera shooting are obtained, and
Each image information is spliced, the panoramic looking-around image that splicing obtains is shown.
When configuring each camera, it is only necessary to be configured in the way of in step S100.It is namely each square in vehicle's surroundings
All configure camera upwards.Enable each image information direct splicing obtained that can obtain the panorama ring of no visual blind area
Visible image.Panoramic looking-around image generating method provided by the invention, driver pass through Vehicular display device in driver's cabin
It is immediately seen the panoramic looking-around image of automobile surrounding, therefore driver can show in traveling and reversing according to Vehicular display device
Real time panoramic look around image to travel, expand driver's seat, driver made to understand traffic information in time, improve driving peace
Quan Xing.
In order to improve the quality of panoramic looking-around image, then proposing new requirement for the image processing function of processor.
It needs the mutual coordinated effect of each camera then to be handled by image synthesis, forms regarding for a whole set of around full vehicle
Frequency image.Traditional object distance measurement needs to use ultrasonic wave or laser radar, needs to install multiple sensings on vehicle body
Device, and four cameras are added, expense is relatively high.And tradition track based on computer vision, pedestrian and vehicle inspection
The feature extracting method for needing engineer more complicated is surveyed, these methods have certain limitation in robustness.For example, adopting
It is one of stronger feature of Generalization Capability with HOG features, but the detection result for complex background and when blocking is poor.
The specific joining method of the present invention can be the model realization established using modes such as deep learning, feature extractions.
Deep learning is the research hotspot of current machine learning areas, it uses the deep layer table of mode Level by level learning feature from bottom to top
Show.Deep learning can be applied to the fields such as lane detection, pedestrian detection, vehicle detection, respective objects are marked,
And distance of the rectangle frame away from this vehicle is calculated to provide the functions such as anti-collision warning.The panoramic looking-around image tool obtained based on deep learning
Look around that image is shown and each multi-view image shows, is lane detection and lane shift early warning, pedestrian detection, vehicle detection, preceding
Vehicle anti-collision warning, scrapes the functions such as identification at collision recognition.
Can utilize all kinds of figures in database for the panoramic looking-around image specific steps obtained using deep learning
Identification model is established as information is trained；The image information that each camera obtains is input in identification model again and is exported entirely
Scape image information.Panorama image information includes the vehicle image information for being not limited to each visual angle, lane line image information, pedestrian image
The data such as information, nearby vehicle image information.
The image information that each camera obtains is required to the process demarcated by one.I.e. to each image information into
Before row splicing, need to demarcate image information.One of basic task of machine vision is the image letter obtained from camera
The geological information for ceasing and calculating object in three dimensions, thus to rebuild and identify object.Camera is by imaging len by three
Dimension scene projects to camera two dimension image plane, and the contact of three-dimensional scenic and two-dimentional image plane is established by the result demarcated.So
According to the actual physics coordinate and image coordinate system coordinate of calibration point, the geometrical model of camera lens is obtained, you can complete calibration, calibration
Algorithm itself does not need to fixed calibration place, and the process entirely demarcated is automatically performed.
Vehicle to be calibrated specifically, is driven into the calibration position in calibration place by the step of being demarcated to image information.
According to preset standard calibration image information, the input parameter as actual physics coordinate as calibration algorithm, calibration algorithm exists
Automatic detection angle point in the image information in the calibration place that camera photographed obtains image of the angle point in image coordinate system and sits
Mark；Calibration can must be completed according to the actual physics coordinate and image coordinate of angle point.In addition, the physical coordinates of angle point are replaced, mark
Automatic Calibration can be completed in new calibration place by determining algorithm.
In this present embodiment, it is to model to obtain panoramic looking-around image using the vehicle body characteristic information of vehicle itself.
Below for obtain preceding camera, left camera, right camera and rear camera shooting each image information,
The specific steps that each image information is spliced；
S210, preceding camera, left camera, right camera and each image letter of rear camera shooting are obtained in real time
Breath, image information includes vehicle body characteristic information；
S220, preset vehicle body standard information is compared to the corresponding Map Searching table of generation with vehicle body characteristic information,
Each corresponding panorama Fusion Model is established according to Map Searching table；
S230, each image information is spliced according to panorama Fusion Model and Taylor's fitting, obtains panoramic looking-around figure
Picture.
It is demarcated it should be noted that vehicle need not enter specific place, it can be at any time according to vehicle body in image information
Characteristic information and preset vehicle body standard feature information are demarcated, and the detailed process of calibration is shown in above-mentioned demarcating steps.Certainly,
Traditional scaling method can be executed.
Vehicle body standard information is the standard information of each car itself.It is the feature generation previously according to each vehicle itself
's.Namely vehicle body standard information and vehicle are one-to-one relationships.Panorama image information includes being not limited to each multi-view image to show
Show that information, lane detection information and lane shift warning information, pedestrian detection information, vehicle detecting information, front truck collision are pre-
Alert information, collision recognition information and scraping identification information etc..
The present invention is looked by the way that preset vehicle body standard information to be compared to the corresponding mapping of generation with vehicle body characteristic information
Table is looked for, establishing each corresponding panorama Fusion Model according to Map Searching table makes the panorama Fusion Model generated.According to panorama
Fusion Model first carries out first time splicing, then carries out secondary splicing to spliced image for the first time by Taylor's fitting, obtains
Panoramic looking-around image.For fish-eye camera, because the distortion of neighboring area is very big, the model after Taylor's fitting can only be protected
Demonstrate,proving the region covered for calibration point has description well.Accurately to splice, it is necessary to use Taylor in intersecting area
The secondary splicing of model calculates accurately outer ginseng.Avoid existing fish-eye camera model in the region close to 180 degree to 190 degree
In cannot be corrected completely, caused intersecting area splicing effect is bad.It is fitted within close to 180 degree to 190 degree using Taylor
Intersecting area do local fit, to improve the splicing of intersecting area.To four 190 degree of fish eye lenses, automatic calibration is supported.It is right
The image information of acquisition is seamless spliced into line distortion reduction and perfection, that is to say, that real around vehicle without splicing line
There is no blind area, shows a perfect whole scene.
The embodiment of the present invention four provides a kind of panoramic looking-around image generating method, compared with embodiment three, difference lies in,
It is further comprising the steps of；
After obtaining panoramic looking-around image, the outdoor scene characteristic information in image information is assessed according to predetermined threshold value,
Alerting signal is sent out according to assessment result, while preserving assessment result.
Assessment result can directly be added into for panorama image information, that is, the panorama image information after adding includes unlimited
In lane detection information, lane shift warning information, pedestrian detection information, vehicle detecting information, front truck anti-collision warning information,
Collision recognition information and scraping identification information etc..Monitoring can be assessed and identify slight damage to a vehicle body, substitute hand inspection.It will comment
Estimate result.Mobile terminal is transmitted to using remote server, you can real-time remote monitoring identification substitutes subsequent fixed point by processor
Hand inspection.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, and according to the present invention
Technical spirit to any simple modifications, equivalents, and modifications made by above example, belong to technical solution of the present invention
Protection domain.
Claims (10)
1. a kind of vehicle panoramic viewing system, which is characterized in that taken the photograph including Vehicular display device, processor and preceding camera, a left side
As head, right camera and rear camera；
The preceding camera is located at the front of vehicle, and the left camera is located at the left side of vehicle, and the right camera is located at vehicle
Right side, the rear camera is located at the rear of vehicle；
The preceding camera, left camera, right camera and rear camera include the identical fish eye lens module of structure, described
The wide-angle of fish eye lens module is 190 °；
The processor connects with the preceding camera, left camera, right camera, rear camera and Vehicular display device respectively
It connects, in real time spelling each image information obtained from the preceding camera, left camera, right camera and rear camera
It is connected into panoramic looking-around image, and the panoramic looking-around image transmitting to the Vehicular display device is shown.
2. vehicle panoramic viewing system as described in claim 1, which is characterized in that the preceding camera is located at right over logo
Or among middle net；The rear camera is located at boot handle；The left camera is located at immediately below left-hand mirror；The right side
Camera is located at immediately below right rear view mirror.
3. vehicle panoramic viewing system as claimed in claim 2, which is characterized in that the fish eye lens module of the preceding camera
Camber angle after installation is 20 °~40 °；Camber angle after the fish eye lens module installation of the rear camera is 20 °~40 °.
4. vehicle panoramic viewing system as claimed in claim 2, which is characterized in that the fish eye lens module of the left camera
Camber angle after installation is 5 °~15 °；Camber angle after the fish eye lens module installation of the right camera is 5 °~15 °.
5. the vehicle panoramic viewing system as described in claim 1-4 any one, which is characterized in that the preceding camera, a left side
The structure of camera, right camera and rear camera is identical, including fish eye lens module, fixing bracket and connecting line；
The fish eye lens module, is fixed by the fixing bracket；
The connecting line is connect with the fish eye lens module, for making fish eye lens module carry out data interaction with processor.
6. vehicle panoramic viewing system as claimed in claim 5, which is characterized in that the optical unit of fish eye lens module is 8
Group 10；Wherein, the 4th since object side is stabilization lens, and the 5th is focus lens.
7. vehicle panoramic viewing system as described in claim 1, which is characterized in that the left camera and right camera quantity
Identical, quantity is respectively 1,2,3 or 4.
8. a kind of panoramic looking-around image generating method, which is characterized in that include the following steps；
Preceding camera configuration is configured right camera in vehicle by the configuration of left camera in the left side of vehicle in the front of vehicle
Right side, by rear camera configure at the rear of vehicle；The preceding camera that is configured, left camera, right camera with
And rear camera includes the identical fish eye lens module of structure, the wide-angle of the fish eye lens module is 190 °；
The preceding camera, left camera, right camera and each image information of rear camera shooting are obtained, and to each
Described image information is spliced, and the panoramic looking-around image that splicing obtains is shown.
9. panoramic looking-around image generating method as claimed in claim 8, which is characterized in that it is described obtain the preceding camera,
Each image information of left camera, right camera and rear camera shooting, splices each described image information, wraps
Include following steps；
The preceding camera, left camera, right camera and each image information of rear camera shooting are obtained in real time, it is described
Image information includes vehicle body characteristic information；
Preset vehicle body standard information is compared with vehicle body characteristic information and generates corresponding Map Searching table, is reflected according to described
It penetrates look-up table and establishes each corresponding panorama Fusion Model；
Each described image information is spliced according to the panorama Fusion Model and Taylor's fitting, obtains panoramic looking-around figure
Picture.
10. panoramic looking-around image generating method as claimed in claim 8, which is characterized in that further comprising the steps of；
After obtaining panoramic looking-around image, the outdoor scene characteristic information in described image information is assessed according to predetermined threshold value,
Alerting signal is sent out according to assessment result, while preserving assessment result.
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