CN108928297A - A kind of vehicle assistant drive method and apparatus - Google Patents
A kind of vehicle assistant drive method and apparatus Download PDFInfo
- Publication number
- CN108928297A CN108928297A CN201810595960.5A CN201810595960A CN108928297A CN 108928297 A CN108928297 A CN 108928297A CN 201810595960 A CN201810595960 A CN 201810595960A CN 108928297 A CN108928297 A CN 108928297A
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- Prior art keywords
- infrared
- infrared camera
- vehicle
- organism
- infrared image
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- 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
- B60R2300/8093—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 obstacle warning
Abstract
The invention discloses a kind of vehicle assistant drive method and devices.The vehicle assistant drive method includes:Step 1:The first infrared image is obtained by least one first infrared camera, the second infrared image is obtained by least one second infrared camera;Step 2:According to the first infrared image and the second infrared image obtained, the distance for the organism that first infrared camera and the second infrared camera take jointly is calculated;Step 3:According to the distance of calculated organism, assist driver is driven.Distance measuring method precision used in the vehicle assistant drive method is high, and technology maturation, low in cost.
Description
Technical field
The present invention relates to vehicle assistant drive field more particularly to a kind of vehicle assistant drive method and apparatus.
Background technique
There are two types of current vehicle-mounted distance measuring methods, and one is common reversing radars, utilizes ultrasonic wave principle, Probe Ultrasonic Searching wave
Reflection receivable, to calculate the distance between barrier;One is the laser radars of current pilotless automobile popular research
System is returned by transmitting black light laser beam and realizes point ranging, then realizes ambient enviroment by mostly rotation and multiple light courcess
Ranging.
The precision of common reversing radar is not high, and laser radar system higher cost, extensive universal when also needing longer
Between.
Summary of the invention
In order to solve above-mentioned the deficiencies in the prior art, the present invention provides a kind of vehicle assistant drive method and apparatus.The vehicle
Distance measuring method precision used in auxiliary driving method is high, and technology maturation, low in cost.
The technical problems to be solved by the invention are achieved by the following technical programs:
A kind of vehicle assistant drive method, including:
Step 1:The first infrared image is obtained by least one first infrared camera, is obtained by least one second infrared camera
Take the second infrared image;
Step 2:According to the first infrared image and the second infrared image obtained, first infrared camera and second are calculated
The distance for the organism that infrared camera takes jointly;
Step 3:According to the distance of calculated organism, assist driver is driven.
Further, further include before step 1:
Start at least one first infrared camera, obtains the first infrared image;
First infrared image of acquisition is identified, organism is judged whether there is, if so, starting visual angle covers the life
Corresponding second infrared camera of object.
Further, in step 2, distance Z=f*B/ of organism(Xr-Xt), f be first infrared camera and
The focal length of second infrared camera, B are the center spacing of first infrared camera and the second infrared camera, and Xr-Xt is
The parallax of first infrared camera and the second infrared camera.
Further, further include in step 3:The distance of the infrared image and organism that will acquire carries out on a display screen
Display.
Further, in step 3, it includes speed, straight trip, left-hand bend, right-hand bend and the change for controlling vehicle that auxiliary, which drives,
More at least one of lane.
A kind of vehicle assistant drive device, including:
Multiple first infrared cameras are distributed on the outside of vehicle for obtaining the first infrared image of vehicle-periphery,
Its output end is electrically connected to the input terminal of main control module;
Multiple second infrared cameras are distributed on the outside of vehicle for obtaining the second infrared image of vehicle-periphery,
Its output end is electrically connected to the input terminal of main control module;
Main control module, for executing computer program to carry out following steps:
Step 1:The first infrared image is obtained by least one first infrared camera, is obtained by least one second infrared camera
Take the second infrared image;
Step 2:According to the first infrared image and the second infrared image obtained, first infrared camera and second are calculated
The distance for the organism that infrared camera takes jointly;
Step 3:According to the distance of calculated organism, assist driver is driven;
Wherein, each shooting point of outside vehicle is by least one first infrared camera and at least one second infrared camera
Visual angle covers simultaneously.
Further, the main control module also carries out before carrying out step 1:
Start at least one first infrared camera, obtains the first infrared image;
First infrared image of acquisition is identified, organism is judged whether there is, if so, starting visual angle covers the life
Corresponding at least one second infrared camera of object.
Further, the main control module is when carrying out step 2, the distance Z of the organism of calculating
,
F is the focal length of first infrared camera and the second infrared camera, and B is that first infrared camera and second are red
The center spacing of outer camera, Xr-Xt are the parallax of first infrared camera and the second infrared camera.
Further, further include:
Display screen, for showing the distance of infrared image and organism, input terminal is electrically connected to the defeated of the main control module
Outlet;
The main control module further includes when carrying out step 3:The distance of the infrared image and organism that will acquire is on a display screen
It is shown.
For the main control module when carrying out step 3, it includes the speed for controlling vehicle, straight trip, left-hand bend, right-hand rotation that auxiliary, which drives,
At least one of curved and change lane.
The present invention has the advantages that:The vehicle assistant drive method is obtained by least two infrared cameras
The infrared image of vehicle-periphery, the organism based on different temperatures has different infrared luminous intensities, to vehicle periphery ring
The organisms such as animal, the human body in border carry out thermal image analysis, then the distance of bioagent is calculated by image algorithm, thus into
Row auxiliary drives, and range accuracy is high, and technology maturation, low in cost.
Detailed description of the invention
Fig. 1 is the step block diagram of vehicle assistant drive method provided by the invention;
Fig. 2 is the distribution schematic diagram of infrared camera on vehicle provided by the invention;
Fig. 3 is the schematic diagram of range measurement principle provided by the invention;
Fig. 4 is the functional block diagram of vehicle assistant drive device provided by the invention.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawings and examples.
Embodiment one
As illustrated in fig. 1 and 2, a kind of vehicle assistant drive method, including:
Step 1:The first infrared image is obtained by least one first infrared camera 101, passes through at least one second infrared photography
First 102 obtain the second infrared image;
In the step 1, multiple first of the first infrared image for obtaining vehicle-periphery are distributed on the outside of vehicle
Infrared camera 101, and multiple second infrared cameras 102 of the second infrared image for obtaining vehicle-periphery,
Each shooting point of outside vehicle is by the view of at least one first infrared camera 101 and at least one second infrared camera 102
Angle covers simultaneously.
Further include before the step 1:
Start at least one first infrared camera 101, obtains the first infrared image;
First infrared image of acquisition is identified, organism is judged whether there is, if so, starting visual angle covers the life
Corresponding second infrared camera 102 of object.
Since infrared camera acquisition infrared light is imaged, the organisms such as human body, animal have different body temperature,
The infrared light of varying strength can be constantly distributed outward, the intensity for the infrared light that the higher organism of body temperature distributes outward is bigger, and
The body temperature of organism and the temperature of environment are different, and image algorithm can be based on the infrared luminous intensity in infrared image in environment
Organism profile carries out identification judgement.
Step 2:According to the first infrared image and the second infrared image obtained, first infrared camera is calculated
101 and second distance of organism that takes jointly of infrared camera 102;
In step 2, as shown in figure 3, P is any point on organism, ORWith OTIt is first infrared camera 101 respectively
With the camera lens optical center of the second infrared camera 102, point P is respectively in first infrared camera 101 and the second infrared camera
Imaging point on 102 is respectively P1 and P2(The imaging plane of camera has been placed in front of camera lens after rotation), f is described the
The focal length of one infrared camera 101 and the second infrared camera 102, B are that first infrared camera 101 and second infrared are taken the photograph
As first 102 center spacing, Z is the distance of organism, and the distance for the P1 to point P2 that sets up an office is dis, then:
According to similar triangle theory:
The distance Z of organism can be obtained:
Wherein, XR-XTFor the parallax of first infrared camera 101 and the second infrared camera 102, it is only necessary on vehicle
After installing all infrared cameras, by vehicle producer to first infrared camera 101 and the second infrared camera 102
Carrying out camera calibration, binocular correction and binocular ranging can be obtained by parallax Xr-Xt, and be written in image algorithm.
Center spacing B between first infrared camera 101 and the second infrared camera 102 is bigger, calculated
The distance Z of organism is more accurate, and the volume of vehicle is larger, and infrared camera can also reach after completely covering vehicle-periphery
To 1m or more than spacing, therefore, the distance measuring method in the auxiliary driving method is particularly suitable for vehicle.
Step 3:According to the distance of calculated organism, assist driver is driven.
In the step 3, it includes but is not limited to speed, straight trip, left-hand bend, right-hand bend and the change for controlling vehicle that auxiliary, which drives,
At least one of more lane etc., and, the distance of the infrared image and organism that will acquire is shown on a display screen.
The display screen is the screen on the console of vehicle.
The vehicle assistant drive method obtains the infrared image of vehicle-periphery by least two infrared cameras,
Organism based on different temperatures have different infrared luminous intensities, to the organisms such as animal, the human body of vehicle-periphery into
Row thermal image analysis, then the distance of bioagent is calculated by image algorithm, to carry out auxiliary driving, range accuracy is high,
And technology maturation, it is low in cost.
Embodiment two
As shown in Figures 2 and 4, a kind of vehicle assistant drive device, including:
Multiple first infrared cameras 101 are distributed in the outside of vehicle for obtaining the first infrared image of vehicle-periphery
On, output end is electrically connected to the input terminal of main control module;
Multiple second infrared cameras 102 are distributed in the outside of vehicle for obtaining the second infrared image of vehicle-periphery
On, output end is electrically connected to the input terminal of main control module;
Main control module, for the first infrared image and the second infrared image according to acquisition, to the distance for calculating bioagent, and
Assist driver is driven;
Wherein, each shooting point of outside vehicle is by least one first infrared camera 101 and at least one second infrared photography
First 102 visual angle covers simultaneously.
The main control module includes processor and the memory with processor electric connection, storage in the memory
There is the computer program executed for the processor, when the processor executes the computer program, as shown in Figure 1, the master
It controls module and carries out following steps:
Step 1:The first infrared image is obtained by least one first infrared camera 101, passes through at least one second infrared photography
First 102 obtain the second infrared image;
The main control module also carries out before carrying out the step 1:
Start at least one first infrared camera 101, obtains the first infrared image;
First infrared image of acquisition is identified, organism is judged whether there is, if so, starting visual angle covers the life
Corresponding at least one second infrared camera 102 of object.
Since infrared camera acquisition infrared light is imaged, the organisms such as human body, animal have different body temperature,
The infrared light of varying strength can be constantly distributed outward, the intensity for the infrared light that the higher organism of body temperature distributes outward is bigger, and
The body temperature of organism and the temperature of environment are different, and image algorithm can be based on the infrared luminous intensity in infrared image in environment
Organism profile carries out identification judgement.
Step 2:According to the first infrared image and the second infrared image obtained, first infrared camera is calculated
101 and second distance of organism that takes jointly of infrared camera 102;
The main control module is when carrying out the step 2, as shown in figure 3, P is any point on organism, ORWith OTIt is institute respectively
The camera lens optical center of the first infrared camera 101 and the second infrared camera 102 is stated, point P is respectively in first infrared camera
101 and the second imaging point on infrared camera 102 be respectively P1 and P2(The imaging plane of camera is placed on after rotation
In front of camera lens), f is the focal length of first infrared camera 101 and the second infrared camera 102, and B is described first infrared to take the photograph
As first 101 and second infrared camera 102 center spacing, Z is the distance of organism, and the distance of the P1 to point P2 that sets up an office is dis,
Then:
According to similar triangle theory:
The distance Z of organism can be obtained:
Wherein, XR-XTFor the parallax of first infrared camera 101 and the second infrared camera 102, it is only necessary on vehicle
After installing all infrared cameras, by vehicle producer to first infrared camera 101 and the second infrared camera 102
Carrying out camera calibration, binocular correction and binocular ranging can be obtained by parallax Xr-Xt, and be written in image algorithm.
Center spacing B between first infrared camera 101 and the second infrared camera 102 is bigger, calculated
The distance Z of organism is more accurate, and the volume of vehicle is larger, and infrared camera can also reach after completely covering vehicle-periphery
To 1m or more than spacing, therefore, the distance measuring method in the vehicle assistant drive device is particularly suitable for vehicle.
Step 3:According to the distance of calculated organism, assist driver is driven;
For the main control module when carrying out the step 3, it includes but is not limited to the speed for controlling vehicle, straight trip, left-hand rotation that auxiliary, which drives,
At least one of curved, right-hand bend and change lane etc..
The vehicle assistant drive device further includes:
Display screen, for showing the distance of infrared image and organism, input terminal is electrically connected to the defeated of the main control module
Outlet;
The main control module further includes when carrying out step 3:The distance of the infrared image and organism that will acquire is on a display screen
It is shown.
The display screen is the screen on the console of vehicle.
Embodiments of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as, as long as skill obtained in the form of equivalent substitutions or equivalent transformations
Art scheme should all be fallen within the scope and spirit of the invention.
Claims (10)
1. a kind of vehicle assistant drive method, which is characterized in that including:
Step 1:The first infrared image is obtained by least one first infrared camera, is obtained by least one second infrared camera
Take the second infrared image;
Step 2:According to the first infrared image and the second infrared image obtained, first infrared camera and second are calculated
The distance for the organism that infrared camera takes jointly;
Step 3:According to the distance of calculated organism, assist driver is driven.
2. vehicle assistant drive method according to claim 1, which is characterized in that further include before step 1:
Start at least one first infrared camera, obtains the first infrared image;
First infrared image of acquisition is identified, organism is judged whether there is, if so, starting visual angle covers the life
Corresponding second infrared camera of object.
3. vehicle assistant drive method according to claim 1 or 2, which is characterized in that in step 2, organism away from
From Z
,
F is the focal length of first infrared camera and the second infrared camera, and B is that first infrared camera and second are red
The center spacing of outer camera, Xr-Xt are the parallax of first infrared camera and the second infrared camera.
4. vehicle assistant drive method according to claim 1, which is characterized in that further include in step 3:It will acquire
The distance of infrared image and organism is shown on a display screen.
5. vehicle assistant drive method according to claim 1,2 or 4, which is characterized in that in step 3, auxiliary drives
At least one of speed, straight trip, left-hand bend, right-hand bend and change lane including controlling vehicle.
6. a kind of vehicle assistant drive device, which is characterized in that including:
Multiple first infrared cameras are distributed on the outside of vehicle for obtaining the first infrared image of vehicle-periphery,
Its output end is electrically connected to the input terminal of main control module;
Multiple second infrared cameras are distributed on the outside of vehicle for obtaining the second infrared image of vehicle-periphery,
Its output end is electrically connected to the input terminal of main control module;
Main control module, for executing computer program to carry out following steps:
Step 1:The first infrared image is obtained by least one first infrared camera, is obtained by least one second infrared camera
Take the second infrared image;
Step 2:According to the first infrared image and the second infrared image obtained, first infrared camera and second are calculated
The distance for the organism that infrared camera takes jointly;
Step 3:According to the distance of calculated organism, assist driver is driven;
Wherein, each shooting point of outside vehicle is by least one first infrared camera and at least one second infrared camera
Visual angle covers simultaneously.
7. vehicle auxiliary device according to claim 6, which is characterized in that the main control module carry out step 1 it
Before, also carry out:
Start at least one first infrared camera, obtains the first infrared image;
First infrared image of acquisition is identified, organism is judged whether there is, if so, starting visual angle covers the life
Corresponding at least one second infrared camera of object.
8. vehicle assistant drive device according to claim 6 or 7, which is characterized in that the main control module carries out step 2
When, the distance Z of the organism of calculating
,
F is the focal length of first infrared camera and the second infrared camera, and B is that first infrared camera and second are red
The center spacing of outer camera, Xr-Xt are the parallax of first infrared camera and the second infrared camera.
9. vehicle assistant drive device according to claim 6, which is characterized in that further include:
Display screen, for showing the distance of infrared image and organism, input terminal is electrically connected to the defeated of the main control module
Outlet;
The main control module further includes when carrying out step 3:The distance of the infrared image and organism that will acquire is on a display screen
It is shown.
10. according to vehicle assistant drive device described in claim 6,7 or 9, which is characterized in that the main control module into
When row step 3, auxiliary drives at least one in speed, straight trip, left-hand bend, right-hand bend and change lane including control vehicle
Kind.
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CN109782775A (en) * | 2019-03-13 | 2019-05-21 | 刘乐 | A kind of automobile obstacle avoidance system based on thermal image |
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CN112298040A (en) * | 2020-09-27 | 2021-02-02 | 浙江合众新能源汽车有限公司 | Auxiliary driving method based on transparent A column |
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