CN109552315A - Full visual field camera engine control system - Google Patents
Full visual field camera engine control system Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims abstract description 62
- 230000003993 interaction Effects 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 30
- 230000007613 environmental effect Effects 0.000 claims description 16
- 230000004044 response Effects 0.000 claims description 15
- 230000003447 ipsilateral effect Effects 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 10
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
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- Human Computer Interaction (AREA)
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- Mathematical Physics (AREA)
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- Closed-Circuit Television Systems (AREA)
Abstract
The present invention provides a kind of full visual field camera engine control system, including sensor unit, control unit and human-computer interaction interface, setting high definition looks around panorama module and its each function sub-modules gives user and assists driving and assist to park with good experience, blind area monitoring modular and its each submodule are set, solve blind area monitoring problem under client's driving status, enabling warning module is set, solve the problems, such as blind area monitoring and alarm when client's dead ship condition downward swing door, setting panorama is parked supplementary module, it is selected by parking stall, path planning, dynamic trajectory rear camera prompt, auxiliary that active control is braked or prompt braking realization panorama is parked.
Description
Technical field
The present invention relates to the fields ADAS, more particularly to a kind of full visual field camera engine control system.
Background technique
The increase of car ownership promotes the development of large parking lot, and since marching toward 21st century, ours is big
Type parking lot is more and more, and being growing for parking lot scale, brings a series of the problem of parking with picking up the car, has become
The social concern that each large- and-medium size cities generally face in world wide.
Firstly, more and more vehicles, which use, looks around auxiliary in the increasing intelligent driving vehicle of city vehicle
Drive the system parked.Most function mesh of advanced driving assistance system (Advanced Driver AssistantSystem)
It is preceding also in development status.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the present invention provides a kind of full visual field camera hosts
Control system, first, setting high definition looks around panorama module and its each function sub-modules gives user and assists driving and auxiliary
It helps and parks with good experience.Second, blind area monitoring modular and its each function sub-modules are set, client's driving status is solved
Lower blind area monitoring problem.Enabling warning module is arranged in third, and blind area monitoring and alarm are asked when solving client's dead ship condition downward swing door
Topic.4th, setting panorama is parked supplementary module, passes through parking stall selection, path planning, dynamic trajectory rear camera prompt, active control
Braking or prompt braking realize that panorama is parked auxiliary.
Full visual field camera engine control system, comprising:
The sensor unit includes at least one visual sensor and at least one sonic sensor；
Described control unit includes that high definition looks around panorama module, and it includes image mosaic submodule that the high definition, which looks around panorama module,
Block, image co-registration submodule, brightness of image color balance adjustment submodule, view angle switch submodule, ultrasonic obstacle object are shown
One in submodule, distortion correction submodule, dynamic trajectory wire module, the transparent module of vehicle body and vehicle body signal condition display module
Kind is several；The high definition looks around panorama module to be had for visual sensor to be captured image one width of synthesis by image procossing
The panoramic picture of the reflection vehicle body ambient conditions at unified visual angle.
Further, the visual sensor is front, rear, left and right four-way CCD camera；The sonic sensor is front four
Four road ultrasonic radar of road ultrasonic radar and rear.
Further, described image splicing submodule utilizes nominal data splicing all directions visual sensor capture figure
Picture, described image are spliced submodule when splicing visual sensor capture image, are regarded according to the display of vehicle man machine's interactive interface
Angle determines the angle of splicing seam of the adjacent visual sensor capture image under panorama module.For example, working as sensor unit
Visual sensor be four tunnels: preceding road, the way of escape, left, right wing；When vehicle man machine's interactive interface display view angle be forward sight or after
Apparent time, image mosaic submodule capture less than 45 degree angles of seam of image mosaic from four tunnel visual sensors；When vehicle man machine hands over
The display view angle at mutual interface is left view or right apparent time, and image mosaic submodule captures image mosaic from four tunnel visual sensors
Seam be greater than 45 degree angles, it is this according to the display view angle of vehicle man machine's interactive interface adjustment Panorama Mosaic seam mode,
It can reduce the error that single channel visual angle human-computer interaction interface is shown, improve user experience, keep splicing regions seamless, described image
The splicing dislocation for splicing submodule is less than 5cm, and splicing regions are formed using adjacent camera image co-registration, excessively naturally, without bright
Aobvious splicing line.
Further, described image merges submodule, when image mosaic submodule splices adjacent two-way visual sensor
When capturing image, for adjacent two-way visual sensor capture image there are overlay region, the image co-registration of overlay region is heavy according to being located at
The distance of the position and the coordinate points of the coordinate points relative superposition area middle line in area apart from overlay region middle line is folded to determine the coordinate
The pixel transparent degree weight of two capture images of point distribution.
Further, described image lightness colors balance adjustment submodule, for adjusting visual sensor capture image institute
To adapt to the environment of vehicle interior, described image lightness colors balance adjustment submodule passes through reality for the brightness of the panoramic picture of synthesis
When monitoring image color and luminance information, dynamic regulation is carried out to brightness of image, color, so that entire picture brightness color is kept
Naturally unified.When solving the fusion of traditional 3D rendering, because of four-way CCD camera installation site, angle, the factors such as local environment difference,
Camera institute's acquired image is the problem of stitching position has different brightness and color.
Further, the ultrasonic obstacle object display sub-module is used to detect the barrier of vehicle periphery, control unit
The distance of obstacle distance vehicle is calculated by the transmitted wave of sonic sensor and the time difference of received wave, ultrasonic obstacle object is aobvious
Show submodule with the distance range of obstacle distance vehicle detected distinguish the cue scale of the barrier on panoramic picture with
And mark color.
Such as: when the distance of obstacle distance vehicle is less than 30 millimeters, ultrasonic obstacle object display sub-module is being looked around
It prompts to mark the barrier with level-one on panoramic picture；When the distance of obstacle distance vehicle is greater than 30 millimeters less than 50 millimeters
When, ultrasonic obstacle object display sub-module prompts to mark the barrier with second level on looking around panoramic picture；Work as obstacle distance
When the distance of vehicle is greater than 50 millimeters less than 70 millimeters, ultrasonic obstacle object display sub-module is on looking around panoramic picture with three-level
Prompt marks the barrier；When the distance of obstacle distance vehicle is greater than 70 millimeters, ultrasonic obstacle object display sub-module is sentenced
The fixed obstacle distance farther out, does not prompt to mark the barrier.
Further, the view angle switch submodule includes interior to visual angle module, export-oriented visual angle module, three-dimensional view angle adjustment
One or more of module and blind area visual angle module:
It is described it is interior to visual angle module include it is interior to visual angle lookahead module, it is interior to visual angle backsight module, it is interior to visual angle left view mould
Block interior depending on module and interior looks around switching submodule to visual angle to visual angle is right；
The extroversion visual angle module includes export-oriented visual angle lookahead module, export-oriented visual angle backsight module, export-oriented visual angle left view mould
Switching submodule is looked around at block, the right view module in export-oriented visual angle and extroversion visual angle；
The three-dimensional view angle adjustment module is for adjusting vehicle at the visual angle that human-computer interaction interface is shown；
Blind area visual angle module includes forward sight left side perspective module, forward sight right side perspective module, forward sight two sides visual angle mould
Block, backsight left side perspective module, backsight right side perspective module, backsight two sides visual angle module.
Further, the distortion correction submodule retains visual sensor for correcting visual sensor capture image
Eliminate the distortion effect of visual sensor capture image while wide-angle image information to a certain extent again.
Further, the dynamic trajectory wire module is used to look around panorama module interfaces in the high definition of human-computer interaction interface
Show the trajectory line of assisting vehicle travel, high definition looks around the direction of the dynamic trajectory rear camera shown in panorama module interfaces according to working as vehicle
The corner of steering wheel changes.High definition looks around panorama module and integrates dynamic trajectory rear camera functions of modules, looks around panorama in high definition
Wheel trochoid is drawn before and after the vehicle mould that module is shown, by acquiring steering wheel angle data in real time, trajectory line angle is with direction
Disk angle change and swing in real time, it is accurate that vehicle actual travel track is presented.
Such as: when steering wheel for vehicle keeps vertical, high definition looks around the dynamic trajectory rear camera shown in panorama module interfaces and is
The preceding apparent direction of vehicle；When steering wheel for vehicle tilts to the left, high definition looks around the dynamic trajectory shown in panorama module interfaces
Line is trajectory line bending to the left；When steering wheel for vehicle tilts to the right, high definition look around shown in panorama module interfaces it is dynamic
State trajectory line is trajectory line bending to the right；The bending radius of the trajectory line and the center of circle are determined according to steering wheel for vehicle corner.
Further, the transparent module of the vehicle body is used in vehicle travel process, and high definition looks around panorama module combination vehicle
Vehicle front or rear images historical data are filled into vehicle bottom blind zone by body motion information, and it is aobvious that high definition looks around panorama module
Show that also there is normal picture effect on vehicle bottom ground.
Further, the signal of the vehicle body signal condition display module acquisition includes speed signal, turns to modulating signal, side
To disk angular signal, door switch signal, the vehicle bodies signal such as tail-gate switching signal；The vehicle body signal condition display module is used for
It acquires vehicle body signal and is shown in high definition and look around on the vehicle mould image of panorama module, the display includes in following displaying scheme
It is one or more of:
High definition looks around panorama module and shows that vehicle mould image entrance door, tail-gate switch state show vehicle time of day in real time；
High definition looks around panorama module and shows that wheel steering state reflects true wheel steering state on vehicle mould image；
High definition looks around panorama module and shows that vehicle mould image shift lamp state shows real vehicles turn signal state in real time；
High definition looks around panorama module and shows that vehicle wheel rotational speed state reflects true vehicle wheel rotational speed state.
Further, it includes parameter adjusting submodule that the high definition, which looks around panorama module, the parameter adjusting submodule packet
Include the position regulation module of camera, the adjustment module of panorama top view position, the adjustment module of single channel full-screen image position,
Camera lens covered regional scope parameter adjustment module, the reference axis parameter adjustment module of three-dimensional view angle, camera lens and vehicle body
Distance adjustment module, panorama overlook the angle adjustment module of map migration, the angle of camera vertical view vehicle adjusts module, transparency tune
Mould preparation block, brightness adjusting section, setting contrast module, gray scale adjusts module, acutance adjusts module, tone adjusting section, screen
Curtain Aspect Ratio adjustment module, the integration region parameter adjustment module of panorama, four tunnel single channel camera image position adjusting type modules,
Environmental light intensity parameter adjustment module, diffusion light intensity parameter adjustment module, mirror surface light intensity parameter adjustment module, Shadow Parameters adjust mould
One or more of block, dynamic trajectory rear camera swing angle parameter adjustment module.
It further, further include the setting of body color, vehicle body transparency and license plate number.
Further, described control unit further includes blind area monitoring modular, and the blind area monitoring modular is based on removing forward sight
Except visual sensor capture image monitoring Driver Vision blind area vehicle, extract vehicle characteristics with the method for image procossing
It realizes vehicle detection, then uses tracking tracing detection as a result, filtering the object that should not be alarmed according to alarm rule, realize essence
True blind area monitoring.
Such as: front vehicle is monitored based on three road fish-eye cameras behind left and right, vehicle is extracted using the method for image procossing
Feature realizes vehicle detection, then uses tracking tracing detection as a result, filtering the object that should not be alarmed according to alarm rule, then
Alarming result is issued according to alarm priority, reminds driver to whether there is hazardous vehicles, avoids traffic accident.
Further, the blind area monitoring modular further includes environmental light intensity sensor, and the blind area monitoring modular is divided into white
Day mode, night mode and owl-light mode, day mode, night mode and owl-light mode are received by environmental light intensity sensor
Light intensity signal automatically switch, automatically switch logic synthesis visual sensor capture image, the big modulating signal of vehicle body and environmental light intensity
One or more of sensor is as the environmental light intensity around input detection vehicle body.
Such as: on daytime, night environmental difference is larger, selected that vehicle characteristics are different, so blind area monitoring system point
For two modes of day and night.Blind area monitors system and mode is supported to automatically switch, and switch logic is using three road camera figures
Picture, the big modulating signal of vehicle body (optional), light sensor are (optional) strong as input detection vehicle body surrounding environment light, and then switch blind
The mode of area's monitoring system.
Further, the blind area monitoring modular monitors vehicle side rear blind area area by three tunnel visual sensors behind left and right
Domain, when there is vehicle to enter this region, blind area monitoring modular gives the vehicle into this region with separator, and tracks respectively
Marked vehicle；When labeled vehicle meets following condition, blind area monitoring modular can trigger level-one alarm:
A vehicle is located in blind zone；
B track marked vehicle and the relative distance of vehicle itself extend at any time successively decreases or tracks marked vehicle and vehicle certainly
The relative velocity of body is greater than 0；
The travel speed of C vehicle itself is greater than blind area and monitors vehicle minimum speed threshold value, and the blind area monitoring vehicle is minimum
Threshold speed is 30 meter per seconds；
When labeled vehicle meets following condition, blind area monitoring modular can trigger secondary alarm:
A vehicle is located in blind zone；
B track marked vehicle and the relative distance of vehicle itself extend at any time successively decreases or tracks marked vehicle and vehicle certainly
The relative velocity of body is greater than 0；
The travel speed of c vehicle itself is greater than blind area and monitors vehicle minimum speed threshold value, and the blind area monitoring vehicle is minimum
Threshold speed is 30 meter per seconds；
D has tracking marked vehicle when blind zone, and vehicle program draws the directional steering to track marked vehicle.
Preferably, the width of the blind zone is about 2-4 meters wide, and length is about 20 meters (apart from rearview camera) long.Blind area
When monitoring modular detects track marked vehicle, it is blind that the reception echo judgement of image combination sonic sensor is captured by visual sensor
Distance of the vehicle with respect to vehicle body and position in region, when track marked vehicle and the relative distance of vehicle body are in 3~20 meters of models
When enclosing interior, the relative position information of tracking marked vehicle is obtained using visual sensor capture image；When tracking marked vehicle with
When the relative distance of vehicle body is less than 3 meters, using visual sensor capture image and sonic sensor reception signal fused or directly
The relative position information of signal acquisition track marked vehicle is received using sonic sensor.
Further, the blind area monitoring modular when the vehicle is turning, no matter the position in vehicle lane, if tracking
In blind zone, blind area monitoring modular will call the police marked vehicle；If tracking marked vehicle not in blind zone, even if
Adjacent lane, blind area monitoring modular are not also alarmed.Blind area monitoring modular triggers different alarm modes according to the response of user, keeps away
Exempt from collision occur during lane changing, when driver, which opens turn signal, prepares lane change, detects and prepare lane change side
When to tracking marked vehicle, system improving lane change grade.
Further, described control unit further includes enabling warning module, and the enabling warning module except preceding road by regarding
Feel that the visual sensor except sensor captures image monitoring vehicle side rear blind zone, motive objects when in this blind zone
Body is detected and is tracked, the mobile response for the mobile object that comprehensive vehicle detects and unlatching or the pass of vehicle itself car door
Closed state responds to trigger enabling early warning, and the enabling early warning is divided into three grades:
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive
Enabling warning module can trigger level-one alarm when meeting following condition:
A vehicle itself is dead ship condition；
B vehicle left blind zone and/or right wing blind zone do not detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is not detected is in the open state；
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive
Enabling warning module can trigger secondary alarm when meeting following condition:
A vehicle itself is dead ship condition；
B vehicle left blind zone and/or right wing blind zone detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is detected is in close state；
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive
Enabling warning module can trigger three-level alarm when meeting following condition:
A vehicle itself is halted state；
B vehicle left blind zone and/or right wing blind zone detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is detected is in the open state.
Further, when the vehicle left blind zone detects mobile object, and the car door of the vehicle right side is beaten
When opening, the two-stage triggering early-warning conditions of enabling early warning are not belonging to, do not will call the police.
Further, when vehicle triggered second level enabling early-warning conditions, and after triggering second level enabling early-warning conditions
Enabling hysteresis threshold time range internal trigger secondary alarm condition c it is same by vehicle and the blind zone that detects mobile object
The car door of side is in close state when being converted to open state, and the second level open alarm triggered is converted to three-level open alarm.
Preferably, the enabling hysteresis threshold time range is 1 second~3 seconds.As a preferred embodiment, the enabling lag
Threshold time is 1.6 seconds.
When dead ship condition is by opening car door, monitoring rear of vehicle may injure safe the enabling warning module
Situation, and given and alarmed by sound or optical mode, to avoid the safety accident that may occur.The detection of enabling early warning system
Object include the non power driven vehicles such as bicycle, battery truck, tricycle, motorcycle, the motor vehicles such as truck, car, bus, row
The object that the possibility of people and other movements endangers safe traffic.
Further, described control unit further includes enabling prewarning unit, and the enabling prewarning unit is in dead ship condition
When by opening car door, monitoring rear of vehicle may injure safe situation, and given and alarmed by sound or optical mode, from
And avoid the safety accident that may occur.The object of enabling early warning system detection includes bicycle, battery truck, tricycle, motor
Pair that the possibility of the non power driven vehicles such as vehicle, the motor vehicles such as truck, car, bus, pedestrian and other movements endangers safe traffic
As.
System assists user to moor vehicle into parking stall according to the selected parking stall of user.As a kind of electronic system, panorama
Parking assisting system can assist driver preferably vehicle is moored into parking stall.SPA parking system needs user's in parking process, root
It being prompted according to HMI, hand engaging gear, manual steering wheel rotation, user touches on the brake pedal, during completing to park, the turning of vehicle,
Traveling and braking.
Further, described control unit further includes that panorama is parked supplementary module, and panorama supplementary module of parking includes parking stall
Identification module, parking stall mark module, parking path planning module, the dynamic trajectory wire module and parking of parking are completed in detection module
One or more；
The parking stall identification module includes horizontal parking stall identification module, vertical parking stall identification module and diagonal parking stall identification mould
The parking stall type of block, the parking stall identification module identification has horizontal, vertical and three kinds of parking stalls of diagonal；
The parking stall mark module includes that display box is reinforced on the free parking space label parking stall that will identify that, and is shown in
It is selected on human-computer interaction interface for operator；
The parking path planning module determines the position of free parking space and the position of vehicle itself and then according to pool
Bus or train route diameter algorithmic rule parking path；
The dynamic trajectory wire module of parking is looked around in panorama module interfaces for the high definition in human-computer interaction interface to be shown
The trajectory line of assisting vehicle travel, high definition look around the direction of the dynamic trajectory rear camera shown in panorama module interfaces according to when vehicle side
It changes to the corner of disk.High definition looks around panorama module and integrates dynamic trajectory rear camera functions of modules, looks around panorama module in high definition
Wheel trochoid is drawn before and after the vehicle mould of display, by acquiring steering wheel angle data in real time, trajectory line angle is with steering wheel angle
Degree changes and swings in real time, accurate that vehicle actual travel track is presented.
Further, panorama supplementary module of parking further includes supplementary module of parking of putting into gear, the auxiliary of parking of putting into gear
Module includes that supplementary module is parked and the R grades of ways of escape are parked supplementary module in the road D Dang Qian, and D Dang Qian supplementary module of parking on road is used for
When vehicle hangs D gear, vehicle is given with the auxiliary line of front parking route；The R grades of way of escape parks supplementary module in vehicle
Hang R gear when, give vehicle with the auxiliary line of rear parking route.
As described above, of the invention has the advantages that
First, setting high definition looks around panorama module and its each function sub-modules gives user and assists driving and assist
It parks with good experience.Second, blind area monitoring modular and its each function sub-modules are set, are solved under client's driving status
Blind area monitoring problem.Enabling warning module is arranged in third, and blind area monitoring and alarm are asked when solving client's dead ship condition downward swing door
Topic.4th, setting panorama is parked supplementary module, passes through parking stall selection, path planning, dynamic trajectory rear camera prompt, active control
Braking or prompt braking realize that panorama is parked auxiliary.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as panorama of the invention and parks the flow chart of parking of supplementary module.
Fig. 2 is shown as the early warning flow chart of enabling warning module of the present invention.
Fig. 3 is shown as the alarm flow figure of blind area monitoring modular of the present invention.
Fig. 4 is shown as hardware structural diagram of the present invention.
Fig. 5 is shown as the submodule schematic diagram that high definition of the present invention looks around panorama module.
Fig. 6 is shown as the schematic diagram of view angle switch submodule of the present invention.
Fig. 7 is shown as the pattern diagram of blind area monitoring modular of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only
Convenient for being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in no essence
It changes under technology contents, when being also considered as the enforceable scope of the present invention.
Referring to FIG. 1 to FIG. 7, full visual field camera engine control system, including sensor unit, control unit and man-machine friendship
Mutual interface；
The sensor unit includes at least one visual sensor and at least one sonic sensor；
Described control unit includes that high definition looks around panorama module, and it includes image mosaic submodule that the high definition, which looks around panorama module,
Block, image co-registration submodule, brightness of image color balance adjustment submodule, view angle switch submodule, ultrasonic obstacle object are shown
One in submodule, distortion correction submodule, dynamic trajectory wire module, the transparent module of vehicle body and vehicle body signal condition display module
Kind is several；The high definition looks around panorama module to be had for visual sensor to be captured image one width of synthesis by image procossing
The panoramic picture of the reflection vehicle body ambient conditions at unified visual angle.
As a preferred embodiment, the visual sensor is front, rear, left and right four-way CCD camera；The sonic sensor is
Four road ultrasonic radar of four road ultrasonic radar of front and rear.
As a preferred embodiment, described image splicing submodule is caught using nominal data splicing all directions visual sensor
Image is obtained, described image splices submodule when splicing visual sensor capture image, according to the aobvious of vehicle man machine's interactive interface
Show visual angle to determine the angle of splicing seam of the adjacent visual sensor capture image under panorama module.For example, working as sensor
The visual sensor of unit is four tunnels: preceding road, the way of escape, left, right wing；When the display view angle of vehicle man machine's interactive interface is forward sight
Or when backsight, image mosaic submodule captures less than 45 degree angles of seam of image mosaic from four tunnel visual sensors；As vehicle people
The display view angle of machine interactive interface is left view or right apparent time, and image mosaic submodule is spelled from four tunnel visual sensors capture image
The seam connect is greater than 45 degree of angles, this side that Panorama Mosaic seam is adjusted according to the display view angle of vehicle man machine's interactive interface
Formula can reduce the error that single channel visual angle human-computer interaction interface is shown, improves user experience, keeps splicing regions seamless, described
The splicing dislocation of image mosaic submodule is less than 5cm, and splicing regions are formed using adjacent camera image co-registration, excessively naturally,
Without obvious splicing line.
As a preferred embodiment, described image merges submodule, when image mosaic submodule splices adjacent two-way vision
When sensor captures image, adjacent two-way visual sensor capture image there are overlay region, the image co-registration of overlay region according to
It is determined positioned at the distance apart from overlay region middle line of position and the coordinate points of the coordinate points relative superposition area middle line of overlay region
The coordinate points distribute the pixel transparent degree weight of two capture images.
As a preferred embodiment, described image lightness colors balance adjustment submodule, for adjusting visual sensor capture
The brightness of panoramic picture synthesized by image is to adapt to the environment of vehicle interior, described image lightness colors balance adjustment submodule
By real-time monitoring image color and luminance information, dynamic regulation is carried out to brightness of image, color, so that entire picture brightness color
Coloured silk keeps nature unified.When solving the fusion of traditional 3D rendering, because of four-way CCD camera installation site, angle, local environment is different
Etc. factors, camera institute's acquired image is the problem of stitching position has different brightness and color.
As a preferred embodiment, the ultrasonic obstacle object display sub-module is used to detect the barrier of vehicle periphery, control
Unit processed calculates the distance of obstacle distance vehicle, ultrasonic wave barrier by the transmitted wave of sonic sensor and the time difference of received wave
The distance range for the obstacle distance vehicle for hindering object display sub-module to detect distinguishes the prompt of the barrier on panoramic picture
Grade and mark color.
Such as: when the distance of obstacle distance vehicle is less than 30 millimeters, ultrasonic obstacle object display sub-module is being looked around
It prompts to mark the barrier with level-one on panoramic picture；When the distance of obstacle distance vehicle is greater than 30 millimeters less than 50 millimeters
When, ultrasonic obstacle object display sub-module prompts to mark the barrier with second level on looking around panoramic picture；Work as obstacle distance
When the distance of vehicle is greater than 50 millimeters less than 70 millimeters, ultrasonic obstacle object display sub-module is on looking around panoramic picture with three-level
Prompt marks the barrier；When the distance of obstacle distance vehicle is greater than 70 millimeters, ultrasonic obstacle object display sub-module is sentenced
The fixed obstacle distance farther out, does not prompt to mark the barrier.
As a preferred embodiment, the view angle switch submodule includes interior to visual angle module, export-oriented visual angle module, three-dimensional view
Angle adjusts one or more of module and blind area visual angle module:
It is described it is interior to visual angle module include it is interior to visual angle lookahead module, it is interior to visual angle backsight module, it is interior to visual angle left view mould
Block interior depending on module and interior looks around switching submodule to visual angle to visual angle is right；
The extroversion visual angle module includes export-oriented visual angle lookahead module, export-oriented visual angle backsight module, export-oriented visual angle left view mould
Switching submodule is looked around at block, the right view module in export-oriented visual angle and extroversion visual angle；
The three-dimensional view angle adjustment module is for adjusting vehicle at the visual angle that human-computer interaction interface is shown；
Blind area visual angle module includes forward sight left side perspective module, forward sight right side perspective module, forward sight two sides visual angle mould
Block, backsight left side perspective module, backsight right side perspective module, backsight two sides visual angle module.
As a preferred embodiment, the distortion correction submodule retains vision for correcting visual sensor capture image
Eliminate the distortion effect of visual sensor capture image while sensor wide-angle image information to a certain extent again.
Further, the dynamic trajectory wire module is used to look around panorama module interfaces in the high definition of human-computer interaction interface
Show the trajectory line of assisting vehicle travel, high definition looks around the direction of the dynamic trajectory rear camera shown in panorama module interfaces according to working as vehicle
The corner of steering wheel changes.High definition looks around panorama module and integrates dynamic trajectory rear camera functions of modules, looks around panorama in high definition
Wheel trochoid is drawn before and after the vehicle mould that module is shown, by acquiring steering wheel angle data in real time, trajectory line angle is with direction
Disk angle change and swing in real time, it is accurate that vehicle actual travel track is presented.
Such as: when steering wheel for vehicle keeps vertical, high definition looks around the dynamic trajectory rear camera shown in panorama module interfaces and is
The preceding apparent direction of vehicle；When steering wheel for vehicle tilts to the left, high definition looks around the dynamic trajectory shown in panorama module interfaces
Line is trajectory line bending to the left；When steering wheel for vehicle tilts to the right, high definition look around shown in panorama module interfaces it is dynamic
State trajectory line is trajectory line bending to the right；The bending radius of the trajectory line and the center of circle are determined according to steering wheel for vehicle corner.
As a preferred embodiment, the transparent module of the vehicle body is used in vehicle travel process, and high definition looks around panorama module
In conjunction with body movement information, vehicle front or rear images historical data are filled into vehicle bottom blind zone, high definition looks around panorama
Module shows that also there is normal picture effect on vehicle bottom ground.
As a preferred embodiment, the signal of the vehicle body signal condition display module acquisition includes speed signal, turn signal
Signal, steering wheel angle signal, door switch signal, the vehicle bodies signal such as tail-gate switching signal；The vehicle body signal condition is shown
For module for acquiring vehicle body signal and being shown in the vehicle mould image that high definition looks around panorama module, the display includes following display
One or more of scheme:
High definition looks around panorama module and shows that vehicle mould image entrance door, tail-gate switch state show vehicle time of day in real time；
High definition looks around panorama module and shows that wheel steering state reflects true wheel steering state on vehicle mould image；
High definition looks around panorama module and shows that vehicle mould image shift lamp state shows real vehicles turn signal state in real time；
High definition looks around panorama module and shows that vehicle wheel rotational speed state reflects true vehicle wheel rotational speed state.
As a preferred embodiment, it includes parameter adjusting submodule that the high definition, which looks around panorama module, parameter adjustment
Module include the position regulation module for including camera, the adjustment module of panorama top view position, single channel full-screen image position tune
School module, camera lens covered regional scope parameter adjustment module, the reference axis parameter adjustment module of three-dimensional view angle, camera lens with
The distance adjustment module of vehicle body, panorama overlook the angle adjustment module of map migration, the angle of camera vertical view vehicle adjusts module, thoroughly
Lightness adjusts module, brightness adjusting section, setting contrast module, and gray scale adjusts module, acutance adjusts module, hue adjustment mould
Block, screen aspect ratio adjustment module, the integration region parameter adjustment module of panorama, the adjustment of four tunnel single channel camera image positions
Module, environmental light intensity parameter adjustment module, diffusion light intensity parameter adjustment module, mirror surface light intensity parameter adjustment module, Shadow Parameters
Adjust module, dynamic trajectory rear camera swing angle parameter adjustment module.
It as a preferred embodiment, further include the setting of body color, vehicle body transparency and license plate number.
As a preferred embodiment, described control unit further includes blind area monitoring modular, and the blind area monitoring modular is based on removing
The visual sensor gone except forward sight captures the vehicle of image monitoring Driver Vision blind area, extracts vehicle with the method for image procossing
Feature realizes vehicle detection, then uses tracking tracing detection as a result, filtering the object that should not be alarmed according to alarm rule,
Realize accurate blind area monitoring.
Such as: front vehicle is monitored based on three road fish-eye cameras behind left and right, vehicle is extracted using the method for image procossing
Feature realizes vehicle detection, then uses tracking tracing detection as a result, filtering the object that should not be alarmed according to alarm rule, then
Alarming result is issued according to alarm priority, reminds driver to whether there is hazardous vehicles, avoids traffic accident.
As a preferred embodiment, the blind area monitoring modular further includes environmental light intensity sensor, the blind area monitoring modular
It is divided into day mode, night mode and owl-light mode, day mode, night mode and owl-light mode pass through environmental light intensity sensor
The light intensity signal received automatically switches, and automatically switches logic synthesis visual sensor capture image, the big modulating signal of vehicle body and ring
One or more of border light intensity sensor is as the environmental light intensity around input detection vehicle body.
Such as: on daytime, night environmental difference is larger, selected that vehicle characteristics are different, so blind area monitoring system point
For two modes of day and night.Blind area monitors system and mode is supported to automatically switch, and switch logic is using three road camera figures
Picture, the big modulating signal of vehicle body (optional), light sensor are (optional) strong as input detection vehicle body surrounding environment light, and then switch blind
The mode of area's monitoring system.
As a preferred embodiment, the blind area monitoring modular monitors vehicle side rear by three tunnel visual sensors behind left and right
Blind zone, when there is vehicle to enter this region, blind area monitoring modular gives the vehicle into this region with separator, and point
It Zhui Zong not marked vehicle；When labeled vehicle meets following condition, blind area monitoring modular can trigger level-one alarm:
A vehicle is located in blind zone；
B track marked vehicle and the relative distance of vehicle itself extend at any time successively decreases or tracks marked vehicle and vehicle certainly
The relative velocity of body is greater than 0；
The travel speed of C vehicle itself is greater than blind area and monitors vehicle minimum speed threshold value, and the blind area monitoring vehicle is minimum
Threshold speed is 30 meter per seconds；
When labeled vehicle meets following condition, blind area monitoring modular can trigger secondary alarm:
A vehicle is located in blind zone；
B track marked vehicle and the relative distance of vehicle itself extend at any time successively decreases or tracks marked vehicle and vehicle certainly
The relative velocity of body is greater than 0；
The travel speed of c vehicle itself is greater than blind area and monitors vehicle minimum speed threshold value, and the blind area monitoring vehicle is minimum
Threshold speed is 30 meter per seconds；
D has tracking marked vehicle when blind zone, and vehicle program draws the directional steering to track marked vehicle.
Preferably, the width of the blind zone is about 2-4 meters wide, and length is about 20 meters (apart from rearview camera) long.Blind area
When monitoring modular detects track marked vehicle, it is blind that the reception echo judgement of image combination sonic sensor is captured by visual sensor
Distance of the vehicle with respect to vehicle body and position in region, when track marked vehicle and the relative distance of vehicle body are in 3~20 meters of models
When enclosing interior, the relative position information of tracking marked vehicle is obtained using visual sensor capture image；When tracking marked vehicle with
When the relative distance of vehicle body is less than 3 meters, using visual sensor capture image and sonic sensor reception signal fused or directly
The relative position information of signal acquisition track marked vehicle is received using sonic sensor.
As a preferred embodiment, the blind area monitoring modular when the vehicle is turning, no matter the position in vehicle lane,
If tracking marked vehicle in blind zone, blind area monitoring modular be will call the police；If tracking marked vehicle not in blind zone,
Even if blind area monitoring modular is not also alarmed in adjacent lane.Blind area monitoring modular triggers different alarms according to the response of user
Mode avoids collision occur during lane changing, when driver, which opens turn signal, prepares lane change, is promoted to second level
Alarm.
As a preferred embodiment, described control unit further includes enabling warning module, and the enabling warning module is by removing
Visual sensor except preceding road visual sensor captures image monitoring vehicle side rear blind zone, when in this blind zone
Mobile object is detected and is tracked, the mobile response of mobile object and opening for vehicle itself car door that comprehensive vehicle detects
It opens or closed state response is to trigger enabling early warning, the enabling early warning is divided into three grades:
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive
Enabling warning module can trigger level-one alarm when meeting following condition:
A vehicle itself is dead ship condition；
B vehicle left blind zone and/or right wing blind zone do not detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is not detected is in the open state；
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive
Enabling warning module can trigger secondary alarm when meeting following condition:
A vehicle itself is dead ship condition；
B vehicle left blind zone and/or right wing blind zone detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is detected is in close state；
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive
Enabling warning module can trigger three-level alarm when meeting following condition:
A vehicle itself is halted state；
B vehicle left blind zone and/or right wing blind zone detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is detected is in the open state.
As a preferred embodiment, when the vehicle left blind zone detects mobile object, and the vehicle right side
When car door opening, the two-stage triggering early-warning conditions of enabling early warning are not belonging to, do not will call the police.
As a preferred embodiment, when vehicle triggered second level enabling early-warning conditions, and in triggering second level enabling early warning item
The condition c of enabling hysteresis threshold time range internal trigger secondary alarm after part is by vehicle and the blind area for detecting mobile object
The ipsilateral car door in region is in close state when being converted to open state, and the second level open alarm triggered is converted to three-level enabling
Alarm.
Preferably, the enabling hysteresis threshold time range is 1 second~3 seconds.As a preferred embodiment, the enabling lag
Threshold time is 1.6 seconds.
As a preferred embodiment, the enabling warning module monitors rear of vehicle when dead ship condition is by opening car door
Safe situation may be injured, and is given and is alarmed by sound or optical mode, to avoid the safety accident that may occur.
The object of enabling early warning system detection includes the non power driven vehicles such as bicycle, battery truck, tricycle, motorcycle, truck, car,
The object that the possibility of the motor vehicles such as bus, pedestrian and other movements endangers safe traffic.
As a preferred embodiment, described control unit further includes enabling prewarning unit, and the enabling prewarning unit is stopped
When state is by opening car door, monitoring rear of vehicle may injure safe situation, and be given by sound or optical mode
Alarm, to avoid the safety accident that may occur.The object of enabling early warning system detection includes bicycle, battery truck, three-wheel
The possibility of the non power driven vehicles such as vehicle, motorcycle, the motor vehicles such as truck, car, bus, pedestrian and other movements jeopardizes traffic peace
Full object.
System assists user to moor vehicle into parking stall according to the selected parking stall of user.As a kind of electronic system, panorama
Parking assisting system can assist driver preferably vehicle is moored into parking stall.SPA parking system needs user's in parking process, root
It being prompted according to HMI, hand engaging gear, manual steering wheel rotation, user touches on the brake pedal, during completing to park, the turning of vehicle,
Traveling and braking.
As a preferred embodiment, panorama supplementary module of parking includes parking stall identification module, parking stall mark module, parks
Path planning module parks and dynamic trajectory wire module and parks and complete one or more of detection module；
The parking stall identification module includes horizontal parking stall identification module, vertical parking stall identification module and diagonal parking stall identification mould
The parking stall type of block, the parking stall identification module identification has horizontal, vertical and three kinds of parking stalls of diagonal；
The parking stall mark module includes that display box is reinforced on the free parking space label parking stall that will identify that, and is shown in
It is selected on human-computer interaction interface for operator；
The parking path planning module determines the position of free parking space and the position of vehicle itself and then according to pool
Bus or train route diameter algorithmic rule parking path；
The dynamic trajectory wire module of parking is looked around in panorama module interfaces for the high definition in human-computer interaction interface to be shown
The trajectory line of assisting vehicle travel, high definition look around the direction of the dynamic trajectory rear camera shown in panorama module interfaces according to when vehicle side
It changes to the corner of disk.High definition looks around panorama module and integrates dynamic trajectory rear camera functions of modules, looks around panorama module in high definition
Wheel trochoid is drawn before and after the vehicle mould of display, by acquiring steering wheel angle data in real time, trajectory line angle is with steering wheel angle
Degree changes and swings in real time, accurate that vehicle actual travel track is presented.
As a preferred embodiment, panorama supplementary module of parking further includes supplementary module of parking of putting into gear, the pool of putting into gear
Vehicle supplementary module includes that supplementary module is parked and the R grades of ways of escape are parked supplementary module in the road D Dang Qian, and the D Dang Qian, which parks on road, assists mould
Block is used to give vehicle when vehicle hangs D gear with the auxiliary line of front parking route；The R grades of way of escape park supplementary module use
In when vehicle hangs R gear, vehicle is given with the auxiliary line of rear parking route.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (9)
1. full visual field camera engine control system, which is characterized in that including sensor unit, control unit and human-computer interaction circle
Face；
The sensor unit includes at least one visual sensor and at least one sonic sensor；
Described control unit includes that high definition looks around panorama module, the high definition look around panorama module include image mosaic submodule,
Image co-registration submodule, brightness of image color balance adjustment submodule, view angle switch submodule, ultrasonic obstacle object show submodule
One of block, distortion correction submodule, dynamic trajectory wire module, the transparent module of vehicle body and vehicle body signal condition display module or
It is several；The high definition look around panorama module for by image procossing by visual sensor capture image synthesize a width have unification
The panoramic picture of the reflection vehicle body ambient conditions at visual angle.
2. full visual field camera engine control system according to claim 1, which is characterized in that the visual sensor is
Front, rear, left and right four-way CCD camera；The sonic sensor is four road ultrasonic radar of four road ultrasonic radar of front and rear.
3. full visual field camera engine control system according to claim 2, which is characterized in that the vehicle body signal condition
The signal of display module acquisition includes speed signal, steering modulating signal, steering wheel angle signal, door switch signal, and tail-gate is opened
The vehicle bodies signal such as OFF signal；The vehicle body signal condition display module looks around panorama for acquiring vehicle body signal and being shown in high definition
On the vehicle mould image of module, the display includes one or more of following displaying scheme:
High definition looks around panorama module and shows that vehicle mould image entrance door, tail-gate switch state show vehicle time of day in real time；
High definition looks around panorama module and shows that wheel steering state reflects true wheel steering state on vehicle mould image；
High definition looks around panorama module and shows that vehicle mould image shift lamp state shows real vehicles turn signal state in real time；
High definition looks around panorama module and shows that vehicle wheel rotational speed state reflects true vehicle wheel rotational speed state.
4. full visual field camera engine control system according to claim 3, which is characterized in that the high definition looks around panorama
Module includes parameter adjusting submodule, and the parameter adjusting submodule includes the position regulation module for including camera, panorama vertical view
The adjustment module of figure position, the adjustment module of single channel full-screen image position, the covered regional scope parameter of camera lens institute adjust mould
Block, the reference axis parameter adjustment module of three-dimensional view angle, camera lens adjust module at a distance from vehicle body, panorama overlooks the angle of map migration
Adjust module, camera overlooks the angle adjustment module of vehicle, transparency adjustment module, brightness adjusting section, setting contrast mould
Block, gray scale adjust the integration region that module, acutance adjustment module, tone adjusting section, screen aspect ratio adjust module, panorama
Parameter adjustment module, four tunnel single channel camera image position adjusting type modules, environmental light intensity parameter adjustment module, diffusion light intensity parameter
It adjusts module, mirror surface light intensity parameter adjustment module, Shadow Parameters and adjusts module, dynamic trajectory rear camera swing angle parameter adjustment module
One or more of.
5. full visual field camera engine control system according to claim 4, which is characterized in that described control unit is also wrapped
Blind area monitoring modular is included, the blind area monitoring modular captures image monitoring driver based on the visual sensor removed except forward sight
The vehicle of vision dead zone extracts vehicle characteristics with the method for image procossing and realizes vehicle detection, then using tracking tracking inspection
It surveys as a result, filtering the object that should not be alarmed according to alarm rule；The blind area monitoring modular further includes environmental light intensity sensor, institute
It states blind area monitoring modular and is divided into day mode, night mode and owl-light mode, day mode, night mode and owl-light mode pass through
The light intensity signal that environmental light intensity sensor receives automatically switches, and automatically switches logic synthesis visual sensor and captures image, vehicle
One or more of the big modulating signal of body and environmental light intensity sensor are as the environmental light intensity around input detection vehicle body.
6. full visual field camera engine control system according to claim 5, which is characterized in that the blind area monitoring modular
When detecting track marked vehicle, image combination sonic sensor is captured by visual sensor and is received in echo judgement blind zone
Distance of the vehicle with respect to vehicle body and position adopted when track marked vehicle and the relative distance of vehicle body are within the scope of 3~20 meters
The relative position information of tracking marked vehicle is obtained with visual sensor capture image；When tracking marked vehicle and vehicle body it is opposite
When distance is less than 3 meters, image is captured using visual sensor and sonic sensor receives signal fused or directlys adopt sound wave and passes
The relative position information of sensor reception signal acquisition track marked vehicle.
7. full visual field camera engine control system according to claim 6, which is characterized in that described control unit is also wrapped
Enabling warning module is included, the enabling warning module captures image by the visual sensor in addition to preceding road visual sensor and supervises
Vehicle side rear blind zone is surveyed, mobile object is detected and tracked when in this blind zone, what comprehensive vehicle detected
The mobile response of mobile object and vehicle itself car door open or close condition responsive to trigger enabling early warning, the enabling
Early warning is divided into three grades:
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive meet
Enabling warning module can trigger level-one alarm when following condition:
A vehicle itself is dead ship condition；
B vehicle left blind zone and/or right wing blind zone do not detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is not detected is in the open state；
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive meet
Enabling warning module can trigger secondary alarm when following condition:
A vehicle itself is dead ship condition；
B vehicle left blind zone and/or right wing blind zone detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is detected is in close state；
When vehicle detection to mobile object mobile response and vehicle itself car door open or close condition responsive meet
Enabling warning module can trigger three-level alarm when following condition:
A vehicle itself is halted state；
B vehicle left blind zone and/or right wing blind zone detect mobile object；
The c vehicle car door ipsilateral with the blind zone of mobile object is detected is in the open state.
8. full visual field camera engine control system according to claim 7, which is characterized in that when the vehicle left is blind
Region detects mobile object, and when the car door opening of the vehicle right side, it is not belonging to the two-stage triggering early warning of enabling early warning
Condition not will call the police；When vehicle triggered second level enabling early-warning conditions, and opening after triggering second level enabling early-warning conditions
The condition c of door hysteresis threshold time range internal trigger secondary alarm is by vehicle and detects that the blind zone of mobile object is ipsilateral
Car door is in close state when being converted to open state, and the second level open alarm triggered is converted to three-level open alarm；It is described
Enabling hysteresis threshold time range is 1 second~3 seconds.
9. full visual field camera engine control system according to claim 8, which is characterized in that described control unit is also wrapped
It includes panorama to park supplementary module, panorama supplementary module of parking includes parking stall identification module, parking stall mark module, parking path planning
Module parks and dynamic trajectory wire module and parks and complete one or more of detection module；
The parking stall identification module includes horizontal parking stall identification module, vertical parking stall identification module and diagonal parking stall identification module,
The parking stall type of the parking stall identification module identification has horizontal, vertical and three kinds of parking stalls of diagonal；
The parking stall mark module includes that display box is reinforced on the free parking space label parking stall that will identify that, and is shown in man-machine
It is selected on interactive interface for operator；
The parking path planning module determines the position of free parking space and the position of vehicle itself and then according to road of parking
Diameter algorithmic rule parking path；
The dynamic trajectory wire module of parking is looked around in panorama module interfaces for the high definition in human-computer interaction interface shows auxiliary
The trajectory line of vehicle driving, high definition look around the direction of the dynamic trajectory rear camera shown in panorama module interfaces according to working as steering wheel for vehicle
Corner change.High definition looks around panorama module and integrates dynamic trajectory rear camera functions of modules, looks around panorama module in high definition and shows
Vehicle mould before and after draw wheel trochoid, by acquiring steering wheel angle data in real time, trajectory line angle becomes with steering wheel angle
Change and swings in real time, it is accurate that vehicle actual travel track is presented.
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