CN109552315B - Full-view camera host control system - Google Patents
Full-view camera host control system Download PDFInfo
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- CN109552315B CN109552315B CN201710883084.1A CN201710883084A CN109552315B CN 109552315 B CN109552315 B CN 109552315B CN 201710883084 A CN201710883084 A CN 201710883084A CN 109552315 B CN109552315 B CN 109552315B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- 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
Abstract
The invention provides a full-view camera host control system which comprises a sensor unit, a control unit and a human-computer interaction interface, wherein a high-definition panoramic module and all functional sub-modules thereof are arranged to provide high-quality experience for driving assistance and parking assistance for users, a blind area monitoring module and all sub-modules thereof are arranged to solve the problem of blind area monitoring in the driving state of the clients, a door opening early warning module is arranged to solve the problems of blind area monitoring and alarming when the doors are opened in the parking state of the clients, and a panoramic parking assistance module is arranged to realize panoramic parking assistance through parking space selection, path planning, dynamic trajectory line prompting, active control braking or prompting braking.
Description
Technical Field
The invention relates to the ADAS field, in particular to a full-view camera host control system.
Background
The increase of the automobile holding amount promotes the development of large-scale parking lots, and since the twenty-first century, the large-scale parking lots are more and more, and the scale of the parking lots is gradually enlarged, so that a series of parking and vehicle taking problems are brought, and the problem becomes a social problem commonly faced by each large and medium-sized city in the world.
First, in the increasingly-increasing number of smart driving vehicles in urban vehicles, a system for driving and parking in a look-around aided manner is used in more and more vehicle types. Most functions of an Advanced Driver assistance system (Advanced Driver assistance system) are currently under development.
Disclosure of Invention
In order to solve the above and other potential technical problems, the present invention provides a full-view camera host control system, which first of all, provides a high-definition panoramic module and its functional sub-modules to provide users with a good experience for driving assistance and parking assistance. And secondly, a blind area monitoring module and each function sub-module thereof are arranged, so that the problem of blind area monitoring in the driving state of the client is solved. And thirdly, a door opening early warning module is arranged, so that the problems of blind area monitoring and alarming when a user opens a door in a parking state are solved. And fourthly, arranging a panoramic parking auxiliary module, and realizing panoramic parking assistance through parking space selection, path planning, dynamic trajectory line prompting, active control braking or braking prompting.
Full field of vision camera host control system includes:
the sensor unit comprises at least one visual sensor and at least one acoustic wave sensor;
the control unit comprises a high-definition all-round-looking panoramic module, and the high-definition all-round-looking panoramic module comprises one or more of an image splicing sub-module, an image fusion sub-module, an image brightness and color balance adjusting sub-module, a visual angle switching sub-module, an ultrasonic obstacle display sub-module, a distortion correction sub-module, a dynamic trajectory line module, a vehicle body transparent module and a vehicle body signal state display module; the high-definition all-round-looking panoramic module is used for synthesizing the images captured by the vision sensor into a panoramic image which has a uniform visual angle and reflects the surrounding situation of the vehicle body through image processing.
Furthermore, the vision sensor is a front camera, a rear camera, a left camera and a right camera; the acoustic sensor is a front four-way ultrasonic radar and a rear four-way ultrasonic radar.
Furthermore, the image splicing sub-module splices the images captured by the vision sensors in all directions by using the calibration data, and when the images captured by the vision sensors are spliced, the image splicing sub-module determines the angle of a splicing seam of the images captured by the adjacent vision sensors under the panoramic module according to the display visual angle of the man-machine interaction interface of the vehicle. For example, when the vision sensor of the sensor unit is four-way: front, back, left, right; when the display visual angle of the vehicle human-computer interaction interface is forward view or backward view, the image splicing sub-module captures an angle smaller than 45 degrees from a seam of image splicing of the four vision sensors; when the demonstration visual angle of vehicle man-machine interface looked for left side or the right side, the seam that the image concatenation submodule caught the image concatenation from four ways vision sensor is greater than 45 degrees angles, this kind of mode according to vehicle man-machine interface's demonstration visual angle adjustment panoramic image concatenation seam can reduce the error that single way visual angle man-machine interface shows, improves user experience, makes the splice area seamless, the concatenation dislocation of image concatenation submodule is less than 5cm, and the splice area adopts adjacent camera image fusion to form, and is excessive natural, no obvious concatenation line.
Further, when the image splicing submodule splices two adjacent visual sensors to capture images, the two adjacent visual sensors capture images and have an overlapping area, and image fusion of the overlapping area determines that a coordinate point distributes pixel transparency weights of the two captured images according to the position of the coordinate point in the overlapping area relative to the center line of the overlapping area and the distance between the coordinate point and the center line of the overlapping area.
Further, the image brightness and color balance adjusting submodule is used for adjusting the brightness of a panoramic image synthesized by images captured by the vision sensor to adapt to the environment inside the vehicle, and the image brightness and color balance adjusting submodule dynamically adjusts the brightness and the color of the image by monitoring the image color and the brightness information in real time, so that the brightness and the color of the whole picture are kept natural and uniform. The problem of when traditional 3D image fuses, because of factors such as four ways camera mounted position, angle, the environment difference that is located, the image that the camera was gathered has different luminance and colour at the concatenation position is solved.
Furthermore, the ultrasonic obstacle display submodule is used for detecting obstacles around the vehicle, the control unit calculates the distance between the obstacles and the vehicle according to the time difference between the transmitted wave and the received wave of the sound wave sensor, and the ultrasonic obstacle display submodule distinguishes the prompting level and the marking color of the obstacles on the panoramic image according to the distance range between the detected obstacles and the vehicle.
For example: when the distance between the obstacle and the vehicle is less than 30 mm, the ultrasonic obstacle display sub-module marks the obstacle on the panoramic view image in a first-level prompt; when the distance between the obstacle and the vehicle is larger than 30 mm and smaller than 50 mm, the ultrasonic obstacle display sub-module marks the obstacle on the panoramic view image in a secondary prompt mode; when the distance between the obstacle and the vehicle is larger than 50 millimeters and smaller than 70 millimeters, the ultrasonic obstacle display sub-module marks the obstacle on the panoramic view image in three levels of prompts; when the distance between the obstacle and the vehicle is larger than 70 mm, the ultrasonic obstacle display sub-module judges that the obstacle is far away, and does not prompt to mark the obstacle.
Further, the view switching sub-module includes one or more of an inward view module, an outward view module, a three-dimensional view adjustment module, and a blind area view module:
the inward visual angle module comprises an inward visual angle forward-looking module, an inward visual angle backward-looking module, an inward visual angle left-looking module, an inward visual angle right-looking module and an inward visual angle look-around switching sub-module;
the outward visual angle module comprises an outward visual angle front-view module, an outward visual angle rear-view module, an outward visual angle left-view module, an outward visual angle right-view module and an outward visual angle all-round switching sub-module;
the three-dimensional visual angle adjusting module is used for adjusting the visual angle displayed by the vehicle on the human-computer interaction interface;
the blind area visual angle module comprises a front view left side visual angle module, a front view right side visual angle module, a front view two-side visual angle module, a rear view left side visual angle module, a rear view right side visual angle module and a rear view two-side visual angle module.
Furthermore, the distortion correction submodule is used for correcting the image captured by the visual sensor, and the distortion effect of the image captured by the visual sensor is eliminated to a certain extent while wide-angle picture information of the visual sensor is kept.
Further, the dynamic trajectory line module is used for displaying a trajectory line for assisting the vehicle to run on a high-definition panoramic module interface of the human-computer interaction interface, and the direction of the dynamic trajectory line displayed on the high-definition panoramic module interface changes according to the turning angle of the vehicle steering wheel. The high-definition panoramic module integrates a dynamic trajectory line module function, a driving trajectory line is drawn around a vehicle model displayed by the high-definition panoramic module, and the actual driving trajectory of the vehicle is accurately presented by acquiring steering wheel corner data in real time and swinging the trajectory line angle along with the change of the steering wheel angle in real time.
For example: when the vehicle steering wheel is kept vertical, the dynamic trajectory displayed on the high-definition all-round panoramic module interface is the forward looking direction of the vehicle; when the vehicle steering wheel inclines to the left side, the dynamic trajectory displayed on the high-definition panoramic module interface is a trajectory which is bent to the left; when the vehicle steering wheel inclines to the right side, the dynamic trajectory displayed on the high-definition panoramic module interface is a trajectory which is bent rightwards; the bending radius and the circle center of the track line are determined according to the turning angle of the steering wheel of the vehicle.
Furthermore, the vehicle body transparent module is used for combining the vehicle body motion information with the high-definition panoramic module in the running process of the vehicle to fill historical data of images in the front or the rear of the vehicle into a vehicle bottom blind area, and the high-definition panoramic module displays that the vehicle bottom ground also has a normal image effect.
Furthermore, the signals collected by the vehicle body signal state display module comprise vehicle body signals such as a vehicle speed signal, a steering lamp signal, a steering wheel corner signal, a vehicle door opening and closing signal, a tail door opening and closing signal and the like; the vehicle body signal state display module is used for collecting vehicle body signals and displaying the vehicle body signals on a vehicle model image of the high-definition panoramic module, and the display comprises one or more of the following display schemes:
the high-definition panoramic module displays the opening and closing states of the doors on the automobile model image, and the opening and closing states of the tail doors show the real state of the automobile in real time;
the high-definition panoramic module displays the steering state of the wheels on the vehicle model image to reflect the real steering state of the wheels;
the high-definition panoramic module displays the state of the steering lamp of the automobile model image to show the state of the real steering lamp of the automobile in real time;
the high-definition panoramic module displays the wheel rotating speed state to reflect the real wheel rotating speed state.
Further, the high-definition panoramic module comprises a parameter adjusting submodule, wherein the parameter adjusting submodule comprises a camera position adjusting module, a panoramic top view position adjusting module, a single-path full-screen image position adjusting module, a lens-covered area range parameter adjusting module, a three-dimensional visual angle coordinate axis parameter adjusting module, a lens-vehicle body distance adjusting module, a panoramic top view offset angle adjusting module, a camera top view vehicle angle adjusting module, a transparency adjusting module, a brightness adjusting module, a contrast adjusting module, a gray level adjusting module, a sharpness adjusting module, a tone adjusting module, a screen length-width ratio adjusting module, a panoramic fusion area parameter adjusting module, a four-path single-path camera image position adjusting module, an environmental light intensity parameter adjusting module, a diffusion light intensity parameter adjusting module, a three-dimensional visual angle adjusting module, a lens-vehicle body distance adjusting module, a panoramic top view offset angle adjusting module, a camera top view vehicle angle adjusting module, a transparency adjusting module, a brightness adjusting module, a contrast adjusting module, a gray level adjusting module, a four-path single-path camera image position adjusting module, an environmental light intensity parameter adjusting module, a diffusion light intensity adjusting module, a three-level adjusting module, a display module, a, One or more of a mirror surface light intensity parameter adjusting module, a shadow parameter adjusting module and a dynamic trajectory line swing angle parameter adjusting module.
Further, the method also comprises the setting of the color of the vehicle body, the transparency of the vehicle body and the number of the license plate.
Furthermore, the control unit also comprises a blind area monitoring module, the blind area monitoring module captures images based on a vision sensor except for forward vision to monitor vehicles in the driver vision blind area, extracts vehicle characteristics by an image processing method to realize vehicle detection, tracks a detection result by a tracking method, and filters objects which are not required to be alarmed according to an alarm rule to realize accurate blind area monitoring.
For example: monitoring a rear vehicle based on the left, right and rear fisheye cameras, extracting vehicle features by adopting an image processing method to realize vehicle detection, tracking a detection result by adopting a tracking method, filtering objects which are not required to be alarmed according to an alarm rule, and sending an alarm result according to an alarm priority to remind a driver of whether dangerous vehicles exist or not so as to avoid traffic accidents.
Furthermore, the blind area monitoring module also comprises an environment light intensity sensor, the blind area monitoring module is divided into a day mode, a night mode and a half-night mode, the day mode, the night mode and the half-night mode are automatically switched through light intensity signals received by the environment light intensity sensor, and one or more of an image captured by the automatic switching logic comprehensive vision sensor, a vehicle body headlight signal and the environment light intensity sensor are used as input to detect the environment light intensity around the vehicle body.
For example: in the day, the environment difference at night is large, the selected vehicle characteristics are different, so the blind area monitoring system is divided into a day mode and a night mode. The blind area monitoring system supports automatic mode switching, and three paths of camera images, vehicle body headlamp signals (optional) and light sensors (optional) can be used as input by switching logic to detect the light intensity of the surrounding environment of a vehicle body, so that the mode of the blind area monitoring system is switched.
Furthermore, the blind area monitoring module monitors a blind area behind and beside the vehicle through the left and right rear three-way vision sensors, and when the vehicle enters the blind area, the blind area monitoring module gives the vehicle entering the blind area to distinguish the mark and respectively tracks and marks the vehicle; the blind zone monitoring module triggers a primary alarm when the marked vehicle meets the following conditions:
a, the vehicle is positioned in a blind area;
b, tracking the relative distance between the marked vehicle and the vehicle or tracking the relative speed between the marked vehicle and the vehicle greater than 0;
the driving speed of the vehicle is greater than the minimum speed threshold of the blind area monitoring vehicle, and the minimum speed threshold of the blind area monitoring vehicle is 30 m/s;
the blind zone monitoring module triggers a secondary alarm when the marked vehicle meets the following conditions:
a, the vehicle is positioned in a blind area;
b, tracking the relative distance between the marked vehicle and the vehicle or tracking the relative speed between the marked vehicle and the vehicle greater than 0;
c, the running speed of the vehicle is greater than the minimum speed threshold of the blind area monitoring vehicle, and the minimum speed threshold of the blind area monitoring vehicle is 30 m/s;
d when the blind area has the tracking mark vehicle, and the vehicle is planned to turn towards the direction of tracking the mark vehicle in advance.
Preferably, the width of the blind area is about 2-4 meters, and the length is about 20 meters (from the rear-view camera). When the blind area monitoring module detects a longitudinal-tracing marked vehicle, a visual sensor captures an image and an acoustic sensor receives an echo to judge the distance and the position of the vehicle relative to a vehicle body in a blind area, and when the relative distance between the longitudinal-tracing marked vehicle and the vehicle body is within the range of 3-20 m, the visual sensor captures the image to obtain the relative position information of the tracking marked vehicle; when the relative distance between the tracking marking vehicle and the vehicle body is less than 3 meters, the vision sensor is adopted to capture images and the sound wave sensor receives signals to be fused, or the sound wave sensor receives signals to directly obtain the relative position information of the tracking marking vehicle.
Furthermore, when the vehicle turns, the blind area monitoring module gives an alarm if the tracking and marking vehicle is in the blind area, regardless of the position in the vehicle lane; if the tracking and marking vehicle is not in the blind area, the blind area monitoring module does not give an alarm even in an adjacent lane. The blind area monitoring module triggers different alarm modes according to the response of a user, collision is avoided in the lane changing process, and when a driver turns on a steering lamp to prepare lane changing and detects that a vehicle with a tracking mark is in the lane changing preparation direction, the system promotes the lane changing grade.
Further, the control unit further comprises a door opening early warning module, the door opening early warning module monitors a blind area behind the vehicle side by capturing images through a visual sensor except a front visual sensor, detects and tracks a moving object in the blind area, and triggers door opening early warning by integrating movement response of the moving object detected by the vehicle and opening or closing state response of a door of the vehicle, wherein the door opening early warning is divided into three levels:
when the moving response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions, the door opening early warning module triggers a first-level alarm:
a, the vehicle is in a parking state;
b, no moving object is detected in the left road blind area and/or the right road blind area of the vehicle;
c, the vehicle door on the same side of the blind area where the moving object is not detected is in an open state;
when the movement response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions, the door opening early warning module triggers a secondary alarm:
a, the vehicle is in a parking state;
b, detecting a moving object in the left road blind area and/or the right road blind area of the vehicle;
c, the vehicle door on the same side of the blind area where the moving object is detected is in a closed state;
when the movement response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions, the door opening early warning module triggers three-level alarm:
a, the vehicle is in a stop state;
b, detecting a moving object in the left road blind area and/or the right road blind area of the vehicle;
and c, the vehicle door on the same side of the blind area where the moving object is detected is in an open state.
Further, when a moving object is detected in the vehicle left road blind area and the door on the right side of the vehicle is opened, the vehicle does not belong to a secondary triggering early warning condition of door opening early warning and does not give an alarm.
Further, when the vehicle has triggered the second-level door opening early warning condition and the condition c that the second-level alarm is triggered within the time range of the door opening delay threshold value after the second-level door opening early warning condition is triggered is converted from a closed state to an open state of the vehicle door on the same side of the blind area where the moving object is detected, the triggered second-level door opening alarm is converted into a third-level door opening alarm.
Preferably, the door opening delay threshold time ranges from 1 second to 3 seconds. As a preferred embodiment, the door opening hysteresis threshold time is 1.6 seconds.
The door opening early warning module monitors the situation that the rear of the vehicle is possibly endangered to safety when the vehicle door is about to be opened in a parking state, and gives an alarm in a sound or optical mode, so that possible safety accidents are avoided. The objects detected by the door opening early warning system comprise non-motor vehicles such as bicycles, battery cars, tricycles and motorcycles, motor vehicles such as trucks, cars and buses, pedestrians and other moving objects which may endanger traffic safety.
Further, the control unit also comprises a door opening early warning unit, and the door opening early warning unit monitors the situation that the rear of the vehicle is possibly endangered to safety when the vehicle door is about to be opened in a parking state, and gives an alarm in a sound or optical mode, so that possible safety accidents are avoided. The objects detected by the door opening early warning system comprise non-motor vehicles such as bicycles, battery cars, tricycles and motorcycles, motor vehicles such as trucks, cars and buses, pedestrians and other moving objects which may endanger traffic safety.
The system assists the user to park the vehicle into the parking space according to the parking space selected by the user. As an electronic system, the panoramic parking assist system can assist a driver to better park a vehicle into a parking space. The SPA parking system needs a user to manually engage a gear, manually rotate a steering wheel and step on a brake pedal according to an HMI prompt in the parking process to complete turning, driving and braking of a vehicle in the parking process.
Furthermore, the control unit further comprises a panoramic parking auxiliary module, wherein the panoramic parking auxiliary module comprises one or more of a parking space identification module, a parking space marking module, a parking path planning module, a parking dynamic trajectory module and a parking completion detection module;
the parking space identification module comprises a horizontal parking space identification module, a vertical parking space identification module and an inclined parking space identification module, and the parking space types identified by the parking space identification module comprise three parking spaces, namely horizontal parking space, vertical parking space and inclined parking space;
the parking space marking module comprises a parking space reinforcing display frame for marking the identified idle parking space, and the parking space reinforcing display frame is displayed on a human-computer interaction interface for an operator to select;
the parking path planning module determines the position of an idle parking space and the position of a vehicle and plans a parking path according to a parking path algorithm;
the parking dynamic trajectory line module is used for displaying a trajectory line for assisting the vehicle to run on a high-definition panoramic module interface of the human-computer interaction interface, and the direction of the dynamic trajectory line displayed on the high-definition panoramic module interface changes according to the turning angle of a steering wheel of the vehicle. The high-definition panoramic module integrates a dynamic trajectory line module function, a driving trajectory line is drawn around a vehicle model displayed by the high-definition panoramic module, and the actual driving trajectory of the vehicle is accurately presented by acquiring steering wheel corner data in real time and swinging the trajectory line angle along with the change of the steering wheel angle in real time.
The panoramic parking auxiliary module further comprises a gear engaging parking auxiliary module, the gear engaging parking auxiliary module comprises a D-gear front parking auxiliary module and an R-gear rear parking auxiliary module, and the D-gear front parking auxiliary module is used for giving an auxiliary line of a front parking route to the vehicle when the vehicle is in a D gear; the R gear rear parking auxiliary module is used for giving an auxiliary line to a rear parking route of the vehicle when the vehicle is in the R gear.
As described above, the present invention has the following advantageous effects:
firstly, a high-definition panoramic module and all functional sub-modules thereof are arranged to provide high-quality experience for driving assistance and parking assistance for a user. And secondly, a blind area monitoring module and each function sub-module thereof are arranged, so that the problem of blind area monitoring in the driving state of the client is solved. And thirdly, a door opening early warning module is arranged, so that the problems of blind area monitoring and alarming when a user opens a door in a parking state are solved. And fourthly, arranging a panoramic parking auxiliary module, and realizing panoramic parking assistance through parking space selection, path planning, dynamic trajectory line prompting, active control braking or braking prompting.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a parking flow chart of the panoramic parking assist module of the present invention.
Fig. 2 is a diagram showing an early warning flow of the door opening early warning module according to the present invention.
FIG. 3 is a flow chart of the alarm of the blind zone monitoring module according to the present invention.
FIG. 4 is a diagram illustrating a hardware configuration according to the present invention.
Fig. 5 is a schematic diagram of a sub-module of the high definition panoramic module of the present invention.
Fig. 6 is a schematic diagram of a view angle switching sub-module according to the present invention.
FIG. 7 is a schematic diagram of a blind spot monitoring module according to the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Referring to fig. 1 to 7, the full-view camera host control system includes a sensor unit, a control unit and a human-computer interaction interface;
the sensor unit comprises at least one visual sensor and at least one acoustic wave sensor;
the control unit comprises a high-definition all-round-looking panoramic module, and the high-definition all-round-looking panoramic module comprises one or more of an image splicing sub-module, an image fusion sub-module, an image brightness and color balance adjusting sub-module, a visual angle switching sub-module, an ultrasonic barrier display sub-module, a distortion correction sub-module, a dynamic trajectory line module, a vehicle body transparent module and a vehicle body signal state display module; the high-definition all-round-looking panoramic module is used for synthesizing the images captured by the vision sensor into a panoramic image which has a uniform visual angle and reflects the surrounding situation of the vehicle body through image processing.
As a preferred embodiment, the vision sensor is a front camera, a rear camera, a left camera and a right camera; the acoustic sensor is a front four-way ultrasonic radar and a rear four-way ultrasonic radar.
In a preferred embodiment, the image stitching sub-module uses the calibration data to stitch the images captured by the vision sensors in all directions, and when the images captured by the vision sensors are stitched, the image stitching sub-module determines the angle of the stitching seam of the images captured by the adjacent vision sensors under the panoramic module according to the display visual angle of the human-computer interaction interface of the vehicle. For example, when the vision sensor of the sensor unit is four-way: front, back, left, right; when the display visual angle of the vehicle human-computer interaction interface is forward view or backward view, the image splicing sub-module captures an angle smaller than 45 degrees from a seam of image splicing of the four vision sensors; when the demonstration visual angle of vehicle man-machine interface looked for left side or the right side, the seam that the image concatenation submodule caught the image concatenation from four ways vision sensor is greater than 45 degrees angles, and this kind of mode according to vehicle man-machine interface's demonstration visual angle adjustment panoramic picture concatenation seam can reduce the error that single way visual angle man-machine interface shows, improves user experience, makes the splice area seamless, the concatenation dislocation of image concatenation submodule is less than 5cm, and the splice area adopts adjacent camera image fusion to form, and is excessive natural, does not have obvious concatenation line.
As a preferred embodiment, when the image stitching submodule stitches two adjacent visual sensors to capture images, the two adjacent visual sensors capture images with an overlap region, and image stitching in the overlap region determines, according to a position of a coordinate point located in the overlap region relative to a center line of the overlap region and a distance between the coordinate point and the center line of the overlap region, a pixel transparency weight of the coordinate point for distributing two captured images.
As a preferred embodiment, the image brightness and color balance adjusting submodule is used for adjusting the brightness of a panoramic image synthesized by images captured by a vision sensor to adapt to the environment inside a vehicle, and dynamically adjusting the brightness and the color of the image by monitoring the image color and the brightness information in real time, so that the brightness and the color of the whole picture are kept natural and uniform. The problem of when traditional 3D image fuses, because of factors such as four ways camera mounted position, angle, the environment difference that is located, the image that the camera was gathered has different luminance and colour at the concatenation position is solved.
In a preferred embodiment, the ultrasonic obstacle display sub-module is used for detecting obstacles around the vehicle, the control unit calculates the distance between the obstacle and the vehicle according to the time difference between the transmitted wave and the received wave of the sound wave sensor, and the ultrasonic obstacle display sub-module distinguishes the prompting level and the marking color of the obstacle on the panoramic image according to the distance range between the detected obstacle and the vehicle.
For example: when the distance between the obstacle and the vehicle is less than 30 mm, the ultrasonic obstacle display sub-module marks the obstacle on the panoramic view image in a first-level prompt; when the distance between the obstacle and the vehicle is larger than 30 mm and smaller than 50 mm, the ultrasonic obstacle display sub-module marks the obstacle on the panoramic view image in a secondary prompt mode; when the distance between the obstacle and the vehicle is larger than 50 millimeters and smaller than 70 millimeters, the ultrasonic obstacle display sub-module marks the obstacle on the panoramic view image in three levels of prompts; when the distance between the obstacle and the vehicle is larger than 70 mm, the ultrasonic obstacle display sub-module judges that the obstacle is far away, and does not prompt the obstacle to be marked.
As a preferred embodiment, the view switching sub-module includes one or more of an inward view module, an outward view module, a three-dimensional view adjustment module, and a blind area view module:
the inward visual angle module comprises an inward visual angle front view module, an inward visual angle rear view module, an inward visual angle left view module, an inward visual angle right view module and an inward visual angle all-round view switching sub-module;
the outward visual angle module comprises an outward visual angle front view module, an outward visual angle rear view module, an outward visual angle left view module, an outward visual angle right view module and an outward visual angle all-round view switching sub-module;
the three-dimensional visual angle adjusting module is used for adjusting the visual angle displayed by the vehicle on the human-computer interaction interface;
the blind area visual angle module comprises a front view left side visual angle module, a front view right side visual angle module, a front view two-side visual angle module, a rear view left side visual angle module, a rear view right side visual angle module and a rear view two-side visual angle module.
In a preferred embodiment, the distortion correction submodule is used for correcting the image captured by the vision sensor, and the distortion effect of the image captured by the vision sensor is eliminated to a certain extent while wide-angle picture information of the vision sensor is kept.
Further, the dynamic trajectory line module is used for displaying a trajectory line for assisting the vehicle to run on a high-definition panoramic module interface of the human-computer interaction interface, and the direction of the dynamic trajectory line displayed on the high-definition panoramic module interface changes according to the turning angle of the vehicle steering wheel. The high-definition panoramic module integrates a dynamic trajectory line module function, a driving trajectory line is drawn around a vehicle model displayed by the high-definition panoramic module, and the actual driving trajectory of the vehicle is accurately presented by acquiring steering wheel corner data in real time and swinging the trajectory line angle along with the change of the steering wheel angle in real time.
For example: when the vehicle steering wheel is kept vertical, the dynamic trajectory line displayed on the high-definition all-round panoramic module interface is the forward looking direction of the vehicle; when the vehicle steering wheel inclines to the left side, the dynamic trajectory line displayed on the high-definition all-round panoramic module interface is a trajectory line bent to the left; when the vehicle steering wheel inclines to the right side, the dynamic trajectory displayed on the high-definition panoramic module interface is a trajectory which is bent rightwards; the bending radius and the circle center of the track line are determined according to the turning angle of the steering wheel of the vehicle.
As a preferred embodiment, the vehicle body transparent module is used for filling historical data of images in front of or behind the vehicle into a vehicle bottom blind area by combining the high-definition panoramic module with vehicle body motion information in the running process of the vehicle, and the high-definition panoramic module displays that the vehicle bottom ground has a normal image effect.
As a preferred embodiment, the signals collected by the vehicle body signal state display module include vehicle speed signals, turn signal, steering wheel turning angle signals, vehicle door opening and closing signals, tail door opening and closing signals and other vehicle body signals; the vehicle body signal state display module is used for collecting vehicle body signals and displaying the vehicle body signals on a vehicle model image of the high-definition panoramic module, and the display comprises one or more of the following display schemes:
the high-definition panoramic module displays the opening and closing states of the doors on the automobile model image, and the opening and closing states of the tail doors show the real state of the automobile in real time;
the high-definition panoramic module displays the steering state of the wheels on the vehicle model image to reflect the real steering state of the wheels;
the high-definition panoramic module displays the state of the steering lamp of the automobile model image to show the state of the real steering lamp of the automobile in real time;
the high-definition panoramic module displays the wheel rotating speed state to reflect the real wheel rotating speed state.
As a preferred embodiment, the high definition panoramic module includes a parameter adjustment sub-module, the parameter adjustment sub-module includes a position adjustment module including a camera, a panoramic top view position adjustment module, a single full screen image position adjustment module, a lens-covered area range parameter adjustment module, a three-dimensional viewing angle coordinate axis parameter adjustment module, a lens-to-vehicle distance adjustment module, a panoramic top view offset angle adjustment module, a camera top view vehicle angle adjustment module, a transparency adjustment module, a brightness adjustment module, a contrast adjustment module, a gray scale adjustment module, a sharpness adjustment module, a hue adjustment module, a screen length-width ratio adjustment module, a panoramic fusion area parameter adjustment module, a four-way single camera image position adjustment module, an ambient light intensity parameter adjustment module, a diffuse light intensity adjustment module, a computer program, a computer-readable storage medium, A mirror surface light intensity parameter adjusting module, a shadow parameter adjusting module and a dynamic trajectory line swing angle parameter adjusting module.
The preferred embodiment also comprises the settings of the color of the vehicle body, the transparency of the vehicle body and the number plate number.
As a preferred embodiment, the control unit further comprises a blind area monitoring module, wherein the blind area monitoring module captures images based on the vision sensor except for the forward view to monitor the vehicle in the driver's vision blind area, extracts the vehicle characteristics by using an image processing method to realize vehicle detection, tracks the detection result by using a tracking method, and filters objects which are not required to be alarmed according to the alarm rule to realize accurate blind area monitoring.
For example: monitoring a rear vehicle based on the left, right and rear fisheye cameras, extracting vehicle features by adopting an image processing method to realize vehicle detection, tracking a detection result by adopting a tracking method, filtering objects which are not required to be alarmed according to an alarm rule, and sending an alarm result according to an alarm priority to remind a driver of whether dangerous vehicles exist or not so as to avoid traffic accidents.
As a preferred embodiment, the blind area monitoring module further comprises an ambient light intensity sensor, the blind area monitoring module is divided into a day mode, a night mode and a half-night mode, the day mode, the night mode and the half-night mode are automatically switched through a light intensity signal received by the ambient light intensity sensor, and one or more of an image captured by the automatic switching logic comprehensive vision sensor, a vehicle body headlight signal and the ambient light intensity sensor are used as input to detect the ambient light intensity around the vehicle body.
For example: in the day, the environment difference at night is large, the selected vehicle characteristics are different, so the blind area monitoring system is divided into a day mode and a night mode. The blind area monitoring system supports automatic mode switching, and three paths of camera images, vehicle body headlamp signals (optional) and light sensors (optional) can be used as input by switching logic to detect the light intensity of the surrounding environment of a vehicle body, so that the mode of the blind area monitoring system is switched.
As a preferred embodiment, the blind area monitoring module monitors a blind area at the rear side of the vehicle through the left and right rear three-way vision sensors, and when a vehicle enters the area, the blind area monitoring module gives the vehicle entering the area to distinguish marks and tracks the marked vehicle respectively; the blind zone monitoring module triggers a first level alarm when the marked vehicle meets the following conditions:
a, the vehicle is positioned in a blind area;
b, tracking the relative distance between the marked vehicle and the vehicle or tracking the relative speed between the marked vehicle and the vehicle greater than 0;
the running speed of the vehicle is greater than the minimum speed threshold of the blind area monitoring vehicle, and the minimum speed threshold of the blind area monitoring vehicle is 30 m/s;
the blind zone monitoring module triggers a secondary alarm when the marked vehicle meets the following conditions:
a, the vehicle is positioned in a blind area;
b, tracking the relative distance between the marked vehicle and the vehicle or tracking the relative speed between the marked vehicle and the vehicle greater than 0;
c, the running speed of the vehicle is greater than the minimum speed threshold of the blind area monitoring vehicle, and the minimum speed threshold of the blind area monitoring vehicle is 30 m/s;
d when the blind area has the tracking mark vehicle, and the vehicle is planned to turn towards the direction of tracking the mark vehicle in advance.
Preferably, the width of the blind area is about 2-4 meters, and the length is about 20 meters (from the rear-view camera). When the blind area monitoring module detects a longitudinal-tracing marked vehicle, a visual sensor captures an image and an acoustic sensor receives an echo to judge the distance and the position of the vehicle relative to a vehicle body in a blind area, and when the relative distance between the longitudinal-tracing marked vehicle and the vehicle body is within the range of 3-20 m, the visual sensor captures the image to obtain the relative position information of the tracking marked vehicle; when the relative distance between the tracking marking vehicle and the vehicle body is less than 3 meters, the vision sensor is adopted to capture images and the sound wave sensor receives signals to be fused, or the sound wave sensor receives signals to directly obtain the relative position information of the tracking marking vehicle.
As a preferred embodiment, when the vehicle turns, the blind area monitoring module gives an alarm if the tracking mark vehicle is in the blind area region, regardless of the position in the vehicle lane; if the tracking and marking vehicle is not in the blind area region, the blind area monitoring module does not give an alarm even in an adjacent lane. The blind area monitoring module triggers different alarm modes according to the response of a user, so that the collision is avoided in the lane changing process, and when a driver turns on a steering lamp to prepare for lane changing, the two-stage alarm is promoted.
As a preferred embodiment, the control unit further includes a door opening early warning module, the door opening early warning module monitors a blind area behind and beside the vehicle by capturing an image through a visual sensor other than the front visual sensor, detects and tracks a moving object in the blind area, and triggers a door opening early warning by integrating a movement response of the moving object detected by the vehicle and an opening or closing state response of a door of the vehicle, and the door opening early warning is divided into three levels:
when the moving response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions, the door opening early warning module triggers a first-level alarm:
a, the vehicle is in a parking state;
b, no moving object is detected in the left road blind area and/or the right road blind area of the vehicle;
c, the vehicle door on the same side of the blind area where the moving object is not detected is in an open state;
when the moving response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions, the door opening early warning module triggers a secondary alarm:
a, the vehicle is in a parking state;
b, detecting a moving object in the left road blind area and/or the right road blind area of the vehicle;
c, the vehicle door on the same side of the blind area where the moving object is detected is in a closed state;
the door opening early warning module triggers three-level warning when the moving response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions:
a, the vehicle is in a stop state;
b, detecting a moving object in the left road blind area and/or the right road blind area of the vehicle;
and c, the vehicle door on the same side of the blind area where the moving object is detected is in an open state.
As a preferred embodiment, when a moving object is detected in the left blind area region of the vehicle and the door on the right side of the vehicle is opened, the vehicle does not belong to the secondary triggering early warning condition of door opening early warning and does not give an alarm.
As a preferred embodiment, when the vehicle has triggered the secondary door opening warning condition, and the condition c that the secondary alarm is triggered within the door opening delay threshold time range after the secondary door opening warning condition is triggered is converted from a closed state to an open state of the vehicle door on the same side as the blind area where the moving object is detected, the triggered secondary door opening alarm is converted into a tertiary door opening alarm.
Preferably, the door opening delay threshold time ranges from 1 second to 3 seconds. As a preferred embodiment, the door opening hysteresis threshold time is 1.6 seconds.
As a preferred embodiment, the door opening early warning module monitors the condition that the rear of the vehicle is possibly endangered to safety when the door of the vehicle is about to be opened in a parking state, and gives an alarm in a sound or optical mode, so that possible safety accidents are avoided. The objects detected by the door opening early warning system comprise non-motor vehicles such as bicycles, battery cars, tricycles and motorcycles, motor vehicles such as trucks, cars and buses, pedestrians and other moving objects which can endanger traffic safety.
As a preferred embodiment, the control unit further comprises a door opening early warning unit, and the door opening early warning unit monitors a situation that safety may be endangered behind the vehicle when the vehicle door is about to be opened in a parking state, and gives an alarm in a sound or optical manner, so that a possible safety accident is avoided. The objects detected by the door opening early warning system comprise non-motor vehicles such as bicycles, battery cars, tricycles and motorcycles, motor vehicles such as trucks, cars and buses, pedestrians and other moving objects which may endanger traffic safety.
The system assists the user to park the vehicle into the parking space according to the parking space selected by the user. As an electronic system, the panoramic parking assist system can assist a driver to better park a vehicle into a parking space. The SPA parking system needs a user to manually engage a gear, manually rotate a steering wheel and step on a brake pedal according to an HMI prompt in the parking process to complete turning, driving and braking of a vehicle in the parking process.
As a preferred embodiment, the panoramic parking assist module comprises one or more of a parking space identification module, a parking space marking module, a parking path planning module, a parking dynamic trajectory module and a parking completion detection module;
the parking space identification module comprises a horizontal parking space identification module, a vertical parking space identification module and an inclined parking space identification module, and the parking space types identified by the parking space identification module comprise three parking spaces, namely horizontal parking space, vertical parking space and inclined parking space;
the parking space marking module comprises a parking space reinforcing display frame for marking the identified idle parking space, and the parking space reinforcing display frame is displayed on a human-computer interaction interface for an operator to select;
the parking path planning module determines the position of an idle parking space and the position of a vehicle and plans a parking path according to a parking path algorithm;
the parking dynamic trajectory line module is used for displaying a trajectory line for assisting the vehicle to run on a high-definition panoramic module interface of the human-computer interaction interface, and the direction of the dynamic trajectory line displayed on the high-definition panoramic module interface changes according to the turning angle of a steering wheel of the vehicle. The high-definition panoramic module integrates a dynamic trajectory line module function, a driving trajectory line is drawn around a vehicle model displayed by the high-definition panoramic module, and the actual driving trajectory of the vehicle is accurately presented by acquiring steering wheel corner data in real time and swinging the trajectory line angle along with the change of the steering wheel angle in real time.
As a preferred embodiment, the panoramic parking assist module further comprises a gear engaging parking assist module, wherein the gear engaging parking assist module comprises a D-gear front parking assist module and an R-gear rear parking assist module, and the D-gear front parking assist module is used for giving an assist line to a front parking route to the vehicle when the vehicle is in a D gear; the R gear rear parking auxiliary module is used for giving an auxiliary line to a rear parking route of the vehicle when the vehicle is in the R gear.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the claims of the present invention.
Claims (9)
1. The full-view camera host control system is characterized by comprising a sensor unit, a control unit and a human-computer interaction interface;
the sensor unit comprises at least one visual sensor and at least one acoustic wave sensor;
the control unit comprises a high-definition all-round-looking panoramic module, and the high-definition all-round-looking panoramic module comprises one or more of an image splicing sub-module, an image fusion sub-module, an image brightness and color balance adjusting sub-module, a visual angle switching sub-module, an ultrasonic obstacle display sub-module, a distortion correction sub-module, a dynamic trajectory line module, a vehicle body transparent module and a vehicle body signal state display module; the high-definition all-round-looking panoramic module is used for synthesizing images captured by the vision sensor into a panoramic image which has a uniform visual angle and reflects the surrounding situation of the vehicle body through image processing; the control unit further comprises
The blind area monitoring module is used for capturing images based on a vision sensor except for a front view to monitor vehicles in the driver vision blind area, extracting vehicle characteristics by using an image processing method to realize vehicle detection, tracking a detection result by using a tracking method, and filtering objects which are not required to be alarmed according to an alarm rule; the blind area monitoring module monitors a blind area behind the vehicle side through the left and right rear three-way vision sensor, and when a vehicle enters the area, the blind area monitoring module gives the vehicle entering the area to distinguish and mark the vehicle and tracks and marks the vehicle respectively; when the marked vehicles meet the preset early warning conditions, the blind area monitoring module triggers an alarm.
2. The system of claim 1, wherein the vision sensor is a front, rear, left, right camera; the acoustic sensor is a front four-way ultrasonic radar and a rear four-way ultrasonic radar.
3. The system for controlling the full-field camera host machine according to claim 2, wherein the signals collected by the vehicle body signal state display module comprise vehicle speed signals, steering lamp signals, steering wheel turning angle signals, vehicle door opening and closing signals, tail door opening and closing signals and other vehicle body signals; the vehicle body signal state display module is used for collecting vehicle body signals and displaying the vehicle body signals on a vehicle model image of the high-definition panoramic module, and the display comprises one or more of the following display schemes:
the high-definition panoramic module displays the opening and closing states of the doors and the tail doors on the automobile model image, and expresses the real state of the automobile in real time;
the high-definition panoramic module displays the steering state of the wheels on the vehicle model image to reflect the real steering state of the wheels;
the high-definition panoramic module displays the state of the steering lamp of the automobile model image to show the state of the real steering lamp of the automobile in real time;
the high-definition panoramic module displays the wheel rotating speed state to reflect the real wheel rotating speed state.
4. The system of claim 3, wherein the HD panoramic camera module comprises a parameter adjustment submodule including a camera position adjustment module, a panoramic top view position adjustment module, a one-way full screen image position adjustment module, a lens-covered area range parameter adjustment module, a three-dimensional viewing angle coordinate axis parameter adjustment module, a lens-to-vehicle distance adjustment module, a panoramic top view offset angle adjustment module, a camera top view vehicle angle adjustment module, a transparency adjustment module, a brightness adjustment module, a contrast adjustment module, a grayscale adjustment module, a sharpness adjustment module, a hue adjustment module, a screen length-width ratio adjustment module, a panoramic fusion area parameter adjustment module, a four-way one-way camera image position adjustment module, a video camera system, a video camera system, a camera system, a camera system, a camera system, a system, one or more of an environment light intensity parameter adjusting module, a diffused light intensity parameter adjusting module, a mirror light intensity parameter adjusting module, a shadow parameter adjusting module and a dynamic trajectory line swing angle parameter adjusting module.
5. The system of claim 4, wherein the blind zone monitoring module further comprises an ambient light sensor, and the blind zone monitoring module is divided into a day mode, a night mode and a half-night mode, and the day mode, the night mode and the half-night mode are automatically switched according to a light intensity signal received by the ambient light sensor, and the automatic switching logic synthesizes one or more of a visual sensor to capture an image, a headlight signal of the vehicle body and the ambient light sensor as input to detect the ambient light around the vehicle body.
6. The full-field camera host control system according to claim 5, wherein when the blind area monitoring module detects a tracking and marking vehicle, the distance and the position of the vehicle in the blind area relative to the vehicle body are determined by capturing an image through a visual sensor and receiving an echo through a sound wave sensor, and when the relative distance between the tracking and marking vehicle and the vehicle body is within the range of 3-20 m, the relative position information of the tracking and marking vehicle is obtained by capturing the image through the visual sensor; when the relative distance between the tracking and marking vehicle and the vehicle body is less than 3 meters, the visual sensor is adopted to capture images and the sound wave sensor receives signals to be fused, or the sound wave sensor receives signals directly to obtain the relative position information of the tracking and marking vehicle.
7. The system of claim 6, wherein the control unit further comprises a door opening pre-warning module, the door opening pre-warning module monitors a blind area behind the vehicle by capturing images through a vision sensor except a front vision sensor, detects and tracks a moving object in the blind area, and triggers a door opening pre-warning by integrating a movement response of the moving object detected by the vehicle and an opening or closing state response of the door of the vehicle, and the door opening pre-warning is divided into three levels:
when the moving response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions, the door opening early warning module triggers a first-level alarm:
a, the vehicle is in a parking state;
b, no moving object is detected in the left road blind area and/or the right road blind area of the vehicle;
c, the vehicle door on the same side of the blind area where the moving object is not detected is in an open state;
when the movement response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions, the door opening early warning module triggers a secondary alarm:
b, detecting a moving object in the left road blind area and/or the right road blind area of the vehicle;
c, the vehicle door on the same side of the blind area where the moving object is detected is in a closed state;
the door opening early warning module triggers three-level warning when the moving response of the moving object detected by the vehicle and the response of the opening or closing state of the vehicle door meet the following conditions:
a, the vehicle is in a stop state;
and c, the vehicle door on the same side of the blind area where the moving object is detected is in an open state.
8. The system for controlling the host machine of the full-field camera according to claim 7, wherein when a moving object is detected in the blind area of the left road of the vehicle and the door of the right side of the vehicle is opened, the system does not belong to a secondary triggering early warning condition of door opening early warning and does not give an alarm; when the vehicle triggers a secondary door opening early warning condition and a condition c that a secondary alarm is triggered within a door opening delay threshold time range after the secondary door opening early warning condition is triggered is converted into an open state from a closed state of the vehicle and a vehicle door on the same side of a blind area where a moving object is detected, the triggered secondary door opening alarm is converted into a tertiary door opening alarm; the time range of the door opening delay threshold value is 1-3 seconds.
9. The full-view camera host control system according to claim 8, wherein the control unit further comprises a panoramic parking assist module, and the panoramic parking assist module comprises one or more of a parking space identification module, a parking space marking module, a parking path planning module, a parking dynamic trajectory module and a parking completion detection module;
the parking space identification module comprises a horizontal parking space identification module, a vertical parking space identification module and an inclined parking space identification module, and the parking space types identified by the parking space identification module comprise three parking spaces, namely horizontal parking space, vertical parking space and inclined parking space;
the parking space marking module comprises a parking space reinforcing display frame for marking the identified idle parking space, and the parking space reinforcing display frame is displayed on a human-computer interaction interface for an operator to select;
the parking path planning module determines the position of an idle parking space and the position of a vehicle and plans a parking path according to a parking path algorithm;
the parking dynamic trajectory line module is used for displaying a trajectory line for assisting the vehicle to run on a high-definition panoramic module interface of a human-computer interaction interface, and the direction of the dynamic trajectory line displayed on the high-definition panoramic module interface changes according to the turning angle of a steering wheel of the vehicle; the high-definition panoramic module integrates a dynamic trajectory line module function, a driving trajectory line is drawn around a vehicle model displayed by the high-definition panoramic module, and the actual driving trajectory of the vehicle is accurately presented by acquiring steering wheel corner data in real time and swinging the trajectory line angle along with the change of the steering wheel angle in real time.
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| CN109552174A (en) * | 2017-09-26 | 2019-04-02 | 纵目科技（上海）股份有限公司 | Full visual field camera master machine control unit |
| CN109552173A (en) * | 2017-09-26 | 2019-04-02 | 纵目科技（上海）股份有限公司 | Full visual field camera engine control system |
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