CN109743539A - A kind of adjustable panorama driving assistant device in the visual field and its adjusting method - Google Patents
A kind of adjustable panorama driving assistant device in the visual field and its adjusting method Download PDFInfo
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Abstract
The present invention relates to a kind of adjustable panorama driving assistant device in visual field and its adjusting methods.Panorama driving assistant device includes front camera, rear camera, left side camera and right side camera；Display screen in the car is set；Control key in the car is set；The processor being keyed with front camera, rear camera, left side camera, right side camera, display screen, control；Processor includes communication module, image processing module, human-computer interaction module, data processing module；Communication module is used to obtain the ambient image of institute's camera shooting；Human-computer interaction module is used to obtain the display boundary Control instruction from control key；Data processing module is used to calculate the display boundary of each ambient image according to display boundary Control instruction；Ambient image is spliced in the display boundary being calculated for handling ambient image, is finally spliced into panoramic picture and is sent to display screen by image processing module.
Description
Technical field
The invention belongs to vehicle driving ancillary technique fields, more particularly to a kind of adjustable panorama driving auxiliary in visual field
Device and its adjusting method.
Background technique
Existing panorama driving auxiliary system acquires vehicle periphery mainly by the cam device installed in vehicle's surroundings
Video information, on the display screen in face of driver be equipped with corresponding camera display area, these regions are spliced into one
It is whole, the image information of acquisition is shown in respective region.In this way the reading of each camera
Content is arranged according to the surrounding of vehicle on the screen, and driver is made to obtain the panoramic information for driving vehicle periphery.
It is disadvantageous in that existing for aforesaid way, the video image information of vehicle's surroundings is aobvious in fixed screen area
Show, this is not consistent with the practical driving demand of driver.When driver advances forward, driver is wanted to as far as possible
Mostly see scenery existing for front, and it is just the opposite in driver's reverse travel.In other words, driver wants to root
According to the actual conditions of driving, each section area size in vehicle panoramic image is adjusted accordingly, the image for showing panorama is more
That most concerned a part of scene of driver is highlighted with adding " intelligence ".
Summary of the invention
The purpose of the present invention is at least solving one of above-mentioned problems of the prior art, which is by following skill
What art scheme was realized:
The invention proposes a kind of adjustable panorama driving assistant devices in visual field, comprising:
The correspondence that is used for of vehicle body all around is set and acquires the vehicle body all around front camera of ambient image, postposition
Camera, left side camera and right side camera；
The display screen in the car and being located in front of operator seat is set；
Control key in the car is set；
It is keyed with the front camera, rear camera, left side camera, right side camera, display screen, control
Processor；
The processor includes communication module, image processing module, human-computer interaction module, data processing module；It is described logical
Believe that module and the front camera, rear camera, left side camera and right side camera communicate to connect, is taken the photograph for obtaining
The ambient image shot as head；The human-computer interaction module is used to obtain the display boundary Control instruction from the control key；
The data processing module is used to calculate the display boundary of each ambient image according to the display boundary Control instruction；Described image
Processing module spells the ambient image in the display boundary being calculated for handling the ambient image
It connects, be finally spliced into panoramic picture and be sent to the display screen.
Further, the front camera, rear camera, left side camera and right side camera are wide-angle imaging
Head.
Further, further include power supply for being powered for device each section.
Further, the front camera has the rotating device for adjusting camera angle.
It further, further include storage device for storing image, the storage device is connected to the processor.
The invention also provides a kind of adjusting methods of the adjustable panorama driving assistant device in visual field, including following step
It is rapid: front camera, rear camera, left side camera, right side camera is all around respectively set in vehicle body；Before acquisition
Set camera, rear camera, left side camera, ambient image captured by the camera of right side；Obtain what driver was inputted
Show boundary Control instruction；The display boundary of each ambient image is calculated according to display boundary Control instruction；Ambient image is carried out
Processing, ambient image is spliced in the display boundary being calculated, is finally spliced into panoramic picture；It exports and shows complete
Scape image.
Further, boundary Control instruction includes image selection instruction and picture size instruction, and image selection instruction is used for
The image for needing to adjust boundary is determined in four ambient images all around, there are three picture size instructions, respectively
" normal ", " one grade ", " maximum "；The process for calculating the display boundary of ambient image according to display boundary Control instruction is as follows: needle
To the image for needing to adjust boundary, when size instructions are " one grade " or " maximum ", using quadratic function curve as its with it is other
Boundary between image, for the boundary between remaining image, then using straight line representated by linear function as boundary.
Further, the image tool for needing to adjust is positive value, another side there are two boundary, the slope on one of boundary
The slope on boundary is negative value；For the image for needing to adjust boundary, when size instructions are " maximum ", slope is that the boundary of positive value is bent
Line are as follows:
Y=a1x2+b1x+c1,
Wherein:
(x in formula1,y1)、(x2,y2) be respectively boundary two extreme coordinates；
Slope is used for the boundary of negative value and is generated with the symmetrical mode of above-mentioned boundary curve.
Further, the image tool for needing to adjust is positive value, another side there are two boundary, the slope on one of boundary
The slope on boundary is negative value；
For the image for needing to adjust boundary, when size instructions are " one grade ", slope is the boundary curve of positive value are as follows:
Y=a2x2+b2x+c2,
Wherein:
(x in formula1,y1)、(x2,y2) be respectively boundary two extreme coordinates；
Slope is used for the boundary of negative value and is generated with the symmetrical mode of above-mentioned boundary curve.
Further, for the image for needing to adjust boundary, when size instructions are " maximum ", slope is the boundary of positive value
The determination process of curve is as follows:
Step 1: determining two extreme coordinates (x on boundary1,y1),(x2,y2)；
Step 2: the skew lines equation determined with this two endpoints
Step 3: keeping two endpoints constant, quadratic function curve will be stretched into outside skew lines to expand field range, found
Make the maximized quadratic function curve equation of field range；
Step 4: setting the equation for the quadratic function curve that third step is found as y=a1x2+b1x+c1；
Step 5: calculating the corresponding area S of quadratic function curve, field range is maximum when this area is minimized
Step 6: converting function optimization problem for foregoing problems due to being to maximize field area
Objective function:
Constraint condition:
-b1/2a1≤x1；
x2-x1For definite value；
Step 7: the model that back obtains is ternary (a1,b1,c1) linear programming problem, need according to constraint item
Part is simplified, according to constraint condition by b1,c1Respectively with containing a1Algebraic expression expression, obtains following result
Objective function:
Constraint condition:
x1Objective function obtains minimum value when being minimized, and obtains optimal solution
The present invention has the advantages that
1, the adjustable panorama driving assistant device in the visual field provided by the present invention, can be according to the actual demand of driver
Each section area size in full-view image is adjusted, the part image for being concerned about full-view image the most driver is convex
It shows and.2, in camera used in the present invention, the camera positioned at vehicle front can cooperate other at low speeds
The camera of position carries out the correlation function of panorama driving auxiliary, when high vehicle speeds, and can be used as driving note
The correlation circumstance that right ahead in driver's driving procedure occurs for the front camera of record instrument carries out the note of visual form
In the storage device for recording and being stored in main control device.3, the camera in camera used in the present invention, positioned at rear of vehicle
The backup camera in existing vehicle can be directly replaced, while only observation rear view of vehicle region when moving backward is become can be to vehicle
All road surfaces of surrounding four direction are observed.4, the present invention uses wide-angle lens, the image of master control borad teledistortion into
Row correcting process, can thus make wide-angle lens shoot picture simultaneously meet coverage extensively and picture do not deform it is excellent
Point.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the composition schematic diagram of the panorama driving assistant device of the embodiment of the present invention；
Fig. 2 is the composition schematic diagram of the processor of the embodiment of the present invention；
Fig. 3 is that the display screen of the embodiment of the present invention shows the schematic diagram of each ambient image；
Fig. 4 be the embodiment of the present invention display screen before adjustment square ambient image when schematic diagram；
Fig. 5 is display screen display schematic diagram of the embodiment of the present invention when rear camera and left and right sides camera are closed；
Fig. 6 is schematic diagram of the embodiment of the present invention when display screen only shows left or right side ambient image；
Fig. 7 be the embodiment of the present invention display screen after the adjustment square ambient image when schematic diagram；
Fig. 8 is schematic diagram of the display screen of the embodiment of the present invention on the left of adjustment when ambient image；
Fig. 9 is schematic diagram of the display screen of the embodiment of the present invention on the right side of adjustment when ambient image.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can be by this public affairs
The range opened is fully disclosed to those skilled in the art.
It should be understood that term used herein merely for description particular example embodiment purpose, and have no intention into
Row limitation.Unless the context clearly indicates otherwise, otherwise singular " one " as used in the text, "one" and " described "
Can also indicate to include plural form.The terms "include", "comprise", " containing " and " having " are inclusives, and therefore
It indicates the presence of stated feature, step, operations, elements, and/or components, but presence or addition one or more is not precluded
A other feature, step, operation, component, assembly unit, and/or their combination.Method and step, process, the Yi Jicao of described in the text
It is not interpreted as that them is necessarily required to execute with described or explanation particular order, executes sequence unless explicitly stated otherwise.Also answer
The step of working as understanding, can be used additionally or alternatively.
As shown in Figure 1 and Figure 2, a kind of adjustable panorama driving assistant device in visual field of the embodiment of the present invention includes: setting
The vehicle body all around front camera, rear camera of ambient image, left side are acquired in the correspondence that is used for of vehicle body all around
Camera and right side camera；The display screen in the car and being located in front of operator seat is set；Control key in the car is set；With institute
State front camera, rear camera, left side camera, right side camera, display screen, the processor for controlling key connection；It is described
Processor includes communication module, image processing module, human-computer interaction module, data processing module；The communication module with it is described
Front camera, rear camera, left side camera and the communication connection of right side camera, the ring that camera is shot for obtaining
Border image；The human-computer interaction module is used to obtain the display boundary Control instruction from the control key；The data processing
Module is used to calculate the display boundary of each ambient image according to the display boundary Control instruction；Described image processing module is used for
The ambient image is handled, the ambient image is spliced in the display boundary being calculated, it is final to splice
At panoramic picture and it is sent to the display screen.
It should be noted that control key can be physical button, it is also possible to be integrated in the virtual key on display screen.
In a specific embodiment, front camera, rear camera, left side camera and right side camera are adopted
With wide-angle camera, wherein front camera is mounted at vehicle foreside logo, and rear camera installs body tail, can be with
Original backup camera is substituted, left side camera and right side camera are mounted at left and right door handle.
In a specific embodiment, the front camera, rear camera, left side camera and right side camera
It is wide-angle camera.
In a specific embodiment, panorama driving assistant device further includes power supply, and power supply is used for as auxiliary device
All parts power supply.
The invention also provides a kind of adjusting methods of the adjustable panorama driving assistant device in visual field, including following step
It is rapid:
Front camera, rear camera, left side camera, right side camera is all around respectively set in vehicle body；
Obtain front camera, rear camera, left side camera, ambient image captured by the camera of right side；
Obtain the display boundary Control instruction that driver is inputted；
The display boundary of each ambient image is calculated according to display boundary Control instruction；
Ambient image is handled, ambient image is spliced in the display boundary being calculated, it is final to splice
At panoramic picture；
It exports and shows panoramic picture.
In a specific embodiment, boundary Control instruction includes image selection instruction and picture size instruction, image
For determining the image for needing to adjust boundary in four ambient images all around, picture size instruction has selection instruction
Three, respectively " normal ", " one grade ", " maximum " (as shown in Figure 3)；Ambient image is calculated according to display boundary Control instruction
Show that the process on boundary is as follows:
Made for the image for needing to adjust boundary when size instructions are " one grade " or " maximum " with quadratic function curve
Straight line representated by linear function is then used for the boundary between remaining image for its boundary between other images
As boundary.
In another embodiment, more picture size instructions can be set, in order to realize the image of more gears
The variation on boundary.
More specifically, with boundary Control instruction correspondingly, control button include for select the key of magnification region and
For inputting the key of up-sizing, magnification region is one of " front ", " rear ", " left side ", " right side ".As shown in figure 4, aobvious
Middle position in display screen is the vehicle body icon 5 for representing vehicle, and front ring is shown respectively up and down in vehicle body icon 5
Border image 1, rear ambient image 2, left side ambient image 3, right side ambient image 4.By taking the ambient image 1 of amplification front as an example, figure
In boundary of straight line A when be picture size being " normal ", be angled straight lines, the curve B in figure is picture size for " most
Boundary when greatly ", the boundary that the curve C in figure is picture size when being " one grade ".
Further, the image tool for needing to adjust is positive value, another side there are two boundary, the slope on one of boundary
The slope on boundary is negative value；
For the image for needing to adjust boundary, when size instructions are " maximum ", slope is the boundary curve of positive value are as follows:
Y=a1x2+b1x+c1,
Wherein:
(x in formula1,y1)、(x2,y2) be respectively boundary two extreme coordinates.
And the boundary that slope is negative value uses and generates with the symmetrical mode of above-mentioned boundary curve.
Further, for the image for needing to adjust boundary, when size instructions are " one grade ", slope is the boundary of positive value
Curve are as follows:
Y=a2x2+b2x+c2,
Wherein:
Slope is used for the boundary of negative value and is generated with the symmetrical mode of above-mentioned boundary curve.
In above-described embodiment, for the image for needing to adjust boundary, when size instructions are " maximum ", slope is positive value
The determination process of boundary curve is as follows:
Step 1: determining two extreme coordinates (x on boundary1,y1),(x2,y2)；
Step 2: the skew lines equation determined with this two endpoints
Step 3: keeping two endpoints constant, quadratic function curve will be stretched into outside skew lines to expand field range, found
Make the maximized quadratic function curve equation of field range；
Step 4: setting the equation for the quadratic function curve that third step is found as y=a1x2+b1x+c1；
Step 5: the correspondence graphics area S under boundary integrates to obtain according to quadratic function equation, and the face of field range
Product is (x2-x1) (y2-y1)-S, integrating range length | x2-x1| it is definite value, when S is minimized, field range area is maximum,
Calculate the corresponding area S of quadratic function curve:
Step 6: converting function optimization problem for foregoing problems due to being to maximize field area
Objective function:
Constraint condition:
-b1/2a1≤x1；
x2-x1For definite value；
Step 7: the model that back obtains is ternary (a1,b1,c1) linear programming problem, need according to constraint item
Part is simplified, according to constraint condition by b1,c1Respectively with containing a1Algebraic expression expression, obtains following result
Objective function:
Constraint condition:
x1Objective function obtains minimum value when being minimized, and obtains optimal solution
Further, image information shown on display screen can also be configured according to different operating conditions, be named
Example is illustrated:
Situation one:
Front camera positioned at vehicle foreside can have rotating device, when vehicle is with the speed less than 30 kilometers/hour
When degree traveling or reverse travel, front camera visual angle forward downward cooperates other cameras to carry out panorama driving auxiliary
Related work；When driving with the speed greater than 30 kilometers/hour, front camera visual angle continues vehicle simultaneously towards front
The case where recording vehicle front in driving conditions, and store it in the storage equipment of master control borad, it is used for driving recording, in vehicle
Speed is greater than 30 kilometers/hour of travel phase, and vehicle two sides and rear camera are closed, while before only showing on display screen
The associated video information on camera is set, the front ambient image 1 on display screen is as shown in Figure 5 at this time.
Situation two:
During normal vehicle operation, if encountering left-hand bend or right-hand bend, driver beat turn signal to turn
Terminate in this period to process, driver can be pre-adjusted selection, and temporarily only display turns on a display screen in this process
Picture captured by camera (left side camera shooting or right side camera) to side, this picture only make wide-angle camera image
Correction process is adapted to, driver's panel is aobvious at this time not by cutting without with other camera pictures in panorama
Show image as shown in Figure 6.
Situation three:
When driver's selection runs at a low speed operation, meet condition of the car speed less than 30 kilometers/hour, or drive
When member's selection carries out car backing operation, meets the condition of vehicle sternway, occur face as shown in Figure 3 on the display screen in face of driver
Plate, driver can observe real-time vehicle's surroundings ground and scene nearby on a display screen, this scene is by four
For the image that camera shooting obtains by what is be spliced, the vehicle of driver itself is in image middle position, is to overlook view
The vehicle body image that angle obtains, the surrounding of vehicle body image are that image that the acquisition of four wide-angle cameras obtains is corrected and shearing
The panoramic picture being spliced afterwards, this parts of images real-time update according to driver vehicle's movement.When driver for this four
When angular field of view shown by a camera is unsatisfied with, driver can operate corresponding on slidable panels to the right and increase some
The progress bar at camera visual angle, video area shown by the side camera chosen just will increase, performance side specifically
The boundary of the oblique line of formula can highlight outward, and when driver's sliding progress bar slides into " one grade " from " normal ", boundary is by original
The skew lines come becomes quadratic function curve；When sliding progress bar to " maximum ", area of visual field is become maximum；To the left by progress bar
When sliding into the position of " normal ", boundary becomes original skew lines again (as shown in Fig. 7, Fig. 8, Fig. 9).
Prepare turning in driver's normal driving process, when turn signal is played in selection, meets the condition of turn signal opening, this
When driver can be set in advance on screen panel the picture for only showing the side position camera shooting for preparing turning side, master control
Processor on plate only carries out the correction of wide angle picture without shearing to the picture that side camera is shot, this picture takes
Entire screen waits turn signals to go out, and restores to the original state after turning process.
Select normally travel or when being carried out at high speed driving in driver, meet car speed not less than 30 kilometers/it is small
When condition, there is panel as shown in Figure 5 on the display screen in face of driver, camera at left and right sides of this when and
The camera of rear of vehicle is closed, and only retains front camera opening state, and front camera is by the position towards front lower place
It sets and turns to towards front, the only picture of display front camera shooting, while master control borad on the display screen in face of driver
On processor to the picture that front camera is shot only carry out the correction of wide angle picture and without shearing, depositing on master control borad
Storage device records the regional display of front camera shooting, the front camera and master control borad of this when and driver face
Preceding display screen as automobile data recorder carry out using.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (10)
1. a kind of adjustable panorama driving assistant device in the visual field characterized by comprising
The corresponding acquisition vehicle body that is used for of vehicle body all around is arranged in, and all around the front camera of ambient image, postposition image
Head, left side camera and right side camera；
The display screen in the car and being located in front of operator seat is set；
Control key in the car is set；
With the processing of the front camera, rear camera, left side camera, right side camera, display screen, control key connection
Device；
The processor includes communication module, image processing module, human-computer interaction module, data processing module；The communication mould
Block and the front camera, rear camera, left side camera and right side camera communicate to connect, the camera for obtaining
The ambient image of shooting；The human-computer interaction module is used to obtain the display boundary Control instruction from the control key；It is described
Data processing module is used to calculate the display boundary of each ambient image according to the display boundary Control instruction；Described image processing
Module is used to handle the ambient image, and the ambient image is spliced in the display boundary being calculated,
Finally it is spliced into panoramic picture and is sent to the display screen.
2. the adjustable panorama driving assistant device in a kind of visual field according to claim 1, which is characterized in that described preposition
Camera, rear camera, left side camera and right side camera are wide-angle camera.
3. the adjustable panorama driving assistant device in a kind of visual field according to claim 1, which is characterized in that further include using
In the power supply being powered for device each section.
4. the adjustable panorama driving assistant device in a kind of visual field according to claim 1, which is characterized in that described preposition
Camera has the rotating device for adjusting camera angle.
5. the adjustable panorama driving assistant device in a kind of visual field according to claim 1, which is characterized in that further include using
In the storage device of storage image, the storage device is connected to the processor.
6. a kind of adjusting method of the adjustable panorama driving assistant device in the visual field according to any one of claims 1 to 5,
Characterized by comprising the following steps:
Front camera, rear camera, left side camera, right side camera is all around respectively set in vehicle body；
Obtain front camera, rear camera, left side camera, ambient image captured by the camera of right side；
Obtain the display boundary Control instruction that driver is inputted；
The display boundary of each ambient image is calculated according to display boundary Control instruction；
Ambient image is handled, ambient image is spliced in the display boundary being calculated, final splicing is helped
Scape image；
It exports and shows panoramic picture.
7. adjusting method according to claim 6, which is characterized in that boundary Control instruction includes that image selection instructs and schemes
As size instructions, image selection instruction is for determining the figure for needing to adjust boundary in all around four ambient images
Picture, there are three picture size instructions, respectively " normal ", " one grade ", " maximum "；
The process for calculating the display boundary of ambient image according to display boundary Control instruction is as follows:
For the image for needing to adjust boundary, when size instructions are " one grade " or " maximum ", using quadratic function curve as its
Straight line conduct representated by linear function is then used for the boundary between remaining image with the boundary between other images
Boundary.
8. adjusting method according to claim 7, which is characterized in that the image for needing to adjust boundary has there are two boundary,
The slope on one of boundary is positive value, and the slope on another boundary is negative value；
For the image for needing to adjust boundary, when size instructions are " maximum ", slope is the boundary curve of positive value are as follows:
Y=a1x2+b1x+c1,
Wherein:
(x in formula1,y1)、(x2,y2) be respectively boundary two extreme coordinates；
Slope is used for the boundary of negative value and is generated with the symmetrical mode of above-mentioned boundary curve.
9. adjusting method according to claim 7 or 8, which is characterized in that need to adjust the image tool on boundary there are two side
Boundary, the slope on one of boundary are positive value, and the slope on another boundary is negative value；
For the image for needing to adjust boundary, when size instructions are " one grade ", slope is the boundary curve of positive value are as follows:
Y=a2x2+b2x+c2,
Wherein:
(x in formula1,y1)、(x2,y2) be respectively boundary two extreme coordinates；
Slope is used for the boundary of negative value and is generated with the symmetrical mode of above-mentioned boundary curve.
10. adjusting method according to claim 8, which is characterized in that for the image for needing to adjust boundary, when size refers to
When order is " maximum ", slope is that the determination process of the boundary curve of positive value is as follows:
Step 1: determining two extreme coordinates (x on boundary1,y1),(x2,y2)；
Step 2: the skew lines equation determined with this two endpoints
Step 3: keeping two endpoints constant, by quadratic function curve is stretched into outside skew lines to expand field range, searching makes to regard
The wild maximized quadratic function curve equation of range；
Step 4: setting the equation for the quadratic function curve that third step is found as y=a1x2+b1x+c1；
Step 5: calculating the corresponding area S of quadratic function curve, field range is maximum when this area is minimized
Step 6: converting function optimization problem for foregoing problems due to being to maximize field area
Objective function:
Constraint condition:
-b1/2a1≤x1；
x2-x1For definite value；
Step 7: the model that back obtains is ternary (a1,b1,c1) linear programming problem, need according to constraint condition into
Row simplifies, according to constraint condition by b1,c1Respectively with containing a1Algebraic expression expression, obtains following result
Objective function:
Constraint condition:
x1Objective function obtains minimum value when being minimized, and obtains optimal solution
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| CN110853185A (en) * | 2019-11-29 | 2020-02-28 | 长城汽车股份有限公司 | Vehicle panoramic all-round looking recording system and method |
| CN112874437A (en) * | 2019-11-29 | 2021-06-01 | 上海汽车集团股份有限公司 | Image display system and motor vehicle |
| CN114475436A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | User-defined vehicle-mounted image setting method and device, vehicle-mounted equipment and storage medium |
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