CN110399622A - The method for arranging of vehicle-mounted camera and the arrangement system of vehicle-mounted camera - Google Patents
The method for arranging of vehicle-mounted camera and the arrangement system of vehicle-mounted camera Download PDFInfo
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- CN110399622A CN110399622A CN201810374631.8A CN201810374631A CN110399622A CN 110399622 A CN110399622 A CN 110399622A CN 201810374631 A CN201810374631 A CN 201810374631A CN 110399622 A CN110399622 A CN 110399622A
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Abstract
The invention discloses a kind of method for arranging of vehicle-mounted camera and its arrangement systems.Method for arranging arranges camera in 3 d modeling software the following steps are included: according to the vehicle data of vehicle；Three-dimensional system of coordinate is established, and obtains vehicle reference point relative to the three-dimensional coordinate relationship of camera and saves；The parameter information of camera is imported into simulation arrangements tool；Three-dimensional coordinate relationship is imported into simulation arrangements tool, and carries out the analog imaging of camera according to the parameter information of camera and three-dimensional coordinate relationship；It is adjusted with the view effect for judging analog imaging and according to arrangement of the evaluation result to camera until the view effect of analog imaging meets the requirements.The method for arranging of the vehicle-mounted camera of embodiment of the present invention, determines how camera is arranged on vehicle by the view of analog imaging, camera can be assemblied in vehicle according to satisfactory analog result in this way.The imaging effect of camera can also be intuitively presented in analog imaging.
Description
Technical field
The present invention relates to vehicle-mounted camera technical field, in particular to the method for arranging of a kind of vehicle-mounted camera and vehicle-mounted take the photograph
As the arrangement system of head.
Background technique
In the related art, vehicle-mounted camera is usually arranged on automobile by rule of thumb, be easy to cause vehicle-mounted pick-up in this way
Head arrangement is improper and causes the imaging effect of camera bad.In addition, the method for Traditional measurements camera arrangement effect is simpler
It is single, it can not intuitively check arrangement effect, the imaging effect of assessment camera arrangement can only be carried out again after instruction carriage is produced and finished
Fruit.
Summary of the invention
Embodiments of the present invention provide a kind of method for arranging of vehicle-mounted camera and the arrangement system of vehicle-mounted camera.
The method for arranging of the vehicle-mounted camera of embodiment of the present invention, comprising the following steps:
According to the vehicle data of vehicle, the camera is arranged in 3 d modeling software；
Three-dimensional system of coordinate is established, and obtains vehicle reference point relative to the three-dimensional coordinate relationship of the camera and saves；
The parameter information of the camera is imported into simulation arrangements tool；
The three-dimensional coordinate relationship is imported into the simulation arrangements tool, and according to the parameter information of the camera and institute
State the analog imaging that three-dimensional coordinate relationship carries out the camera；With the view effect for judging the analog imaging and according to judge
As a result the arrangement of the camera is adjusted until the view effect of the analog imaging meets the requirements.
The method for arranging of the vehicle-mounted camera of embodiment of the present invention determines camera by the view of analog imaging such as
What is arranged on vehicle, camera can be assemblied in vehicle according to satisfactory analog result in this way.Analog imaging can also
The imaging effect of camera is intuitively presented, improve assessment camera arrangement the comprehensive of effect, intuitive, convenience and
Reliability.
In some embodiments, described to establish three-dimensional system of coordinate, and vehicle reference point is obtained relative to the camera
Three-dimensional coordinate relationship and the step of saving include: to establish the three-dimensional system of coordinate in the camera.In this way, can directly obtain
Coordinate relationship of the reference point relative to camera of picking up the car is improved efficiency without conversion.
In some embodiments, the vehicle reference point includes vehicle body interference point, the point on dynamic guiding line, meets beauty
At least one of the point of point, unlimited distance on state FMVSS laws and regulations requirement standard column and bumper bar data.In this way, according to upper
The three-dimensional coordinate relationship that vehicle reference point is stated relative to camera carries out analog imaging.
In some embodiments, described to obtain vehicle reference point relative to the three-dimensional coordinate relationship of the camera and protect
Depositing includes: that the three-dimensional coordinate relationship of the vehicle reference point is saved in fixed format in order to import in file, the fixation
It is related to the simulation arrangements tool that format imports file.The coordinate relationship of vehicle reference point is imported into simulation cloth in this way, facilitating
It sets in tool.
In some embodiments, the view effect for judging the analog imaging includes: according to the analog imaging
View effect, judge blocks, interferes, vehicle body shows accounting and blind area distance；According to the view effect of the analog imaging,
Judge influence of the arrangement of the camera to ADAS function；According to the view effect of the analog imaging, judgment criteria column view
Wild range.In this way, whether the arrangement for realizing assessment camera is reasonable.
In some embodiments, the method for arranging is further comprised the steps of: according to the satisfactory analog imaging
The camera is assemblied in vehicle by view effect.In this way, it is improper to avoid camera from actually arranging, the arrangement of camera is improved
Effect.
In some embodiments, the method for arranging is further comprised the steps of: according to the satisfactory analog imaging
View effect exports the assembly information that the camera is assemblied in vehicle.In this way, facilitating operator that will be imaged according to assembly information
Head is assemblied in vehicle.
The arrangement system of the vehicle-mounted camera of embodiment of the present invention, comprising:
Arrange module, the arrangement module is used for according to the vehicle data of vehicle, is taken the photograph described in the 3 d modeling software arrangement
As head；
Module is obtained, the acquisition module obtains vehicle reference point and take the photograph relative to described for establishing three-dimensional system of coordinate
As head three-dimensional coordinate relationship and save；
Processing module, the processing module are used to import the parameter information of the camera simulation arrangements tool and by institutes
It states three-dimensional coordinate relationship and imports the simulation arrangements tool, and closed according to the parameter information of the camera and the three-dimensional coordinate
System carries out the analog imaging of the camera；With
Module is judged, the judge module is for judging the view effect of the analog imaging and according to evaluation result to institute
The arrangement for stating camera is adjusted until the view effect of the analog imaging meets the requirements.
The arrangement system of the vehicle-mounted camera of embodiment of the present invention determines camera by the view of analog imaging such as
What is arranged on vehicle, camera can be assemblied in vehicle according to satisfactory analog result in this way.Analog imaging can also
The imaging effect of camera is intuitively presented, improve assessment camera arrangement the comprehensive of effect, intuitive, convenience and
Reliability.
In some embodiments, the acquisition module is used to establish the three-dimensional system of coordinate in the camera.Such as
This, can directly acquire coordinate relationship of the vehicle reference point relative to camera, without conversion, improve efficiency.
In some embodiments, the judge module is used for: according to the view effect of the analog imaging, being judged and is hidden
Gear, interference, vehicle body show accounting and blind area distance；According to the view effect of the analog imaging, the camera is judged
Arrange the influence to ADAS function；With the view effect according to the analog imaging, judgment criteria column field range.In this way, real
Whether the arrangement for having showed assessment camera is reasonable.
In some embodiments, the arrangement system includes load module, and the load module is used for basis and conforms to
The camera is assemblied in vehicle by the view effect for the analog imaging asked；And/or the arrangement system includes output mould
Block, the output module, which is used to export the camera according to the view effect of the satisfactory analog imaging, is assemblied in vehicle
Assembly information.In this way, it is improper to avoid camera from actually arranging, the arrangement effect of camera is improved, while facilitating operation
Camera is assemblied in vehicle according to assembly information by member.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that, in which:
Fig. 1 is the flow diagram of the method for arranging of the vehicle-mounted camera of embodiment of the present invention；
Fig. 2 is the module diagram of the arrangement system of the vehicle-mounted camera of embodiment of the present invention；
Fig. 3 is that embodiment of the present invention in camera establishes the schematic diagram of three-dimensional system of coordinate；
Fig. 4 is the view of the analog imaging of the preceding camera of embodiment of the present invention；
Fig. 5 is the view of the actual imaging of the preceding camera of embodiment of the present invention；
Fig. 6 is the view of the analog imaging of the rear camera of embodiment of the present invention；
Fig. 7 is the view of the actual imaging of the rear camera of embodiment of the present invention；
Fig. 8 is the view of the analog imaging of the left camera of embodiment of the present invention；
Fig. 9 is the view of the actual imaging of the left camera of embodiment of the present invention；
Figure 10 is the view of the analog imaging of the right camera of embodiment of the present invention；
Figure 11 is the view of the actual imaging of the right camera of embodiment of the present invention；
Figure 12 is the arrangement schematic diagram of the preceding camera of embodiment of the present invention；
Figure 13 is the BSD arrangement schematic diagram of the right camera of embodiment of the present invention；
Figure 14 is another flow diagram of the method for arranging of the vehicle-mounted camera of embodiment of the present invention；
Figure 15 is the another flow diagram of the method for arranging of the vehicle-mounted camera of embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are described below in detail, the embodiment of the embodiment is shown in the accompanying drawings, wherein
Same or similar label indicates same or similar element or element with the same or similar functions from beginning to end.Lead to below
It crosses the embodiment being described with reference to the drawings to be exemplary, for explaining only the invention, and should not be understood as to limit of the invention
System.
Please refer to Fig. 1 and Fig. 2, the method for arranging of the vehicle-mounted camera of embodiment of the present invention, comprising the following steps:
S11: according to the vehicle data of vehicle, camera is arranged in 3 d modeling software；
S12: establishing three-dimensional system of coordinate, and obtains vehicle reference point relative to the three-dimensional coordinate relationship of camera and save；
S13: the parameter information of camera is imported into simulation arrangements tool；
S14: three-dimensional coordinate relationship is imported into simulation arrangements tool, and is closed according to the parameter information of camera and three-dimensional coordinate
System carries out the analog imaging of camera；With
S15: judging the view effect of analog imaging and is adjusted according to arrangement of the evaluation result to camera until mould
The view effect of quasi- imaging meets the requirements.
The method for arranging of the vehicle-mounted camera of embodiment of the present invention determines camera by the view of analog imaging such as
What is arranged on vehicle, camera can be assemblied in vehicle according to satisfactory analog result in this way.Analog imaging can also
The imaging effect of camera is intuitively presented, improve assessment camera arrangement the comprehensive of effect, intuitive, convenience and
Reliability.
Normally, vehicle-mounted camera includes the camera in four orientation in front, rear, left and right.Preceding camera is mounted on Chinese herbaceous peony
Position, for acquiring the image of vehicle front region；Rear camera is mounted on tailstock position, for acquiring rear view of vehicle region
Image；Left camera is mounted on left-hand mirror, for acquiring the image of vehicle left area；Right camera is mounted on right backsight
Mirror, for acquiring the image in vehicle right region.However, specific rigging position of the vehicle-mounted camera on vehicle also needs to pass through cloth
Camera and assessment arrangement effect are set to determine.
The method for arranging of vehicle-mounted camera of the invention can check the arrangement imaging effect of vehicle-mounted camera.It can manage
Solution arranges camera in 3 d modeling software and carries out camera using simulation arrangements tool in embodiments of the present invention
Analog imaging, can be final according to meeting the requirements with the imaging effect of visual assessment camera by the imaging view of camera
Analog simulation result camera is assemblied in vehicle.In this way, (can will directly be imaged to avoid camera is rule of thumb arranged
Head is assemblied in vehicle) cause camera arrangement improperly consequence.In example of the invention, simulation arrangements tool utilizes camera
Parameter information (such as Pixel Dimensions characteristic of lens distortion curve and imaging sensor) by vehicle reference point three-dimensional sit
Mark is converted to the two-dimensional coordinate on imaging sensor, to obtain the view of analog imaging.3 d modeling software is CATIA
(Computer Aided Three-dimensional Interactive Application) software.
It in step s 11, include arrangement preceding camera, rear camera, left camera shooting in 3 d modeling software arrangement camera
Head and right camera.The vehicle data of vehicle include relevant horizon data (semi-load/fully loaded), outside rear-view mirror, two sides vehicle body
And the appearances such as grid, logo, license plate near outer surface of tire data, outside rear-view mirror eyeglass rotation extreme position, preceding camera
Face data, the appearances face datas such as attacker, bumper bar, license plate near rear camera and other may cause the outer of blind area and interference
Surface data.Preferably, the vehicle data of vehicle further include outside rear-view mirror internal structure data and front camera and rear camera arrangement attachment
Dependency structure data.
In step S12 into step S15, preferably, each time only to multiple camera shootings in the orientation of front, rear, left and right four
A camera in head carries out analog imaging.Specifically, it after 3 d modeling software arranges camera, carries out respectively each
The analog imaging of a camera is until the imaging effect of all cameras meets the requirements.
In some embodiments, step S12 includes: to establish three-dimensional system of coordinate in camera.
In this way, coordinate relationship of the vehicle reference point relative to camera can be directly acquired, without conversion, improve efficiency.Tool
Body, three-dimensional system of coordinate is established in camera, it can be understood as, three-dimensional coordinate is established using the entrance pupil of camera point O as origin
System.Referring to Fig. 3, creating cartesian coordinate system (three-dimensional coordinate by origin of the entrance pupil of camera point O in 3 d modeling software
System), coordinate system meets the principle of right-handed coordinate system, and z-axis is directed toward outside vehicle body, and y-axis is directed toward vehicle top.It is appreciated that each
Camera is required to establish corresponding three-dimensional system of coordinate to obtain three-dimensional of the corresponding vehicle reference point relative to this camera
Coordinate relationship.
In some embodiments, vehicle reference point includes vehicle body interference point, the point on dynamic guiding line, meets the U.S.
At least one of the point of point, unlimited distance on FMVSS laws and regulations requirement standard column and bumper bar data.
In this way, the three-dimensional coordinate relationship according to above-mentioned vehicle reference point relative to camera carries out analog imaging.At one
In example, obtain vehicle reference point relative to the three-dimensional coordinate relationship of camera include: the coordinate value for obtaining vehicle body interference point, it is dynamic
The point of the coordinate of point on state guide wire, the coordinate for meeting point on U.S. FMVSS laws and regulations requirement standard column and unlimited distance
Coordinate value.Specifically, it measures the coordinate value of vehicle body interference point: creating a plane in 3 d modeling software, guarantee camera
Optical axis and the co-planar, on that plane create straight line and vehicle body outermost edge it is tangent, find out point of contact P and measure the point
Coordinate value, around optical axis successively every 20 degree of rotations plane, and measure the coordinate of the ragged edge point of contact P of the angle under body
Value, multiple point of contact P are vehicle body interference point.When measuring the interference point of left and right camera, headstock with respect to camera entrance pupil point
Coordinate value measure, in this way, the position of headstock can be marked on the view of analog imaging.It measures on dynamic guiding line
The coordinate value of point: dynamic guiding line width is apart from each 15cm of vehicle outermost, outermost edge 50cm after Chinese herbaceous peony, dynamic guiding
The length of line is 3m.Measurement meets the coordinate value of point on U.S. FMVSS laws and regulations requirement standard column: by the center line of pillar and
Entrance pupil point does a plane, and the plane is allowed to intersect with pillar, obtains the straight line of an intersection, measures on this straight line
The coordinate value of the opposite camera of point.Measure the coordinate of unlimited distance point: the most edge 1km of the front and back apart from vehicle is arranged in unlimited distance
Remote place.
In some embodiments, step S12 includes: to be saved in the three-dimensional coordinate relationship of vehicle reference point in order admittedly
The formula that fixes imports in file.It is related to simulation arrangements tool that fixed format imports file.
The coordinate relationship of vehicle reference point is imported in simulation arrangements tool in this way, facilitating.
Specifically, fixed format can be saved as to the three-dimensional coordinate relationship of vehicle reference point in 3 d modeling software to import
File, when being developed to simulation arrangements tool, in the file format and 3 d modeling software that simulation arrangements tool is supported
File format be consistent.
In step s 13, the parameter information of camera include the lens distortion curve of camera, it is horizontal field of view angle, vertical
At least one of field angle and the Pixel Dimensions of imaging sensor.
In this way, carrying out analog imaging according to the parameter information of above-mentioned camera.It is appreciated that in simulation arrangements tool in advance
It is stored with the parameter information of camera corresponding with various, directly selecting corresponding vehicle can be by the ginseng of camera
Number information imports simulation arrangements tool and uses.
In step S14, Fig. 4, Fig. 6, Fig. 8 and Figure 10 are please referred to, respectively according to the parameter information of camera and three-dimensional seat
Mark relationship carries out the analog imaging of camera, obtains the view of the corresponding analog imaging of different cameras.
In some embodiments, in step S15, the view effect for judging analog imaging includes: according to analog imaging
View effect, judge blocks, interferes, vehicle body shows accounting and blind area distance；According to the view effect of analog imaging, judge
The arrangement of camera is to ADAS (Advanced Driver Assistant Systems, advanced driving assistance system) function
It influences；With the view effect according to analog imaging, judgment criteria column field range.
In this way, whether the arrangement for realizing assessment camera is reasonable.The view effect of camera analog imaging meets the requirements
Camera can be assemblied in vehicle according to corresponding arrangement.Fig. 4-Figure 11 is please referred to, Fig. 4, Fig. 6, Fig. 8 and Figure 10 divide
Be not preceding camera, rear camera, left camera and right camera analog imaging view, Fig. 5, Fig. 7, Fig. 9 and Figure 11 are roots
Camera is assemblied in the practical figure shot after vehicle according to the view effect corresponding arrangement of satisfactory analog imaging
Picture, it is known that the view effect of the real image and camera analog imaging that shoot after camera installation is almost the same.Fig. 4,
In Fig. 6, Fig. 8 and Figure 10, curve A1, curve A2, curve A3, curve A4 are made of vehicle body interference point, and curve B1, curve B2 are indicated
Dynamic guiding line, curve C1, curve C2 are formed by meeting the point on U.S. FMVSS laws and regulations requirement standard column, curve D1, curve D2
Indicate that the intersection of sky and ground, curve E3, curve E4 indicate Chinese herbaceous peony angle, curve F3, curve F4 indicate BSD (Blind Spot
Detection, blind monitoring system) testing result, curve G3, curve G4 are made of backsight mirror shell interference point.
Specifically, Fig. 4 and Figure 12 are please referred to, by taking preceding camera as an example, according to the view effect of analog imaging, judges and hides
Gear, interference, vehicle body show accounting and blind area distance.In Figure 12, α indicates the vertical angle of view of preceding camera, and β indicates that vehicle body accounts for
Than indicating camera central axes for 10%~30%, a, b indicates that half ground line, c indicate blind area, is less than 250mm, d table
Show preceding camera optical axis at a distance from the intersection point to front of the car of ground, be 1000mm~2000mm, h indicates that preceding camera is liftoff
It highly, is 600mm.By Fig. 4 and Figure 12 it is found that blocking, interfering, vehicle body shows that accounting and blind area distance are met the requirements.
Figure 10 and Figure 13 are please referred to, by taking BSD (blind monitoring system) as an example, according to the view of analog imaging, judges camera shooting
Influence of the arrangement of head to ADAS (advanced driving assistance system) function.In Figure 13, BSD algorithm requires ABCD and EFGH institute group
At region be in the field angle of right camera, and range image most edge be greater than 5 pixels.BSD detection range includes
6m behind tailstock portion to tailstock portion.BSD testing result referring to Figure 10, wherein big quadrangle indicates ABCD, small quadrangle table
Show EFGH.By Figure 10 and Figure 13 it is found that BSD (blind monitoring system) is met the requirements.Fig. 4 and Fig. 6 are please referred to, according to analog imaging
View effect, judgment criteria column field range.By Fig. 4 and Fig. 6 it is found that standard column field range is met the requirements.
Further, the view effect for judging analog imaging includes: to observe the view effect of analog imaging.In this way, subjective
Whether the effect for judging analog imaging view is subjected to.
In some embodiments, Figure 14 is please referred to, method for arranging further includes step S16: according to satisfactory simulation
Camera is assemblied in vehicle by the view effect of imaging.
In this way, it is improper to avoid camera from actually arranging, the arrangement effect of camera is improved.It is appreciated that being determined for compliance with
It is required that analog imaging the corresponding arrangement of view effect after, method for arranging can by control robot or manipulator will take the photograph
As head is assemblied on vehicle.
In some embodiments, Figure 15 is please referred to, method for arranging further includes step S17: according to satisfactory simulation
The view effect output camera of imaging is assemblied in the assembly information of vehicle.
In this way, facilitating operator that camera is assemblied in vehicle according to assembly information.It is appreciated that display screen can be passed through
And/or loudspeaker output camera is assemblied in the assembly information of vehicle.Display screen can show dress in the form of writings and image
With information, loudspeaker can issue voice prompting assembly information.Further, operator according to assembly information operate robot or
Camera is assemblied in vehicle by manipulator.
Referring to Fig. 2, the arrangement system 10 of the vehicle-mounted camera of embodiment of the present invention, including arrangement module 12, acquisition
Module 14, processing module 16 and judge module 18.Arrange that module 12 is used for the vehicle data according to vehicle, in 3 d modeling software
Arrange camera.Module 14 is obtained for establishing three-dimensional system of coordinate, and obtains vehicle reference point and is sat relative to the three-dimensional of camera
Mark relationship simultaneously saves.Processing module 16 is used to import the parameter information of camera simulation arrangements tool and by three-dimensional coordinate relationship
Simulation arrangements tool is imported, and carries out the analog imaging of camera according to the parameter information of camera and three-dimensional coordinate relationship.It comments
Module 18 is sentenced for judging the view effect of analog imaging and being adjusted according to arrangement of the evaluation result to camera until mould
The view effect of quasi- imaging meets the requirements.
In other words, the method for arranging of the vehicle-mounted camera of embodiment of the present invention can be by the vehicle of embodiment of the present invention
The arrangement system 10 for carrying camera is realized.Wherein step S11 can be realized by arrangement module 12, and step S12 can be by acquisition mould
Block 14 realizes that step S13 and step S14 can be realized that step S15 can be realized by judge module 18 by processing module 16.
The arrangement system 10 of the vehicle-mounted camera of embodiment of the present invention, determines camera by the view of analog imaging
How to be arranged on vehicle, camera can be assemblied in by vehicle according to satisfactory analog result in this way.Analog imaging
The imaging effect that camera can intuitively be presented, improve assessment camera arrangement the comprehensive of effect, intuitive, convenience with
And reliability.
It is appreciated that the explanation of the embodiment of the above-mentioned method for arranging to vehicle-mounted camera and beneficial effect are also fitted
The arrangement system 10 of vehicle-mounted camera for embodiment of the present invention is no longer developed in details herein to avoid redundancy.
In some embodiments, module 14 is obtained to be used to establish three-dimensional system of coordinate in camera.
In this way, coordinate relationship of the vehicle reference point relative to camera can be directly acquired, without conversion, improve efficiency.
In some embodiments, vehicle reference point includes vehicle body interference point, the point on dynamic guiding line, meets the U.S.
At least one of the point of point, unlimited distance on FMVSS laws and regulations requirement standard column and bumper bar data.
In this way, the three-dimensional coordinate relationship according to above-mentioned vehicle reference point relative to camera carries out analog imaging.
In some embodiments, module 14 is obtained for the three-dimensional coordinate relationship of vehicle reference point to be saved in order
Fixed format imports in file, and it is related to simulation arrangements tool that fixed format imports file.
The coordinate relationship of vehicle reference point is imported in simulation arrangements tool in this way, facilitating.
In some embodiments, the parameter information of camera include the lens distortion curve of camera, horizontal field of view angle,
At least one of vertical field of view angle and the Pixel Dimensions of imaging sensor.
In this way, carrying out analog imaging according to the parameter information of above-mentioned camera.
In some embodiments, module 18 is judged to be used for: according to the view effect of analog imaging, judge blocks, interferes,
Vehicle body shows accounting and blind area distance；According to the view effect of analog imaging, the arrangement of camera is judged to ADAS function
It influences；With the view effect according to analog imaging, judgment criteria column field range.
In this way, whether the arrangement of assessment camera is reasonable.
In some embodiments, arrangement system 10 includes load module 11, and load module 11 is used for basis and meets the requirements
The view effect of analog imaging camera is assemblied in vehicle.
In this way, it is improper to avoid camera from actually arranging, the arrangement effect of camera is improved.It is appreciated that load module
11 can be robot or manipulator.
In some embodiments, arrangement system 10 includes output module 13, and output module 13 is used for basis and meets the requirements
The view effect output camera of analog imaging be assemblied in the assembly information of vehicle.
In this way, facilitating operator that camera is assemblied in vehicle according to assembly information.It is appreciated that output module 13 includes
Display screen and/or loudspeaker.
In the description of embodiments of the present invention, term " first ", " second " are used for description purposes only, and cannot understand
For indication or suggestion relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include one or more feature.In embodiments of the present invention
In description, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of embodiments of the present invention, it should be noted that unless otherwise clearly defined and limited, term
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected or can mutually communicate；It can be directly connected, can also lead to
It crosses intermediary to be indirectly connected, can be the connection inside two elements or the interaction relationship of two elements.For ability
For the those of ordinary skill in domain, can understand as the case may be above-mentioned term in embodiments of the present invention specifically contain
Justice.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
The description of mode ", " example ", specific examples or " some examples " etc. means the tool described in conjunction with the embodiment or example
Body characteristics, structure, material or feature are contained at least one embodiment or example of the invention.In the present specification,
Schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific features of description, knot
Structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processing module or other can be from instruction
Execute system, device or equipment instruction fetch and the system that executes instruction) use, or combine these instruction execution systems, device or
Equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any may include, store, communicating, propagating or
Transfer program uses for instruction execution system, device or equipment or in conjunction with these instruction execution systems, device or equipment
Device.The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of embodiments of the present invention can be with hardware, software, firmware or their combination come real
It is existing.In the above-described embodiment, multiple steps or method can be with storages in memory and by suitable instruction execution system
The software or firmware of execution is realized.For example, if realized with hardware, in another embodiment, ability can be used
Any one of following technology or their combination well known to domain is realized: being had for realizing logic function to data-signal
The discrete logic of logic gates, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array
(PGA), field programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
In addition, each functional unit in various embodiments of the present invention can integrate in a processing module, it can also
To be that each unit physically exists alone, can also be integrated in two or more units in a module.It is above-mentioned integrated
Module both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module
If in the form of software function module realize and when sold or used as an independent product, also can store one calculating
In machine read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (11)
1. a kind of method for arranging of vehicle-mounted camera, which comprises the following steps:
According to the vehicle data of vehicle, the camera is arranged in 3 d modeling software；
Three-dimensional system of coordinate is established, and obtains vehicle reference point relative to the three-dimensional coordinate relationship of the camera and saves；
The parameter information of the camera is imported into simulation arrangements tool；
The three-dimensional coordinate relationship is imported into the simulation arrangements tool, and according to the parameter information of the camera and described three
Dimension coordinate relationship carries out the analog imaging of the camera；With the view effect for judging the analog imaging and according to evaluation result
The arrangement of the camera is adjusted until the view effect of the analog imaging meets the requirements.
2. method for arranging as described in claim 1, which is characterized in that it is described to establish three-dimensional system of coordinate, and obtain vehicle correlation
It puts the three-dimensional coordinate relationship relative to the camera and includes: to establish the three-dimensional system of coordinate to take the photograph described the step of preservation
As head.
3. method for arranging as described in claim 1, which is characterized in that the vehicle reference point includes vehicle body interference point, dynamic
Point on guide line meets in point on U.S. FMVSS laws and regulations requirement standard column, the point of unlimited distance and bumper bar data extremely
Few one kind.
4. method for arranging as described in claim 1, which is characterized in that the acquisition vehicle reference point is relative to the camera
Three-dimensional coordinate relationship and save include: that the three-dimensional coordinate relationship of the vehicle reference point is saved in fixed format in order to lead
Enter in file, it is related to the simulation arrangements tool that the fixed format imports file.
5. method for arranging as described in claim 1, which is characterized in that the view effect packet for judging the analog imaging
It includes:
According to the view effect of the analog imaging, judge blocks, interferes, vehicle body shows accounting and blind area distance；
According to the view effect of the analog imaging, influence of the arrangement of the camera to ADAS function is judged；
According to the view effect of the analog imaging, judgment criteria column field range.
6. method for arranging as described in claim 1, which is characterized in that the method for arranging further comprises the steps of:
The camera is assemblied in vehicle according to the view effect of the satisfactory analog imaging.
7. method for arranging as described in claim 1, which is characterized in that the method for arranging further comprises the steps of:
The assembly information that the camera is assemblied in vehicle is exported according to the view effect of the satisfactory analog imaging.
8. a kind of arrangement system of vehicle-mounted camera characterized by comprising
It arranges that module, the arrangement module are used for the vehicle data according to vehicle, arranges the camera in 3 d modeling software；
Module is obtained, the acquisition module obtains vehicle reference point relative to the camera for establishing three-dimensional system of coordinate
Three-dimensional coordinate relationship and save；
Processing module, the processing module are used to import the parameter information of the camera simulation arrangements tool and by described three
Tie up coordinate relationship and import the simulation arrangements tool, and according to the parameter information of the camera and the three-dimensional coordinate relationship into
The analog imaging of the row camera；With
Module is judged, the module of judging is used to judge the view effect of the analog imaging and takes the photograph according to evaluation result to described
As the arrangement of head is adjusted until the view effect of the analog imaging meets the requirements.
9. arrangement system as claimed in claim 8, which is characterized in that the acquisition module is for building the three-dimensional system of coordinate
It stands in the camera.
10. arrangement system as claimed in claim 8, which is characterized in that the judge module is used for:
According to the view effect of the analog imaging, judge blocks, interferes, vehicle body shows accounting and blind area distance；
According to the view effect of the analog imaging, influence of the arrangement of the camera to ADAS function is judged；With
According to the view effect of the analog imaging, judgment criteria column field range.
11. arrangement system as claimed in claim 8, which is characterized in that the arrangement system includes load module, the assembly
Module is used to that the camera to be assemblied in vehicle according to the view effect of the satisfactory analog imaging；And/or
The arrangement system includes output module, and the output module is used for the view according to the satisfactory analog imaging
Effect exports the assembly information that the camera is assemblied in vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810374631.8A CN110399622A (en) | 2018-04-24 | 2018-04-24 | The method for arranging of vehicle-mounted camera and the arrangement system of vehicle-mounted camera |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810374631.8A CN110399622A (en) | 2018-04-24 | 2018-04-24 | The method for arranging of vehicle-mounted camera and the arrangement system of vehicle-mounted camera |
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