CN111016788A - Electronic rearview mirror system and vehicle - Google Patents
Electronic rearview mirror system and vehicle Download PDFInfo
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- CN111016788A CN111016788A CN201911417456.7A CN201911417456A CN111016788A CN 111016788 A CN111016788 A CN 111016788A CN 201911417456 A CN201911417456 A CN 201911417456A CN 111016788 A CN111016788 A CN 111016788A
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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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- 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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8046—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for replacing a rear-view mirror system
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Abstract
The invention discloses an electronic rearview mirror system and a vehicle, which comprise a plurality of cameras, a display screen and an image integrated processing module, wherein the image integrated processing module comprises an image acquisition module, an image processing module and an image display module, the image processing module selects image data to be displayed based on the image data acquired by the image acquisition module and actual vehicle signals, recombines and splices the images to be displayed to form a whole-screen single-picture image, or cuts the images to be displayed into a plurality of sub-images which are continuously arranged along the transverse direction or the radial direction according to a preset proportion. The invention realizes that the plurality of cameras correspond to one display picture by splicing or dividing the images acquired by the plurality of cameras, enables a driver to accurately and quickly observe and judge the visual fields of a plurality of visual angles in real time, and realizes the display of the display picture along with the driving state of the vehicle by controlling so as to ensure that the image display is not distorted, thereby greatly improving the driving safety.
Description
Technical Field
The invention relates to the technical field of automotive electronic rearview mirror systems, in particular to an electronic rearview mirror system and a vehicle comprising the same.
Background
At present, most vehicles use mercury glass as an indirect vehicle vision reflector, and due to the angle relationship between the eyepoint observation of a driver and the reflection of a traditional physical rearview mirror, the observation range is small, a vision blind area is brought to the driver, the driving safety is seriously affected, and especially, the influence of the night dark, rain and snow weather on the vision is larger.
With the continuous development of camera technology, electronic rearview mirrors gradually replacing traditional physical rearview mirrors appear on the market. The multi-generation electronic rearview mirror utilizes the advantages of a camera in the visual field range, night vision and the camera lens of the multi-generation electronic rearview mirror, solves most of visual field blind areas of a driver, and still has the problem of insufficient display range of a single camera.
An electronic all-round system for monitoring the surrounding environment of a vehicle realizes larger wide-angle irradiation by installing wide-angle cameras around the vehicle and then carries out algorithm splicing processing, although the image is corrected, the displayed image still deforms seriously. Moreover, the display image formed by splicing the aerial view acquired by the plurality of wide-angle cameras can only be completely displayed on the ground, and partial loss of objects above the ground due to the angle splicing of the visual angles can occur to form four-corner splicing line blind areas, so that although the whole periphery of the vehicle can be seen, the periphery of the vehicle can only be seen within a very close range, such as an environment range of about 3 meters around, and about 3 meters, the requirement of far vision cannot be met, and the requirement of regulations on the requirement of single use of the traditional physical rearview mirror can not be met.
An electronic rearview mirror system, wherein a camera of the electronic rearview mirror system horizontally irradiates, and single picture display can be realized on one display. However, the electronic rearview mirror system can only display the corresponding camera picture when the driver operates to the corresponding trigger scene, the display is single, the whole situation cannot be observed, and the requirement of observing multiple vehicle visual angles required by laws and regulations at the same time cannot be met.
An electronic rearview mirror system capable of displaying at least three pictures on a display, realizing display patterns in the forms of delta, H, and field. However, in such electronic rearview mirror systems, only one camera irradiation direction corresponds to one display screen, and a driver needs to observe a plurality of display screens, and at the same time needs to select a display screen suitable for a vehicle scene from the plurality of display screens, so that the requirements of a complex vehicle scene and various vehicle posture driving modes cannot be met, and the most important observation range of the driver for a second-order moment cannot be met.
An electronic rearview mirror system capable of displaying a surround view in combination with a view angle farther to the left rear and right rear of a vehicle. However, this electronic rearview mirror system only meets the requirement of low-speed running of the vehicle, and the video flow rate around the ground can generate dizzy feeling to the driver in the high-speed running state, and in addition, the system must be closed for use when the vehicle speed is more than 30 km according to the use convention of the automobile industry, so as to reduce the misjudgment and dizzy feeling caused by the video delay and the observation direction to the driver.
An electronic rearview mirror system displays two pictures of a main view and an expanded view on the same display in a video splicing mode. For example, in a vertical screen electronic rearview mirror system, a far-focus picture and a wide-angle picture are spliced together up and down, so that the wide range of the vertical field of view and the horizontal field of view of the whole vehicle is realized, however, the wide-angle picture on the display cannot be subjected to up-down extrusion deformation due to the fact that the acquisition resolution and the display resolution do not correspond to each other, the judgment of the object distance is influenced, seamless splicing cannot be performed between the upper picture and the lower picture due to the irradiation angle, an obvious dividing line exists, the driver needs to focus the eyes twice, and the upper picture and the lower picture are observed and confirmed respectively, so that the judgment delay is caused, and the driving safety is seriously influenced.
The latest generation of electronic rearview mirror systems employ a large wide angle camera to achieve acquisition of a larger vertical field of view and a wider horizontal field of view. However, this electronic rearview mirror system can only observe the rearward view field of the vehicle, and because the illumination field of the camera cannot cover the front of the vehicle and cannot meet the installation requirement of the national standard six-class mirror, the illumination field of the truck cannot meet the illumination field of the five-class mirror, and a group of displays need to be supplemented separately to perform video display on the view field of the front of the vehicle.
Based on the above problems, how to make an electronic rearview mirror system realize that a plurality of cameras correspond to a display picture, satisfy the driver's requirement for accurately and rapidly observing and determining a plurality of viewing angles and fields of view in real time, and also solve the image display distortion caused by the vehicle driving state change, is a technical difficulty to be solved urgently in the industry.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an electronic rearview mirror system and a vehicle, which realize that a plurality of cameras correspond to one display picture through splicing or dividing images acquired by the plurality of cameras, enable a driver to accurately and quickly observe and judge the visual fields of a plurality of visual angles in real time, and realize the display of the display picture along with the driving state of the vehicle through control so as to ensure that the image display is not distorted, thereby greatly improving the driving safety.
The technical scheme adopted by the invention is as follows:
the electronic rearview mirror system comprises a plurality of cameras, a display screen and an image integrated processing module, wherein the image integrated processing module comprises an image acquisition module, an image processing module and an image display module;
an image acquisition module that acquires image data based on images photographed by a plurality of cameras of the electronic rearview mirror system;
the image processing module is used for selecting image data to be displayed based on the image data acquired by the image acquisition module and actual vehicle signals, recombining and splicing the images to be displayed to form a whole-screen single-picture image based on the image data to be displayed, or cutting the images to be displayed into a plurality of sub-images which are continuously arranged in a transverse direction or a radial direction according to a preset proportion;
and the image display module is used for carrying out correction processing on the basis of the image data received by the image processing module, integrally displaying the whole-screen single-picture image on the display screen in a splicing mode according to a preset splicing program, or displaying the corresponding sub-image on the display screen in a split-screen mode according to a preset split-screen program.
As one aspect of the present invention, when the vehicle is in a low-speed state of straight-driving, or a low-speed turning, lane changing, or reversing state, the image processing module recombines and splices a plurality of images to be displayed by using a Harris corner extraction algorithm or a SIFT feature matching algorithm to form a full-screen single-picture image.
As one aspect of the present invention, the image integration processing module further includes a dynamic adjustment module, which dynamically adjusts the splicing proportion of the image display module based on the image processing condition of the image processing module and the actual vehicle signal, and projects the spliced whole-screen single-picture image onto the whole display screen according to a predetermined splicing rule; or dynamically adjusting the split screen number and the split screen size of the image display module, and projecting each split image to the corresponding split screen area according to a preset split screen rule.
As one aspect of the present invention, when the vehicle is in a high-speed state of straight-line driving, a low-speed large turning state, or a high-speed lane changing state, the image processing module cuts the image to be displayed into at least two parts of images which are continuously arranged along a vertical longitudinal direction according to a predetermined ratio, each part of the images respectively includes a main view image and at least one extended view image, distortion correction processing is performed on each view image, and the extended view images are compressed or stretched according to a control instruction of the dynamic adjustment module.
As one aspect of the present invention, when the vehicle is in a high-speed state of uniform linear driving, the dynamic adjustment module dynamically adjusts the number of split screens of the image display module to be consistent with the number of images processed by the image processing module, each split screen correspondingly displays a view image, and a fixed video dividing line is arranged between the display areas of the two split screens; or
When the vehicle is in a high-speed state of accelerating or decelerating and running linearly, the dynamic adjustment module dynamically adjusts the size proportion of each split screen of the image display module, and the video split lines which distinguish different areas can be translated and swung in a certain range along with the change of the vehicle condition.
As an aspect of the present invention, the cameras include a front camera, a left rear camera, and a right rear camera;
the front camera is arranged in the middle of the vehicle or at the top of the vehicle, a wide-angle camera with a horizontal shooting angle of 90-150 degrees is adopted as a lens machine of the front camera, and the optical axis of the front camera inclines downwards by 20-50 degrees and irradiates the ground;
the left rear camera and the right rear camera are respectively arranged on the left side and the right side of the vehicle head, the lenses of the left rear camera and the right rear camera are wide-angle cameras with a horizontal shooting angle of 90-150 degrees, and the optical axes of the lenses of the left rear camera and the right rear camera incline 15-50 degrees to the ground and irradiate towards the rear of the vehicle.
As one aspect of the present invention, when the vehicle is in a low-speed state or a low-speed turning state in which the vehicle is traveling straight, the video images displayed on the left display screen of the display screen include video images formed by splicing and combining images captured by the front camera and the left rear camera in the respective video capture areas, and the video images displayed on the right display screen of the display screen include video images formed by splicing and combining images captured by the front camera and the right rear camera in the respective video capture areas.
As one aspect of the invention, the camera further comprises a left lower camera and a right lower camera, the left lower camera and the right lower camera are respectively installed on the left side and the right side of the vehicle head, images shot by the left lower camera and the right lower camera are taken by taking the vehicle central axis as an intersection point, the lenses of the left lower camera and the right lower camera are wide-angle cameras with a horizontal shooting angle of 90-150 degrees, and the optical axis centers of the lenses of the left lower camera and the right lower camera are inclined outwards by 15-50 degrees and irradiate towards the ground by taking the vertical plane of the vehicle body.
As one aspect of the present invention, when the vehicle is in a low-speed state or a low-speed turning state in which the vehicle is traveling straight, the video images displayed on the left display screen of the display screen include video images formed by splicing and combining images captured by the front camera, the lower left camera, and the rear left camera in the respective video capture areas, and the video images displayed on the right display screen of the display screen include video images formed by splicing and combining images captured by the front camera, the lower right camera, and the rear right camera in the respective video capture areas.
As one aspect of the present invention, in the video images displayed on the left and right display screens, the proportion of the vehicle body on the left and right display screens is one fifth to one third, and the heaven-earth ratio is 1:9 to 1: 4.
As another aspect of the present invention, in the video images displayed on the left display screen and the right display screen, the proportion of the vehicle body on the left display screen and the right display screen is one third to three fifths, and the heaven-earth ratio is 1:9 to 1: 4.
As one aspect of the present invention, when the vehicle is in a high-speed driving state or a large turning state, the video image displayed on the left side display screen of the display screen includes at least two video images in which the image captured by the left rear camera in the corresponding video capture area is divided to form a continuous arrangement, and the video image displayed on the right side display screen of the display screen includes at least two video images in which the image captured by the right rear camera in the corresponding video capture area is divided to form a continuous arrangement.
As one aspect of the present invention, in the video images displayed on the left and right display screens, the ratio of the vehicle body on the left and right display screens is one seventh to one fifth, and the heaven-earth ratio is 3:7 to 2: 3.
As an aspect of the present invention, there is provided a vehicle on which the electronic rearview mirror system described above is mounted or equipped.
Compared with the prior art, the invention has the following technical effects:
the invention realizes that the plurality of cameras correspond to one display picture by splicing or dividing the images acquired by the plurality of cameras, greatly improves the defect that the irradiation direction of one camera corresponds to one display picture of the existing electronic rearview mirror, and avoids a driver from selecting the display picture suitable for a vehicle scene and a vehicle posture driving mode from the plurality of display pictures; the defect that the main view field and the expanded view field of the vertical screen electronic rearview mirror are spliced in an up-and-down mode in the prior art is greatly overcome, visual fatigue caused by repeated confirmation of object distances by a driver is avoided, the driver can accurately and quickly observe and judge the view fields of multiple view angles in real time, undistorted image display is guaranteed, a wider view field is displayed, the visible area of the rearview mirror is further enhanced, and the driving safety of an automobile is greatly improved.
The invention realizes the display of the display picture along with the change of the vehicle running state by controlling, not only meets the requirement of low-speed running of the vehicle, but also avoids the misjudgment and dizzy feeling of the driver caused by the video delay and the observation direction under the high-speed running state. The electronic rearview mirror system is practical, convenient and low in cost, and is easy to realize large-scale commercial production and use.
Drawings
The drawings listed in the invention are only for better understanding of the technical solution and advantages of the invention, and do not constitute any limitation to the technical solution of the invention. Wherein:
fig. 1 is a schematic structural view of an electronic rearview mirror system according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the installation of 3 cameras and their video capture zones in an electronic rearview mirror system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of an electronic rearview mirror system displaying images in a low-speed state according to an embodiment of the present invention;
fig. 4 is a schematic view of a display image of the electronic rearview mirror system in a high-speed state according to the embodiment of the invention.
Fig. 5 is a view showing the installation of a front camera among 5 cameras of the electronic rear view mirror system and a video capture area distribution thereof according to the embodiment of the present invention;
fig. 6 is an installation of a lower left camera and a lower right camera among 5 cameras of the electronic rear view mirror system and a video capture area distribution diagram thereof according to an embodiment of the present invention;
fig. 7 is a view showing the arrangement of the left rear camera and the right rear camera among the 5 cameras of the electronic rear view mirror system according to the embodiment of the present invention and the distribution of the video capturing regions thereof.
Detailed Description
The present invention will be described in more detail and fully hereinafter with reference to specific examples. The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses.
As shown in fig. 1, the electronic rearview mirror system according to the embodiment of the present invention includes a plurality of cameras 170, a display screen 180, and an image integration processing module 100, wherein the image integration processing module 100 includes an image acquisition module 110, an image processing module 130, and an image display module 140, and the image acquisition module 110, the image processing module 130, and the image display module 140 are connected in sequence.
The functions of each module are as follows:
an image acquisition module 110 that acquires image data based on images photographed by a plurality of cameras of the electronic rearview mirror system;
the image processing module 130 selects image data to be displayed based on the image data acquired by the image acquisition module 110 and the actual vehicle signal; and based on the image data to be displayed, recombining and splicing the images to be displayed to form a whole-screen single-picture image, or cutting the images to be displayed into a plurality of sub-images which are continuously arranged along the transverse direction or the radial direction according to a preset proportion.
In the embodiment of the present invention, optionally, the image processing module 130 may implement the following two functions:
firstly, the image processing module 130 may implement recombination and splicing of the directly selected image acquired by the image acquisition module 110 to form a whole-screen single-picture image, or may cut the directly selected image into a plurality of sub-images arranged in series along the transverse direction or the radial direction according to a predetermined ratio; second, the image processing module 130 may intercept the image acquired by the image acquisition module 110, and then recombine and splice the intercepted image to form a single-screen image, or cut the intercepted image into a plurality of sub-images arranged in series along the transverse direction or the radial direction according to a predetermined ratio. Compared with the first realization function, the second realization function of the image processing module 130 is more flexible and diversified in image display, meets more requirements of users on image display, and greatly improves user experience.
And the image display module 140 performs correction processing based on the image data received by the image processing module 130, and integrally displays the whole single-screen image on the display screen 180 in a splicing manner according to a predetermined splicing program, or displays corresponding sub-images on the display screen 180 in a split-screen manner according to a predetermined split-screen program.
Specifically, the image capturing module 110 is configured to capture video picture signals captured by n (n is a positive integer and n is greater than or equal to 3) cameras 170 of the electronic rearview mirror system in real time, and picture areas captured by the n cameras 170 are defined as video capturing areas S1, S2, and S3 … … Sn, respectively. The image processing module 130 is configured to intercept corresponding display screen regions X1, X2, X3 … … Xn within the video capture regions S1, S2, S3 … … Sn captured by the image capture module 110. These display screen regions may be the display screen regions X which are individually output to the image display module 140 for display, or may be the display screen regions X which are recombined and joined by a plurality of the display screen regions (X1, X2, and X3 … … Xn) and output to the image display module 140 for display.
After the image processing module 130 captures the display image area X, the dynamic adjustment module 150 receives the vehicle sensor signal in real time, and when it is monitored according to a predetermined program that the vehicle is in a low-speed state of straight running, or a low-speed turning, lane changing or reversing state, the image processing module 130 recombines and splices a plurality of images to be displayed to form a full-screen single-image. That is, a plurality of video images are combined into one video screen which is distributed without overlapping up and down/left and right. The image processing module 130 may adopt an existing Harris corner extraction algorithm or SIFT feature matching algorithm to perform recombination and stitching on a plurality of images to form a large picture.
After the image processing module 130 captures the display frame region X, the dynamic adjustment module 150 receives the vehicle sensor signal in real time, and when it is monitored according to a predetermined program that the vehicle is in a high-speed state of straight-line driving, a low-speed large-turning state, or a high-speed lane-changing state, the image processing module 130 cuts the image to be displayed into two partial images which are continuously arranged in the vertical longitudinal direction according to a predetermined proportion, and the partial images are respectively a main view image and an extended view image. The division ratio of the main view image and the expanded view image is 1:1 to 3:2, so that two display areas are constructed on the image data level. Generally, the image processing module 130 performs distortion correction processing on the main view image and the extended view image, and for the extended view image, in addition to the distortion correction processing, the image processing module 130 performs horizontal compression or stretching on the extended view image according to a control instruction of the dynamic adjustment module 150.
Optionally, as a possible implementation manner of the present invention, the image integration processing module 100 further includes a dynamic adjustment module 150, the dynamic adjustment module 150 is respectively connected to the image processing module 130 and the image display module 140, and the dynamic adjustment module 150 is configured to dynamically adjust a splicing ratio of the image display module 140 based on an image processing condition of the image processing module 130 and an actual vehicle signal, and project the spliced whole-screen single-picture image onto the whole display screen 180 according to a predetermined splicing rule; or dynamically adjusting the number of split screens and the size of the split screen of the image display module 140, and projecting each split image onto the corresponding split screen area according to a predetermined split screen rule.
When the dynamic adjustment module 150 monitors that the vehicle is in a high-speed state of uniform linear driving, the dynamic adjustment module 150 may control the electronic rearview mirror to be in a double curvature fixed display working mode, and at this time, the dynamic adjustment module 150 dynamically adjusts the screen splitting number and the screen splitting size of the image display module 140 according to the cutting processing condition of the image processing module 130 on the display picture area X. For example, when the image processing module 130 cuts the display screen region X into 2 sub-images of the main-view image and the extended-view image, the number of the split screens of the image display module 140 is also set to 2 according to the same cutting method, the split screens are respectively the main-view display screen and the extended-view display screen, the ratio of the size of the main-view display screen to the size of the extended-view display screen is set to 2:1 or 3:1, the size ratio of the split screens is kept constant, a fixed video split line is arranged between the display regions of the main-view display screen and the extended-view display screen to distinguish display effects between different curvatures, and the driver can conveniently and quickly identify the split screen.
The main-view image processed by the image processing module 130 is projected onto the main-view display screen, so that the main-view image displayed on the main-view display screen is ensured to be real and undistorted, i.e., to present a main-view display effect. The expanded visual field image processed by the image processing module 130 is projected onto an expanded visual field display screen, that is, an expanded visual field display effect is presented, so that a double curvature effect of left and right splicing is displayed on the whole display screen 180. As described above, the image processing module 130 transversely compresses or stretches the extended field of view image according to the control command of the dynamic adjustment module 150.
Specifically, the extended view image is processed according to the split screen number and the split screen size determined by the dynamic adjustment module 150 under the control of the image display module 140, and usually in a double-curvature fixed display mode, the size of the extended view display screen is smaller than that of the main view display screen, and at this time, the extended view image is compressed laterally, so that all image information of the extended view image is displayed within the size range of the extended view display screen, and an extended display effect with a large curvature is generated in the extended view display screen.
The dynamic adjustment module 150 receives a vehicle sensor signal in real time, and controls the electronic rearview mirror to be in a double-curvature follow-up display working mode when monitoring that the vehicle is in a high-speed state of accelerating or decelerating straight line driving according to a preset program, wherein the difference from the double-curvature fixed display working mode is that the dynamic adjustment module 150 sets the ratio of the size of the main view display screen to the size of the expanded view display screen to be dynamically changed within the range of 2:1 to 5:1 based on the driving condition of the vehicle (such as the accelerating or decelerating state in high-speed driving), and the range is preferably 2:1 to 4: 1. At this time, the size ratio of the two split screens is not fixed, but changes with the change of the vehicle state, which brings the driver's requirement for the main view and the extended view of the electronic rearview mirror, and the dynamic adjustment module 150 dynamically adjusts the size ratio of the main view display screen and the extended view display screen of the image display module 140. The specific control logic conditions of the first split screen and the second split screen are shown in table 1. Along with the dynamic adjustment of the size proportion of the main view display screen and the extended view display screen, the video division lines for distinguishing different areas can be translated and swung within a certain range along with the change of vehicle conditions, so that the driver can conveniently and quickly identify the video division lines.
TABLE 1 double curvature display logic control table for electronic rearview mirror
The ratio of the main-view display screen to the extended-view display screen may be 2:1 to 5:1, and preferably 2:1 to 4: 1. The ratio is preferably not less than 2:1 because too small a ratio is unfavorable for the driver to distinguish the main view from the expanded view, and the ratio is preferably not more than 5:1 because too large a ratio makes the existence of the expanded view meaningless. Within this scope, the person skilled in the art can make any adjustment to the scale as long as the main and extended view video displays meet the requirements of the relevant legislation.
The video dividing line can help a driver to distinguish which side is the main view and which side is the extended view, and meanwhile, the video dividing line can help the driver to accurately judge the distance between the vehicle and an obstacle or a rear vehicle, so that the occurrence of driving accidents caused by the dazzling feeling generated by observing a rearview mirror is avoided. For the left rearview mirror, the left side of the boundary is the expanded view, and the right side of the boundary is the main view; for the right rear view mirror, the left side of the boundary is the main view, and the right side of the boundary is the expanded view.
When the vehicle is in a low-speed turning state or a high-speed lane changing state, the display screen 180 can turn along with the front wheel of the vehicle, a second expanded visual field appears on the display screen 180 on the basis of the original first expanded visual field, and the display range corresponding to the first expanded visual field can be occupied by the second expanded visual field. The wheel trajectory gradually resets, the second expanded visual field is crowded by the first expanded visual field to occupy the display range, and the second expanded visual field can restore the default display range.
In an embodiment of the present invention, the vehicle sensor signals include parameters such as a driving state, a driving speed, a steering signal, an in-vehicle wheel differential, and the like, the driving state includes straight driving, steering, reverse driving, lane changing, and the steering signal includes a steering wheel turning signal, a turn light signal, a wheel turning angle, and the like.
It should be noted that the vehicle (motor vehicle) running in the low speed state or in the low speed turning state or lane changing state or reversing state is defined as the vehicle in the low speed state, and the vehicle in the low speed state generally means that the vehicle is in the running state with the vehicle speed not exceeding 30 kilometers per hour. That is, in addition to the above state, the vehicle in the low speed state may include other states such as a starting state of the vehicle, and the low speed state is included as long as a request that the vehicle speed does not exceed 30 km/hour is satisfied. The vehicle (motor vehicle) running at a high speed means that the vehicle is running at a speed of more than 30 km/h. Of course, the lower limit of the high speed of the present invention is not limited to 30 km/h, and the lower limit of the high speed vehicle speed may be defined according to the use requirement, for example, the vehicle speed is higher than 50 km/h, and the vehicle is in a high speed state.
Based on the foregoing, in an embodiment of the present invention, when the dynamic adjustment module 150 monitors that the vehicle is in a driving state with a speed of not more than 30 kilometers per hour, the left and right display screens of the electronic rearview mirror system respectively display the images of the vehicle head spliced and combined with the left and right views of the vehicle. When the dynamic adjustment module 150 monitors that the vehicle is in a high-speed driving state with the vehicle speed exceeding 30 kilometers per hour, double-curvature display pictures of the rear view of the left side and the right side of the vehicle are respectively displayed on the left side display screen and the right side display screen of the electronic rearview mirror system.
In addition, for the tractor vehicle, when the dynamic adjustment module 150 monitors that the vehicle is in a running state where the vehicle speed does not exceed 30 kilometers per hour and the vehicle turns at a small (angle), the left and right display screens of the electronic rearview mirror system respectively display the pictures of the spliced combination of the vehicle head and the left and right visual fields of the vehicle. When the dynamic adjustment module 150 monitors that the vehicle is in a driving state where the vehicle speed does not exceed 30 kilometers per hour and the vehicle turns at a large (angle), double curvature display pictures of the rear view of the left side and the right side of the vehicle are respectively displayed on the left side display screen and the right side display screen of the electronic rearview mirror system.
The dynamic adjustment module 150 acquires the vehicle steering angle information through the CAN, dynamically adjusts the display frames output to the display screens, and the display frames on the left and right display screens CAN expand the external view of corresponding angles along with the increase of the vehicle offset angle. Specifically, when the dynamic adjustment module 150 monitors that the tractor vehicle turns at a low speed and the turning steering angle is gradually increased (the difference between the inner wheels affects the view observation), the images displayed on the left and right display screens are converted from the left and right spliced video images into three-curvature or multi-curvature electronic rearview mirror display video images, that is, the video images displayed on the left and right display screens have a three-curvature or multi-curvature electronic rearview mirror display effect along with the outward expansion of the view. It should be noted that, while the foregoing description details the double curvature effect of the electronic rearview mirror, those skilled in the art can clearly understand that, the dynamic adjustment module 150 and the image processing module 130 control the number of sub-images and sub-screens to achieve the display effect of the electronic rearview mirror with three or more curvatures, and the specific implementation manner and control logic can be easily implemented on the basis of the foregoing basic functions of the double curvature electronic rearview mirror.
The electronic rearview mirror system of the present invention can be explained in detail by the following two embodiments.
Example one
In an embodiment, an electronic rearview mirror system is provided, as shown in fig. 2, the cameras 170 of the electronic rearview mirror system at least include 3 cameras, and the 3 cameras are specifically: a front right camera a, a rear left camera B and a rear right camera C. The front camera A is limited by a central axis of a vehicle and is arranged in the middle or the roof of the vehicle, a wide-angle camera with a horizontal shooting angle of 90-150 degrees is adopted as a lens of the front camera A, the optical axis of the front camera A inclines downwards by 20-50 degrees, the front camera A irradiates towards the ground, and an irradiation area comprises two parts which are respectively defined as an A1 area and an A2 area. The left rear camera B and the right rear camera C are respectively arranged on the left side and the right side of the vehicle head, the lenses of the left rear camera B and the right rear camera C are wide-angle cameras with a horizontal shooting angle of 90-150 degrees, the optical axis centers of the lenses of the left rear camera B and the right rear camera C are inclined towards the ground by 15-50 degrees and irradiate towards the rear of the vehicle, and the irradiation areas are respectively defined as a B-area and a C-area.
The display screen of the electronic rearview mirror system comprises a left display screen and a right display screen. The left display screen and the right display screen are vertical screens.
The image acquisition module 110 acquires video picture signals shot by the front camera a, the left rear camera B and the right rear camera C in real time to obtain video image data within the areas of the video acquisition areas a1, a2, B-and C-areas.
The dynamic adjustment module 150 receives a vehicle sensor signal in real time, when the dynamic adjustment module 150 monitors that the vehicle is in a low-speed driving state or a low-speed turning state (applied to a tractor), the image processing module 130 intercepts video images in a video acquisition area A1 area and a video acquisition area B-area, can fuse and splice the video images in the video acquisition area A1 area and the video images in the video acquisition area B-area to form a left-side spliced video image to be displayed, and fuses and splices the video images in the video acquisition area A2 area and the video images in the video acquisition area C-area to form a right-side spliced video image to be displayed. The image display module 140 displays the left-side stitched video image on the left display screen and the right-side stitched video image on the right display screen.
In this case, the left-side stitched video image displayed on the left display screen includes video images formed by stitching and combining (stitching and removing images of overlapping portions) images captured by the front camera a and the rear left camera B in the area of the head region a1 and the left rear region B-of the vehicle body, respectively. As shown in fig. 3, the video image displayed on the left display screen includes a part of the vehicle head, a left half of the vehicle body, and a left rear side environment image of the vehicle body. The right spliced video image displayed on the right display screen comprises video images formed by splicing and combining (splicing and removing images of overlapped parts) images acquired by the front camera A and the rear right camera C in the area of the head area A2 and the area C-of the right rear side of the vehicle body respectively. The video image displayed on the right side display screen comprises a part of the vehicle head, a half of the vehicle body on the right side and an environment image on the right rear side of the vehicle body.
Because a vehicle head image with half of the vehicle width needs to be displayed, the display range of the vehicle body needs to be expanded, so that the vehicle body proportion in the images displayed on the left and right side display screens is larger, and a driver can conveniently observe the road conditions in the front and the side. Further, the vehicle body may have a ratio of one fifth to one third on the left and right side display screens, the ratio preferably being not less than one fifth because too small a ratio is unfavorable for the driver's observation of the vehicle body and the road condition adjacent to the vehicle body, and the ratio preferably being not more than one third because too large a ratio is unfavorable for the driver's observation of the road condition far from the vehicle body. Further, in the video image frames displayed on the left and right side display screens, the world ratio may be 1:9 to 1:4, and the ratio is preferably not less than 1:9 because too small a ratio is disadvantageous to the expansion of the side rear view and inconveniences the driver's observation of the side rear road condition, and the ratio is preferably not more than 1:4 because too large a ratio is disadvantageous to the expansion of the front and side front views and inconveniences the driver's observation of the front and side front road condition.
When the dynamic adjustment module 150 monitors that the vehicle is in a high-speed driving state or a large turning state (applied to the tractor), the image processing module 30 captures the video images in the B-region and the C-region of the video acquisition region, can divide the video image in the B-region into 2 sub-images, and divides the video image in the C-region into 2 sub-images, and the image display module 140 displays the 2 sub-images obtained by dividing the video image in the B-region by the image processing module 130 on the left side display screen in the aforementioned double-curvature fixed display or double-curvature follow-up display working mode, and displays the 2 sub-images obtained by dividing the video image in the C-region by the image processing module 130 on the right side display screen in the aforementioned double-curvature fixed display or double-curvature follow-up display working mode.
In this case, the video image displayed on the left display screen is a double curvature video image formed by dividing the image captured by the left rear camera B in the left rear region B-of the vehicle body. As shown in fig. 4, the video image displayed on the left side display screen includes a part of the vehicle body on the left side and the vehicle body left rear side environment image. The video image displayed on the right side display screen is a double curvature video image formed by dividing an image collected by the right rear camera C in the area C-on the right rear side of the vehicle body. The video image displayed on the right display screen comprises a part of the vehicle body on the right side and an environment image on the right rear side of the vehicle body. The double-curvature display mode is characterized in that a large-area display range at the side and the rear is transversely squeezed and displayed at a quarter of the area edge of a display screen, so that the visual range of a driver is greatly widened.
In contrast to the image display in the low-speed driving state, in such a high-speed driving state or a large turning state, the images displayed on the left and right display screens each include a main-view image and an extended-view image. In the high-speed driving state, the driver needs to look at a wider and more distant area on the left and right sides of the vehicle, and the field of view needs to be expanded, so that the head portion of the vehicle is hidden and not displayed in the main-view image, only the main-view image screen of the vehicle body and the surrounding environment close to the vehicle body is displayed, and the vehicle body occupation ratio is reduced. In the extended view image, an extended view image picture of the surrounding environment far away from the vehicle body is displayed, and the solution of the view blind area of the electronic rearview mirror is facilitated.
Further, the vehicle body may have a ratio of one seventh to one fifth on the left and right side display screens, the ratio preferably being not less than one seventh because too small a ratio is unfavorable for the driver's view of the vehicle body and the road conditions adjacent to the vehicle body, and the ratio preferably being not more than one fifth because too large a ratio is unfavorable for the driver's view laterally away from the vehicle body. Further, in the video images displayed on the left and right side display screens, the world ratio may be 3:7 to 2:3, the ratio is preferably not less than 3:7 because too small a ratio is disadvantageous to the expansion of the side rear view, which brings inconvenience to the driver's observation of the side rear road condition, and the ratio is preferably not more than 2:3 because too large a ratio is disadvantageous to the expansion of the front and side front views, which brings inconvenience to the driver's observation of the front and side front road condition, which may be felt as depressed in long-term observation.
Example two
An embodiment two proposes an electronic rearview mirror system, as shown in fig. 5, the cameras 170 of the electronic rearview mirror system at least include 5 cameras, and the 5 cameras are specifically: a front camera A, a lower left camera B, a lower right camera C, a rear left camera D and a rear right camera E. The front camera A is limited by a central axis of a vehicle and is arranged in the middle or the roof of the vehicle, a wide-angle camera with a horizontal shooting angle of 90-150 degrees is adopted as a lens of the front camera A, the optical axis of the front camera A inclines downwards by 20-50 degrees, the front camera A irradiates towards the ground, and an irradiation area comprises two parts which are respectively defined as an A1 area and an A2 area. The left lower camera B and the right lower camera C are respectively arranged at the left side and the right side of the vehicle head, images shot by the left lower camera B and the right lower camera C are respectively arranged at the left side and the right side of the vehicle head, the central axis of the vehicle is taken as a junction point, the lenses of the left lower camera B and the right lower camera C are wide-angle cameras with a horizontal shooting angle of 90-150 degrees, the optical axes of the lenses of the left lower camera B and the right lower camera C are inclined outwards by 15-50 degrees with the vertical plane of the vehicle body as. The left rear camera D and the right rear camera E are respectively arranged on the left side and the right side of the vehicle head, the lenses of the left rear camera D and the right rear camera E are wide-angle cameras with a horizontal shooting angle of 90-150 degrees, the optical axis centers of the lenses of the left rear camera D and the right rear camera E incline 15-50 degrees to the ground and irradiate towards the rear of the vehicle, and the irradiation areas are respectively defined as a D1 area and an E1 area.
The display screen 180 of the electronic rearview mirror system includes a left side display screen and a right side display screen. The left display screen and the right display screen are vertical screens.
The image acquisition module 110 acquires video picture signals shot by the front camera a, the lower left camera B, the lower right camera C, the rear left camera D and the rear right camera E in real time to obtain video image data within the areas of the video acquisition areas a1, a2, B-, C-, D1 and E1.
The dynamic adjustment module 150 receives a vehicle sensor signal in real time, when the dynamic adjustment module 150 monitors that the vehicle is in a low-speed driving state or a low-speed turning state (applied to a tractor), the image processing module 130 intercepts video images in a video acquisition area A1 area, a B-area and a D1 area, the image processing module 130 performs fusion splicing on the video images in the video acquisition area A1 area, the B-area and the D1 area to form a left-side spliced video image to be displayed, and performs fusion splicing on the video images in the video acquisition area A2 area, the C-area and the E1 area to form a right-side spliced video image to be displayed. The image display module 140 displays the left-side stitched video image on the left display screen and the right-side stitched video image on the right display screen.
In this case, the left-side stitched video image displayed on the left display screen includes video images formed by stitching and combining (stitching and removing images of overlapping portions) images captured by the front camera a, the lower left camera B, and the rear left camera D in the area of the head region a1, the left side region B-of the vehicle body, and the left rear region D1, respectively. The video image displayed on the left display screen comprises a part of the vehicle head, a half of the vehicle body on the left side, and the environment image on the left side and the left back side of the vehicle body. The right spliced video image displayed on the right display screen comprises video images formed by splicing and combining (splicing and removing images of overlapped parts) images collected by the front camera A, the right lower camera C and the right rear camera E in the area A2 of the head of the vehicle, the area C-on the right side of the vehicle body and the area E1 of the right rear camera E respectively. The video image displayed by the right side display screen comprises a part of the vehicle head, a half of the vehicle body on the right side, and the environment images on the right side and the right back side of the vehicle body.
In order to better meet the observation requirement of the driver on the road condition in the low-speed driving state or the low-speed turning state, the occupation ratio of the vehicle body of the embodiment on the left and right side display screens can be one third to three fifths, and the occupation ratio is preferably not less than one third. In the video image pictures displayed on the left and right display screens, the world scale may be 1:9 to 1: 4.
When the dynamic adjustment module 150 monitors that the vehicle is in a high-speed driving state or a large turning state (applied to a tractor), the image processing module 130 captures video images in a D1 area and an E1 area of the video capture area, divides the video image in the D1 area into 2 sub-images, divides the video image in the E1 area into 2 sub-images, and the image display module 140 displays 2 sub-images obtained by dividing the video image in the D1 area by the image processing module 130 on the left side display screen in the aforementioned double curvature fixed display or double curvature follow-up display working mode, and displays 2 sub-images obtained by dividing the video image in the E1 area by the image processing module 130 on the right side display screen in the aforementioned double curvature fixed display or double curvature follow-up display working mode.
In this case, the video image displayed on the left display panel is a double curvature video image obtained by dividing the image captured by the left rear camera D in the vehicle body left rear region D1. The video image displayed on the left side display screen includes a left side portion of the vehicle body and a left rear side environment image of the vehicle body. The video image displayed on the right display screen is a double curvature video image formed by dividing the image captured by the right rear camera E in the region of the right rear side region E1 of the vehicle body. The video image displayed on the right display screen comprises a part of the vehicle body on the right side and an environment image on the right rear side of the vehicle body.
In order to better meet the observation requirements of a driver on road conditions in a high-speed driving state or a large turning state, the occupation ratio of the vehicle body on the display screen and the space-ground ratio in the video image picture on the display screen are respectively consistent with the situation described in the first embodiment, the occupation ratio of the vehicle body on the left and right display screens can be one seventh to one fifth, and the space-ground ratio in the video images displayed on the left and right display screens can be 3:7 to 2: 3.
In conclusion, the electronic rearview mirror system can realize that the plurality of cameras correspond to one whole screen display picture by splicing or dividing the video images shot by the plurality of cameras, so that a driver can accurately and quickly observe and judge the visual fields of a plurality of visual angles in real time, the defect that the main visual field and the expanded visual field are spliced in an up-and-down mode in the vertical screen electronic rearview mirror in the prior art is greatly overcome, and the visual fatigue caused by repeated confirmation of object distances by the driver is avoided. The display picture can be changed and displayed along with the change conditions (high and low speed states, large and small turns) of the driving state of the vehicle signal through control, so that the undistorted image display is ensured, and the driving safety is greatly improved.
In the prior art, the camera of the electronic rearview mirror system has many potential safety hazards due to the defects that a sensor or an electric device is abnormal, or the picture processing cannot meet the requirements during high-speed running, and the like, and the faults of freezing, picture delay, even sudden screen blacking and the like are influenced. In order to ensure the safe and reliable operation of the electronic rearview mirror system, the image integration processing module 100 according to the embodiment of the present invention may further include an image verification module 160 (see fig. 1) for performing data verification based on the raw data acquired from the plurality of cameras of the electronic rearview mirror system and the sampled data received from the image display module 140, and feeding back the verification result to the image processing module 130 for control adjustment. For example, if the moving speed of the video image is less than the vehicle speed, or the vehicle speed is not zero and the image is not frozen, it is determined that the image is frozen or delayed, and at this time, the image checking module 160 sends an audible and visual alarm to the image display module 140.
It should be noted that the electronic rearview mirror system of the present invention can be applied to various vehicles, including but not limited to automobiles, engineering vehicles, ships, buses, cleaning vehicles, logistics vehicles, motor homes, business vehicles, etc. The images displayed by the rearview mirrors can change along with the change of vehicle signals (high and low speeds, steering, lane changing and the like), and scene follow-up is realized.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. An electronic rearview mirror system comprising a plurality of cameras (170), a display screen (180) and an image-integrated processing module (100), wherein the image-integrated processing module (100) comprises an image acquisition module (110), an image processing module (130) and an image display module (140); it is characterized in that the preparation method is characterized in that,
an image acquisition module (110) that acquires image data based on images captured by a plurality of cameras (170) of the electronic rearview mirror system;
the image processing module (130) selects image data to be displayed based on the image data acquired by the image acquisition module (110) and the actual vehicle signal, recombines and splices the images to be displayed to form a whole-screen single-picture image based on the image data to be displayed, or cuts the images to be displayed into a plurality of sub-images which are continuously arranged along the transverse direction or the radial direction according to a preset proportion;
and the image display module (140) is used for carrying out correction processing on the basis of the image data received by the image processing module (130), integrally displaying the whole screen single-picture image on the display screen (180) in a splicing mode according to a preset splicing program, or displaying the corresponding split image on the display screen (180) in a split mode according to a preset split screen program.
2. The electronic rearview mirror system of claim 1, wherein when the vehicle is in a low speed state of straight driving or a low speed turning or lane changing or reversing state, the image processing module (130) adopts a Harris corner extraction algorithm or a SIFT feature matching algorithm to recombine and splice a plurality of images to be displayed to form a whole screen single-picture image.
3. The electronic rearview mirror system of claim 1, wherein the image integration processing module (100) further comprises a dynamic adjustment module (150) for dynamically adjusting the stitching scale of the image display module (140) based on the image processing condition of the image processing module (130) and the actual vehicle signal, and projecting the stitched full single-screen image onto the entire display screen (180) according to a predetermined stitching rule; or dynamically adjusting the split screen number and the split screen size of the image display module (140) and projecting each split image to the corresponding split screen area according to a preset split screen rule.
4. The electronic rearview mirror system of claim 1, wherein when the vehicle is in a high-speed state of straight-line driving, a low-speed large turning state or a high-speed lane changing state, the image processing module (130) cuts the image to be displayed into at least two parts of images which are continuously arranged along a vertical longitudinal direction according to a predetermined proportion, wherein each part of the images respectively comprises a main view image and at least one extended view image, distortion correction processing is performed on each view image, and the extended view images are compressed or stretched according to a control instruction of the dynamic adjustment module (150).
5. The electronic rearview mirror system of claim 4, wherein when the vehicle is in a high-speed state of uniform linear motion, the dynamic adjustment module (150) dynamically adjusts the number of split screens of the image display module (140) to be consistent with the number of images processed by the image processing module (130), each split screen correspondingly displays one view image, and a fixed video dividing line is arranged between the display areas of every two split screens; or
When the vehicle is in a high-speed state of accelerating or decelerating and running linearly, the dynamic adjustment module (150) dynamically adjusts the size proportion of each split screen of the image display module (140), and the video split line for distinguishing different areas can be translated and swung in a certain range along with the change of the vehicle condition.
6. The electronic rearview mirror system of claim 1, wherein said camera (170) includes a front camera, a left rear camera, and a right rear camera;
the front camera is arranged in the middle of the vehicle or the roof of the vehicle, a wide-angle camera with a horizontal shooting angle of 90-150 degrees is adopted as a lens of the front camera, and the optical axis of the front camera inclines downwards by 20-50 degrees and irradiates the ground;
the left rear camera and the right rear camera are respectively arranged on the left side and the right side of the vehicle head, the lenses of the left rear camera and the right rear camera are wide-angle cameras with a horizontal shooting angle of 90-150 degrees, and the optical axes of the lenses of the left rear camera and the right rear camera incline 15-50 degrees to the ground and irradiate towards the rear of the vehicle.
7. The electronic rearview mirror system of claim 6, wherein when the vehicle is in a low speed state of straight running or a low speed turning state, the video image displayed on the left side display screen of said display screen (180) comprises a video image formed by the spliced combination of the images captured by the front camera and the left rear camera in the respective video capture areas, and the video image displayed on the right side display screen of said display screen (180) comprises a video image formed by the spliced combination of the images captured by the front camera and the right rear camera in the respective video capture areas.
8. The electronic rearview mirror system of claim 6, wherein the cameras (170) further comprise a left lower camera and a right lower camera, the left lower camera and the right lower camera are respectively installed at the left side and the right side of the vehicle head, the images shot by the left lower camera and the right lower camera are taken by taking the vehicle center axis as a meeting point, the lenses of the left lower camera and the right lower camera are wide-angle cameras with a horizontal shooting angle of 90-150 degrees, the axes of the lenses of the left lower camera and the right lower camera are inclined outwards by 15-50 degrees and irradiate towards the ground, and the axes of the lenses of the left lower camera and the right lower camera.
9. The electronic rearview mirror system of claim 8, wherein when the vehicle is in a low speed state of straight running or a low speed turning state, the video image displayed on the left side display screen of the display screen (180) comprises a video image formed by splicing and combining images captured by the front camera, the lower left camera and the rear left camera in the respective video capture areas, and the video image displayed on the right side display screen of the display screen (180) comprises a video image formed by splicing and combining images captured by the front camera, the lower right camera and the rear right camera in the respective video capture areas.
10. The electronic rearview mirror system as claimed in claim 7, wherein in the video images displayed on the left and right display screens, the ratio of the vehicle body on the left and right display screens is one fifth to one third, and the heaven-earth ratio is 1:9 to 1: 4.
11. The electronic rearview mirror system as claimed in claim 9, wherein in the video images displayed on the left side display screen and the right side display screen, the proportion of the vehicle body on the left side display screen and the right side display screen is one third to three fifths, and the heaven-earth ratio is 1:9 to 1: 4.
12. The electronic rearview mirror system of claim 6 or 8, wherein when the vehicle is in a high-speed driving state or a large turning state, the video image displayed on the left side display screen of the display screen (180) includes at least two video images in which the image captured by the left rear camera at the corresponding video capture area is divided to form a continuous arrangement, and the video image displayed on the right side display screen of the display screen (180) includes at least two video images in which the image captured by the right rear camera at the corresponding video capture area is divided to form a continuous arrangement.
13. The electronic rearview mirror system as claimed in claim 12, wherein in the video images displayed on the left and right display screens, the ratio of the vehicle body on the left and right display screens is one seventh to one fifth, and the heaven-earth ratio is 3:7 to 2: 3.
14. A vehicle, characterized in that it comprises an electronic rearview mirror system as claimed in any one of claims 1-13.
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