CN112009370A - Automobile steering anti-collision display system and display method - Google Patents
Automobile steering anti-collision display system and display method Download PDFInfo
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- CN112009370A CN112009370A CN202010930734.5A CN202010930734A CN112009370A CN 112009370 A CN112009370 A CN 112009370A CN 202010930734 A CN202010930734 A CN 202010930734A CN 112009370 A CN112009370 A CN 112009370A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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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
- B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
-
- 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
- B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
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- Mechanical Engineering (AREA)
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- Closed-Circuit Television Systems (AREA)
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Abstract
The invention discloses an automobile steering anti-collision display system, which comprises an A-column camera, a rearview mirror camera, an image processing system, an image display system and a power supply system, wherein the A-column camera is connected with the rearview mirror camera; the A column camera is arranged at the bottom end of the A column; the rearview mirror camera is arranged at the top end of the rearview mirror; the image processing system is arranged on the automobile and used for receiving information transmitted by the A-column camera and the rearview mirror camera, processing the information, splicing the information into a large wide-angle video, and displaying the traffic condition of the automobile during turning; the image display system is arranged at the position of the vehicle door armrest; the video display device is used for displaying the video transmitted by the image processing system; the power supply system is arranged on the automobile and connected with the steering lamp; when the steering lamp is turned on, the power supply system supplies power to the A-column camera, the rearview mirror camera, the image processing system and the image display system. The invention further provides an automobile steering anti-collision display method. The invention can eliminate the driving blind area formed by the column A of the automobile and increase the driving safety of the automobile.
Description
Technical Field
The invention belongs to the technical field of safe driving of automobiles, and particularly relates to an automobile steering anti-collision display system and a display method.
Background
When the automobile is steered, due to the existence of the visual blind area, the automobile is scratched and rubbed and collision accidents occur. Due to the structural characteristics of the automobile, the structural characteristics similar to the A, B column cannot completely eliminate the dead zone of automobile driving, and certain potential safety hazards exist. Therefore, an automobile steering anti-collision display system and a display method are urgently needed to eliminate automobile blind areas and increase automobile driving safety.
Disclosure of Invention
The invention aims to provide an automobile steering anti-collision display system and a display method, which can eliminate a driving blind area formed by an A column of an automobile and increase the driving safety of the automobile.
The technical scheme adopted by the invention is as follows:
an anti-collision display system for the steering of car is composed of
The A column camera is arranged at the bottom end of the A column;
the rearview mirror camera is arranged at the top end of the rearview mirror;
the image processing system is arranged on the automobile and used for receiving the information transmitted by the A-column camera and the rearview mirror camera, processing the information, splicing the information into a large wide-angle video, and displaying the traffic condition of the automobile during turning;
the image display system is arranged at the position of the vehicle door armrest; the video display device is used for displaying the video transmitted by the image processing system;
the power supply system is arranged on the automobile and connected with the steering lamp; when the steering lamp is turned on, the power supply system supplies power to the A-column camera, the rearview mirror camera, the image processing system and the image display system.
According to the scheme, the A-column camera and the image shot by the rearview mirror camera are partially overlapped (the overlapping angle is 10-20 degrees).
The 2 cameras record a vehicle body side driving environment from-20 degrees to 150 degrees in real time, parameters of the two cameras are the same, and image signals are synchronously input into the image processing system by taking a frame as a unit. A video acquisition module of the image processing system adopts a PRICE expansion module TW6865 and inputs signals through two paths.
According to the scheme, the A-column camera takes the waist line of the automobile as a coordinate axis and shoots the-20-70-degree view angle of the driving environment at the side of the automobile body.
According to the scheme, the rearview mirror camera takes the automobile waist line as a coordinate axis and shoots the driving environment at the side of the automobile at a viewing angle of 60-150 degrees.
According to the scheme, the image processing system processes and splices the information transmitted by the A-column camera and the rearview mirror camera by the steps of: and (4) carrying out feature extraction on images shot and overlapped by the A-column camera and the rearview mirror camera, then splicing, and splicing to synthesize a large wide-angle video.
According to the scheme, the image feature extraction is carried out by adopting an improved SURF algorithm, and the process comprises the following steps: 1) constructing a scale space; 2) searching an extreme point; 3) describing the characteristics; the method specifically comprises the following steps:
firstly, constructing a scale space of a picture: l (x, y, δ) is defined as the convolution of the gaussian function G (x, y, δ) of the varying scale with the source image I (x, y), i.e.: l (x, y, δ) G (x, y, δ) x I (x, y);
then, constructing a Gaussian pyramid of the image: different scale spaces simulate imaging in the eyes of observers at different distances; the Be in the scale space expression is endowed with different values, and the smaller the Be, the clearer the image is; constructing four layers of Gaussian pyramid, wherein each layer comprises five images shot by a camera;
subtracting adjacent images of the same layer to obtain 4 DOG images, and comparing the value of each pixel point with the value of 26 points in the same space and around the similar space; if the pixel point is a maximum value or a minimum value, the point is reserved as a key point;
calculating response vectors of all key points in different directions in a circular area with the radius of 6 sigma by taking the key points as circle centers; endowing the different vectors with corresponding Gaussian weights, wherein the weight is related to the distance between the centers; dividing the circular area into 6 parts, and calculating the vector sum of all key points in the area in the X and Y directions; selecting the direction with the largest absolute value as the main direction; the characteristic of describing the key point takes the key point as the center, and a square window with the length of 20 units is taken in the main direction of the key point; dividing the window into 16 parts, calculating dx and dy coefficients, and recording related response values to obtain a direction vector of each window;
selecting first frame images of an A-column camera and a rearview mirror camera, taking the image of the A-column camera as a sample, searching for a feature point of a left 20-degree picture of the A-column camera, and then finding a key point with the minimum distance from the feature point in the right 20-degree picture of the rearview mirror camera; calculating the distance ratio of the two key points through the feature operators of the key points; when the ratio is less than a certain value, the two points are considered to match together.
The invention also provides an automobile steering anti-collision display method, which adopts the automobile steering anti-collision display system and comprises the following steps:
1) when the automobile turns on the steering lamp, the power supply system supplies power to the A column camera, the rearview mirror camera, the image processing system and the image display system;
2) shooting the side driving environment of the vehicle body through the A-column camera and the rearview mirror camera, and transmitting the shot pictures to an image processing system;
3) processing and splicing the pictures transmitted by the A-column camera and the rearview mirror camera through an image processing system, and splicing to synthesize a large wide-angle video;
4) a large wide-angle video is displayed by the image display system.
The invention has the beneficial effects that:
through setting up A post camera, rear-view mirror camera, the visual angle scope when widening turns to makes things convenient for the navigating mate to see the driving environment because of A post stops, eliminates the blind area of traveling that car A post formed, increases the car safety of traveling.
Installing an A-column camera at the bottom end of the A-column; the rearview mirror camera is arranged at the top end of the rearview mirror, so that the attractiveness and safety of the automobile cannot be influenced, and the maintenance and replacement are convenient.
When the turn light is turned on, the power supply system supplies power to the A-column camera, the rearview mirror camera, the image processing system and the image display system, so that electric energy is saved.
The image display system is arranged at the position of the vehicle door handrail, so that the driving habit of a driver is met, and the driver can conveniently check the image display system.
The camera of the column A and the camera of the rearview mirror are spliced in real time, and the synthesized large wide-angle video can fully display the traffic condition of automobile turning driving, enlarge the visual field of a driver and facilitate the clear of the driving environment blocked by the column A.
The invention mainly aims at the specific working condition of automobile steering. On one hand, the steering of the automobile is a special working condition with high accident occurrence; on the other hand, the speed of the automobile during steering can meet the requirement of image real-time processing; and finally, the operation habit of a driver during driving is not changed to the maximum extent, namely the position of the automobile is judged by using the rearview mirror.
The superposition angle is selected to be 10-20 degrees, the requirement of real-time display of automobile steering can be met, and the image processing efficiency can be accelerated.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is an illustration of a camera mounting perspective;
FIG. 2 is a comparison of extreme values;
FIG. 3 is a eigenvalue description operator;
FIG. 4 is an example of an image stitching view (FIG. 4-1 is a camera view of an A-pillar before image stitching, FIG. 4-2 is a camera view of a front and rear view mirror before image stitching, and FIG. 4-3 is an image stitching imaging view);
FIG. 5 is a schematic view of a display placement position;
fig. 6 is a schematic structural diagram of an automobile steering anti-collision display system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-6, an automobile steering anti-collision display system includes an a-pillar camera, a rearview mirror camera, an image processing system, an image display system, and a power supply system; the A column camera is arranged at the bottom end of the A column; the rearview mirror camera is arranged at the top end of the rearview mirror; the image processing system is arranged on the automobile and used for receiving information transmitted by the A-column camera and the rearview mirror camera, processing the information, splicing the information into a large wide-angle video, and displaying the traffic condition of the automobile during turning; the image display system is arranged at the position of the vehicle door armrest; the video display device is used for displaying the video transmitted by the image processing system; the power supply system is arranged on the automobile and connected with the steering lamp; when the steering lamp is turned on, the power supply system supplies power to the A-column camera, the rearview mirror camera, the image processing system and the image display system.
In the embodiment, the A-column camera takes the waist line of the automobile as a coordinate axis and shoots a-20-70-degree visual angle of the driving environment at the side of the automobile body; the rearview mirror camera takes the waist line of the automobile as a coordinate axis and shoots a 60-150-degree visual angle of the driving environment at the side of the automobile body; the A-column camera and the images shot by the rearview mirror camera are overlapped at an angle of 10 degrees.
In this embodiment, the image processing system uses a freescale imx6q development board, and in the image processing stage, it is necessary to extract features of an image of about 10 degrees in which the two images overlap. The steps of processing and image splicing the information transmitted by the A-column camera and the rearview mirror camera are as follows: and (4) carrying out feature extraction on images shot and overlapped by the A-column camera and the rearview mirror camera, then splicing, and splicing to synthesize a large wide-angle video. Wherein, the image feature extraction is carried out by adopting an improved SURF algorithm,
the process comprises the following steps: 1) constructing a scale space; 2) searching an extreme point; 3) describing the characteristics; the method specifically comprises the following steps:
firstly, constructing a scale space of a picture: l (x, y, δ) is defined as the convolution of the gaussian function G (x, y, δ) of the varying scale with the source image I (x, y), i.e.: l (x, y, δ) G (x, y, δ) x I (x, y); wherein, x, y and Be are respectively an abscissa, an ordinate and a Z coordinate.
Then, constructing a Gaussian pyramid of the image: different scale spaces simulate imaging in the eyes of observers at different distances; the Be in the scale space expression is endowed with different values, and the smaller the Be, the clearer the image is; constructing four layers of Gaussian pyramid, wherein each layer comprises five images shot by a camera;
subtracting adjacent images of the same layer to obtain 4 DOG (difference of Gaussian) images, and comparing each pixel point with the values of 26 points in the same space and around the similar space; if the pixel point is a maximum value or a minimum value, the point is reserved as a key point;
calculating response vectors of all key points in different directions in a circular area with the radius of 6 sigma by taking the key points as circle centers; endowing the different vectors with corresponding Gaussian weights, wherein the weight is related to the distance between the centers; dividing the circular area into 6 parts, and calculating the vector sum of all key points in the area in the X and Y directions; selecting the direction with the largest absolute value as the main direction; the characteristic of describing the key point takes the key point as the center, and a square window with the length of 20 units is taken in the main direction of the key point; the window is divided into 16 parts, dx and dy coefficients are calculated, and the associated response values are recorded to obtain a direction vector of each window, as shown in fig. 3.
Selecting first frame images of an A-column camera and a rearview mirror camera, taking the image of the A-column camera as a sample, searching for a feature point of a left 20-degree picture of the A-column camera, and then finding a key point with the minimum distance from the feature point in the right 20-degree picture of the rearview mirror camera; calculating the distance ratio of the two key points through the feature operators of the key points; when the ratio is less than a certain value, the two points are considered to match together.
The invention also provides an automobile steering anti-collision display method, which adopts the automobile steering anti-collision display system and comprises the following steps:
1) when the automobile turns on the steering lamp, the power supply system supplies power to the A column camera, the rearview mirror camera, the image processing system and the image display system;
2) shooting the side driving environment of the vehicle body through the A-column camera and the rearview mirror camera, and transmitting the shot pictures to an image processing system;
3) processing and splicing the pictures transmitted by the A-column camera and the rearview mirror camera through an image processing system, and splicing to synthesize a large wide-angle video;
4) a large wide-angle video is displayed by the image display system.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an automobile steering anticollision display system which characterized in that: comprises that
The A column camera is arranged at the bottom end of the A column;
the rearview mirror camera is arranged at the top end of the rearview mirror;
the image processing system is arranged on the automobile and used for receiving the information transmitted by the A-column camera and the rearview mirror camera, processing the information, splicing the information into a large wide-angle video, and displaying the traffic condition of the automobile during turning;
the image display system is arranged at the position of the vehicle door armrest; the video display device is used for displaying the video transmitted by the image processing system;
the power supply system is arranged on the automobile and connected with the steering lamp; when the steering lamp is turned on, the power supply system supplies power to the A-column camera, the rearview mirror camera, the image processing system and the image display system.
2. The automobile steering anti-collision display system according to claim 1, wherein: the A-column camera and the image shot by the rearview mirror camera are partially overlapped.
3. The automobile steering anti-collision display system according to claim 1 or 2, wherein: the A-column camera takes the waist line of the automobile as a coordinate axis and shoots a visual angle of-20 degrees to 70 degrees of the driving environment at the side of the automobile body.
4. The automobile steering anti-collision display system according to claim 1 or 2, wherein: the rearview mirror camera takes the waist line of the automobile as a coordinate axis and shoots a 60-150-degree visual angle of the driving environment at the side of the automobile.
5. The automobile steering anti-collision display system according to claim 1, wherein: the image processing system processes and splices the information transmitted by the A-column camera and the rearview mirror camera by the steps of: and (4) carrying out feature extraction on images shot and overlapped by the A-column camera and the rearview mirror camera, then splicing, and splicing to synthesize a large wide-angle video.
6. The automobile steering anti-collision display system according to claim 5, wherein: the image feature extraction is carried out by adopting an improved SURF algorithm, and the process comprises the following steps: 1) constructing a scale space; 2) searching an extreme point; 3) describing the characteristics; the method specifically comprises the following steps:
firstly, constructing a scale space of a picture: l (x, y, δ) is defined as the convolution of the gaussian function G (x, y, δ) of the varying scale with the source image I (x, y), i.e.: l (x, y, δ) = G (x, y, δ) x I (x, y);
then, constructing a Gaussian pyramid of the image: different scale spaces simulate imaging in the eyes of observers at different distances; the Be in the scale space expression is endowed with different values, and the smaller the Be, the clearer the image is; constructing four layers of Gaussian pyramid, wherein each layer comprises five images shot by a camera;
subtracting adjacent images of the same layer to obtain 4 DOG images, and comparing the value of each pixel point with the value of 26 points in the same space and around the similar space; if the pixel point is a maximum value or a minimum value, the point is reserved as a key point;
calculating response vectors of all key points in different directions in a circular area with the radius of 6 sigma by taking the key points as circle centers; endowing the different vectors with corresponding Gaussian weights, wherein the weight is related to the distance between the centers; dividing the circular area into 6 parts, and calculating the vector sum of all key points in the area in the X and Y directions; selecting the direction with the largest absolute value as the main direction; the characteristic of describing the key point takes the key point as the center, and a square window with the length of 20 units is taken in the main direction of the key point; dividing the window into 16 parts, calculating dx and dy coefficients, and recording related response values to obtain a direction vector of each window;
selecting first frame images of an A-column camera and a rearview mirror camera, taking the image of the A-column camera as a sample, searching for a feature point of a left 20-degree picture of the A-column camera, and then finding a key point with the minimum distance from the feature point in the right 20-degree picture of the rearview mirror camera; calculating the distance ratio of the two key points through the feature operators of the key points; when the ratio is less than a certain value, the two points are considered to match together.
7. An automobile steering anti-collision display method is characterized by comprising the following steps:
1) when the automobile turns on the steering lamp, the power supply system supplies power to the A column camera, the rearview mirror camera, the image processing system and the image display system;
2) shooting the side driving environment of the vehicle body through the A-column camera and the rearview mirror camera, and transmitting the shot pictures to an image processing system;
3) processing and splicing the pictures transmitted by the A-column camera and the rearview mirror camera through an image processing system, and splicing to synthesize a large wide-angle video;
4) a large wide-angle video is displayed by the image display system.
8. The automobile steering anti-collision display method according to claim 7, wherein: the A-column camera and the image shot by the rearview mirror camera are partially overlapped.
9. The automobile steering anti-collision display method according to claim 7 or 8, wherein: the A-column camera takes the waist line of the automobile as a coordinate axis and shoots a-20-70-degree view angle of the driving environment at the side of the automobile body; the rearview mirror camera takes the waist line of the automobile as a coordinate axis and shoots a 60-150-degree visual angle of the driving environment at the side of the automobile.
10. The automobile steering anti-collision display method according to claim 7, wherein:
performing feature extraction on pictures transmitted by the A-column camera and the rearview mirror camera through an image processing system, then splicing, and splicing to synthesize a large wide-angle video;
the image feature extraction is carried out by adopting an improved SURF algorithm, and the flow is as follows: 1) constructing a scale space; 2) searching an extreme point; 3) describing the characteristics; the method specifically comprises the following steps:
firstly, constructing a scale space of a picture: l (x, y, δ) is defined as the convolution of the gaussian function G (x, y, δ) of the varying scale with the source image I (x, y), i.e.: l (x, y, δ) = G (x, y, δ) x I (x, y);
then, constructing a Gaussian pyramid of the image: different scale spaces simulate imaging in the eyes of observers at different distances; the Be in the scale space expression is endowed with different values, and the smaller the Be, the clearer the image is; constructing four layers of Gaussian pyramid, wherein each layer comprises five images shot by a camera;
subtracting adjacent images of the same layer to obtain 4 DOG images, and comparing the value of each pixel point with the value of 26 points in the same space and around the similar space; if the pixel point is a maximum value or a minimum value, the point is reserved as a key point;
calculating response vectors of all key points in different directions in a circular area with the radius of 6 sigma by taking the key points as circle centers; endowing the different vectors with corresponding Gaussian weights, wherein the weight is related to the distance between the centers; dividing the circular area into 6 parts, and calculating the vector sum of all key points in the area in the X and Y directions; selecting the direction with the largest absolute value as the main direction; the characteristic of describing the key point takes the key point as the center, and a square window with the length of 20 units is taken in the main direction of the key point; dividing the window into 16 parts, calculating dx and dy coefficients, and recording related response values to obtain a direction vector of each window;
selecting first frame images of an A-column camera and a rearview mirror camera, taking the image of the A-column camera as a sample, searching for a feature point of a left 20-degree picture of the A-column camera, and then finding a key point with the minimum distance from the feature point in the right 20-degree picture of the rearview mirror camera; calculating the distance ratio of the two key points through the feature operators of the key points; when the ratio is less than a certain value, the two points are considered to match together.
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Application publication date: 20201201 |