CN112124199B - Imaging method and imaging system for vehicle running road conditions and vehicle - Google Patents
Imaging method and imaging system for vehicle running road conditions and vehicle Download PDFInfo
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- CN112124199B CN112124199B CN201910548096.8A CN201910548096A CN112124199B CN 112124199 B CN112124199 B CN 112124199B CN 201910548096 A CN201910548096 A CN 201910548096A CN 112124199 B CN112124199 B CN 112124199B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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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
- 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
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
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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
- B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
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Abstract
The application provides an imaging method and imaging system of a vehicle running road condition and a vehicle. The imaging method of the vehicle running road condition comprises the following steps: s100, acquiring road condition image frames through a single entity camera on a vehicle; s200, splicing road condition image frames to form a 3D road condition map of a vehicle driving area; s300, constructing a virtual camera arranged at the top of the vehicle, forming a virtual top view based on a 3D road condition map by using the visual angle of the virtual camera, and forming the positioning of the vehicle in the 3D road condition map and the virtual top view; and S400, displaying a 3D road condition map, a virtual top view and the positioning of the vehicle driving area on a vehicle display screen. The method is characterized in that the road condition image frames are acquired through an entity camera; a control module configured to: the imaging method is used for executing the vehicle running road conditions; and the display screen is used for acquiring a 3D road condition map, a virtual top view and the positioning of the vehicle running area based on the imaging method of the vehicle running road condition. According to the method, the situation that a driver observes the obstacle at the bottom of the vehicle is facilitated through the single entity camera, the hardware cost is controlled, the visual field monitoring around the vehicle is further perfected, the existence of visual field blind areas is avoided, and the driving safety of the vehicle is improved.
Description
Technical Field
The application relates to the field of vehicles, in particular to an imaging method and an imaging system for a vehicle running road condition.
Background
Currently, vehicles are often equipped with one or more cameras to provide monitoring of the surrounding environment and to present images on a display screen within the cockpit to assist in driving or parking. Particularly for reverse parking, the driver can only rely on the assistance of the rearview mirror and the camera to acquire the road condition in the reverse path due to the limited field of view, so that the correct route and obstacle avoidance are ensured. However, in the practical application process, the safety problem may still occur due to the existence of the blind area of the field of view.
For example, on the one hand, for a vehicle with a rear-view camera, during a vehicle stop, the driver cannot rely on the rear-view camera to observe an obstacle around the vehicle; it is also unable to observe the obstacle condition of the vehicle bottom. On the other hand, for a vehicle having a look-around system constituted by a plurality of cameras, the driver can effectively observe the obstacle situation around the vehicle during the reverse parking of the vehicle; but it cannot observe an obstacle condition at the bottom of the vehicle. In addition, a look-around system consisting of a plurality of cameras also brings about relatively high hardware costs.
Disclosure of Invention
In view of the above, the present invention provides an imaging method, an imaging system and a vehicle for a vehicle running road condition, which effectively solve or alleviate one or more of the above problems and other problems in the prior art.
To solve one of the above problems, according to one aspect of the present application, there is provided an imaging method of a vehicle running road condition, including: s100, acquiring a plurality of road condition image frames through a single entity camera on a vehicle in the running process of the vehicle; s200, splicing a plurality of road condition image frames to form a 3D road condition map of a vehicle driving area; s300, constructing a virtual camera arranged at the top of the vehicle, forming a virtual top view based on a 3D road condition map by using the visual angle of the virtual camera, and forming the positioning of the vehicle in the 3D road condition map and the virtual top view; and S400, displaying a 3D road condition map, a virtual top view and the positioning of the vehicle driving area on a vehicle display screen.
According to another aspect of the present application, there is also provided an imaging system of a vehicle running road condition, including: the entity camera is used for collecting road condition image frames; a control module configured to: an imaging method for executing the vehicle running road condition as described above; and the display screen is used for acquiring a 3D road condition map, a virtual top view and the positioning of the vehicle running area based on the imaging method of the vehicle running road condition.
According to yet another aspect of the present application, there is also provided a vehicle including the imaging system of the road conditions on which the vehicle is traveling as described above.
According to the technical scheme, the imaging method, the imaging system and the vehicle for the vehicle running road conditions are provided, the situation that a driver observes an obstacle at the bottom of the vehicle is helped through a single entity camera, the hardware cost is controlled, the visual field monitoring around the vehicle is further perfected, the existence of visual field blind areas is avoided, and the driving safety of the vehicle is improved.
Drawings
The present application will be more fully understood from the following detailed description of the specific embodiments taken in conjunction with the accompanying drawings, in which like reference numerals refer to like elements in the drawings. Wherein:
FIG. 1 illustrates a schematic diagram of one embodiment of an imaging system for a vehicle driving road condition.
Detailed Description
Referring now to FIG. 1 in conjunction, one embodiment of an imaging system for vehicle driving conditions according to the present concepts is provided. The imaging system of the vehicle running road condition comprises an entity camera 110 for acquiring image frames of the road condition and a data control module for analyzing and processing based on the acquisition of the entity camera so as to image the vehicle running road condition. The imaging system i of the vehicle running road condition comprises a display screen so as to display a 3D road condition map, a virtual top view and the positioning of the vehicle running area, which are acquired by the data control module.
Specifically, when the imaging method is triggered by an instruction or performed spontaneously, the following steps may be performed by the imaging system: first, S100 may be performed, in which a plurality of road condition image frames are acquired through a single physical camera 110 on the vehicle during the driving of the vehicle 100. If the physical camera 110 is disposed at the tail of the vehicle, each collected image frame of the road condition corresponds to the area a shown in fig. 1. With these image frames, the road condition through which the vehicle 100 is traveling can be continuously and stereoscopically recorded. Thereafter, S200 is executed, and a plurality of road condition image frames are spliced to form a 3D road condition map of the vehicle driving area, where the 3D road condition map may already display the possible obstacles and the positions thereof in the map. However, viewing road conditions and their obstructions only in a 3D view may not be sufficient to overcome the ticket difference in the driver's view. At this time, S300 may be continuously performed to construct a virtual camera 120 disposed at the top of the vehicle, and form a virtual top view based on the 3D road condition map with a view angle of the virtual camera 120, and at this time, the formed virtual top view corresponds to the B region shown in fig. 1; as shown in the figure, as the vehicle retreats, the area a photographed by the entity camera 110 immediately before can form a part or all of the area B displayed immediately after the virtual camera 120, and after the plurality of road condition image frames photographed by the entity camera 110 at a plurality of moments are spliced, all road conditions of the area B to be displayed by the virtual camera 120 can be formed; in addition, the positioning of the vehicle in the 3D road condition map and the virtual top view can be formed, namely, the road condition of the blind area of the driver is further presented in the form of a plane map taking the vehicle as the center. And then executing S400, displaying a 3D road condition map, a virtual top view and the positioning of the vehicle in the vehicle driving area on a vehicle display screen so as to simultaneously display the 3D map and the virtual top view at the display screen in front of the driver cab and respectively display the positions of the vehicle in each view, thereby realizing the purpose of helping the driver observe the obstacle condition at the bottom of the vehicle through a single entity camera, further perfecting the vision monitoring around the vehicle while controlling the hardware cost, avoiding the existence of vision blind areas, warning in advance when finding obstacles and improving the driving safety of the vehicle.
On this basis, the imaging method can be further optimized, so that the generated map has higher precision. For example, in one embodiment, step S200 in the foregoing imaging method may further include: splicing a plurality of road condition image frames to form a 3D road condition sketch of a vehicle driving area; projecting the 3D road condition sketch to a plane road condition map based on parameters of the entity camera; and reconstructing and forming a 3D road condition map based on the planar road condition map and an interpolation algorithm. The interpolation algorithm includes bilinear algorithm, sharpening algorithm, feature matching (feature matching), etc., and the principle of the foregoing algorithm is well established in the prior art, so that no description is repeated. Further, as one example, the parameters of the physical camera involved in the foregoing reconstruction process include one or more of an optical focal length, an optical focal compensation amount, and a distortion degree. The improved step S200 is further optimized for forming the 3D road condition map, so that the influence of a camera on map imaging due to the problems of distortion and the like is eliminated, and the map accuracy is improved.
In addition, the imaging method can be executed all the time in the starting process of the vehicle, or can be executed when specific starting conditions are set and corresponding conditions are met. Considering that one of possible application scenarios of the imaging method is that when a vehicle is parked in a reverse garage, a driver is assisted to know the road conditions of the vehicle bottom and the near vehicle, and the starting conditions can be set as follows: after the vehicle is switched to the reverse mode, execution of step S100 is triggered. Considering that the reverse parking of a vehicle is only one of the actions that may be performed in reverse mode, the start condition may be further set to: when the vehicle is switched to the reverse mode and the vehicle running speed is less than the preset speed, the step S100 is triggered to be executed. At this time, when a driver is ready to park in a reverse garage, under the assistance of the method, the road conditions of the vehicle bottom and the vehicle near on the reverse garage path can be accurately and efficiently obtained, the driving view of the vehicle bottom and the vehicle near on the reverse garage path is optimized, and the user experience and the driving safety are improved.
At the same time, to better perform the imaging method in any of the foregoing embodiments or combinations thereof, several modifications may be made to the hardware options and placement locations in the imaging system, as will be exemplified below.
For example, the physical camera therein may be configured as a rear-view camera, which is arranged at the rear of the vehicle. Taking reversing as an example, along with the reversing driving process of the vehicle, the camera at the tail of the vehicle can better acquire image frames of road conditions about to drive into the bottom and the periphery of the vehicle, and then the image frames are presented in real time as the bottom images through modeling processing in the method, so that a driver can perform more reasonable driving operation.
For another example, to ensure that the single physical camera can capture as wide an image range as possible, it may be configured as a fisheye camera; or configured to have a field angle of not less than 175 °. The configuration enables the 3D road condition map established based on the image to cover the vehicle bottom and the vehicle periphery, so that a driver can know road conditions as required, and more reasonable driving operation can be performed.
In addition, an embodiment of the vehicle is provided herein, which includes the imaging system of the vehicle running road condition in any of the foregoing embodiments or a combination thereof, and has a corresponding hardware configuration to execute the imaging method in any of the foregoing embodiments or a combination thereof, so that the imaging system also has the technical effects brought by the imaging system, which is not repeated herein.
The above detailed description is illustrative of the present application and is not intended to be limiting. In order to describe the relative positional relationship, relative terms such as left, right, up, down, etc. are used in the present application, and are not limited to absolute positions. Various changes and modifications may be made to the technical solutions of the present application by one of ordinary skill in the relevant art without departing from the scope of the present application, and thus all equivalent technical solutions are intended to fall within the scope of the present application, the scope of which is defined by the claims.
Claims (7)
1. An imaging method of a vehicle running road condition is characterized by comprising the following steps:
s100, acquiring a plurality of road condition image frames through a single entity camera on a vehicle in the running process of the vehicle;
s200, splicing a plurality of road condition image frames to form a 3D sketch of a vehicle driving area; projecting the 3D road condition sketch to a plane road condition map based on parameters of the entity camera; reconstructing and forming a 3D road condition map and a vehicle bottom road condition based on the plane road condition map and an interpolation algorithm;
s300, constructing a virtual camera arranged at the top of the vehicle, forming a virtual top view based on a 3D road condition map by using the visual angle of the virtual camera, forming the positioning of the vehicle in the 3D road condition map and the virtual top view, and forming the road condition of the vehicle bottom; and
s400, displaying a 3D road condition map, a virtual top view, vehicle positioning and vehicle bottom road conditions of a vehicle running area on a vehicle display screen;
when the vehicle is switched to the reverse mode and the vehicle running speed is less than the preset speed, the step S100 is triggered to be executed.
2. The imaging method of claim 1, wherein: the parameters of the entity camera include: one or more of optical focal length, optical focal compensation amount, and distortion.
3. An imaging system for a vehicle traveling road condition, comprising:
the entity camera is used for collecting road condition image frames;
a control module configured to: an imaging method for executing the vehicle running road condition according to any one of claims 1 to 2; and
the display screen is used for acquiring a 3D road condition map, a virtual top view, vehicle positioning and vehicle bottom road conditions of a vehicle running area based on the imaging method of the vehicle running road conditions.
4. The imaging system of claim 3, wherein the physical camera is configured as a rear-view camera disposed at the vehicle tail.
5. The imaging system of claim 3, wherein the physical camera is configured as a fisheye camera.
6. The imaging system of claim 3, wherein the physical camera is configured to have a field angle of view of not less than 175 °.
7. A vehicle, characterized by comprising: an imaging system of a vehicle driving road condition according to any one of claims 3 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910548096.8A CN112124199B (en) | 2019-06-24 | 2019-06-24 | Imaging method and imaging system for vehicle running road conditions and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910548096.8A CN112124199B (en) | 2019-06-24 | 2019-06-24 | Imaging method and imaging system for vehicle running road conditions and vehicle |
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| Publication Number | Publication Date |
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| CN112124199A CN112124199A (en) | 2020-12-25 |
| CN112124199B true CN112124199B (en) | 2024-04-12 |
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Citations (5)
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| CN1406790A (en) * | 2001-09-07 | 2003-04-02 | 松下电器产业株式会社 | Surroundings display device of vehicle and image prompt system |
| EP1462762A1 (en) * | 2003-03-25 | 2004-09-29 | Aisin Seiki Kabushiki Kaisha | Circumstance monitoring device of a vehicle |
| CN103303198A (en) * | 2012-03-07 | 2013-09-18 | 株式会社电装 | Vehicle circumference monitor device |
| CN106846243A (en) * | 2016-12-26 | 2017-06-13 | 深圳中科龙智汽车科技有限公司 | The method and device of three dimensional top panorama sketch is obtained in equipment moving process |
| CN107554430A (en) * | 2017-09-20 | 2018-01-09 | 京东方科技集团股份有限公司 | Vehicle blind zone view method, apparatus, terminal, system and vehicle |
-
2019
- 2019-06-24 CN CN201910548096.8A patent/CN112124199B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1406790A (en) * | 2001-09-07 | 2003-04-02 | 松下电器产业株式会社 | Surroundings display device of vehicle and image prompt system |
| EP1462762A1 (en) * | 2003-03-25 | 2004-09-29 | Aisin Seiki Kabushiki Kaisha | Circumstance monitoring device of a vehicle |
| CN103303198A (en) * | 2012-03-07 | 2013-09-18 | 株式会社电装 | Vehicle circumference monitor device |
| CN106846243A (en) * | 2016-12-26 | 2017-06-13 | 深圳中科龙智汽车科技有限公司 | The method and device of three dimensional top panorama sketch is obtained in equipment moving process |
| CN107554430A (en) * | 2017-09-20 | 2018-01-09 | 京东方科技集团股份有限公司 | Vehicle blind zone view method, apparatus, terminal, system and vehicle |
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| CN112124199A (en) | 2020-12-25 |
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