CN112277806B - Panoramic parking image system - Google Patents

Panoramic parking image system Download PDF

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Publication number
CN112277806B
CN112277806B CN202011329613.1A CN202011329613A CN112277806B CN 112277806 B CN112277806 B CN 112277806B CN 202011329613 A CN202011329613 A CN 202011329613A CN 112277806 B CN112277806 B CN 112277806B
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control module
data
image
image data
video
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CN112277806A (en
Inventor
雷云
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Guangzhou Carphone Electronic Co ltd
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Guangzhou Carphone Electronic Co ltd
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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
    • 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
    • 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
    • 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
    • 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
    • B60R2300/806—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 aiding parking

Abstract

The invention discloses a panoramic parking image system which comprises a video collector with a wide-angle lens, a control module, a memory, a logic control unit, a wireless transmission device and an image display, wherein the video collector is fixedly arranged on the outer surface of the front, the rear, the left, the right and the top of a vehicle body respectively, the control module processes video image data collected by the video collector and sends the processed video image data to the image display and/or a remote server, a user of a vehicle can watch real-time video image data of the front, the rear, the left and the right of the vehicle through the image display, and the remote user can obtain the video image data of the front, the rear, the left and the right of the vehicle and the direction of the top of the vehicle from the remote server according to needs.

Description

Panoramic parking image system
Technical Field
The invention relates to the field of automobile electronics and machine vision, in particular to a panoramic parking image system.
Background
With the increase of the holding amount of resident automobiles, the intelligent demand for parking is higher and higher, a panoramic parking image system is developed, the panoramic parking image system is a parking auxiliary system which can watch 360-degree panoramic fusion around the automobile through a vehicle-mounted display screen, has an ultra-wide viewing angle and seamlessly spliced timely image information (bird's-eye view images) to know the peripheral sight blind area of the automobile and help an automobile driver to park the automobile more intuitively and safely, and the panoramic parking auxiliary system is different from a panoramic system which divides and displays the peripheral images of the automobile on the display screen in the market, is an upgrading and updating product of a rear-view parking image system, and is the latest and real panoramic parking image system. However, the existing panoramic parking image system has a low degree of intelligence, and only can play the most basic parking assistance function in practical application.
Disclosure of Invention
The invention aims to solve the problem of a panoramic parking image system in the prior art, and provides the panoramic parking image system with higher intelligent degree, which can acquire the peripheral video image data of an automobile in an all-around manner and can call the video image data remotely according to needs.
The invention provides a panoramic parking image system which comprises a video collector with a wide-angle lens, a control module, a memory, a logic control unit, a wireless transmission device and an image display, wherein the video collector is fixedly arranged on the outer surfaces of the front, the rear, the left, the right and the top of a vehicle body respectively, the video collector, the memory, the logic control unit, the wireless transmission device and the image display are all connected with the control module, the video collector carries out video collection on the surrounding condition of the vehicle body and transmits collected data to the control module, the control module inputs the video data of the video collector into a distortion model to carry out image distortion correction, and the corrected video data are then input into three distortion models arranged according to the video collectorsSplicing images in all directions into first image data according to the dimensional coordinates and the automobile size, splicing images in the front, back, left and right directions into second image data, wherein the first image data comprise image data in the front, back, left and right directions and the automobile roof direction; eliminating the parts with different brightness among the splicing areas through a histogram equalization algorithm, and sending the processed second image data to an image display by a control module for displaying; when the control module has a fault, the process running on the control module is continuously taken over by the logic control unit; the system also comprises a GPS module connected with the control module and used for positioning the automobile, wherein the control module stores the position data obtained by the GPS module in a memory after being associated with the first image data and the second image data, and simultaneously sends the position data to a remote server for storage through the wireless transmission equipment, and the data stored in the memory or the server are all marked with corresponding time; the memory is periodically cleaned by the control module to release space; the image distortion correction comprises at least the steps of: obtaining the position (x) of a pixel point on an original distortion image0,y0) By the formula x0＝x(1+k1r2+k2r4+k3r6) And y0＝y(1+k1r2+k2r4+k3r6) Acquiring a corrected new position (x, y); wherein k1, k2 and k3 are distortion parameters; wherein r is2＝x2+y2。
The invention can provide the user to acquire the surrounding environment data of the automobile more comprehensively by acquiring the video image data of the automobile in five directions, and really avoid visual dead angles.
Furthermore, the system also comprises a terminal connected with the remote server, and a remote user can call the data related to the automobile in the server through the terminal according to needs. The terminal is used, so that a user can conveniently acquire panoramic video image data related to the automobile at any place at any time.
Further, the terminal needs to be subjected to ID authentication before calling the data in the remote server; the data related to the car opens the right only to the preset ID. The authentication by the ID can enhance the security of the car data.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a schematic diagram of a system configuration according to an embodiment of the present invention
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The invention provides a panoramic parking image system, which comprises a video collector with a wide-angle lens, a control module, a memory, a logic control unit, a wireless transmission device and an image display, wherein the video collector is fixedly arranged on the outer surfaces of the front, the rear, the left, the right and the top of a vehicle respectively, and the video collector, the memory, the logic control unit, the wireless transmission device and the image display are all connected with the control module, and the connection relation is shown in figure 1; the video collector carries out video collection on the surrounding situation of the vehicle body and transmits collected data to the control module, the control module inputs the video data of the video collector into a distortion model to carry out image distortion correction, and images in all directions are spliced into first image data according to three-dimensional coordinates and vehicle sizes installed by the video collectors after correction, wherein the images in all directions are spliced into second image data, and the first image data comprise image data in all directions; eliminating the parts with different brightness among the splicing areas through a histogram equalization algorithm, and sending the processed second image data to an image display by a control module for displaying; when the control module has a fault, the process running on the control module is continuously taken over by the logic control unit; the system also comprises a GPS module connected with the control module and used for positioning the automobile, the connection relation refers to the attached figure 1, the control module stores the position data obtained by the GPS module, the first image data and the second image data into a memory after correlation processing, and simultaneously sends the position data to a remote server for storage through the wireless transmission equipment, and the data stored in the memory or the server are all marked with corresponding time; the memory is periodically cleaned by the control module to release space; the image distortion correction comprises at least the steps of: obtaining the position (x) of a pixel point on an original distortion image0,y0) By the formula x0＝x(1+k1r2+k2r4+k3r6) And y0＝y(1+k1r2+k2r4+k3r6) Acquiring a corrected new position (x, y); wherein k1, k2 and k3 are distortion parameters; wherein r is2＝x2+y2。
The invention is different from the prior art that only the front, back, left and right video image data of the automobile are acquired, the video image data in the direction of the top of the automobile is creatively provided and is associated with the GPS position data of the automobile at that time, so that the video image data at that time can be acquired when the automobile has an accident caused by the visual dead angles of the front, back, left and right video collectors, the accident fact at that time is restored, and evidence is provided for tracing the source.
Before the image distortion correction, the reason for generating distortion can be analyzed and a corresponding mathematical model can be established for the effect generated by the distortion on an image plane. The image distortion correction method is simple and easy to implement. The specific implementation manner of the image distortion correction of the invention can also be as follows: the points of the output graph are traversed, for example, a 1080p image is taken, the original graph point (x) corresponding to the output point (x, y) is sequentially found out by traversing line by line from the point (0,0) to the point (1909,1069)0,y0) Will then be (x)0,y0) The value of (d) is given as (x, y). If the calculated position (x) of the pixel point on the corresponding original distortion image0,y0) If not an integer, this point is computed by quadratic linear interpolation and then assigned to (x, y).
The invention also comprises a terminal connected with the remote server, and a remote user can call the data related to the automobile in the server through the terminal according to needs. When the method is applied specifically, the remote user can be a claim settlement specialist of an insurance company, calls automobile video image data in the remote server according to the claim settlement requirement of an automobile owner, and performs claim settlement verification and evaluation according to the data. The invention displays the video image data of the front, the back, the left and the right of the automobile in the image display on the automobile, so that a vehicle owner can acquire the related parking data in real time to realize safe parking when parking, and the data of the front, the back, the left and the top are sent to the remote server, so that a user with needs can remotely call the data at any time.
The time of the control module acquiring the video image data of the video collector and the time of sending the video image data to the image display or the remote server are not limited.
The terminal of the invention needs ID authentication before calling the data in the remote server; the data related to the car opens the right only to the preset ID. The authentication by the ID can enhance the security of the car data. In specific application, because the real-time environment data of the automobile also belongs to privacy data, in order to avoid illegal users from calling the data, the invention carries out ID authentication on the users calling the data, and only the ID passing the authentication can acquire the environment data of the automobile. To this end, the vehicle of the present invention is associated with a predetermined ID, and a vehicle may be associated with one or more predetermined IDs, the vehicle associated with the predetermined ID being substantially associated with an identification code unique to the vehicle, such as an engine number thereof.
In conclusion, the invention acquires more comprehensive automobile video image data, improves the experience degree of users, increases the stability of the system, and ensures the safety of the system data, so that the panoramic parking image system is more intelligent and is convenient for large-area popularization and application.
Although not specifically illustrated in the drawings, it will be appreciated by those of ordinary skill in the art that various changes in the form and details of the present invention may be made without departing from the spirit and scope of the invention.

Claims (3)

1. A panoramic parking image system, comprising: video collector, control module, memory, logic control unit, wireless transmission equipment and image display with wide angle lens, video collector is fixed mounting respectively on the preceding, back, left and right and roof surface of automobile body, video collector, memory, logic control unit, wireless biographyThe video collector is used for carrying out video collection on the surrounding situation of the vehicle body and transmitting collected data to the control module, the control module is used for inputting the video data of the video collector into a distortion model to carry out image distortion correction, and after correction, images in all directions are spliced into first image data according to three-dimensional coordinates and vehicle sizes of all the video collectors, wherein the images in all directions are spliced into second image data, and the first image data comprise image data in all directions; eliminating the parts with different brightness among the splicing areas through a histogram equalization algorithm, and sending the processed second image data to an image display by a control module for displaying; when the control module has a fault, the process running on the control module is continuously taken over by the logic control unit; the system also comprises a GPS module connected with the control module and used for positioning the automobile, wherein the control module stores the position data obtained by the GPS module in a memory after being associated with the first image data and the second image data, and simultaneously sends the position data to a remote server for storage through the wireless transmission equipment, and the data stored in the memory or the server are all marked with corresponding time; the memory is periodically cleaned by the control module to release space; the image distortion correction comprises at least the steps of: traversing the points of the output graph line by line, and sequentially finding the original graph point (x) corresponding to the output point (x, y)0,y0) Will then be (x)0,y0) The value of (d) is given to (x, y); if the calculated position (x) of the pixel point on the corresponding original distortion image0,y0) If not an integer, this point is computed by quadratic linear interpolation and then assigned to (x, y).
2. A panoramic parking image system as defined in claim 1, wherein: the system also comprises a terminal connected with the remote server, and a remote user can call the data related to the automobile in the server through the terminal according to needs.
3. A panoramic parking image system as defined in claim 2, wherein: the terminal needs to be subjected to ID authentication before calling the data in the remote server; the data related to the car opens the right only to the preset ID.
CN202011329613.1A 2020-11-24 2020-11-24 Panoramic parking image system Active CN112277806B (en)

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Application Number Priority Date Filing Date Title
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Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102045546B (en) * 2010-12-15 2013-07-31 广州致远电子股份有限公司 Panoramic parking assist system
DE102014208664A1 (en) * 2014-05-08 2015-11-12 Conti Temic Microelectronic Gmbh METHOD AND DEVICE FOR DISABLING DISPLAYING A VEHICLE ENVIRONMENT ENVIRONMENT
CN106994936A (en) * 2016-01-22 2017-08-01 广州求远电子科技有限公司 A kind of 3D panoramic parking assist systems
CN107798306A (en) * 2017-11-01 2018-03-13 湖南星云智能科技有限公司 A kind of intelligent driving and remote visualization intelligence loss assessment system and method
CN109435852B (en) * 2018-11-08 2021-11-02 湖北工业大学 Panoramic auxiliary driving system and method for large truck

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