CN112580635B - Automobile tail door opening and closing detection method - Google Patents
Automobile tail door opening and closing detection method Download PDFInfo
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Abstract
The invention relates to the technical field of image recognition, in particular to an automobile tail door opening and closing detection method, which takes preset features fixed on a vehicle as a reference object, acquires a standard image when a tail door is normally closed to manufacture a detection template, only acquires a current state image, extracts image data of the preset features from the current state image to match with the detection template, and can quickly determine the tail door opening and closing state to detect according to a matching result, wherein the detection mode is simple, convenient and efficient; meanwhile, the vehicle-mounted rearview camera is adopted for acquiring images, so that the detection of the opening and closing states of the tail gate is assisted, the self resources of the vehicle can be fully utilized, the functions of the rearview camera are enriched, and the effect of making the best use of things is achieved.
Description
Technical Field
The invention relates to the technical field of image recognition, in particular to an automobile tail door opening and closing detection method.
Background
The tail gate of the automobile, namely the trunk of the automobile. In daily life, the hidden danger of the tail gate not being closed or not being tightly closed occurs due to the occurrence of other emergency events or the cause of great forgetfulness of a driver. For example, during driving, due to inertia, the property or passenger inside the cabin will have a risk of flying out of the vehicle; if the tail gate is not closed after parking, the property in the carriage and even the vehicle are stolen by lawbreakers.
Therefore, in order to solve the above-mentioned problems, a method of additionally providing a tail gate detection device to detect the opening and closing of the tail gate has been designed in the prior art to detect the opening and closing state of the tail gate of the automobile. However, the tail gate detection device increases the manufacturing cost/modification cost of the vehicle, and the modification difficulty of the vehicle is also high in order to be compatible with the existing vehicle type.
Accordingly, there is a need for further improvements in the art.
Disclosure of Invention
The invention provides a method for detecting opening and closing of an automobile tail door, which solves the technical problems of high cost and high modification difficulty when the existing automobile tail door opening and closing detection device is compatible with the existing automobile type.
In order to solve the technical problems, the invention provides an automobile tail door opening and closing detection method, which comprises the following steps:
s1, acquiring a standard image when a tail gate is normally closed to manufacture a detection template;
s2, acquiring a current state image of the tail gate, and extracting image data of preset features from the state image;
s3, determining the opening and closing state of the tail gate according to the image data and the detection template;
and S4, when the tail gate closing state is abnormal, alarming and prompting are carried out.
According to the basic scheme, the preset features fixed on the vehicle are used as reference objects, the standard image is obtained when the tail gate is in a normal closing state to manufacture the detection template, the current state image is only required to be obtained, the image data of the preset features are extracted from the current state image to be matched with the detection template, and when the opening and closing state of the tail gate is detected, the detection mode is simple, convenient and efficient.
In a further embodiment, the step S1 includes:
s11, acquiring a standard image when a tail gate is normally closed by adopting a vehicle-mounted rearview camera;
s12, identifying the standard image, acquiring a standard image area with the preset characteristic from the standard image, calculating the corresponding standard pixel area, and integrating to generate a detection template.
The scheme adopts the vehicle-mounted rearview camera to acquire images, so that the detection of the opening and closing states of the tail gate is assisted, the self resources of the vehicle can be fully utilized, the functions of the rearview camera are enriched, and the effect of making the best use of things is achieved.
In a further embodiment, the step S2 includes:
s21, acquiring a current state image of the tail gate by adopting the vehicle-mounted rearview camera;
s22, identifying the state image, extracting an actual image area of the preset feature from the state image, and calculating an actual pixel area of the actual image to be used as currently acquired image data.
In a further embodiment, the step S3 includes:
s31, acquiring the region matching degree of the actual image region and the standard image region, if the region matching degree meets a preset threshold value, entering the next step, otherwise, judging that the closing state of the tail gate is abnormal;
s32, comparing the actual pixel area with the standard pixel area, if the actual pixel area is consistent with the standard pixel area, judging that the tail gate is normally closed, otherwise, judging that the closing state of the tail gate is abnormal.
The method comprises the steps of calibrating the image area and the pixel area of preset features in a standard image when the tail gate is normally closed in advance, establishing a detection template, acquiring the actual image area and the actual pixel area of an actual image according to the same method when the tail gate is opened and closed in the later period, and sequentially matching the image area and comparing the pixel area, so that whether the closing state of the tail gate is abnormal or not can be determined according to a matching result and a comparison result.
In a further embodiment, the step S1 further comprises the steps of:
s13, calibrating the corresponding relation between the opening angle of the tail gate and the pixel area of the preset feature;
s14, setting a corresponding alarm grade and an alarm strategy according to the grade division of the opening angle.
In a further embodiment, the step S4 includes:
s41, when the tail gate closing state is abnormal, determining the corresponding opening angle and the corresponding alarm level according to the corresponding relation and the actual pixel area;
s42, selecting a corresponding alarm strategy according to the alarm level to carry out alarm prompt.
According to the scheme, the corresponding relation is regulated according to the change of the pixel areas of the preset characteristics when the opening angles of the tail gates are different, the opening angles of the tail gates are classified, and the alarm grades and the alarm side rates which are in one-to-one correspondence are set, so that when the tail gates are abnormally closed, the corresponding alarm strategies can be quickly matched according to the actual pixel areas of the preset characteristics in the state images, and the response sensitivity of the alarm prompting device is improved.
In a further embodiment, the step S21 specifically includes:
acquiring a driving state of a current vehicle, and controlling a vehicle-mounted rearview camera to acquire a current state image of the tail gate in a first acquisition mode when the driving state is judged to be a forward or stop state; otherwise, the vehicle-mounted rearview camera is controlled to acquire a reversing image in a second acquisition mode, and the opening and closing detection of the current time is stopped.
In further embodiments, the alarm strategy includes at least one or more of a voice alarm, an audible and visual alarm, and an image output alarm.
According to the scheme, various alarm strategies are set according to different opening angles of the tail gate, and the alarm prompting mode most suitable for the current state can be selectively matched, so that the use experience of a user is improved.
In a further embodiment, the image output alert is specifically: and marking the state image according to the current opening angle of the tail gate, and outputting the state image to a display screen for alarm display.
When the scheme is necessary, the actual tail gate closing abnormal image is displayed to the vehicle driver, so that the driver can better observe the actual condition of the tail gate, and the tail gate abnormality is processed under the alarm prompt.
In a further embodiment, the predetermined feature is a rear bumper affixed to the rear of the vehicle.
The rear bumper fixed at the tail of the vehicle is selected as a preset characteristic, and the scheme has the following beneficial effects:
the first bumper and the rear bumper are fixed on the tail part of the parking space, the first bumper and the rear bumper are protruded out of the rear vehicle body and are arranged in a split mode with the tail gate, the rear bumper is stationary relative to the normally closed tail gate in a normal state of the vehicle, and the rear bumper is not affected when the tail gate is opened, so that other interference factors are avoided, and the detection accuracy is high;
the second rear bumper is consistent with the middle shaft of the tail gate, the contour of the rear bumper is clear, the two rear bumpers are closely adjacent to the tail gate in the acquired image, the contour contrast of the two rear bumpers is obvious, the image matching efficiency is high, and therefore the detection efficiency of the tail gate can be further improved.
Drawings
FIG. 1 is a working flow chart of an automobile tail door opening and closing detection method provided by an embodiment of the invention;
fig. 2 is a schematic diagram of camera image acquisition according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a standard image of a normally closed tailgate provided by an embodiment of the invention;
fig. 4 is a schematic view of a state image when the tail gate is closed abnormally according to an embodiment of the present invention.
Wherein: rear view camera a, tail gate B, rear bumper C, camera shooting angle α, camera shooting area S, standard pixel area S0, actual pixel area Si.
Detailed Description
The following examples are given for the purpose of illustration only and are not to be construed as limiting the invention, including the drawings for reference and description only, and are not to be construed as limiting the scope of the invention as many variations thereof are possible without departing from the spirit and scope of the invention.
The method for detecting the opening and closing of the automobile tail door B provided by the embodiment of the invention, as shown in fig. 1, comprises the following steps:
s1, a standard image manufacturing detection template for normally closing the tail gate B is obtained, and referring to FIG. 2 and FIG. 3, the method comprises the following steps S11-S14:
s11, acquiring a standard image when a tail gate B is normally closed by adopting a vehicle-mounted rearview camera A;
s12, identifying a standard image, acquiring a standard image area with preset characteristics from the standard image, calculating a corresponding standard pixel area S0, and integrating to generate a detection template;
s13, calibrating a corresponding relation between an opening angle of the tail gate B and a pixel area of a preset feature (for example, after the opening angle is larger than a certain threshold value, the occupied pixel area of the preset feature is 0);
s14, setting a corresponding alarm grade and an alarm strategy according to grade division of the opening angle.
The preset feature is a rear bumper C fixed to the rear of the vehicle.
In this embodiment, the vehicle-mounted rearview camera a is installed at the center position of the tail gate B, the camera shooting view angle is α, the camera shooting area is S, and the installation requirement is: in the image acquired when the tail gate B is normally closed, the rear bumper C (i.e., a preset feature) occupies a part of the area of the image, i.e., the standard pixel area S0 is calibrated.
The image acquisition is carried out by the vehicle-mounted rearview camera A, so that the detection of the opening and closing state of the tail gate B is assisted, the self resources of the vehicle can be fully utilized, the functions of the rearview camera A are enriched, and the effect of making the best use of things is achieved.
In the present embodiment, the rear bumper C fixed at the vehicle tail is selected as the preset feature, and has the following beneficial effects:
the first and the rear bumpers C are fixed at the tail part of the parking space, are protruded out of the rear vehicle body and are arranged in a split mode with the tail gate B, and in a normal state of the vehicle, the rear bumpers C are stationary relative to the normally closed tail gate B and are not affected when the tail gate B is opened, so that other interference factors are not generated, and the detection accuracy is high;
the second rear bumper C is consistent with the middle shaft of the tail gate B, the rear bumper C has clear outline, the collected images are closely adjacent to the tail gate B, the outline contrast of the two is obvious, and the image matching efficiency is high, so that the detection efficiency of the tail gate B can be further improved.
S2, acquiring a state image of the current tail gate B, and extracting image data of preset features from the state image, referring to FIG. 4, specifically comprising the steps S21-S22:
s21, acquiring a current state image of a tail gate B by adopting a vehicle-mounted rearview camera A, wherein the current state image is specifically as follows:
acquiring a driving state of a current vehicle, and controlling a vehicle-mounted rearview camera A to acquire a current state image of a tail gate B in a first acquisition mode when the driving state is judged to be a forward or stop state; otherwise, the vehicle-mounted rearview camera A is controlled to acquire a reversing image in a second acquisition mode, and the opening and closing detection of the current time is stopped. The detection step may be resumed after the reverse is completed, or the detection step may be re-entered.
For example: detecting the running state of the current vehicle (by detecting the speed or the gear), and if the running state is the forward running state or the stop state, switching the vehicle-mounted rearview camera A to a first acquisition mode and entering the next step. In this mode, the image acquired by the in-vehicle rear-view camera a is not cut.
And if the current driving state of the vehicle is a reversing state, switching the vehicle-mounted rearview camera A to a second acquisition mode. In this mode, the image acquisition view angle of the vehicle-mounted rearview camera a is unchanged, but when the original acquired image is acquired, the original acquired image is cut with a preset image cutting view angle β (the size of the image cutting view angle β is determined by completely cutting out the bumper image), so as to obtain a reversing image.
The image cropping can be performed in the image processing module, so that matters (reversing or tail gate opening and closing detection) of different targets can be provided with different view angles, and a shooting view angle obtained by cropping the image is called an image cropping view angle. It is easy to understand that when an image is not cut, its image cutting angle of view β is equal to the photographing angle of view α of the camera, and changing the image cutting angle of view β is equivalent to changing the photographing angle of view of the camera.
According to the embodiment, when the vehicle is reversed, the image cutting view angle is switched in time, so that the obstruction of the bumper to the reversing view field can be eliminated. S22, identifying a state image, extracting an actual image area with preset characteristics from the state image, and calculating an actual pixel area Si of the actual image as currently acquired image data.
S3, determining the opening and closing state of the tail gate B according to the image data and the detection template, wherein the method comprises the following steps of S31-S32:
s31, acquiring the region matching degree of the actual image region and the standard image region, if the region matching degree meets a preset threshold value, entering the next step, otherwise, judging that the closing state of the tail gate B is abnormal;
s32, comparing the actual pixel area Si with the standard pixel area S0, if the comparison is consistent, judging that the tail gate B is normally closed, otherwise, judging that the closing state of the tail gate B is abnormal.
In the embodiment, the image area and the pixel area of the preset feature in the standard image when the tail gate B is normally closed are calibrated in advance, a detection template is established, the actual image area and the actual pixel area Si of the actual image are only required to be obtained according to the same method when the tail gate B is opened and closed for detection in the later period, the image area is matched and the pixel area is compared in sequence, and whether the closing state of the tail gate B is abnormal or not can be determined according to the matching result and the comparison result.
S4, when the closing state of the tail gate B is abnormal, alarming prompt is carried out, and the method comprises the following steps of S41-S42:
s41, when the closing state of the tail gate B is abnormal, determining a corresponding opening angle and an alarm level according to the corresponding relation and the actual pixel area Si;
s42, selecting a corresponding alarm strategy according to the alarm level to carry out alarm prompt.
According to the embodiment, the corresponding relation is regulated according to the change of the pixel areas of the preset characteristics when the opening angles of the tail gates B are different, the opening angles of the tail gates B are classified, and the alarm grades and the alarm side rates which are in one-to-one correspondence are set, so that when the tail gates B are abnormally closed, the corresponding alarm strategies can be quickly matched according to the actual pixel areas Si of the preset characteristics in the state images, and the response sensitivity of the alarm prompting device is improved.
In this embodiment, the alarm policy at least includes one or more of a voice alarm, an audible and visual alarm, and an image output alarm. For example, 3 alarm levels are divided, and the first level, the second level and the third level correspond to the alarm strategies respectively:
a first stage, voice alarm;
a second stage, audible and visual alarm;
third stage, audible and visual alarm and image output alarm.
The specific alarm mode can be set according to actual requirements.
According to the embodiment, various alarm strategies are set according to different opening angles of the tail gate B, and the alarm prompting mode which is most suitable for the current state can be selectively matched, so that the use experience of a user is improved.
In this embodiment, the image output alarm specifically includes: and marking the state image according to the current opening angle of the tail gate B, and outputting the state image to a display screen for alarm display.
In this embodiment, when necessary, the actual abnormal image of closing of the tail gate B is displayed to the vehicle driver, so that the driver can better observe the actual situation of the tail gate B, and thus the abnormal situation of the tail gate B is handled under the alarm prompt.
According to the embodiment of the invention, the preset features fixed on the vehicle are used as reference objects, the standard image when the tail gate B is in the normal closing state is obtained to manufacture the detection template, the current state image is only required to be obtained, the image data of the preset features are extracted from the current state image to be matched with the detection template, and the opening and closing state of the tail gate B can be rapidly determined according to the matching result.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (6)
1. The method for detecting the opening and closing of the automobile tail door is characterized by comprising the following steps of:
s1, acquiring a standard image when a tail gate is normally closed to manufacture a detection template;
s2, acquiring a current state image of the tail gate, and extracting image data of preset features from the state image;
s3, determining the opening and closing state of the tail gate according to the image data and the detection template;
s4, when the tail gate closing state is abnormal, alarming prompt is carried out;
the preset feature is a rear bumper fixed at the tail of the vehicle;
the step S1 includes:
s11, acquiring a standard image when a tail gate is normally closed by adopting a vehicle-mounted rearview camera;
s12, identifying the standard image, acquiring a standard image area with the preset characteristic from the standard image, calculating the corresponding standard pixel area, and integrating to generate a detection template;
the step S2 includes:
s21, acquiring a current state image of the tail gate by adopting the vehicle-mounted rearview camera;
s22, identifying the state image, extracting an actual image area of the preset feature from the state image, and calculating an actual pixel area of the actual image to be used as currently acquired image data;
the step S3 includes:
s31, acquiring the region matching degree of the actual image region and the standard image region, if the region matching degree meets a preset threshold value, entering the next step, otherwise, judging that the closing state of the tail gate is abnormal;
s32, comparing the actual pixel area with the standard pixel area, if the actual pixel area is consistent with the standard pixel area, judging that the tail gate is normally closed, otherwise, judging that the closing state of the tail gate is abnormal.
2. The method for detecting opening and closing of a tailgate of an automobile according to claim 1, wherein said step S1 further comprises the steps of:
s13, calibrating the corresponding relation between the opening angle of the tail gate and the pixel area of the preset feature;
s14, setting a corresponding alarm grade and an alarm strategy according to the grade division of the opening angle.
3. The method for detecting opening and closing of a tailgate of an automobile according to claim 2, wherein the step S4 comprises:
s41, when the tail gate closing state is abnormal, determining the corresponding opening angle and the corresponding alarm level according to the corresponding relation and the actual pixel area;
s42, selecting a corresponding alarm strategy according to the alarm level to carry out alarm prompt.
4. The method for detecting opening and closing of a tail gate of an automobile according to claim 1, wherein the step S21 is specifically:
acquiring a driving state of a current vehicle, and controlling a vehicle-mounted rearview camera to acquire a current state image of the tail gate in a first acquisition mode when the driving state is judged to be a forward or stop state; otherwise, the vehicle-mounted rearview camera is controlled to acquire a reversing image in a second acquisition mode, and the opening and closing detection of the current time is stopped.
5. A method for detecting opening and closing of a tailgate of an automobile as claimed in claim 3, characterized by: the alarm strategy at least comprises one or more of voice alarm, audible and visual alarm and image output alarm.
6. The method for detecting opening and closing of a tail gate of an automobile according to claim 4, wherein the image output alarm specifically comprises: and marking the state image according to the current opening angle of the tail gate, and outputting the state image to a display screen for alarm display.
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| CN202011578897.8A CN112580635B (en) | 2020-12-28 | 2020-12-28 | Automobile tail door opening and closing detection method |
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| CN202011578897.8A CN112580635B (en) | 2020-12-28 | 2020-12-28 | Automobile tail door opening and closing detection method |
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