CN113212307A - Electronic rearview mirror with 360-degree environment monitoring function - Google Patents
Electronic rearview mirror with 360-degree environment monitoring function Download PDFInfo
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- CN113212307A CN113212307A CN202110593056.2A CN202110593056A CN113212307A CN 113212307 A CN113212307 A CN 113212307A CN 202110593056 A CN202110593056 A CN 202110593056A CN 113212307 A CN113212307 A CN 113212307A
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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
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
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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
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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)
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- Closed-Circuit Television Systems (AREA)
Abstract
The invention provides an electronic rearview mirror with a 360-degree environment monitoring function, which comprises a monitor, a fixed frame, at least four sets of cameras and an adjusting frame, wherein the cameras are respectively arranged at the left front position, the right front position, the left rear position and the left rear position of the outer side of a vehicle through the adjusting frame; the fixed frame comprises a fixed plate, a rotary joint and a connecting rod, and the fixed plate is fixedly connected with a vehicle; the connecting rod is connected with the fixed plate through a rotary joint, so that the connecting rod can rotate to any position on one side of the fixed plate, and the connecting rod is fixedly connected with the monitor; the monitor is electrically connected with the cameras, a display control module is arranged in the monitor, and the display control module displays the received images shot by the cameras in real time on the monitor in a split screen mode. The 360-degree environment monitoring of the vehicle is realized, and the monitor is used for displaying the information so that a driver can know all conditions of the rear part of the vehicle when driving conveniently.
Description
Technical Field
The invention relates to the technical field of vehicle electronic rearview mirrors, in particular to an electronic rearview mirror with a 360-degree environment monitoring function.
Background
The rear view mirror is a tool for a driver sitting on a cab seat to directly obtain external information such as the rear, side, and lower sides of the vehicle, and thus is very important for driving safety. In order to facilitate the operation of a driver, prevent the occurrence of driving safety accidents and ensure the personal safety, all countries stipulate that a rearview mirror must be installed on an automobile. The rear view mirror has a view problem, that is, a range that the mirror surface can reflect. This is related to the distance of the driver's eyes from the rear view mirror, the size of the rear view mirror and the radius of curvature of the rear view mirror. The general rearview mirror reflects the situation behind the vehicle through an optical principle, and because light cannot turn by itself, the rearview mirror has a vision blind area and cannot observe all position situations outside the vehicle.
The driver is not able to see all the conditions behind the car through the rear view mirror, which increases the risk of driving.
Disclosure of Invention
In order to solve the technical problems, the invention provides an electronic rearview mirror with a 360-degree environment monitoring function, which comprises a monitor, a fixed frame, at least four sets of cameras and an adjusting frame, wherein the cameras are respectively arranged at the left front position, the right front position, the left rear position and the left rear position of the outer side of a vehicle through the adjusting frame;
the fixed frame comprises a fixed plate, a rotary joint and a connecting rod, and the fixed plate is fixedly connected with a vehicle; the connecting rod is connected with the fixed plate through a rotary joint, so that the connecting rod can rotate to any position on one side of the fixed plate, and the connecting rod is fixedly connected with the monitor;
the monitor is electrically connected with the cameras, a display control module is arranged in the monitor, and the display control module displays the received images shot by the cameras in real time on the monitor in a split screen mode.
Optionally, two first brackets used for being connected with the rotary joint are arranged on one end face of the fixing plate at intervals, one first bracket is provided with a first placing hole in which the hexagonal fixing nut is embedded, and the other first bracket is provided with a first through hole coaxial with the center of the hexagonal fixing nut and used as a reinforcing member installing part; one end of the rotating joint is a single head, the single head is provided with a polygonal through hole embedded with a polygonal column sleeve, the surfaces of two ends of the polygonal column sleeve are provided with uneven shapes, and the single head is installed between the two first supports and is connected with a hexagonal fixing nut in a matched mode through a bolt penetrating through the first through hole and the polygonal column sleeve; the other end of the rotating joint is provided with two second supports which are arranged at intervals, one second support is provided with a second placing hole in which a hexagonal fixing nut is embedded, the other second support is provided with a second through hole which is coaxial with the center of the hexagonal fixing nut, and the coaxial line of the center of the fixing nut and the second through hole is mutually vertical to the axial lead of the polygonal column sleeve; the second bracket is used for being connected with the connecting rod.
Optionally, the connecting rod is Z-shaped, and the turning angle is 90-160 degrees; the camera arranged in the front left can shoot a range of 110 +/-20 degrees from the front left, and the camera arranged in the front right can shoot a range of 110 +/-20 degrees from the front right; the camera arranged at the left back can shoot a range of 60 degrees +/-15 degrees at the left back; the camera installed at the rear right can shoot a range of 60 DEG +/-15 DEG at the rear right.
Optionally, the camera adopts a high-definition photosensitive chip, the camera is provided with a brightness detector, an analysis module, LED lamps and a switch, the LED lamps are uniformly arranged around the circumference of the camera, the LED lamps and the switch are connected in series, and the analysis module is respectively connected with the brightness detector and the switch; the analysis module receives a detection signal of the brightness detector and analyzes the ambient brightness, and when the ambient brightness is lower than the set brightness, the control switch is closed to enable the LED lamp to be turned on.
Optionally, the camera of the camera is coated with a waterproof film on the outer surface in a glass chemical mode, so that water drops cannot stay on the surface of the camera; the camera adopts a high-resolution 1920 multiplied by 1080 pixels, a high frame rate and a four-core main control operation chip, so that the image extension of the monitor is minimized.
Optionally, the monitor displays different images of the images acquired by the cameras, so that the channel conversion of the monitor to the images of the cameras is realized; the monitor and the camera are electrically connected by a CAN bus.
Optionally, the camera is connected with a signal transmitting module, the signal transmitting module transmits the shot image signal to a third-party communication device through network connection, and the third-party communication device transmits the image signal to the remote monitoring platform.
Optionally, the monitor is connected with a millimeter wave radar, the millimeter wave radar is installed outside the vehicle and used for detecting obstacles, and when an obstacle is detected, the monitor displays and prompts the obstacle.
Optionally, the display control module equally divides the monitor into four display areas, and an independent image data transmission channel is correspondingly constructed for each display area, and each image data transmission channel corresponds to a camera at one of the left front, right front, left rear and left rear positions outside the vehicle;
before the images shot by the camera in real time are transmitted to the corresponding display areas of the monitor through the independent image data transmission channels, the display control module performs the following enhancement processing on the images:
firstly, performing multi-layer wavelet decomposition on an image to obtain wavelet coefficients of each frequency band;
secondly, comparing the wavelet coefficient of each frequency band with a coefficient threshold, and if the wavelet coefficient is greater than the coefficient threshold, performing enhancement processing on the wavelet coefficient of the corresponding frequency band;
thirdly, performing wavelet reconstruction on the processed wavelet coefficient to obtain an enhanced image; the wavelet reconstruction is performed by adopting the following algorithm:
in the above formula, Ak+1:n,mA digital signal representing the enhanced image; k represents the number of sampling points; n represents the number of pixels translated in the vertical direction of the image; m represents the number of pixels of the image translated in the horizontal direction; l represents the brightness factor of the image, and j represents the two-dimensional discrete index of wavelet decomposition; h and G denote filters conjugated to each otherOutputting the pulse; a. thek:n,mA digital signal representing the pre-enhanced image; d represents a decomposition factor; the numbers 1, 2, 3 in the upper right corner of the letter D represent the scale of decomposition;
finally, the "front left", "front right", "back left", or "back left" position information of the image source camera is added to the corresponding enhanced image.
Optionally, a velocimeter is correspondingly arranged on the camera, the velocimeter is connected with the display control module, and the velocimeter is used for measuring the movement speed of a moving object at a position corresponding to the camera around the vehicle; the display control module carries out frame processing on the image, carries out motion compensation in a frame interpolation mode, and calculates the pixel value of each point in the frame interpolation by adopting the following steps:
in the above formula, wi(x, y, α T) represents a pixel value of an i-point in the interpolated frame;
representing the pixel value of i point in the previous original frame;
representing the pixel value of i point in the next original frame; x and y represent the position coordinates of the point i; alpha represents the relative position of the interpolation frame and the original frame in the time domain, and alpha is more than or equal to 0 and less than or equal to 1; vX0An x-direction component representing a motion vector of the vehicle itself; vX1An x-direction component representing a motion vector of an i-point moving object; d1Representing the relative distance between the interpolated frame and the previous original frame; d2Representing the relative distance between the interpolated frame and the next original frame; vy0A y-direction component representing a motion vector of the vehicle itself;Vy1a y-direction component representing a motion vector of an i-point moving object; t represents the time of the previous original frame; t represents the elapsed time from the previous original frame to the next original frame.
The electronic rearview mirror with the 360-degree environment monitoring function adopts the cameras arranged in multiple directions, the cameras are arranged by adopting the adjusting frames, the shooting range of each camera can be adjusted by the adjusting frames, the 360-degree environment monitoring of a vehicle is realized, the images shot by monitoring are transmitted to the monitor, the images shot by each camera are displayed by the monitor, the monitor is arranged at the front end of a driving position by the fixing frame, a driver can know all conditions at the rear part of the vehicle from the displayed images without dead zones when driving, and the fixing frame can be adjusted in a rotating way, so that the observation requirements of drivers with different heights are met.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of an electronic rearview mirror with 360 degree environment monitoring function mounted on a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of an embodiment of a fixing frame adopted by the electronic rearview mirror with a 360-degree environment monitoring function according to the invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1 and 2, an embodiment of the present invention provides an electronic rearview mirror with a 360-degree environment monitoring function, which includes a monitor 1, a fixed frame 2, at least four sets of cameras 3 and an adjusting frame 4, wherein the cameras are respectively installed at the left front, right front, left rear and left rear positions outside a vehicle through the adjusting frame, and the monitor is installed at the front end of a driving seat of the vehicle by using the fixed frame;
the fixed frame 2 comprises a fixed plate 21, a rotary joint 22 and a connecting rod 23, and the fixed plate 21 is fixedly connected with a vehicle; the connecting rod 23 is connected with the fixing plate 21 through a turning joint 22, so that the connecting rod 23 can rotate to any direction on one side of the fixing plate 21, and the connecting rod 23 is fixedly connected with the monitor 1;
the monitor is electrically connected with the cameras, a display control module is arranged in the monitor, and the display control module displays the received images shot by the cameras in real time on the monitor in a split screen mode.
The working principle and the beneficial effects of the technical scheme are as follows: the scheme adopts the cameras which are installed in multiple directions, and the cameras are installed by adopting the adjusting frames, so that the shooting range of each camera can be adjusted by the adjusting frames, thereby realizing 360-degree environment monitoring of the vehicle, transmitting the images shot by monitoring to the monitor, displaying the images shot by each camera by the monitor, and installing the monitor at the front end of the driving position by using the fixing frame, so that a driver can know all conditions at the rear part of the vehicle from the displayed images during driving without blind areas, and the fixing frame can be rotationally adjusted, thereby adapting to the observation requirements of drivers with different heights; the 360-degree panorama is combined, the 360-degree panorama can be displayed at the position of the second monitor channel, so that a 4-week real-time picture of the vehicle can be monitored in a seamless 3D dynamic 360-degree panorama mode, a 360-degree picture image is displayed generally at the speed of starting, starting and slow speed of 20KM/H, and driving and parking safety is guaranteed; the fixing frame can be made of plastic or metal materials; because of the difference of driver's height, seat fore-and-aft, the angle of watching the monitor picture is different, for the convenience of the clear monitor picture image of watching of driver, the 360 degrees all-round regulation mount of special design monitor for the monitor plane can be adjusted more than, down, left and right, preceding, back, thereby solves the clear watching of driver to the image.
In one embodiment, as shown in fig. 2, two first brackets 211 for connecting with the rotating joint 22 are disposed at an interval on one end surface of the fixing plate 21, wherein one first bracket 211 has a first placing hole in which a hexagonal fixing nut 212 is embedded, and the other first bracket 211 has a first through hole coaxial with the center of the hexagonal fixing nut 212 as a reinforcing member installing part; one end of the rotating joint 22 is a single head 221, the single head 221 is provided with a polygonal through hole embedded with a polygonal column sleeve, the surfaces of two ends of the polygonal column sleeve are provided with uneven shapes, and the single head 221 is installed between the two first brackets 211 and is connected with the hexagonal fixing nut 212 in a matched mode through a bolt penetrating through the first through hole and the polygonal column sleeve; the other end of the rotating joint 22 is provided with two second brackets 222 which are arranged at intervals, wherein one second bracket 222 is provided with a second placing hole in which a hexagonal fixing nut is embedded, the other second bracket 222 is provided with a second through hole which is coaxial with the center of the hexagonal fixing nut, and the coaxial line of the center of the fixing nut and the second through hole is mutually vertical to the axial lead of the polygonal column sleeve; the second bracket 222 is used for connecting with the connecting rod 23.
The working principle and the beneficial effects of the technical scheme are as follows: in the scheme, the fixing clamping parts of the two first brackets are made of metal materials or special plastic materials, the surfaces of the two first brackets can be in a convex or concave shape, the current situation is symmetrical up and down, and the shapes of the two first brackets are unfixed shapes such as round, diamond, triangle, rectangle and square; the part is divided into two parts, one part is single-end, inlay metal or other plastic materials in the middle of, the shape is polygonal cylinder, presents with the polygon around the cylinder, the upper and lower surface of cylinder also is made with unevenness's shape, and the shape is the unfixed shape such as circular, rhombus, triangle-shaped, rectangle, square, can increase the frictional force of firmware movable part to can the fixed position after the monitor is adjusted, can not take place self skew.
In one embodiment, the connecting rod is Z-shaped, and the turning angle is 90-160 degrees; the camera arranged in the front left can shoot a range of 110 +/-20 degrees from the front left, and the camera arranged in the front right can shoot a range of 110 +/-20 degrees from the front right; the camera arranged at the left back can shoot a range of 60 degrees +/-15 degrees at the left back; the camera installed at the rear right can shoot a range of 60 DEG +/-15 DEG at the rear right.
The working principle and the beneficial effects of the technical scheme are as follows: the connecting rod shape in this scheme is "Z" style of calligraphy, has the turn design between 90 to 160, and the stationary plane of convenient fixed object has certain distance for the product can not have other objects to shelter from when not equidirectional pivoted. Joint positions are arranged at two ends of the connecting rod, and the structure of the joint positions is the same as that of one end of the rotary joint; the blind area images which cannot be seen by the glass rearview mirrors of the vehicle can be clearly seen through 4 cameras arranged outside the vehicle, namely, a monitor with the front left angle of 110 degrees +/-20 degrees, a monitor with the front right angle of 110 degrees +/-20 degrees, a monitor with the left side rear angle of 60 degrees +/-15 degrees and a monitor image with the right side rear angle of 60 degrees +/-15 degrees.
In one embodiment, the camera adopts a high-definition photosensitive chip, the camera is provided with a brightness detector, an analysis module, LED lamps and a switch, the LED lamps are uniformly arranged around the circumferential direction of a camera of the camera and are connected in series, and the analysis module is respectively connected with the brightness detector and the switch; the analysis module receives a detection signal of the brightness detector and analyzes the ambient brightness, and when the ambient brightness is lower than the set brightness, the control switch is closed to enable the LED lamp to be turned on.
The working principle and the beneficial effects of the technical scheme are as follows: the scheme adopts a high-definition photosensitive chip, and enhances the image acquisition of the ground photograph through software debugging; the LED spotlight is added for light supplement according to requirements, and when the illumination is low at night, the LED lamp is controlled by the photosensitive device to turn on the LED lamp power supply, so that the LED lamp works to illuminate, the light intensity required by shooting is ensured, and the environment monitoring effect is ensured; and when the light source is bright enough, the power supply of the LED lamp is turned off to save energy consumption.
In one embodiment, the camera of the camera adopts a glass chemical mode to plate a waterproof film on the outer surface, so that water drops can not stay on the surface of the camera; the camera adopts a high-resolution 1920 multiplied by 1080 pixels, a high frame rate and a four-core main control operation chip, so that the image extension of the monitor is minimized.
The working principle and the beneficial effects of the technical scheme are as follows: the scheme is mainly aimed at the rainy day scene, the rainy day physical glass rearview mirror has rainwater, and the scene around the vehicle cannot be observed through the glass rearview mirror.
In one embodiment, the monitor displays different camera acquisition picture images, and channel conversion of the monitor to the images of multiple cameras is realized; the monitor and the camera are electrically connected by a CAN bus.
The working principle and the beneficial effects of the technical scheme are as follows: according to the technical scheme, different software codes are compiled to carry out matching control according to different vehicle bus protocol requirements, gear information and speed information of the vehicle are transmitted to the equipment at any time, the equipment displays different camera acquisition picture images on the monitor according to different vehicle running states, for example, channel conversion of images of three cameras of the monitor is realized, and a driver can conveniently know the conditions around the vehicle.
In one embodiment, the camera is connected with a signal transmitting module, the signal transmitting module transmits the shot image signal to third-party communication equipment through network connection, and the third-party communication equipment transmits the image signal to the remote monitoring platform.
The working principle and the beneficial effects of the technical scheme are as follows: the scheme can remotely check the real-time running state of the vehicle in the running process of the vehicle, and the mode can provide convenience for the daily work of the management of a transport company; the video signal monitoring method is characterized in that a signal distribution technology is adopted, the problem of co-frequency interference of video signals is solved, signals collected by a camera are divided into two parts, one part of signals are sent to other communication equipment (third-party communication equipment), such as a video recording part marking machine, and then the video signals are sent to other monitoring platforms needing to be checked through the third-party communication equipment such as the part marking machine for management and checking.
In one embodiment, the monitor is connected with a millimeter wave radar which is installed on the outer side of the vehicle and used for obstacle detection, and when an obstacle is detected, the monitor displays and prompts.
The working principle and the beneficial effects of the technical scheme are as follows: this scheme adopts millimeter wave radar technique, can realize all-weather mode, and the millimeter wave radar can not receive ambient light, visibility's influence, and the data of gathering the millimeter wave radar are come out through this equipment monitor suggestion, let the driver effectively discover the dangerous barrier around the vehicle more easily.
In one embodiment, the display control module equally divides the monitor into four display areas, and an independent image data transmission channel is correspondingly constructed for each display area, and each image data transmission channel corresponds to a camera at one position of the left front, the right front, the left rear and the left rear outside the vehicle;
before the images shot by the camera in real time are transmitted to the corresponding display areas of the monitor through the independent image data transmission channels, the display control module performs the following enhancement processing on the images:
firstly, performing multi-layer wavelet decomposition on an image to obtain wavelet coefficients of each frequency band;
secondly, comparing the wavelet coefficient of each frequency band with a coefficient threshold, and if the wavelet coefficient is greater than the coefficient threshold, performing enhancement processing on the wavelet coefficient of the corresponding frequency band;
thirdly, performing wavelet reconstruction on the processed wavelet coefficient to obtain an enhanced image; the wavelet reconstruction is performed by adopting the following algorithm:
in the above formula, Ak+1:n,mA digital signal representing the enhanced image; k represents the number of sampling points; n represents the number of pixels translated in the vertical direction of the image; m represents the number of pixels of the image translated in the horizontal direction; l represents the brightness factor of the image, and j represents the two-dimensional discrete index of wavelet decomposition; h and G represent filter pulse outputs that are conjugate to each other; a. thek:n,mA digital signal representing the pre-enhanced image; d represents a decomposition factor; the numbers 1, 2, 3 in the upper right corner of the letter D represent the scale of decomposition;
finally, the "front left", "front right", "back left", or "back left" position information of the image source camera is added to the corresponding enhanced image.
The working principle and the beneficial effects of the technical scheme are as follows: the image in the scheme represents a two-dimensional discrete digital signal, the two-dimensional discrete wavelet transform is carried out on the image during wavelet decomposition, and if the wavelet decomposition is three-layer decomposition, the process is as follows: giving an image, and filtering in the horizontal direction and the vertical direction respectively to obtain four frequency sub-bands: the low-frequency sub-band in the horizontal and vertical directions, the sub-band composed of the horizontal low-frequency and the vertical high-frequency, the sub-band composed of the horizontal high-frequency and the vertical low-frequency, and the horizontal and vertical high-frequency sub-band are decomposed again to obtain four sub-frequency sub-bands with lower frequency, and then the single sub-frequency sub-band is decomposed into four second-order frequency sub-bands; the more the number of layers of wavelet decomposition, the better the enhancement effect, but when the number of layers of decomposition is large, the larger the calculation amount is, so the trade-off between the decomposition times and the algorithm efficiency needs to be considered; respectively enhancing the wavelet coefficients of the information to be enhanced in the corresponding frequency bands to achieve the purpose of removing noise or enhancing the target; wavelet reconstruction is an inverse transformation process of wavelet decomposition, and the signal quantity can be doubled once reconstruction is performed; the image definition and quality for analysis can be improved, and interference can be eliminated; in addition, the position information of the left front, the right front, the left rear or the left rear of the image source camera is added to the corresponding enhanced image, so that each display area displays the image source position at the same time of displaying the image, and a driver can accurately grasp the condition of each position outside the vehicle.
In one embodiment, a velocimeter is correspondingly arranged on the camera, the velocimeter is connected with the display control module, and the velocimeter is used for measuring the movement speed of a moving object at a position corresponding to the camera around the vehicle; the display control module carries out frame processing on the image, carries out motion compensation in a frame interpolation mode, and calculates the pixel value of each point in the frame interpolation by adopting the following steps:
in the above formula, wi(x, y, α T) represents a pixel value of an i-point in the interpolated frame;
representing the pixel value of i point in the previous original frame;
representing the pixel value of i point in the next original frame; x and y represent the position coordinates of the point i; alpha represents the relative position of the interpolation frame and the original frame in the time domain, and alpha is more than or equal to 0 and less than or equal to 1; vX0An x-direction component representing a motion vector of the vehicle itself; vX1An x-direction component representing a motion vector of an i-point moving object; d1Representing the relative distance between the interpolated frame and the previous original frame; d2Representing the relative distance between the interpolated frame and the next original frame; vy0A y-direction component representing a motion vector of the vehicle itself; vy1A y-direction component representing a motion vector of an i-point moving object; t represents the time of the previous original frame; t represents the elapsed time from the previous original frame to the next original frame.
The working principle and the beneficial effects of the technical scheme are as follows: the scheme focuses on solving the adverse effect of the motion of a vehicle and a running object possibly existing on the periphery on image shooting, the display control module is adopted to perform framing processing on an image, motion compensation is performed on the image in a frame interpolation mode, and the algorithm is adopted for an interpolation frame to perform pixel control, so that the interpolation frame can be better matched with an original frame, and the phenomenon that the interpolation frame has a larger difference with the original frame, the motion compensation cannot be performed, and the image quality is reduced on the contrary is avoided; by the scheme, the image definition and quality can be provided, and good visual experience of a vehicle driver is enhanced.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An electronic rearview mirror with a 360-degree environment monitoring function is characterized by comprising a monitor, a fixed frame, at least four sets of cameras and an adjusting frame, wherein the cameras are respectively arranged at the left front position, the right front position, the left rear position and the left rear position of the outer side of a vehicle through the adjusting frame;
the fixed frame comprises a fixed plate, a rotary joint and a connecting rod, and the fixed plate is fixedly connected with a vehicle; the connecting rod is connected with the fixed plate through a rotary joint, so that the connecting rod can rotate to any position on one side of the fixed plate, and the connecting rod is fixedly connected with the monitor;
the monitor is electrically connected with the cameras, a display control module is arranged in the monitor, and the display control module displays the received images shot by the cameras in real time on the monitor in a split screen mode.
2. The electronic rearview mirror with the 360-degree panoramic monitoring function according to claim 1, wherein two first brackets for connecting with a rotary joint are arranged at intervals on one end face of the fixing plate, one first bracket is provided with a first placing hole in which a hexagonal fixing nut is embedded, and the other first bracket is provided with a first through hole coaxial with the center of the hexagonal fixing nut as a reinforcing piece adding part; one end of the rotating joint is a single head, the single head is provided with a polygonal through hole embedded with a polygonal column sleeve, the surfaces of two ends of the polygonal column sleeve are provided with uneven shapes, and the single head is installed between the two first supports and is connected with a hexagonal fixing nut in a matched mode through a bolt penetrating through the first through hole and the polygonal column sleeve; the other end of the rotating joint is provided with two second supports which are arranged at intervals, one second support is provided with a second placing hole in which a hexagonal fixing nut is embedded, the other second support is provided with a second through hole which is coaxial with the center of the hexagonal fixing nut, and the coaxial line of the center of the fixing nut and the second through hole is mutually vertical to the axial lead of the polygonal column sleeve; the second bracket is used for being connected with the connecting rod.
3. The electronic rearview mirror with the 360-degree panoramic monitoring function according to claim 1, wherein the connecting rod is Z-shaped, and the turning angle is 90-160 degrees; the camera arranged in the front left can shoot a range of 110 +/-20 degrees from the front left, and the camera arranged in the front right can shoot a range of 110 +/-20 degrees from the front right; the camera arranged at the left back can shoot a range of 60 degrees +/-15 degrees at the left back; the camera installed at the rear right can shoot a range of 60 DEG +/-15 DEG at the rear right.
4. The electronic rearview mirror with the 360-degree panoramic monitoring function according to claim 1, wherein the camera adopts a high-definition photosensitive chip, the camera is provided with a brightness detector, an analysis module, LED lamps and a switch, the LED lamps are uniformly arranged around the circumference direction of a camera of the camera and are connected in series, and the analysis module is respectively connected with the brightness detector and the switch; the analysis module receives a detection signal of the brightness detector and analyzes the ambient brightness, and when the ambient brightness is lower than the set brightness, the control switch is closed to enable the LED lamp to be turned on.
5. The electronic rearview mirror with the 360-degree panoramic monitoring function according to claim 1, wherein a camera of the camera is coated with a waterproof film on the outer surface in a glass chemical mode, so that water drops cannot stay on the surface of the camera; the camera adopts a high-resolution 1920 multiplied by 1080 pixels, a high frame rate and a four-core main control operation chip, so that the image extension of the monitor is minimized.
6. The electronic rearview mirror with the 360-degree environment monitoring function according to claim 1, wherein the monitor displays different camera acquisition picture images to realize channel conversion of the monitor to multiple camera images; the monitor and the camera are electrically connected by a CAN bus.
7. The electronic rearview mirror with the 360-degree panoramic monitoring function according to claim 1, wherein a signal transmitting module is connected to the camera, the signal transmitting module transmits the shot image signals to a third-party communication device through a network connection, and the third-party communication device transmits the image signals to a remote monitoring platform.
8. The electronic rearview mirror with the 360-degree surround view monitoring function according to claim 1, wherein a millimeter wave radar is connected to the monitor, the millimeter wave radar is installed on the outer side of the vehicle and used for obstacle detection, and when an obstacle is detected, the millimeter wave radar is displayed and prompted through the monitor.
9. The electronic rearview mirror with the 360-degree panoramic monitoring function according to claim 1, wherein the display control module equally divides the monitor into four display areas, and an independent image data transmission channel is correspondingly constructed for each display area, and each image data transmission channel corresponds to a camera at one of the left front position, the right front position, the left rear position and the left rear position outside the vehicle;
before the images shot by the camera in real time are transmitted to the corresponding display areas of the monitor through the independent image data transmission channels, the display control module performs the following enhancement processing on the images:
firstly, performing multi-layer wavelet decomposition on an image to obtain wavelet coefficients of each frequency band;
secondly, comparing the wavelet coefficient of each frequency band with a coefficient threshold, and if the wavelet coefficient is greater than the coefficient threshold, performing enhancement processing on the wavelet coefficient of the corresponding frequency band;
thirdly, performing wavelet reconstruction on the processed wavelet coefficient to obtain an enhanced image; the wavelet reconstruction is performed by adopting the following algorithm:
in the above formula, Ak+1:n,mA digital signal representing the enhanced image; k represents the number of sampling points; n represents the number of pixels translated in the vertical direction of the image; m represents the number of pixels of the image translated in the horizontal direction; l represents the brightness factor of the image, and j represents the two-dimensional discrete index of wavelet decomposition; h and G represent filter pulse outputs that are conjugate to each other; a. thek:n,mA digital signal representing the pre-enhanced image; d represents a decomposition factor; the numbers 1, 2, 3 in the upper right corner of the letter D represent the scale of decomposition;
finally, the "front left", "front right", "back left", or "back left" position information of the image source camera is added to the corresponding enhanced image.
10. The electronic rearview mirror with the 360-degree environment monitoring function according to claim 1, wherein a velocimeter is correspondingly arranged on the camera, the velocimeter is connected with the display control module, and the velocimeter is used for measuring the movement speed of a moving object at a position corresponding to the camera around the vehicle; the display control module carries out frame processing on the image, carries out motion compensation in a frame interpolation mode, and calculates the pixel value of each point in the frame interpolation by adopting the following steps:
in the above formula, wi(x, y, α T) represents a pixel value of an i-point in the interpolated frame;
representing the pixel value of i point in the previous original frame;
representing the pixel value of i point in the next original frame; x and y represent the position coordinates of the point i; alpha represents the relative position of the interpolation frame and the original frame in the time domain, and alpha is more than or equal to 0 and less than or equal to 1; vX0An x-direction component representing a motion vector of the vehicle itself; vX1An x-direction component representing a motion vector of an i-point moving object; d1Representing the relative distance between the interpolated frame and the previous original frame; d2Representing the relative distance between the interpolated frame and the next original frame; vy0A y-direction component representing a motion vector of the vehicle itself; vy1A y-direction component representing a motion vector of an i-point moving object; t represents the time of the previous original frame; t represents the elapsed time from the previous original frame to the next original frame.
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