CN113525234A - Auxiliary driving system device - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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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- B60R2300/106—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using night vision cameras
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Abstract
The invention relates to a driving assistance system device, and belongs to the field of driving assistance. The driving assistance system device of the invention collects the surrounding environment information of the vehicle through various sensors of a front-view unit, a side-view unit and a rear-view unit, wherein the sensors comprise an infrared thermal imaging camera, a far-near distance micro-light level visible light camera and a millimeter wave radar; the use of the infrared camera and the millimeter wave radar enhances the perception capability of the vehicle running environment at night and in severe weather; image enhancement function software built in the server in the information processing unit is used for carrying out digital image processing on picture information received by a part of sensors and then displaying the picture information, so that the quality of pictures of the surrounding environment of the vehicle obtained under the conditions of low visibility, such as haze, night and the like, is improved; the wearable display helmet or the display screen is used as a main display unit to display the information of the vehicle week, so that a driver can feel the information of the surrounding environment of the vehicle conveniently.
Description
Technical Field
The invention belongs to the technical field of assistant driving, and particularly relates to an assistant driving system device.
Background
With the development of times and technological progress, the quantity of all-people automobiles around the world is continuously increased, more and more people choose to utilize the automobiles to go out conveniently, but the current mainstream automobile driving system still depends on drivers to observe and operate, and the drivers are difficult to clearly and rapidly observe the environment around the automobiles in the environments of haze, night and the like, so that misoperation is easily caused, traffic accidents can be even caused in serious cases, and the loss of life and property is caused. Some current assistant driving systems can monitor the vehicle surroundings by using sensors such as a camera and a radar, but are limited by the layout design of sensor functions and display systems, and are often difficult to realize all-dimensional high-precision vehicle surroundings monitoring and information display. Therefore, a new type of driving assistance system apparatus composed of many high precision detectors and sensing devices is needed.
Disclosure of Invention
Technical problem to be solved
The invention provides a driving assistance system device, which aims to solve the problem that the prior driving assistance technology field is lack of a device for helping a driver to clearly observe surrounding environments in the environments of night, haze and the like.
(II) technical scheme
In order to solve the technical problem, the invention provides a driving assistance system device which comprises an imaging unit, an information processing unit and a display unit, wherein the imaging unit and the display unit are respectively connected with the information processing unit;
the imaging unit comprises a front-view imaging unit, a side-view imaging unit and a rear-view imaging unit, wherein the front-view imaging unit comprises two front-view binocular visible light cameras, a front-view ultra-wide angle visible light camera and an infrared thermal imaging camera, the side-view imaging unit comprises two binocular visible light cameras, and the rear-view imaging unit comprises a rear-view ultra-wide angle visible light camera and two millimeter wave radars;
the information processing unit comprises a data communication switch and an information processing server, the data communication switch provides service for all data transmission, image enhancement function software is arranged in the information processing server, and part of received pictures are processed and then displayed, so that the picture quality is improved;
the display unit comprises a main display unit and a side display unit, the main display unit is a wearable display helmet, a driver can feel surrounding environment information visually, and the side display unit is a large-screen display.
Furthermore, the two front-view binocular visible light cameras can be divided into a long-distance visible light camera and a short-distance visible light camera according to different focal lengths, and are used for observing long-distance and short-distance scene images in front of the vehicle in the driving process and monitoring the driving environment; the forward-looking ultra-wide angle visible light camera is used for widening the image monitoring range at the near position in the driving process of the vehicle and making up a visual field blind area; the infrared thermal imaging camera is responsible for observing images in front of the vehicle at night or in severe weather.
Further, the super wide angle visible light camera of back vision possesses the advantage that monitoring range is wider, can eliminate the big adverse effect of the narrow blind area in ordinary camera field of vision, the millimeter wave radar can pierce through the haze smoke and dust, realizes the supplementary formation of image to the super wide angle visible light camera of back vision under the low condition of visibility.
Furthermore, the visible light cameras all adopt low-light level night vision lenses, and can finish the acquisition and display of high-definition images at night.
Furthermore, 1 foresight super wide angle visible light camera, 1 infrared thermal imaging camera, 1 foresight far distance visible light camera, 1 foresight near distance visible light camera, 2 side looking visible light cameras, and 1 backsight super wide angle visible light camera in the imaging unit, these 7 cameras and data communication switch in the information processing unit are connected through the Ethernet, the connecting cable on the hardware is the twisted pair following the Ethernet standard, the software interface needs to follow the corresponding protocol of the Ethernet; two millimeter wave radars in the imaging unit, a helmet and a display screen of the display unit are connected with the data communication switch through a CAN bus, and the hardware is connected with a 9-pin D-sub connector and a coaxial cable and follows the related protocol of the CAN bus; in addition, the helmet and the display screen of the display unit can be connected with the data communication switch through an HDMI transmission line and an interface so as to realize the transmission of high-definition video image information; the data communication exchanger and the information processing server are connected through a local area network, the physical implementation mode is a wired network cable, and the interface conforms to the RJ45 specification.
Furthermore, the front-view binocular visible light camera and the infrared thermal imaging camera are both arranged right in front of the top of the outer side of the vehicle, and the front-view ultra-wide angle visible light camera is arranged in the center of the head of the vehicle; the side-looking cameras are respectively installed above front doors on the left side and the right side of the vehicle, the rear-looking ultra-wide-angle visible light camera is installed in the center of a rear vehicle bar, and the millimeter wave radar is installed below vehicle lights on the two sides of the rear vehicle.
Furthermore, the data stream input by the image enhancement function software built in the information processing server is video stream data acquired by the infrared thermal imaging camera and the forward-looking far-near distance glimmer visible light camera, and the video stream is output after the image enhancement processing under severe weather such as glimmer night vision image enhancement, haze and strong rainfall and the night glimmer and infrared fusion enhancement processing, so that the clear display of images under different conditions and different meteorological conditions is realized.
Further, the low-light night vision image enhancement is realized by the following steps:
s11, extracting an original image frame collected by a micro-optical camera to be processed, wherein the data expression form is a two-dimensional matrix;
s12, processing the original image frame by using a mean filter to form a first enhanced frame, wherein the mean filter adopts a window with 2 lines and 3 columns as a filter window, the mean value of six pixel points in the window is used as a new pixel value of a pixel point in the middle column of the first line in the window during filtering, and pixel transformation is not carried out in corner areas which do not meet the filtering window;
s13, processing the first enhanced frame by using a Gaussian filter to form a second enhanced frame; the Gaussian filter adopts a window with 2 rows and 3 columns as a filter window, the mean parameter of the filter is the mean value of six pixel points in the window, the variance parameter is the variance of the six pixel points, and pixel transformation is not carried out in corner areas which do not meet the filter window;
and S14, storing the second enhancement frame as the final result of the low-light night vision enhancement.
Further, the image enhancement processing steps in severe weather are as follows:
s21, extracting an original image frame acquired by a rear-view super-wide-angle camera to be processed, wherein the expression form is a two-dimensional matrix, and the point cloud data acquired by a millimeter wave radar is a multi-point data under a polar coordinate;
s22, mapping data of the millimeter wave radar to a two-dimensional matrix expressed by the ultra-wide-angle camera through coordinate transformation, and performing characteristic data fusion, wherein the fusion mode is to enhance the characteristic value of the position of a radar data point in the two-dimensional matrix, the enhancement method selects weighted average, the radar data weighting coefficient is the ratio of the characteristic value to the maximum value of the radar coordinate, and the ultra-wide-angle data weighting coefficient is the ratio of the characteristic value to the maximum value of the two-dimensional matrix;
and S23, inversely transforming the fused image characteristic data into enhanced image data and storing the enhanced image data.
Further, the night glimmer and infrared fusion enhancement treatment method comprises the following steps:
s31, extracting image data frames acquired by the infrared thermal imaging camera and the forward-looking super-wide angle camera which need to be processed, wherein the expression forms are two-dimensional matrixes;
s32, firstly, Gaussian filtering is carried out on the two-dimensional matrixes to weaken noise, a window with 3 rows and 3 columns is adopted as a filter window of the Gaussian filter, the mean parameter of the filter is the mean value of nine pixel points in the window, the variance parameter is the variance of the nine pixel points, and pixel transformation is not carried out in corner areas which do not meet the filtering window; the filtered data of the infrared thermal imaging camera and the ultra-wide angle camera are transformed to extract characteristic values,
s33, performing characteristic data fusion on the two types of acquired characteristic data, wherein the fusion mode is that a two-dimensional matrix is newly established, the two characteristic data matrixes are stored in the matrix after being weighted, and the weighting coefficient is the ratio of the pixel point of the characteristic value to the mean value of all pixel points of the two-dimensional matrix;
and S34, inversely converting the fused image feature data into enhanced infrared night vision enhanced image data for storage.
(III) advantageous effects
Compared with the prior art, the driving assistance system device provided by the invention has the advantages that:
the auxiliary driving system device can collect surrounding environment information of the vehicle through various sensors of a front-view unit, a side-view unit and a rear-view unit, the sensors comprise an infrared thermal imaging camera, a far-near distance micro-light level visible light camera and a millimeter wave radar, and non-blind area monitoring of important surrounding environments of the vehicle can be achieved through proper layout. The infrared camera and the millimeter wave radar are used for enhancing the vehicle running environment perception capability at night and in severe weather, the information acquisition means is rich, the types are comprehensive, the coverage range is wide, and powerful support is provided for accurately judging the surrounding environment.
Secondly, the auxiliary driving system can carry out digital image processing and display on picture information received by partial sensors (infrared cameras, low-light visible light cameras and the like) through image enhancement function software arranged in the information processing unit on the server, so that the quality of pictures of the surrounding environment of the vehicle obtained under the condition of low visibility such as haze and night is improved, and the monitoring effect is enhanced.
And thirdly, the auxiliary driving system device can be used as a main display unit to display the surrounding information through the wearable display helmet or the display screen, so that a driver can feel the surrounding environment information of the vehicle conveniently, and meanwhile, the backup of the main display unit is adopted by the large-screen side screen display, so that other people in the vehicle can observe the surrounding information of the driving process of the vehicle. The design of the display unit can improve the reliability of the whole display system, and a driver can make a correct decision in time conveniently in the vehicle advancing process.
Drawings
FIG. 1 is a schematic block diagram of a driving assistance system apparatus according to the present invention;
FIG. 2 is a diagram of a hardware connection of a driving assistance system apparatus;
FIG. 3 is a schematic view of a partial structure of an imaging unit in a direction of a vehicle head according to an embodiment of the present invention;
FIG. 4 is a partial schematic structural view of an image forming unit in a vehicle-side direction in the embodiment of the present invention;
FIG. 5 is a schematic diagram of a rear structure of an imaging unit in a rear direction of a vehicle according to an embodiment of the present invention;
FIG. 6 is a software flow diagram of a driving assistance system apparatus;
FIG. 7 is a diagram illustrating comparison of results before and after the information processing unit performs the severe weather image enhancement processing according to an embodiment of the present invention;
fig. 8 is a comparison graph of results before and after the information processing unit performs the infrared night vision image enhancement processing in the embodiment of the present invention.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
The invention provides a driving assistance system device, which aims to solve the problem that the prior driving assistance technology field is lack of a device for assisting a driver to clearly observe the surrounding environment in the environments of night, haze and the like. The invention adopts various high-precision detectors and intelligent frame display technologies, and realizes the collection and display of clear images around the vehicle under the environments of haze, night and the like by monitoring, processing and integrally displaying the information of the environment around the vehicle, thereby assisting the driving safety. The specific technical scheme is as follows:
a driving assistance system apparatus includes an imaging unit, an information processing unit, and a display unit. The imaging unit and the display unit are respectively connected with the information processing unit through cables. The imaging unit acquires image information of the periphery of the vehicle and transmits the image information to the information processing unit, and the information processing unit transmits the image information to the display unit after finishing processing. The imaging unit is installed on the body of the vehicle, and the information processing unit and the display unit are installed inside the carriage.
Further, the described imaging unit comprises a front-view imaging unit, a side-view imaging unit and a rear-view imaging unit.
The foresight imaging unit comprises two foresight binocular visible light cameras, a foresight ultra-wide angle visible light camera and an infrared thermal imaging camera. The two front-view binocular visible light cameras can be divided into a far-distance visible light camera and a short-distance visible light camera according to different focal lengths, and are used for observing far and near scene images in front of the vehicle in the driving process and monitoring the driving environment; the forward-looking ultra-wide angle visible light camera is used for widening the image monitoring range at the near position in the driving process of the vehicle and making up a visual field blind area; the infrared thermal imaging camera is responsible for observing images in front of the vehicle at night or in severe weather.
The side-looking imaging unit comprises two binocular visible light cameras and is used for replacing a reflector to observe a side image of the vehicle in a driving or parking process.
The rearview imaging unit comprises a rearview ultra-wide-angle visible light camera and two millimeter wave radars and is used for observing the rear of the car body in the reversing process, the rearview ultra-wide-angle visible light camera has the advantage of wider monitoring range, the adverse effect of a narrow blind area of a common camera in the field of vision and the large blind area can be eliminated, the millimeter wave radars can penetrate through haze smoke dust, and supplementary imaging of the rearview ultra-wide-angle visible light camera under the low visibility condition is realized.
The visible light camera all adopts shimmer level night vision camera, can accomplish the collection and the demonstration of night high definition image, and super wide angle visible light camera possesses the advantage that monitoring range is wider, can eliminate the big adverse effect of the narrow blind area in ordinary camera field of vision. The infrared thermal imaging lens is as night vision observation module, cooperates jointly with low-light level visible light camera, realizes the high-quality image monitoring of vehicle driving in-process under the low circumstances of visibility such as night or bad weather, and the used millimeter wave radar of back vision imaging element can pierce through the haze smoke and dust, realizes the supplementary formation of image to the super wide angle visible light camera of back vision under the low circumstances of visibility.
In the described imaging unit, a foresight binocular visible light camera and an infrared thermal imaging camera are both arranged right in front of the top of the outer side of a vehicle, and a foresight ultra-wide angle visible light camera is arranged in the center of the head of the vehicle. The side-looking cameras are respectively installed above front doors on the left side and the right side of the vehicle, the rear-looking ultra-wide-angle visible light camera is installed in the center of a rear vehicle bar, and the millimeter wave radar is installed below vehicle lights on the two sides of the rear vehicle.
Furthermore, the described information processing unit comprises a data communication switch and an information processing server, the data communication switch provides service for all data transmission, image enhancement function software is arranged in the information processing server, and part of received pictures are processed and then displayed, so that the picture quality is improved, and the monitoring effect is enhanced. The built-in image enhancement function software inputs data stream into video stream data acquired by an infrared thermal imaging camera and a forward-looking far-near distance glimmer visible light camera, and the video stream data is output after image enhancement processing under severe weather such as glimmer night vision image enhancement, haze and heavy rainfall and night glimmer and infrared fusion enhancement processing, so that clear image display under different conditions and different meteorological conditions is realized, and help is provided for safe driving of a driver. The low-light night vision image enhancement function mainly aims at carrying out filtering enhancement treatment on noise generated by the influence of illumination on the low-light image at night, so that the image is clearly displayed and is convenient for a driver to observe the environment. The image enhancement processing under severe weather such as haze and heavy rainfall means that clear display of images can be realized under severe weather conditions through an image enhancement processing algorithm technology in the system. Glimmer and infrared fusion enhancement processing function mainly realize that night illuminance is lower to needs, when the unable clear judgement vehicle place ahead road conditions especially heat source body such as pedestrian of visible light, the fusion enhancement processing of image can effectively utilize its multisource image data's complementarity to solve single image and can't obtain good visible image problem under different meteorological conditions, the integrality and the accuracy of target information in the enhancement image, and not influenced by environment and weather condition, fuse glimmer image and infrared grey level image and accord with the fusion image that people's eye observed and can more effectively acquire target visual field information, the improvement is surveyed and the discernment ability to the target.
Further, the display unit described includes a main display unit and a side display unit. The main display unit is a wearable display helmet, and a driver can feel the surrounding environment information of the vehicle visually. The side display unit is a large-screen display, not only serves as a backup of the display unit, but also enables other people in the carriage to observe the information of the periphery of the vehicle. The main display unit is arranged on a front driving seat in the carriage, and the side display unit is arranged on the inner wall beside a rear seat in the carriage.
The invention aims to provide an auxiliary driving system device which is formed by combining a plurality of types of high-precision sensors together and is matched with two display units for monitoring the surrounding environment, so that the automobile can maintain a high-level safety driving state in special environments with low visibility, such as night or haze and the like.
As shown in fig. 1, the apparatus includes the following units: the imaging unit, the information processing unit and the display unit are defined according to the function, and all the three types of units can be classified into the three types of units when an object can meet the function definition and the structural installation requirement of the corresponding unit. Each unit is described in more detail below, including the function of each unit, the contents contained within the unit, and the layout requirements for the installation of each unit on a physical level, both inside and outside the body of the vehicle.
The imaging unit, the information processing unit and the display unit are contained in the device, and the electrical connection relationship among the imaging unit, the information processing unit and the display unit is the same as that of the device shown in figure 2. Specifically, 1 forward-looking ultra-wide-angle visible light camera, 1 infrared thermal imaging camera, 1 forward-looking far-distance visible light camera, 1 forward-looking near-distance visible light camera, 2 side-looking visible light cameras and 1 rear-looking ultra-wide-angle visible light camera in the imaging unit are connected with a data communication switch in the information processing unit through Ethernet, a connecting cable on hardware is a twisted-pair cable following the Ethernet standard, an Ethernet corresponding protocol needs to be followed on a software interface, and the Ethernet standards comprise 100BASE-T, 1000BASE-T and 10 GBASE-T; two millimeter wave radars in the imaging unit, a helmet and a display screen of the display unit are connected with the data communication switch through a CAN bus, and the hardware is connected with a 9-pin D-sub connector and a coaxial cable and follows the related protocol of the CAN bus; in addition, the helmet and the display screen of the display unit can be connected with the data communication switch through an HDMI transmission line and an interface so as to realize the transmission of high-definition video image information; the data communication exchanger and the information processing server are connected through a local area network, the physical implementation mode comprises a wired network cable, and the interface conforms to the RJ45 specification.
A unit I: an imaging unit;
the imaging unit of the driving assistance system device is provided with a front-view, rear-view, left-side-view and right-side-view multi-path image observation unit and has radar early warning. Wherein the forward looking imaging unit is located in front of the vehicle and has 2 sets of active visible light cameras and 1 passive infrared camera. The forward-looking ultra-wide-angle imaging unit consists of 1 close-looking ultra-wide-angle camera and is arranged in the middle position in front of the vehicle head; the rear-view unit is positioned in the center of the rear part of the vehicle and comprises 1 active ultra-wide-angle visible light camera and 2 millimeter wave radars. The left side-looking unit and the right side-looking unit are respectively positioned at the left front part and the right front part of the vehicle, 2 active visible light cameras are respectively arranged at each part, and 9 paths of video images are shared. The specific installation structure is as shown in fig. 3, 4 and 5, and all the embodiments should be installed identically according to the structural arrangement mentioned in the present invention in order to obtain better information around the vehicle.
The front-view long-range binocular camera and the front-view near-range binocular camera in the center of the roof in the front of the vehicle are mainly responsible for observing long-range and near-range images under different vehicle speeds and different requirements, the rear-view ultra-wide-angle camera is mainly used for observing images behind the vehicle body in the reversing process, the ultra-wide-angle visible light camera has the advantage of wider monitoring range, the adverse effects of narrow visual field and large blind area of a common camera can be eliminated, the millimeter wave radar can penetrate through haze smoke dust, and the complementary imaging of the rear-view visible light camera under the condition of low visibility is realized; the front-looking infrared thermal imaging camera is positioned in the center of the roof of the front part of the vehicle and is mainly used for observing images in front of the vehicle at night or in severe weather; the side-looking camera is mainly used for replacing a reflector to observe a side image of the vehicle in a driving or parking process. All visible light lenses adopt low-light level night vision lenses, and acquisition and display of night high-definition images can be completed. And the infrared thermal imaging camera can be used as a supplementary night vision observation module.
A second unit: an information processing unit;
the information processing unit of the driving assistance system device comprises a data communication switch and an information processing server, wherein the data communication switch provides service for all data transmission, image enhancement function software is arranged in the information processing server, and part of received pictures are processed and then displayed, so that the picture quality is improved, and the monitoring effect is enhanced. The data communication switch mentioned here focuses on describing its functions, and is not limited to physical form, and the data communication switch may be represented in various forms such as a single board switch, a rack switch unit, and a blade switch unit. Similarly, the information processing server is also defined with an emphasis on the function, and is not limited to a specific physical form. The data communication switch and the information processing server can be physically combined together to form a larger integrated information processing unit which is placed in the carriage (usually placed in the rear carriage or other places which do not influence the normal operation of the vehicle).
The information processing unit has the function of supporting data communication and video stream optimization processing of the driving assistance system device so as to facilitate high-quality display of the surrounding environment of the automobile. The information processing server is provided with specific image enhancement processing software besides a basic operating system, the software is based on vehicle periphery video stream data acquired by all sensors including an infrared thermal imaging camera, a far and near low-light-level visible light camera, an ultra-wide-angle visible light camera and a millimeter wave radar, image enhancement is performed on the basis of different sensors in a targeted manner, and then a new enhanced video stream is formed, so that the vehicle traveling environment presented by the display unit is greatly improved, and the information processing server is particularly favorable for the conditions of low visibility of visible light such as haze and night.
Detailed definitions and flow descriptions of software included in the driving assistance system according to the present invention may be performed with reference to fig. 6. Specifically, the software in the driving assistance system of the invention consists of three major parts: the vehicle surrounding environment perception, the image enhancement processing and the enhanced image display are realized on the information processing unit, except the acquisition and the final display of the image information, and most other software functions are realized on the information processing unit. The information processing unit comprises a data communication switch and an information processing server, the data communication switch is responsible for data package and data transmission, a storage unit in the information processing server is responsible for storing an original image and an enhanced image, and three types of image enhancement software on the server respectively perform enhancement processing on image information acquired by different sensors. The software comprises night vision image enhancement for images acquired by the micro-optical camera, severe weather image enhancement for information acquired by the millimeter wave radar behind the vehicle, and front night vision image enhancement for information acquired by the infrared thermal imaging camera and the visible light camera in front of the vehicle. The features of these three software are described in detail below.
The input of shimmer night vision image enhancement software is the image data that shimmer visible light camera gathered, because shimmer level camera is more sensitive, is disturbed by car week light source easily at the in-process of traveling, produces gaussian noise and poisson noise on the image of gathering, and the concrete expression is the white spot that differs in size, distributes unequally. The low-light night vision image enhancement software has the functions of reducing Poisson noise on an image and enhancing the image quality acquired by the micro-optical camera. The specific implementation process of the low-light night vision image enhancement software is as follows:
s11, extracting an original image frame collected by a micro-optical camera to be processed, wherein the data expression form is a two-dimensional matrix;
s12, processing the original image frame by using a mean filter to form a first enhanced frame, wherein the mean filter adopts a window of 2 lines x3 columns as a filter window, the mean value of six pixel points in the window is used as a new pixel value of a pixel point in the middle column of the first line in the window during filtering, and pixel transformation is not carried out in corner areas which do not meet the filtering window;
s13, processing the first enhanced frame using a gaussian filter to form a second enhanced frame. The Gaussian filter adopts a window with 2 rows and x3 columns as a filter window, the mean parameter of the filter is the mean value of six pixel points in the window, the variance parameter is the variance of the six pixel points, and pixel transformation is not carried out in corner areas which do not meet the filter window;
and S14, storing the second enhancement frame as the final result of the low-light night vision enhancement.
The input of severe weather image processing software is the image data behind the vehicle that millimeter wave radar and back vision visible light camera gathered, and under the low environment of visibility such as haze, smoke and dust, the result that relies on the visible light camera to carry out image acquisition alone often is that the effect is not good, consequently need supplement the detail for the visible light camera with the help of the high perspective of millimeter wave, reaches the purpose of image display under the reinforcing severe weather. The specific implementation process of the severe weather image processing software is as follows:
s21, extracting an original image frame acquired by a rear-view super-wide-angle camera to be processed, wherein the expression form is a two-dimensional matrix, and the point cloud data acquired by a millimeter wave radar is a multi-point data under a polar coordinate;
s22, mapping data of the millimeter wave radar to a two-dimensional matrix expressed by the ultra-wide-angle camera through coordinate transformation, and performing characteristic data fusion, wherein the fusion mode is to enhance the characteristic value of the position of a radar data point in the two-dimensional matrix, the enhancement method selects weighted average, the radar data weighting coefficient is the ratio of the characteristic value to the maximum value of the radar coordinate, and the ultra-wide-angle data weighting coefficient is the ratio of the characteristic value to the maximum value of the two-dimensional matrix;
and S23, inversely transforming the fused image characteristic data into enhanced image data and storing the enhanced image data.
Fig. 7 is a schematic diagram of the image results before and after being processed by severe weather image processing software, and it can be seen that the software can improve the visibility of the car tail image.
The input of the infrared night vision enhancement software is data collected by an infrared thermal imaging camera and a forward-looking super-wide angle camera, and the expression forms are two-dimensional matrixes. The software mainly aims at realizing that the illuminance at night is low, when visible light cannot clearly judge heat source bodies such as road conditions in front of vehicles, particularly pedestrians and the like, the fusion enhancement processing of images can effectively utilize the complementarity of multi-source image data to solve the problem that a single image cannot acquire good visible images under different meteorological conditions, the integrity and accuracy of target information in the images are enhanced, the low-light-level images and infrared gray-level images are fused into fusion images which are in line with human eye observation, the target field-of-view information can be acquired more effectively, and the target detection and identification capabilities are improved. The specific implementation process of the infrared night vision enhancing software is as follows:
s31, extracting image data frames acquired by the infrared thermal imaging camera and the forward-looking super-wide angle camera which need to be processed, wherein the expression forms are two-dimensional matrixes;
s32, firstly, Gaussian filtering is carried out on the two-dimensional matrixes to weaken noise, a window with 3 rows and x3 columns is adopted as a filter window of the Gaussian filter, the mean parameter of the filter is the mean value of nine pixel points in the window, the variance parameter is the variance of the nine pixel points, and pixel transformation is not carried out in corner areas which do not meet the filtering window. The filtered data of the infrared thermal imaging camera and the ultra-wide angle camera are transformed to extract characteristic values,
s33, fusing the two types of acquired feature data in a manner of newly establishing a two-dimensional matrix, weighting the two feature data matrices and storing the weighted two feature data matrices into the matrix, wherein the weighting coefficient is the ratio of the pixel point of the feature value to the mean value of all pixel points of the two-dimensional matrix,
and S34, inversely converting the fused image feature data into enhanced infrared night vision enhanced image data for storage.
Fig. 8 is a schematic diagram of image results before and after processing by the infrared night vision enhancement software, and it can be seen that the software can improve the definition of an image observed by a vehicle head at night.
A unit III; a display unit;
the display unit of the driving assistance system device comprises a main display unit and a side display unit, wherein the main display unit is preferably a display helmet, and a flat display screen can be selected as an alternative backup scheme under the condition that the display helmet is not displayed. When main display element shows the helmet for the wearable, can be convenient for more that the driver is audio-visual impression vehicle surrounding environment information. The side display unit is a large-screen display, not only serves as a backup of the main display unit, but also enables other people in the carriage to observe the information of the periphery of the vehicle. The main display unit is arranged on a front side driver seat in the carriage, the helmet is connected with other electrified structures on the driver seat through cables, but the position of the helmet is not completely fixed, the helmet is supported to be worn on the head of a driver, and the side display unit is arranged on the inner wall beside the rear side driver seat in the carriage.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A driving assistance system device is characterized by comprising an imaging unit, an information processing unit and a display unit, wherein the imaging unit and the display unit are respectively connected with the information processing unit;
the imaging unit comprises a front-view imaging unit, a side-view imaging unit and a rear-view imaging unit, wherein the front-view imaging unit comprises two front-view binocular visible light cameras, a front-view ultra-wide angle visible light camera and an infrared thermal imaging camera, the side-view imaging unit comprises two binocular visible light cameras, and the rear-view imaging unit comprises a rear-view ultra-wide angle visible light camera and two millimeter wave radars;
the information processing unit comprises a data communication switch and an information processing server, the data communication switch provides service for all data transmission, image enhancement function software is arranged in the information processing server, and part of received pictures are processed and then displayed, so that the picture quality is improved;
the display unit comprises a main display unit and a side display unit, the main display unit is a wearable display helmet, a driver can feel surrounding environment information visually, and the side display unit is a large-screen display.
2. The driving assistance system apparatus according to claim 1, wherein the two front-view binocular visible light cameras are divided into a far-distance visible light camera and a near-distance visible light camera according to different focal lengths, and are used for observing a far-and-near view image in front of the vehicle during driving to monitor a driving environment; the forward-looking ultra-wide angle visible light camera is used for widening the image monitoring range at the near position in the driving process of the vehicle and making up a visual field blind area; the infrared thermal imaging camera is responsible for observing images in front of the vehicle at night or in severe weather.
3. The driving assistance system device of claim 1, wherein the rear-view ultra-wide angle visible light camera has the advantage of wider monitoring range, and can eliminate adverse effects of narrow field of view and large blind area of a common camera, and the millimeter wave radar can penetrate through haze smoke dust, so as to realize supplementary imaging of the rear-view ultra-wide angle visible light camera under the condition of low visibility.
4. The driving assistance system apparatus of any one of claims 1 to 3, wherein the visible light cameras all use low-light level night vision lens to complete the acquisition and display of high-definition images at night.
5. The driving assistance system apparatus according to any one of claims 1 to 3, wherein 1 forward-looking ultra wide angle visible light camera, 1 infrared thermal imaging camera, 1 forward-looking far distance visible light camera, 1 forward-looking near distance visible light camera, 2 side-looking visible light cameras, and 1 rear-looking ultra wide angle visible light camera are provided in the imaging unit, the 7 cameras are connected with the data communication switch in the information processing unit through Ethernet, the connection cable on the hardware is a twisted pair cable conforming to the Ethernet standard, and the software interface is required to conform to the corresponding protocol of the Ethernet; two millimeter wave radars in the imaging unit, a helmet and a display screen of the display unit are connected with the data communication switch through a CAN bus, and the hardware is connected with a 9-pin D-sub connector and a coaxial cable and follows the related protocol of the CAN bus; in addition, the helmet and the display screen of the display unit can be connected with the data communication switch through an HDMI transmission line and an interface so as to realize the transmission of high-definition video image information; the data communication exchanger and the information processing server are connected through a local area network, the physical implementation mode is a wired network cable, and the interface conforms to the RJ45 specification.
6. The assistant driving system device according to any one of claims 1 to 3, wherein the forward looking binocular visible light camera and the infrared thermal imaging camera are both installed right in front of the top of the outside of the vehicle, and the forward looking ultra wide angle visible light camera is installed in the center of the vehicle head; the side-looking cameras are respectively installed above front doors on the left side and the right side of the vehicle, the rear-looking ultra-wide-angle visible light camera is installed in the center of a rear vehicle bar, and the millimeter wave radar is installed below vehicle lights on the two sides of the rear vehicle.
7. The driving assistance system apparatus according to any one of claims 1 to 3, wherein the image enhancement function software built in the information processing server inputs data streams as video stream data acquired by an infrared thermal imaging camera and a forward-looking far-and-near low-light visible light camera, and outputs the video stream after image enhancement processing in severe weather such as low-light night vision image enhancement, haze and heavy rainfall, and fusion enhancement processing of low-light at night and infrared, thereby realizing clear display of images under different conditions and different meteorological conditions.
8. The driving-assist system apparatus of claim 7, wherein the low-light night vision image enhancement is implemented by:
s11, extracting an original image frame collected by a micro-optical camera to be processed, wherein the data expression form is a two-dimensional matrix;
s12, processing the original image frame by using a mean filter to form a first enhanced frame, wherein the mean filter adopts a window with 2 lines and 3 columns as a filter window, the mean value of six pixel points in the window is used as a new pixel value of a pixel point in the middle column of the first line in the window during filtering, and pixel transformation is not carried out in corner areas which do not meet the filtering window;
s13, processing the first enhanced frame by using a Gaussian filter to form a second enhanced frame; the Gaussian filter adopts a window with 2 rows and 3 columns as a filter window, the mean parameter of the filter is the mean value of six pixel points in the window, the variance parameter is the variance of the six pixel points, and pixel transformation is not carried out in corner areas which do not meet the filter window;
and S14, storing the second enhancement frame as the final result of the low-light night vision enhancement.
9. The driving-assist system apparatus according to claim 7, wherein the image enhancement processing in severe weather is as follows:
s21, extracting an original image frame acquired by a rear-view super-wide-angle camera to be processed, wherein the expression form is a two-dimensional matrix, and the point cloud data acquired by a millimeter wave radar is a multi-point data under a polar coordinate;
s22, mapping data of the millimeter wave radar to a two-dimensional matrix expressed by the ultra-wide-angle camera through coordinate transformation, and performing characteristic data fusion, wherein the fusion mode is to enhance the characteristic value of the position of a radar data point in the two-dimensional matrix, the enhancement method selects weighted average, the radar data weighting coefficient is the ratio of the characteristic value to the maximum value of the radar coordinate, and the ultra-wide-angle data weighting coefficient is the ratio of the characteristic value to the maximum value of the two-dimensional matrix;
and S23, inversely transforming the fused image characteristic data into enhanced image data and storing the enhanced image data.
10. The driving assistance system apparatus according to claim 7, wherein the night dim light and infrared fusion enhancement processing is performed by:
s31, extracting image data frames acquired by the infrared thermal imaging camera and the forward-looking super-wide angle camera which need to be processed, wherein the expression forms are two-dimensional matrixes;
s32, firstly, Gaussian filtering is carried out on the two-dimensional matrixes to weaken noise, a window with 3 rows and 3 columns is adopted as a filter window of the Gaussian filter, the mean parameter of the filter is the mean value of nine pixel points in the window, the variance parameter is the variance of the nine pixel points, and pixel transformation is not carried out in corner areas which do not meet the filtering window; the filtered data of the infrared thermal imaging camera and the ultra-wide angle camera are transformed to extract characteristic values,
s33, performing characteristic data fusion on the two types of acquired characteristic data, wherein the fusion mode is that a two-dimensional matrix is newly established, the two characteristic data matrixes are stored in the matrix after being weighted, and the weighting coefficient is the ratio of the pixel point of the characteristic value to the mean value of all pixel points of the two-dimensional matrix;
and S34, inversely converting the fused image feature data into enhanced infrared night vision enhanced image data for storage.
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