CN113645395A

CN113645395A - Vehicle-mounted 360-degree panoramic visual camera and application thereof

Info

Publication number: CN113645395A
Application number: CN202111212631.6A
Authority: CN
Inventors: 陆鹏; 是蓉珠; 王宇锋
Original assignee: Jiangsu Riying Electronics Co ltd
Current assignee: Jiangsu Riying Electronics Co ltd
Priority date: 2021-10-19
Filing date: 2021-10-19
Publication date: 2021-11-12

Abstract

The invention relates to a vehicle-mounted 360-degree panoramic visible camera and application thereof, wherein the vehicle-mounted 360-degree panoramic visible camera comprises a shell, a double-layer PCB (printed circuit board), a wide-angle optical lens and a rear cover radio frequency coaxial connector; the double-layer PCB is positioned in the shell through a fastener; the shell comprises a front camera shell and a rear camera shell; a sealing ring is arranged between the front camera shell and the rear camera shell, and a wide-angle optical lens electrically connected with the double-layer PCB is mounted on the front camera shell; the rear shell of the camera is connected with a rear cover radio frequency coaxial connector electrically connected with the double-layer PCB; a waterproof sealing ring and a water absorption expansion joint are arranged between the rear cover radio frequency coaxial connector and the camera rear shell; the center of the wide-angle optical lens coincides with the center of an image sensor installed on the double-layer PCB, and the wide-angle optical lens is connected with the front camera shell in a sealing mode. The waterproof effect is good, and the phenomenon that the double-layer PCB cannot shift to influence the use of the camera under the condition of long-term unfixed frequency vibration in a vehicle-mounted environment can be avoided.

Description

Vehicle-mounted 360-degree panoramic visual camera and application thereof

Technical Field

The invention relates to the technical field of auto parts cameras, in particular to a vehicle-mounted 360-degree panoramic visual camera and application thereof.

Background

Along with the development of the society, the living standard of people is improved, the automobile becomes a basic consumer product, and meanwhile, the automobile is developed towards the direction of intellectualization, safety and individualization, wherein in the realization process of the safety, the vehicle-mounted camera and the automobile are more and more closely combined, the video image and the sound of the whole automobile driving process can be recorded at any time, more scientific video and audio basis is provided for traffic accidents and positioning, and guarantee is provided for property and life safety.

At present, most automobiles are provided with a vehicle-mounted recorder, the most important part of the vehicle-mounted recorder is a vehicle-mounted camera, and the factors such as the definition of an image, the irradiation angle range and the like are mainly considered when people select the vehicle-mounted camera. The existing vehicle-mounted camera generally adopts a 120-degree visual angle, the range of an irradiation angle is small, and partial visual field blind areas of the running automobile cannot be shot. The 360-degree panoramic camera is used for monitoring and shooting without blind spots, and is mainly composed of 4 high-sensitivity cameras which are distributed front, back, left and right and are monitored without blind spots in all directions, so that a driver can visually see the position of a vehicle and obstacles around the vehicle when sitting in the vehicle, and can easily control the vehicle to park in the place or pass through a complex road surface, and the occurrence of accidents such as scraping, collision, sinking and the like is effectively reduced.

However, in actual use, it is found that after a vehicle-mounted camera mounted on a vehicle runs on the vehicle for a period of time, the image is jittered, blurred, inclined or has no image, so that a driver cannot look over a blind area through the camera or cannot use the camera to take pictures. After the inventor conducts a plurality of tests, the reason is found to be caused by that the wide-angle optical lens of the camera and the focusing of the image sensor are deviated due to vibration generated in the process of long-time running of a vehicle, and the reason for causing the deviation is caused by that when the camera is assembled, a certain gap exists between an internal circuit board and a shell, so that the circuit board and the shell are loosened and deviated in the process of vibration or shaking in field time. In addition, in the camera assembly process, because the internal circuit board structure is single, too high assembly error often appears, and then influences camera quality.

In addition, 360 degree panoramic camera generally constitutes sealed casing by preceding shell and backshell built-up connection, and preceding shell front end installation wide angle optical lens sets up the camera circuit board in the sealed casing, and the wide angle optical lens rear end stretches into in the sealed casing and is connected with the camera circuit board electricity, and the pencil adopts the screw thread precession mode to be connected at the backshell rear end, and sealed then adopts pencil and the inside mode of beating glue of backshell to realize sealed effect mode. This kind of mode pencil need be screwed into the backshell, and work load is big, and production efficiency is low to sealed adopting glue to seal, the problem that glue is ageing, sealed inefficacy appears easily for a long time, thereby leads to the inside water intake of camera, damages circuit board and camera.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a vehicle-mounted 360-degree panoramic visual camera which is simple to assemble, good in waterproofness, capable of expanding the visual field and reducing the splicing calculation amount and application thereof.

The technical scheme for realizing the purpose of the invention is as follows: a vehicle-mounted 360-degree panoramic visual camera comprises a shell, a double-layer PCB, a wide-angle optical lens and a rear cover radio frequency coaxial connector; the double-layer PCB is positioned in the shell through a fastener; the shell comprises a front camera shell and a rear camera shell; a sealing ring is arranged between the front camera shell and the rear camera shell, and a wide-angle optical lens electrically connected with the double-layer PCB is mounted on the front camera shell; the camera rear shell is connected with a rear cover radio frequency coaxial connector electrically connected with the double-layer PCB; a waterproof sealing ring and a water absorption expansion joint are arranged between the rear cover radio frequency coaxial connector and the camera rear shell; the center of wide angle optical lens coincides with the center of installing the image sensor on the double-deck PCB board, and wide angle optical lens and camera procapsid sealing connection.

In the technical scheme, the wide-angle optical lens is connected with an image signal processing system; the image signal processing system is connected with the rear cover radio frequency coaxial connector through an interface circuit, and the image signal processing system is connected with the interface circuit through a serial bus.

The image signal processing system in the technical scheme comprises a 2.4MHz crystal oscillator circuit and a memory chip which are in communication connection with an image sensor; the memory chip is connected with the image sensor through a full-duplex synchronous serial bus.

The wide-angle optical lens comprises a lens barrel and N lenses which are arranged in the lens barrel and coaxially arranged in sequence along an optical axis; the front N-1 lenses are arranged at a fine interval from each other, and the rear surface of the N-1 lens and the front surface of the N lens are glued with each other.

In the technical scheme, the lens comprises 6 lenses, the first lens has positive refractive index, the object side surface of the first lens is a convex surface, and the image side surface of the first lens is a concave surface; the second lens element with negative refractive index has a convex object-side surface and a concave image-side surface; the third lens element with positive refractive index and concave image-side surface; the fourth lens element with negative refractive index has a concave object-side surface and a convex image-side surface; the fifth lens element with positive refractive index has a convex object-side surface and a concave image-side surface; the sixth lens element with negative refractive index has a convex object-side surface and a concave image-side surface, and one of the surfaces is aspheric; gaps are arranged between every two adjacent lenses; the field of view FOV of the optical lens system satisfies the following conditional expression: 45 < FOV < 50.

The application waveband range of the optical lens group in the technical scheme is 800nm to 1000 nm.

The dispersion coefficient of the lens in the technical scheme meets the following requirements: v1+ V2+ V6 is less than or equal to 120.000; EFL Fno/D11t22 is not less than 11.500, wherein V1 is an abbe number of the first lens element, V2 is an abbe number of the second lens element, V6 is an abbe number of the sixth lens element, EFL is an effective focal length of the optical lens assembly, Fno is an aperture value of the optical lens assembly, and D11t22 is a distance from an object side surface of the first lens element to an image side surface of the second lens element on the optical axis.

The effective focal length of each lens in the above technical scheme is that EFL/BFL is greater than or equal to 3.800, where EFL is the effective focal length of the optical lens group, and BFL is the distance from the image side surface of the optical axis position of the sixth lens to the imaging surface.

According to the technical scheme, the connecting position of the front camera shell and the rear camera shell is matched with the groove through the convex ring or the connecting position of the front camera shell and the rear camera shell after splicing forms the groove for placing the waterproof ring.

According to the technical scheme, the inner cavities of the camera rear shell and the camera front shell are used for positioning the double-layer PCB through the stand column and the elastic piece, and the rubber pad is sleeved on the fastener connected with the double-layer PCB.

According to the technical scheme, the rear cover radio frequency coaxial connector comprises a socket and a plug which are elastically inserted with each other; the plug has a metal shell, a dielectric tube and a center contact; the dielectric tube is inserted in the metal shell, and a central contact element is arranged on the central axis of the dielectric tube; the socket includes a center probe, a dielectric, an outer conductor, and an insulating sheath; a dielectric layer is arranged between the central probe and the outer conductor, and the central probe is connected with the end contact spring of the central contact element; the insulating sheath is wrapped over the outer conductor.

According to the technical scheme, the circumferential surface of the central contact element is coated with a conductive metal plate; the conductive metal plate is arranged in a cylindrical shape, and an opening is formed in the joint of the conductive metal plate.

Above-mentioned technical scheme the sealing washer is arranged in the camera procapsid and the camera after the casing cavity that the amalgamation formed between the two, and have on the sealing washer with camera after the breach assorted joint spare on the casing.

An automobile comprises the vehicle-mounted 360-degree panoramic visible camera; the vehicle-mounted 360-degree panoramic visual camera is provided with four cameras, and is respectively arranged on the front reflector, the rear reflector, the left reflector and the right reflector of the automobile, and the vehicle-mounted 360-degree panoramic visual camera is in communication connection with a panoramic image processing system arranged in the automobile through an LVDS serializer; the panoramic image processing system is connected to the panoramic video display host through the video input interface.

A method for splicing three-dimensional panoramic images based on the vehicle-mounted 360-degree panoramic visual camera comprises the following steps:

lens correction, namely determining the assembly position of a camera, detecting whether the camera is assembled in place or not, and acquiring the view data of the lens and data related to the calibration of the whole camera on the tail surface of the vehicle; performing data simulation on the acquired data to determine the assembly position of the camera and confirm the image display proportion;

the aerial view conversion is carried out, a plurality of images at the current moment collected by the vehicle-mounted 360-degree panoramic visual camera are obtained, virtual light is projected to the edge of a semantically segmented ground truth value BEV image from the installation position of the virtual light, then a neural network is constructed, a transformation matrix is obtained through learning, all pixels along the rays are processed, and meanwhile, the shielding state is judged for shielding processing; then projection preprocessing is carried out, and a binary area corresponding to each all-round looking camera is projected to a vehicle coordinate system to obtain a 360-degree aerial view around the vehicle;

four-side image stitching, namely four-way video stitching and stitching based on a unified coordinate system and a high-performance nonlinear mapping interpolation algorithm;

correcting the brightness contrast, acquiring brightness parameters of the images to be spliced, and adjusting the brightness if the brightness difference value of each image exceeds a preset threshold value so that the brightness difference value of each image is not greater than the preset threshold value; generating a brightness mapping table through the adjusted brightness parameter value and the mixing factor;

and finally, carrying out projection transformation on the coordinates to generate a real-time automobile top view.

A method for calibrating and pre-displaying a trajectory line of an automobile comprises the following steps:

acquiring an image of obstacles around the automobile;

generating a vehicle kinematic steering model by calculating a corner, a wheelbase, a wheel base, a vehicle length and a vehicle width;

determining a corresponding turning radius according to a rotation angle of a steering wheel driving a steering column, which is detected by an angle sensor, sending steering wheel turning angle information acquired from a bus into the model, and drawing a overlooking predicted track; the angle sensor is connected with the panoramic image processing system;

the overlooking predicted trajectory is transformed through perspective projection to generate a final front and back vision parking trajectory;

and superposing the front-back view parking track and the obstacle image to obtain a pre-driving image.

After the technical scheme is adopted, the invention has the following positive effects:

(1) the waterproof effect of the invention is better, in the using process, the camera is not easy to enter water, the assembly is simple, the production efficiency is improved, and meanwhile, the phenomenon that the double-layer PCB can not shift to influence the use of the camera under the condition of long-term unfixed frequency vibration in the vehicle-mounted environment can be avoided.

(2) When the invention is arranged on a vehicle, when the vehicle runs in a narrow lane with obstacles on the left and right sides in front or a parking lot with a narrow parking space, the invention can quickly and accurately find the situation that the nearby vehicle is difficult to be observed, thereby realizing accurate driving control, and particularly improving the driving safety and reducing unnecessary scraping for a new driver.

(3) The invention has the optical characteristics of small size, short total length of the lens and high resolution, greatly reduces the distortion of wide-angle images, can effectively correct aberration, has wide application range and realizes light weight.

Drawings

In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which

FIG. 1 is a schematic structural diagram of a vehicle-mounted 360-degree panoramic visual camera of the invention;

FIG. 2 is an exploded schematic view of the vehicle-mounted 360 panoramic visual camera of the present invention;

FIG. 3 is a schematic view of a rear cover radio frequency coaxial connector of the vehicle-mounted 360 panoramic visual camera of the present invention;

FIG. 4 is a schematic block diagram of a vehicle-mounted 360 panoramic visual camera of the present invention;

FIG. 5 is a schematic block diagram of embodiment 2 of the present invention;

FIG. 6 is an installation diagram of embodiment 2 of the present invention;

FIG. 7 is a schematic view of embodiment 4 of the present invention;

FIG. 8 is a schematic view of example 3 of the present invention;

FIG. 9 is a schematic view of a back cover RF coaxial connector of the present invention;

FIG. 10 is a perspective view of the RF coaxial connector of the back cover of the present invention;

fig. 11 is a partial cross-sectional view of a back cover rf coaxial connector of the present invention.

Detailed Description

(example 1)

Referring to fig. 1 to 4, a vehicle-mounted 360-degree panoramic visual camera comprises a shell, a double-layer PCB (printed circuit board) 1, a wide-angle optical lens 2 and a rear cover radio frequency coaxial connector 3; the double-layer PCB board 1 is positioned in the shell through a fastener; the shell comprises a front camera shell 4 and a rear camera shell 5; a sealing ring 6 is arranged between the front camera shell 4 and the rear camera shell 5, and the front camera shell 4 is provided with a wide-angle optical lens 2 electrically connected with the double-layer PCB 1; the camera rear shell 5 is connected with a rear cover radio frequency coaxial connector 3 electrically connected with the double-layer PCB 1; a waterproof sealing ring 7 and a water absorption expansion joint 8 are arranged between the rear cover radio frequency coaxial connector 3 and the camera rear shell 5; the center of the wide-angle optical lens 2 coincides with the center of an image sensor mounted on the double-layer PCB 1, and the wide-angle optical lens 2 is hermetically connected with the front camera shell 4. Wherein, sealing washer 6 is arranged in the cavity of amalgamation formation between 5 two behind camera procapsid 4 and the camera, and have on the sealing washer 6 with behind the camera breach assorted joint spare on the casing 5.

The wide-angle optical lens 2 is connected with an image signal processing system; the image signal processing system is connected with the rear cover radio frequency coaxial connector 3 through an interface circuit, and the image signal processing system is connected with the interface circuit through a serial bus.

The image signal processing system comprises a 2.4MHz crystal oscillator circuit and a memory chip which are in communication connection with the image sensor; the memory chip is connected with the image sensor through a full-duplex synchronous serial bus.

The wide-angle optical lens 2 comprises a lens barrel and 6 lenses which are arranged in the lens barrel and coaxially arranged in sequence along an optical axis; the front 5 lenses are arranged at a micro-distance from each other, and the rear surface of the 5 th lens and the front surface of the 6 th lens are glued with each other; the first lens element with positive refractive index has a convex object-side surface and a concave image-side surface; the second lens element with negative refractive index has a convex object-side surface and a concave image-side surface; the third lens element with positive refractive index and concave image-side surface; the fourth lens element with negative refractive index has a concave object-side surface and a convex image-side surface; the fifth lens element with positive refractive index has a convex object-side surface and a concave image-side surface; the sixth lens element with negative refractive index has a convex object-side surface and a concave image-side surface, and one of the surfaces is aspheric; the field of view FOV of the optical lens system satisfies the following conditional expression: 45 < FOV < 50. The use wave band range of the optical lens group is 800nm to 1000 nm.

The dispersion coefficient of the lens satisfies: v1+ V2+ V6 is less than or equal to 120.000; EFL Fno/D11t22 is not less than 11.500, wherein V1 is an abbe number of the first lens element, V2 is an abbe number of the second lens element, V6 is an abbe number of the sixth lens element, EFL is an effective focal length of the optical lens assembly, Fno is an aperture value of the optical lens assembly, and D11t22 is a distance from an object side surface of the first lens element to an image side surface of the second lens element on the optical axis. The effective focal length of each lens is equal to or greater than 3.800, where EFL is the effective focal length of the optical lens group, and BFL is the distance from the image side surface to the image plane at the optical axis position of the sixth lens.

The hookup location of casing 5 behind camera procapsid 4 and the camera forms a recess of placing the waterproof ring through bulge loop and groove cooperation or the hookup location behind 5 amalgamations of casing behind camera procapsid 4 and the camera.

The inner cavities of the camera rear shell 5 and the camera front shell 4 are positioned on the double-layer PCB 1 through the stand column and the elastic piece, and the rubber mat is sleeved on the fastener connected with the double-layer PCB 1.

Referring to fig. 9, 10 and 11, the rear cover rf coaxial connector 3 includes a receptacle 3-1 and a plug 3-2 elastically plugged to each other; the plug 3-2 has a metal shell 3-5, a dielectric tube 3-3 and a center contact 3-4; the dielectric tube 3-3 is inserted in the metal shell 3-5, and the central axis of the dielectric tube 3-3 is provided with a central contact element 3-4; the socket 3-1 comprises a center probe 3-6, a dielectric 3-7, an outer conductor 3-9 and an insulating sheath; a dielectric medium 3-7 is arranged between the center probe 3-6 and the outer conductor, and the center probe 3-6 is connected with the end contact spring 3-8 of the center contact piece 3-4; the insulating sheath is coated on the outer conductors 3-9; the circumferential surface of the central contact element 3-4 is coated with a conductive metal plate; the conductive metal plate is arranged in a cylindrical shape, and the joint of the conductive metal plate is provided with an opening, so that the center contact piece 3-4 is shielded from the outside, and the entry of useless radiation and noise can be prevented.

(example 2)

Referring to fig. 5 and 6, an automobile comprises the vehicle-mounted 360 ° panoramic visual camera; the vehicle-mounted 360-degree panoramic visual camera is provided with four cameras, and is respectively arranged on the front reflector, the rear reflector, the left reflector and the right reflector of the automobile, and the vehicle-mounted 360-degree panoramic visual camera is in communication connection with a panoramic image processing system arranged in the automobile through an LVDS (Low Voltage differential signaling) serializer; the panoramic image processing system is connected to the panoramic video display host through the video input interface.

(example 3)

Referring to fig. 8, a method for stitching a stereoscopic panoramic image based on the vehicle-mounted 360 ° panoramic visual camera includes:

the method comprises the steps of aerial view conversion, obtaining images of a plurality of vehicle-mounted 360-degree panoramic visual cameras at the current moment, projecting virtual light rays to the edge of a semantically segmented ground truth-value BEV image from the mounting position of the images, then constructing a neural network, learning to obtain a transformation matrix, processing all pixels along rays, and judging the shielding state to perform shielding processing; then projection preprocessing is carried out, and a binary area corresponding to each all-round looking camera is projected to a vehicle coordinate system to obtain a 360-degree aerial view around the vehicle;

stitching four-side images, namely stitching and stitching images D1, D2, D3 and D4 of four paths of videos based on a unified coordinate system and a high-performance nonlinear mapping interpolation algorithm;

(example 4)

Referring to fig. 7, a method for calibrating and pre-displaying a trajectory line of an automobile includes the following steps:

acquiring an image of obstacles around the automobile;

The vertical reference exemplified in the figure forms a virtual line road which covers the real road behind the vehicle and assists in planning a reversing route; the area formed by the horizontal limiting reference, the horizontal reference and the two vertical references is a safety area for driving the automobile; the dynamic reference is two backing curves which rotate along with the rotation of the steering wheel, and the backing track can be accurately traced; an area formed by the distance reference, the horizontal reference and the two vertical references is a warning area; the distance between the vehicle rear wheel and the warning line of the reversing image is I, the distance between the vehicle rear wheel and the horizontal datum line is II, the distance between the vehicle rear wheel and the horizontal limiting datum is III, the vertical distance between the vehicle body and the vertical datum is IV, namely the visual field distance, the safety distance is V, the rotation angle is VI, and the distance between two reversing curves is VII.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle-mounted 360-degree panoramic visual camera comprises a shell, a double-layer PCB, a wide-angle optical lens and a rear cover radio frequency coaxial connector; the double-layer PCB is positioned in the shell through a fastener; the shell comprises a front camera shell and a rear camera shell; a sealing ring is arranged between the front camera shell and the rear camera shell, and a wide-angle optical lens electrically connected with the double-layer PCB is mounted on the front camera shell; the camera rear shell is connected with a rear cover radio frequency coaxial connector electrically connected with the double-layer PCB; the method is characterized in that: a waterproof sealing ring and a water absorption expansion joint are arranged between the rear cover radio frequency coaxial connector and the camera rear shell; the center of wide angle optical lens coincides with the center of installing the image sensor on the double-deck PCB board, and wide angle optical lens and camera procapsid sealing connection.

2. The vehicle-mounted 360-degree panoramic visual camera according to claim 1, characterized in that: the wide-angle optical lens is connected with the image signal processing system; the image signal processing system is connected with the rear cover radio frequency coaxial connector through an interface circuit, and the image signal processing system is connected with the interface circuit through a serial bus.

3. The vehicle-mounted 360-degree panoramic visual camera according to claim 2, characterized in that: the image signal processing system comprises a 2.4MHz crystal oscillator circuit and a storage chip which are in communication connection with the image sensor; the memory chip is connected with the image sensor through a full-duplex synchronous serial bus.

4. The vehicle-mounted 360-degree panoramic visual camera according to claim 2, characterized in that: the wide-angle optical lens comprises a lens barrel and N lenses which are arranged in the lens barrel and coaxially arranged in sequence along an optical axis; the front N-1 lenses are arranged at a fine interval from each other, and the rear surface of the N-1 lens and the front surface of the N lens are glued with each other.

5. The vehicle-mounted 360-degree panoramic visual camera according to claim 4, characterized in that: the lens comprises 6 lenses, the first lens has positive refractive index, the object side surface of the first lens is a convex surface, and the image side surface of the first lens is a concave surface; the second lens element with negative refractive index has a convex object-side surface and a concave image-side surface; the third lens element with positive refractive index and concave image-side surface; the fourth lens element with negative refractive index has a concave object-side surface and a convex image-side surface; the fifth lens element with positive refractive index has a convex object-side surface and a concave image-side surface; the sixth lens element with negative refractive index has a convex object-side surface and a concave image-side surface, and one of the surfaces is aspheric; the field of view FOV of the optical lens system satisfies the following conditional expression: 45 < FOV < 50.

6. The vehicle-mounted 360-degree panoramic visual camera according to claim 5, characterized in that: the use wave band range of the optical lens group is 800nm to 1000 nm.

7. The vehicle-mounted 360-degree panoramic visual camera according to claim 5, characterized in that: the dispersion coefficient of the lens satisfies: v1+ V2+ V6 is less than or equal to 120.000; EFL Fno/D11t22 is not less than 11.500, wherein V1 is an abbe number of the first lens element, V2 is an abbe number of the second lens element, V6 is an abbe number of the sixth lens element, EFL is an effective focal length of the optical lens assembly, Fno is an aperture value of the optical lens assembly, and D11t22 is a distance from an object side surface of the first lens element to an image side surface of the second lens element on the optical axis.

8. The vehicle-mounted 360-degree panoramic visual camera according to claim 5, characterized in that: the effective focal length of each lens is equal to or greater than 3.800, where EFL is the effective focal length of the optical lens group, and BFL is the distance from the image side surface to the image plane at the optical axis position of the sixth lens.

9. The vehicle-mounted 360-degree panoramic visible camera according to claim 1, 2 or 3, characterized in that: the connecting position of the camera front shell and the camera rear shell is matched with the groove through a convex ring or the connecting position of the camera front shell and the camera rear shell after splicing forms a groove for placing a waterproof ring.

10. The vehicle-mounted 360-degree panoramic visual camera according to claim 6, characterized in that: the camera back shell and the camera front shell inner cavity are positioned on the double-layer PCB through the stand column and the elastic piece, and the rubber mat is sleeved on the fastener connected with the double-layer PCB.

11. The vehicle-mounted 360-degree panoramic visual camera according to claim 6, characterized in that: the rear cover radio frequency coaxial connector comprises a socket and a plug which are elastically inserted with each other; the plug has a metal shell, a dielectric tube and a center contact; the dielectric tube is inserted in the metal shell, and a central contact element is arranged on the central axis of the dielectric tube; the socket includes a center probe, a dielectric, an outer conductor, and an insulating sheath; a dielectric layer is arranged between the central probe and the outer conductor, and the central probe is connected with the end contact spring of the central contact element; the insulating sheath is wrapped over the outer conductor.

12. The vehicle-mounted 360 ° panoramic visual camera according to claim 11, characterized in that: the circumferential surface of the central contact element is coated with a conductive metal plate; the conductive metal plate is arranged in a cylindrical shape, and an opening is formed in the joint of the conductive metal plate.

13. The vehicle-mounted 360-degree panoramic visible camera according to claim 1, 2, 3 or 4, characterized in that: the sealing washer is arranged in the camera procapsid and the camera after the casing in the cavity that the amalgamation formed between the two, and have on the sealing washer with camera after the breach assorted joint spare on the casing.

14. An automobile, characterized in that: comprising an onboard 360 ° panoramic visual camera according to claims 1-13; the vehicle-mounted 360-degree panoramic visual camera is provided with four cameras, and is respectively arranged on the front reflector, the rear reflector, the left reflector and the right reflector of the automobile, and the vehicle-mounted 360-degree panoramic visual camera is in communication connection with a panoramic image processing system arranged in the automobile through an LVDS serializer; the panoramic image processing system is connected to the panoramic video display host through the video input interface.

15. The method for splicing the stereoscopic panoramic images of the vehicle-mounted 360-degree panoramic visual camera based on the claims 1 to 13 is characterized by comprising the following steps:

16. A trace line calibration pre-display method for an automobile according to claim 14, characterized in that: the method comprises the following steps:

acquiring an image of obstacles around the automobile;