CN114162048A - System and method for ensuring safe driving of vehicle - Google Patents
System and method for ensuring safe driving of vehicle Download PDFInfo
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- CN114162048A CN114162048A CN202111494402.8A CN202111494402A CN114162048A CN 114162048 A CN114162048 A CN 114162048A CN 202111494402 A CN202111494402 A CN 202111494402A CN 114162048 A CN114162048 A CN 114162048A
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- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
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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
- 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
- B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
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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
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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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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Abstract
The application discloses system and method for ensuring safe driving of a vehicle, wherein the system for ensuring safe driving of the vehicle comprises: the system comprises an acquisition module, a sensor and a controller, wherein the acquisition module is used for acquiring vehicle external environment information in real time and providing the acquired vehicle external environment information to the controller; the sensor is used for detecting vehicle running information and providing the detected vehicle running information to the controller; the controller is connected with the acquisition module and the sensor and used for obtaining images around the vehicle according to the external environment information of the vehicle, calculating the motion trail of the vehicle according to the running information of the vehicle, obtaining images of the area passing under the vehicle chassis according to the motion trail of the vehicle and the images around the vehicle, and splicing the images of the area passing under the vehicle chassis to the images around the vehicle to form a panoramic image comprising the area under the vehicle chassis. The application can eliminate the visual blind area of the driver in the driving process of the vehicle, and greatly improves the safety of the vehicle during driving.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a system and a method for ensuring safe driving of a vehicle.
Background
With the continuous improvement of the living standard of people, in order to facilitate the trip, the automobile has become an indispensable vehicle in the daily life of people. During driving, traffic information is usually obtained visually by the driver, and a good driver's view is a necessary condition for ensuring active safety. However, due to the design of the vehicle body, some blind areas which cannot be seen are difficult to eliminate in the driving process, so that the driver cannot see whether obstacles such as vehicles, people and objects exist in every surrounding place and the real-time situation of the obstacles in time. At present, a View blind area during driving is reduced to a great extent by the appearance of a 360-degree panoramic image system (AVM), road surface information is collected by the 360-degree panoramic image system through a vehicle body camera, and finally the road surface information is displayed through a central control large screen of a vehicle, so that a driver can better master the environment Around the vehicle through the panoramic image.
However, although the conventional 360 ° panoramic image system reduces the blind areas around the vehicle, it cannot cover the area below the vehicle chassis, and if the current road condition is complicated or the road is narrow, it is difficult for the driver to control the road information below the vehicle chassis, and the driver is worried about whether the current road can pass safely, so that the driving safety cannot be guaranteed.
The foregoing description is provided for general background information and is not admitted to be prior art.
Disclosure of Invention
The application aims to provide a system and a method for ensuring safe driving of a vehicle, which can eliminate a visual blind area of a driver in the driving process of the vehicle and greatly improve the safety of the vehicle during driving.
In order to achieve the purpose, the technical scheme of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a system for ensuring safe driving of a vehicle, including: the system comprises an acquisition module, a sensor and a controller, wherein the acquisition module is used for acquiring data; the acquisition module is used for acquiring vehicle external environment information in real time and providing the acquired vehicle external environment information to the controller; the sensor is used for detecting vehicle running information and providing the detected vehicle running information to the controller; the controller is connected with the acquisition module and the sensor and used for obtaining images around the vehicle according to the external environment information of the vehicle, calculating the motion track of the vehicle according to the running information of the vehicle, obtaining images of the area passing below the vehicle chassis according to the motion track of the vehicle and the images around the vehicle, and splicing the images of the area passing below the vehicle chassis to the images around the vehicle to form a panoramic image comprising the area below the vehicle chassis.
As one embodiment, the system further comprises a display device connected to the controller, the controller is further configured to provide the panoramic image to the display device for display, and the controller is a driving computer.
As one embodiment, the collection module includes a camera installed at a left, right, front, or rear position of the vehicle, the driving information includes at least one of a driving position, a driving direction, and a driving speed information of the vehicle, the external environment information is a still picture or a moving image, and the sensor includes at least one of a direction sensor, a vehicle speed sensor, and a steering wheel angle sensor.
As one embodiment, the camera adopts a high-definition fisheye camera of a 360-degree panoramic image, and the direction sensor and the vehicle speed sensor both comprise a vehicle-mounted GPS navigation system or a vehicle-mounted gyroscope sensor.
In one embodiment, the left, right, front, or rear position of the vehicle is a left rear view mirror, a right rear view mirror, a front grille, or a rear bumper of the vehicle.
In one embodiment, the controller is further configured to determine whether the vehicle is in a turning state according to the vehicle driving information, and if the vehicle is determined to be in the turning state, calculate an instantaneous track radius R when the vehicle turns according to a formula tan δ ═ R/L, (tan δ)/L, where R is a vehicle rear axle motion track radius, δ is a vehicle front wheel steering angle, and L is a vehicle wheelbase; calculating a yaw angle theta when the vehicle turns according to the following formula omega-Vr/R, VS-omega-t, theta-90-VS/R, calculating the coordinates of the center of a rear shaft after the vehicle moves according to the yaw angle theta, calculating the coordinates of 4 corner points of a vehicle chassis after the vehicle moves according to the coordinates of the center of the rear shaft of the vehicle, then intercepting images of 4 corner point coordinate regions from the vehicle surrounding images obtained from the front as passing region images under the vehicle chassis according to the coordinates of the 4 corner points, and splicing the passing region images of the vehicle chassis to the vehicle surrounding images to form a panoramic image comprising the region under the vehicle chassis.
As one embodiment, the controller is further configured to calculate coordinates of 4 corner points of a vehicle chassis after the vehicle moves according to vehicle driving information if the vehicle is not in a turning state, then cut out an image of a coordinate area of the 4 corner points from a vehicle surrounding image obtained from the front according to the coordinates of the 4 corner points as an image of an area passing under the vehicle chassis, and splice the image of the area passing under the vehicle chassis onto the image of the vehicle surrounding to form a panoramic image including the area under the vehicle chassis.
In a second aspect, an embodiment of the present application provides a method for ensuring safe driving of a vehicle, including:
the acquisition module acquires the external environment information of the vehicle in real time and provides the acquired external environment information of the vehicle to the controller;
the sensor detects vehicle running information and provides the detected vehicle running information to the controller;
the controller obtains images around the vehicle according to the external environment information of the vehicle, calculates the motion track of the vehicle according to the driving information of the vehicle, obtains images of passing areas below the vehicle chassis according to the motion track of the vehicle and the images around the vehicle, and splices the images of the passing areas below the vehicle chassis to the images around the vehicle to form a panoramic image comprising the areas below the vehicle chassis.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
according to the system and the method for ensuring the safe driving of the vehicle, the external environment information of the vehicle is acquired in real time through the acquisition module, and the acquired external environment information of the vehicle is provided for the controller; the sensor detects vehicle running information and provides the detected vehicle running information to the controller; the controller obtains images around the vehicle according to the external environment information of the vehicle, calculates the motion track of the vehicle according to the driving information of the vehicle, obtains images of passing areas below the vehicle chassis according to the motion track of the vehicle and the images around the vehicle, and splices the images of the passing areas below the vehicle chassis to the images around the vehicle to form a panoramic image comprising the areas below the vehicle chassis. Therefore, the transparency of the chassis area is realized, compared with a common image system, the blind area is not left below the vehicle chassis, a driver can better sense the position of the vehicle on the road, the control capability of the driver on complex road conditions in the driving process is improved, the safety of vehicle driving is greatly improved, and the cost is saved.
Drawings
FIG. 1 is a block diagram of a system for ensuring safe driving of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic view of an acquisition module mounting location of the present application;
FIG. 3 is a schematic diagram of the present application calculating the instantaneous trajectory radius when the vehicle is turning;
FIG. 4 is a schematic illustration of the present application calculating yaw angle while turning a vehicle;
FIG. 5a is a schematic view of an initial position of the subject vehicle;
FIG. 5b is a schematic diagram illustrating a position of the vehicle after motion is calculated according to the present application;
fig. 6 is a schematic flow chart of a method for ensuring safe driving of a vehicle according to an embodiment of the present application.
Detailed Description
The technical solution of the present application is further described in detail with reference to the drawings and specific embodiments of the specification. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Fig. 1 is a block diagram of a system for ensuring safe driving of a vehicle according to an embodiment of the present application. Fig. 2 is a schematic view of an installation position of an acquisition module according to the present application. The system for ensuring the safe running of the vehicle can eliminate the visual blind area of a driver in the driving process of the vehicle, and greatly improves the safety of the vehicle in running. Referring to fig. 1 and 2, the system for ensuring safe driving of a vehicle of the present embodiment includes: an acquisition module 10, a sensor 11 and a controller 12.
Specifically, the collection module 10 is connected to the controller 12, and is configured to acquire the vehicle external environment information in real time and provide the acquired vehicle external environment information to the controller 12.
The collection module 10 may include a camera 100 installed at a left, right, front, or rear position of the vehicle, and may photograph external environment information on the left, right, front, or rear of the vehicle, such as external environment information including obstacles, lane lines, and intersections, in real time, and provide the photographed external environment information to the controller 12, and the external environment information may be a still picture or a moving image.
Preferably, the left, right, front and rear positions may be a left rear view mirror, a right rear view mirror, a front air grille and a rear bumper position, respectively, the cameras may employ a high-definition fisheye camera 100 of a 360-degree panoramic image, one each may be installed at the left rear view mirror, the right rear view mirror, the front air grille and the rear bumper position of the vehicle, and four cameras are installed in total for performing panoramic scanning on the left, right, front and rear of the vehicle to obtain a panoramic all-around view image of the left, right, front and rear of the vehicle and provide the obtained panoramic all-around view image to the controller 12.
The sensor 11 is configured to detect vehicle travel information and supply the detected vehicle travel information to the controller 12.
The vehicle driving information may include at least one of vehicle driving position, driving direction, vehicle driving speed, steering wheel angle, and the like. The sensor 11 may include at least one of a direction sensor, a vehicle speed sensor, and a steering wheel angle sensor. The driving position and the driving direction of the vehicle can be obtained from a direction sensor mounted on the vehicle, for example, an on-vehicle GPS navigation system, an on-vehicle gyroscope sensor, or the like. The vehicle running speed may be obtained from a vehicle speed sensor mounted on the vehicle, including, for example, an in-vehicle GPS navigation system, an in-vehicle gyro sensor, or the like. The vehicle steering wheel angle may be obtained from a steering wheel angle sensor mounted on the vehicle.
The controller 12 is connected to the acquisition module 10 and the sensor 11, and is configured to obtain an image around the vehicle according to external environment information of the vehicle, calculate a motion trajectory of the vehicle according to vehicle driving information, obtain an image of an area passing under the vehicle chassis according to the motion trajectory of the vehicle and the image around the vehicle, and splice the image of the area passing under the vehicle chassis to the image around the vehicle to form a panoramic image including the area under the vehicle chassis. Wherein, the area below the vehicle body is below the chassis.
The controller 12 may be an ECU (Electronic Control Unit, also called a "traveling computer"). Because the acquisition module 10 acquires dynamic images in four directions, namely front, back, left and right, the controller 12 can extract the dynamic images of the front, back, left and right of the vehicle acquired by the acquisition module 10 and synthesize the images around the vehicle, the controller 12 also calculates the position of the vehicle after the vehicle moves according to the vehicle driving information, and an image of the moving position of the vehicle is captured from the image around the vehicle (one or more frames of images can be captured) to be used as an image of a passing area under the vehicle chassis, the image of the passing area under the current vehicle chassis is spliced to the vehicle chassis area corresponding to the image around the vehicle by adopting an image splicing technology, thus, the transparentization of the vehicle chassis is realized, so that a driver can better observe the current complex road condition through the panoramic image, the visual blind area of the driver to the area below the vehicle chassis in the driving process of the vehicle is eliminated, and the safety of the vehicle during driving is greatly improved.
The vehicle motion track is an area through which the whole body part of the vehicle passes.
The controller 12 calculates a motion trajectory of the vehicle according to the vehicle driving information, obtains a passing area image under the vehicle chassis according to the motion trajectory of the vehicle and the images around the vehicle, and splices the passing area image under the vehicle chassis to the images around the vehicle to form a panoramic image including the area under the vehicle chassis, which may specifically include: the controller 12 is further configured to determine whether the vehicle is in a turning state according to the vehicle driving information, and if it is determined that the vehicle is in the turning state, calculate an instantaneous track radius R (as shown in fig. 3) when the vehicle turns according to the following formula tan δ ═ R/L, R ═ tan δ)/L, where R is a motion track radius of a rear axle of the vehicle, δ is a front wheel corner of the vehicle, and L is a wheel base of the vehicle; the wheelbase is the distance from the center of a front axle of the automobile to the center of a rear axle; then, according to the following formula ω ═ Vr/R, VS ═ ω × t, θ ═ 90 ° to VS/R, a yaw angle θ (as shown in fig. 4) when the vehicle turns is calculated, then, the coordinates of the rear axle center O after the vehicle moves are calculated according to the yaw angle θ, the coordinates of 4 corner points of the vehicle chassis after the vehicle moves are calculated according to the coordinates of the vehicle rear axle center, then, according to the coordinates of the 4 corner points, an image of a 4-corner-point coordinate region is cut out from the vehicle surrounding image acquired from the front side as a region image passing under the vehicle chassis, and the region image passing under the vehicle chassis is spliced to the vehicle surrounding image to form a panoramic image including the region under the vehicle chassis.
The coordinates of a rear axle center O after the vehicle moves are obtained according to the yaw angle theta, the coordinates of 4 angular points of a vehicle chassis after the vehicle moves are obtained according to the coordinates of the rear axle center O of the vehicle, and the coordinates are obtained by the following calculation method: as shown in fig. 5a and 5B, it is assumed that ABCD is a chassis, A, B, C, D is initial points of 4 corners of the chassis (the last driving position of the vehicle may be an initial point, which is not the starting position of the vehicle), a ', B', C ', and D' are 4 corners of the chassis after the vehicle moves, a length of the chassis AD BC L1, a width of the chassis AB DC W, O is a center point of a rear axle of the chassis, P is a center point of the chassis, Q is a center point of the rear of the chassis, and OQ is a length LRPQ is half of the chassis length, OP-PQ-OQ-L1/2-LRThe point O is an initial point (initial point of the center point of the rear axle), the point O ' is the center point of the rear axle after the movement, the coordinates are (x1, y1), y1 ═ R ═ sin θ, x1 ═ R-R ═ cos θ ═ R (1-cos θ), the coordinates O ' are (R × (1-cos θ), R ═ sin θ), and the initial coordinates of the center of the chassis are assumed to be P (x) x (x-cos θ), and the coordinates O ' are assumed to be P (x-sin θ)p，yp) The distance between the center of the chassis and the center of the rear axle is LPO'The abscissa of the center P of the chassis after the vehicle is moved is xp＝x1+LPO'Cos theta, longitudinal coordinate of chassis center P after vehicle movement is yp＝y1+LPO'Sin θ, the coordinate of the center P of the chassis after the vehicle has moved is (x1+ L)PO'*cosθ，y1+LPO'Sin θ), the coordinates of 4 corner points of the vehicle chassis after the vehicle moves are respectively:
the controller 12 calculates a motion trajectory of the vehicle according to the vehicle driving information, obtains a passing area image below the vehicle chassis according to the motion trajectory of the vehicle and the images around the vehicle, and splices the passing area image below the vehicle chassis to the images around the vehicle to form a panoramic image including the area below the vehicle chassis, and specifically may further include: and the controller is also used for judging whether the vehicle is in a turning state or not, if so, indicating that the vehicle is in a straight-going state, and calculating the coordinates of 4 corner points of the vehicle chassis after the vehicle moves according to the vehicle running information. That is to say, the coordinates of 4 corner points of the vehicle chassis at the position of the vehicle after the vehicle moves can be calculated according to the information such as the initial position of the vehicle, the driving speed of the vehicle and the like, then, according to the coordinates of the 4 corner points, an image of a coordinate area of the 4 corner points is captured from the image around the vehicle obtained from the front to serve as an image of an area passing under the vehicle chassis, and the image of the area passing under the vehicle chassis is spliced to the image around the vehicle to form a panoramic image including the area under the vehicle chassis. Therefore, the motion trail of the vehicle is continuously generated through the coordinates after the vehicle moves, and then the images acquired in advance are placed in the chassis area of the 360-degree panoramic image by adopting an image splicing technology according to the motion trail, so that the chassis area of the vehicle is transparent, and meanwhile, the cost is saved. Compared with a common image system, the vehicle chassis has no blind area, the control capability of the vehicle chassis on complex road conditions in the driving process is improved, and the driving safety of the vehicle is greatly improved
Preferably, the system for ensuring safe driving of the vehicle may further include a display device 13, the display device 13 is connected to the controller, and the controller is further configured to provide the panoramic image to the display device 13 for displaying.
Wherein, when the vehicle turns right or left, the controller 12 can judge that the vehicle is about to turn according to the driving direction of the vehicle, etc., to obtain the images collected by 4 cameras, and calculate the position of the vehicle after the vehicle moves according to the driving information of the vehicle, to obtain the image of the passing area under the vehicle chassis according to the position of the vehicle after the vehicle moves and the image around the vehicle, then to splice the image of the passing road surface under the vehicle chassis to the chassis area of the vehicle corresponding to the panoramic image around the vehicle of 360 degrees by adopting the image splicing technology, to form the panoramic image including the area under the vehicle chassis, to be displayed to the user, so as to realize the transparentization of the vehicle chassis, to transparently display the vehicle chassis in the image to the current road condition, the driver can omnidirectionally control the current road condition, to better sense the position of the vehicle on the road, the safety during driving is improved.
Similarly, when the vehicle is moving straight, the controller 12 may determine that the vehicle is moving straight according to the vehicle moving direction, etc., to obtain images acquired by the 4 cameras, calculate the position of the vehicle after moving according to the vehicle moving information, obtain the passing area image under the vehicle chassis according to the position of the vehicle after moving and the images around the vehicle, and then splice the passing road surface image under the current vehicle chassis to the chassis area of the vehicle corresponding to the 360 ° panoramic image around the vehicle by using the image splicing technology, so as to form a panoramic image including the area under the vehicle chassis, which is displayed to the user.
In summary, the system for ensuring safe driving of the vehicle provided by the embodiment of the application acquires the external environment information of the vehicle in real time through the acquisition module, and provides the acquired external environment information of the vehicle to the controller; the sensor detects vehicle running information and provides the detected vehicle running information to the controller; the controller obtains images around the vehicle according to the external environment information of the vehicle, calculates the motion track of the vehicle according to the driving information of the vehicle, obtains images of passing areas below the vehicle chassis according to the motion track of the vehicle and the images around the vehicle, and splices the images of the passing areas below the vehicle chassis to the images around the vehicle to form a panoramic image comprising the areas below the vehicle chassis. Therefore, the transparency of the chassis area is realized, compared with a common image system, the blind area is not left below the vehicle chassis, a driver can better sense the position of the vehicle on the road, the control capability of the driver on complex road conditions in the driving process is improved, the safety of vehicle driving is greatly improved, and the cost is saved.
The following are method embodiments of the present application, details of which are not described in detail in the method embodiments, and reference may be made to the corresponding apparatus embodiments described above.
Fig. 6 is a schematic flow chart of a method for ensuring safe driving of a vehicle according to an embodiment of the present application. Referring to fig. 6, the method for ensuring safe driving of a vehicle is applied to a system for ensuring safe driving of a vehicle, which may be implemented in software and/or hardware, and in the embodiment, the method for ensuring safe driving of a vehicle includes the following steps:
step S601, the acquisition module acquires the external environment information of the vehicle in real time and provides the acquired external environment information of the vehicle to the controller.
Step S602, the sensor detects vehicle travel information and provides the detected vehicle travel information to the controller;
step S603, the controller obtains a vehicle surrounding image according to vehicle external environment information, calculates a vehicle motion track according to vehicle running information, obtains a passing area image below a vehicle chassis according to the vehicle motion track and the vehicle surrounding image, and splices the passing area image below the vehicle chassis to the vehicle surrounding image to form a panoramic image including the area below the vehicle chassis;
in step S603, calculating a motion trajectory of the vehicle according to the vehicle driving information, obtaining a passing area image under the vehicle chassis according to the motion trajectory of the vehicle and the images around the vehicle, and stitching the passing area image under the vehicle chassis to the images around the vehicle to form a panoramic image including the area under the vehicle chassis, including:
the controller judges whether the vehicle is in a turning state or not according to the vehicle running information, if the vehicle is in the turning state, the instantaneous track radius R when the vehicle turns is calculated according to the following formula tan delta-R/L, R-R (tan delta)/L, wherein R is the motion track radius of the rear axle of the vehicle, delta is the corner of the front wheel of the vehicle, and L is the wheel base of the vehicle; calculating a yaw angle theta when the vehicle turns according to the following formula omega-Vr/R, VS-omega-t and theta-90-VS/R, calculating the coordinates of the center of a rear shaft after the vehicle moves according to the yaw angle theta, calculating the coordinates of 4 corner points of a vehicle chassis after the vehicle moves according to the coordinates of the center of the rear shaft of the vehicle, then cutting an image of a 4-corner-point coordinate area from a vehicle surrounding image obtained from the front according to the coordinates of the 4 corner points to be used as an image of an area passing under the vehicle chassis, and splicing the image of the area passing under the vehicle chassis onto the image of the surrounding of the vehicle to form a panoramic image comprising the area under the vehicle chassis.
In step S603, calculating a motion trajectory of the vehicle according to the vehicle driving information, obtaining a passing area image under the vehicle chassis according to the motion trajectory of the vehicle and the images around the vehicle, and stitching the passing area image under the vehicle chassis to the images around the vehicle to form a panoramic image including the area under the vehicle chassis, which may further include:
and the controller also judges whether the vehicle is in a turning state, calculates coordinates of 4 angular points of the vehicle chassis after the vehicle moves according to the vehicle running information, then intercepts images of 4 angular point coordinate regions from the vehicle surrounding images acquired from the front as passing region images below the vehicle chassis according to the coordinates of the 4 angular points, and splices the passing region images below the vehicle chassis onto the vehicle surrounding images to form a panoramic image comprising the region below the vehicle chassis.
Preferably, the method may further include step S604: the controller provides the panoramic image to the display device for display.
Preferably, the controller is a driving computer, the acquisition module includes a camera installed at a left, right, front, or rear position of the vehicle, the driving information includes at least one of a driving position, a driving direction, and driving speed information of the vehicle, and the external environment information is a still picture or a moving image. The camera adopts 360 degrees panoramic image's high definition flake camera. The left, right, front or rear positions of the vehicle are respectively the positions of a left rearview mirror, a right rearview mirror, a front air grid and a rear bumper of the vehicle. The sensor includes at least one of a direction sensor, a vehicle speed sensor, and a steering wheel angle sensor. The direction sensor and the vehicle speed sensor both comprise a vehicle-mounted GPS navigation system or a vehicle-mounted gyroscope sensor.
In summary, according to the method for ensuring safe driving of the vehicle provided by the embodiment of the application, the external environment information of the vehicle is acquired in real time through the acquisition module, and the acquired external environment information of the vehicle is provided to the controller; the sensor detects vehicle running information and provides the detected vehicle running information to the controller; the controller obtains images around the vehicle according to the external environment information of the vehicle, calculates the motion track of the vehicle according to the driving information of the vehicle, obtains images of passing areas below the vehicle chassis according to the motion track of the vehicle and the images around the vehicle, and splices the images of the passing areas below the vehicle chassis to the images around the vehicle to form a panoramic image comprising the areas below the vehicle chassis. Therefore, the transparency of the chassis area is realized, compared with a common image system, the blind area is not left below the vehicle chassis, a driver can better sense the position of the vehicle on the road, the control capability of the driver on complex road conditions in the driving process is improved, the safety of vehicle driving is greatly improved, and the cost is saved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A system for ensuring safe travel of a vehicle, comprising: the system comprises an acquisition module, a sensor and a controller, wherein the acquisition module is used for acquiring data;
the acquisition module is used for acquiring vehicle external environment information in real time and providing the acquired vehicle external environment information to the controller;
the sensor is used for detecting vehicle running information and providing the detected vehicle running information to the controller;
the controller is connected with the acquisition module and the sensor and used for obtaining images around the vehicle according to the external environment information of the vehicle, calculating the motion track of the vehicle according to the running information of the vehicle, obtaining images of the area passing below the vehicle chassis according to the motion track of the vehicle and the images around the vehicle, and splicing the images of the area passing below the vehicle chassis to the images around the vehicle to form a panoramic image comprising the area below the vehicle chassis.
2. The system of claim 1, further comprising a display device coupled to the controller, the controller further configured to provide the panoramic image to the display device for display, the controller being a drive computer.
3. The system of claim 1, wherein the collection module comprises a camera installed at a left, right, front, or rear position of the vehicle, the driving information comprises at least one of a driving position, a driving direction, and a driving speed information of the vehicle, the external environment information is a still picture or a moving image, and the sensor comprises at least one of a direction sensor, a vehicle speed sensor, and a steering wheel angle sensor.
4. The system of claim 3, wherein the camera is a high-definition fisheye camera for 360-degree panoramic images, and the direction sensor and the vehicle speed sensor comprise a vehicle-mounted GPS navigation system or a vehicle-mounted gyroscope sensor.
5. The system of claim 3, wherein the left, right, front, or rear position of the vehicle is a vehicle left rear view mirror, a vehicle right rear view mirror, a vehicle front air grill, a vehicle rear bumper position, respectively.
6. The system of claim 1, wherein the controller is further configured to determine whether the vehicle is in a turning state according to the vehicle driving information, and if it is determined that the vehicle is in the turning state, calculate an instantaneous trajectory radius R when the vehicle turns according to a formula tan δ — R/L, where R is a vehicle rear axle movement trajectory radius, δ is a vehicle front wheel turning angle, and L is a vehicle wheelbase; calculating a yaw angle theta when the vehicle turns according to the following formula omega-Vr/R, VS-omega-t, theta-90-VS/R, calculating the coordinates of the center of a rear shaft after the vehicle moves according to the yaw angle theta, calculating the coordinates of 4 corner points of a vehicle chassis after the vehicle moves according to the coordinates of the center of the rear shaft of the vehicle, then cutting an image of a 4-corner-point coordinate area from a vehicle peripheral image obtained from the front according to the coordinates of the 4 corner points to be used as an image of an area passing under the vehicle chassis, and splicing the image of the area passing by the vehicle chassis to the image of the periphery of the vehicle to form a panoramic image comprising the area under the vehicle chassis.
7. The system of claim 1, wherein the controller is further configured to calculate coordinates of 4 corner points of the vehicle chassis after the vehicle moves according to the vehicle driving information if the vehicle is not in a turning state, then cut out an image of a coordinate area of 4 corner points from the vehicle surrounding image obtained in the front as an image of an area passing under the vehicle chassis according to the coordinates of the 4 corner points, and stitch the image of the area passing under the vehicle chassis onto the image of the vehicle surrounding to form a panoramic image including the area under the vehicle chassis.
8. A vehicle steering control method characterized by comprising:
the acquisition module acquires the external environment information of the vehicle in real time and provides the acquired external environment information of the vehicle to the controller;
the sensor detects vehicle running information and provides the detected vehicle running information to the controller;
the controller obtains images around the vehicle according to the external environment information of the vehicle, calculates the motion track of the vehicle according to the driving information of the vehicle, obtains images of passing areas below the vehicle chassis according to the motion track of the vehicle and the images around the vehicle, and splices the images of the passing areas below the vehicle chassis to the images around the vehicle to form a panoramic image comprising the areas below the vehicle chassis.
9. The method of claim 8, wherein calculating a motion trajectory of the vehicle based on the vehicle driving information, obtaining an image of an area passing under a chassis of the vehicle based on the motion trajectory of the vehicle and the image of the surroundings of the vehicle, and stitching the image of the area passing under the chassis of the vehicle to the image of the surroundings of the vehicle to form a panoramic image including the area under the chassis of the vehicle, comprises:
the controller judges whether the vehicle is in a turning state or not according to the vehicle running information, if the vehicle is in the turning state, the instantaneous track radius R when the vehicle turns is calculated according to the following formula tan delta-R/L, R-R (tan delta)/L, wherein R is the motion track radius of the rear axle of the vehicle, delta is the corner of the front wheel of the vehicle, and L is the wheel base of the vehicle; calculating a yaw angle theta when the vehicle turns according to the following formula omega-Vr/R, VS-omega-t, theta-90-VS/R, calculating the coordinates of the center of a rear shaft after the vehicle moves according to the yaw angle theta, calculating the coordinates of 4 corner points of a vehicle chassis after the vehicle moves according to the coordinates of the center of the rear shaft of the vehicle, then cutting out images of 4 corner point coordinate regions from the vehicle surrounding images obtained from the front according to the coordinates of the 4 corner points to be used as passing region images below the vehicle chassis, and splicing the passing region images below the vehicle chassis to the vehicle surrounding images to form a panoramic image comprising the region below the vehicle chassis.
10. The method of claim 9, further comprising:
and the controller also judges whether the vehicle is in a turning state, calculates coordinates of 4 angular points of the vehicle chassis after the vehicle moves according to the vehicle running information, then intercepts images of 4 angular point coordinate regions from the vehicle surrounding images acquired from the front as passing region images below the vehicle chassis according to the coordinates of the 4 angular points, and splices the passing region images below the vehicle chassis onto the vehicle surrounding images to form a panoramic image comprising the region below the vehicle chassis.
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