CN114274877A

CN114274877A - Rearview mirror image display control method

Info

Publication number: CN114274877A
Application number: CN202111436786.8A
Authority: CN
Inventors: 蒋才科; 杨青春; 其他发明人请求不公开姓名
Original assignee: Huizhou Huayang General Intelligence Vehicle System Development Co ltd
Current assignee: Huizhou Huayang General Intelligence Vehicle System Development Co ltd
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2022-04-05
Anticipated expiration: 2041-11-29
Also published as: CN114274877B

Abstract

The invention provides a rearview mirror image display control method, which comprises the following steps: calibrating the positions of the attention area and the final amplification area of the vehicle under various vehicle body swing angles in the display screen image; acquiring a full-resolution image of a camera, processing the full-resolution image to obtain a display screen image, and displaying the display screen image; when a preset condition for starting the amplification of the attention area is detected, acquiring the current vehicle body swing angle of the vehicle, acquiring the position of the attention area and the final amplification area thereof, and determining the amplification ratio, wherein the amplification ratio is the ratio of the corresponding side lengths of the final amplification area and the attention area; determining a mapping area corresponding to the attention area in a camera cutting image according to a preset mapping formula; processing the image in the mapping region according to a preset strategy, and then updating the image to a final amplification region; and merging the pixels outside the attention area according to a preset compression strategy. The invention can enlarge and highlight the concerned area, maintain the original visual field unchanged and improve the driving safety.

Description

Rearview mirror image display control method

Technical Field

The invention relates to the technical field of rearview mirrors, in particular to a rearview mirror image display control method.

Background

With the continuous development of automotive electronics technology, the external electronic rearview mirror is changing from the traditional glass rearview mirror to the electronic rearview mirror. The electronic rearview mirror transmits the video shot by the wide-angle camera installed at the proper position of the vehicle to the display screen in the vehicle for displaying, thereby enlarging the view of the driver and eliminating the blind area of the view to a great extent. However, due to the consideration of the installation position in the vehicle and the cost, the display screen of the general electronic outside rearview mirror is smaller than 7 inches, if all the pictures are uniformly displayed on the screen of the display screen, the target object on the picture is too small, which is not beneficial for the driver to observe the road condition at the side or/and the rear of the vehicle, and if the display picture is magnified in an equal ratio, the view field range is greatly reduced, and the driving safety hazard is also existed.

Disclosure of Invention

The invention provides a rearview mirror image display control method, which aims to overcome the defects in the prior art, realize the amplification and highlight display of an attention area, maintain the original visual field unchanged and improve the driving safety.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the invention provides a rearview mirror image display control method, which comprises the following steps:

step 1, calibrating the positions of a focus area and a final amplification area of a vehicle under various vehicle body swing angles in a display screen image;

step 2, acquiring a full-resolution image of the camera, processing the full-resolution image to obtain a display screen image, and displaying the display screen image;

step 3, entering the next step after detecting a preset condition for starting the amplification of the attention area;

step 4, obtaining a current vehicle body swing angle of the vehicle, obtaining the positions of the attention area and the final amplification area thereof, and determining an amplification ratio, wherein the amplification ratio is the ratio of the corresponding side lengths of the final amplification area and the attention area;

step 5, determining a mapping area corresponding to the attention area in a camera cutting image according to a preset mapping formula;

step 6, processing the image in the mapping region according to a preset strategy, and then updating the image to a final amplification region;

and 7, combining the pixels outside the attention area according to a preset compression strategy.

Specifically, the region of interest is a rectangle, the final enlarged region is an area obtained by enlarging the region of interest at an equal ratio, and center points of the two are overlapped.

Specifically, the preset mapping formula is as follows: w_{k_i}(u_{k_i},v_{k_i})＝T_{k_i}(x_{k_i}/γ,y_{k_i}V) where W_{k_i}Four vertices, T, representing mapped regions_{k_i}Four vertices representing the region of interest.

Specifically, the preset policy includes:

A. if the magnification and size scaling factor product is equal to 1, directly copying and filling the image in the mapping area into the final magnification area;

B. if the product of the magnification ratio and the size scaling factor is larger than 1, the image size in the mapping area is interpolated to be consistent with the size of the final magnification area, and then the image size is filled in the final magnification area for display;

C. if the product of the magnification ratio and the size scaling factor is smaller than 1, the size of the image in the mapping area is reduced to be consistent with the size of the final enlarged area, and then the image is filled in the final enlarged area for display.

Specifically, the step 7 includes:

a1, acquiring the distance from each of the left, right, upper and lower sides of the attention area to the corresponding side of the display screen image;

a2, obtaining the distance from each of the left, right, upper and lower sides of the corresponding final amplification area to the corresponding side of the display screen image;

step A3, calculating a first combination coefficient of a pixel column in a left area of the attention area, a second combination coefficient of a pixel column in a right area, a third combination coefficient of a pixel row in an upper area and a fourth combination coefficient of a pixel row in a lower area;

and step A4, merging the pixel columns of the left and right regions of the attention region according to a first merging coefficient and a second merging coefficient respectively, and merging the pixel rows of the upper and lower regions of the attention region according to a third merging coefficient and a fourth merging coefficient respectively.

Specifically, the first combining coefficient, the second combining coefficient, the third combining coefficient, and the fourth combining coefficient are determined according to the following formulas:

j_{k_i}＝[L_{k_i}/L'_{k_i}]wherein i is 1,2,3,4, respectively, left, right, up, down, respectively]Representing a rounding operation, j_{k_i}Denotes each combining coefficient, L_{k_i}Representing a region of interest Z_kL 'from the left, right, upper and lower sides to the corresponding side of the display screen image'_{k_i}Denotes the final region of amplification Z'_kThe left, right, upper and lower sides of the display screen to the corresponding sides of the display screen image.

Specifically, the step 7 includes:

step B1, determining a first image boundary and a second image boundary, wherein the first image boundary is the side with the largest distance from the center point of the attention region in each side of the display screen image, and the second image boundary is the side which is adjacent to and parallel to the first image boundary in the attention region;

step B2, calculating a first distance according to a first preset relational expression, wherein the first distance is a vertical distance from a central point of the attention area to the boundary of the first image;

step B3, acquiring a second distance, wherein the second distance is a vertical distance from the center point of the attention area to the boundary of the second image;

step B4, calculating a first magnification factor, wherein the first magnification factor is the ratio of the area of the attention area to the area of the display screen image;

step B5, calculating a third distance, wherein the third distance is the distance between a pixel point outside the attention area and the center point of the attention area;

and step B6, determining the positions of the pixel points outside the attention area in the converted display screen image according to a preset rule.

Specifically, the first preset relational expression is as follows:

S_{k_1}＝S_{1_1}+(S_{n_1}-S_{1_1})β_k/β_n

wherein S is_{1_1}Represents a first distance S when the vehicle body swing angle is 0_{n_1}Representing a first distance at which the body swing angle is at a maximum.

Specifically, the preset rule is as follows:

A) the distance from the center point of the region of interest is determined by the following formula:

S'_{k_ij}＝S_{k_1}*(S_{k_ij}/S_{k_1})^p

p is determined according to the following formula: p 1+ log λ'/log (S)_{k_2}/S_{k_1})，

Wherein, S'_{k_ij}Representing the distance between the transformed pixel points outside the attention area and the center point of the attention area, S_{k_1}Denotes a first distance, S_{k_2}Denotes the second distance, S_{k_ij}Represents the third distance, and λ' represents the first magnification;

B) the angle to the center point of the region of interest remains constant.

Specifically, the preset conditions are that the vehicle is steered in a straight-ahead mode and is backed up.

The invention has the beneficial effects that: according to the method and the device, the positions of the attention area and the final amplification area are obtained, the amplification scale is determined, the mapping area corresponding to the attention area in the camera cutting image is determined according to the preset mapping formula, the image in the mapping area is processed according to the preset strategy and then updated to the final amplification area, and finally the pixels outside the attention area are combined according to the preset compression strategy, so that the attention area can be amplified and highlighted, the original visual field can be maintained unchanged, and the driving safety is improved.

Drawings

FIG. 1 is a schematic flow chart of a rearview mirror image display control method of the present invention;

FIG. 2 is a schematic illustration of the location of the area of interest and its final enlarged area at any body swing angle of the present invention;

FIG. 3 is a schematic position diagram of a region of interest and its final enlarged region for a vehicle body pivot angle of 0 according to the present invention;

FIG. 4 is a schematic view of a full resolution image of a camera, a cropped image of the camera, and an image of a display screen according to the present invention;

FIG. 5 is a schematic diagram of a first image boundary and a second image boundary according to the present invention.

Detailed Description

The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are for reference and illustrative purposes only and are not intended to limit the scope of the invention.

As shown in fig. 1, the present embodiment provides a rearview mirror image display control method including:

step 1, calibrating the swing angle beta of the vehicle on various vehicle bodies_kRegion of interest Z under (k 1,2 … n)_kAnd its final amplified region Z'_kPosition in the display screen image.

As shown in fig. 2, in the present embodiment, the upper left corner of the display screen image is taken as the origin of coordinates O of the display screen image. The region of interest Z_kIs rectangular. The region of interest Z_kThe coordinates of four vertexes of upper left, lower right and upper right are sequentially marked as T_{k_i}(x_{k_i},y_{k_i}) Wherein k is 1,2,3, 4; the region of interest Z_kIs marked as D_k(x_ck,y_ck) (ii) a The region of interest Z_kThe distances from the left, right, upper and lower sides to the corresponding sides of the display screen image are sequentially recorded as L_{k_i}The distance is expressed in terms of the number of pixels.

In this embodiment, the final amplification region Z'_kIs the region of interest Z_kThe central points of the two areas are superposed after the equal-scale amplification. The final amplified region Z'_kThe coordinates of four vertexes of upper left, lower right and upper right are sequentially recorded as T'_{k_i}(x'_{k_i},y'_{k_i})。

For example, when the vehicle body swing angle beta₁When the vehicle is equal to 0 (straight-line driving state, steering wheel return state), the corresponding region of interest Z is set to₁And its final amplification regionDomain Z'₁In the display screen image, as shown in fig. 3.

Region of interest Z₁Has a center point of D₁Region of interest Z₁The pixel distances from the left, right, upper and lower sides to the corresponding side of the display screen image are respectively L_{1_1}、L_{1_2}、L_{1_3}、L_{1_4}。

And 2, acquiring a full-resolution image of the camera, processing to obtain a display screen image, and displaying.

In this embodiment, the full-resolution image is an image of an original resolution captured by a camera.

In this embodiment, the resolution of the display is less than the original resolution of the camera image. Therefore, the camera full-resolution image needs to be processed accordingly (for example, cropped according to the scale of the display screen (scaling), and scaled according to the size of the display screen (scaling)) to obtain a display screen image, and then displayed on the display, as shown in fig. 4.

The image obtained by the proportional cutting of the full-resolution image of the camera is called a camera cutting image, and the image cut by the camera can be subjected to size scaling to obtain a display screen image.

In this embodiment, let the horizontal pixel of the camera cropping image be H_cVertical pixel is V_cHorizontal pixel of display screen image is H_dVertical pixel is V_dThen the scaling factor γ is equal to H_d/H_cOr V_d/V_c。

And 3, entering the next step after a preset condition for starting the amplification of the attention area is detected.

For example, an icon may be provided in the user interface for controlling activation or deactivation of the region of interest enlargement and preset conditions including, but not limited to, vehicle straight-ahead steering, reverse.

Step 4, obtaining the current vehicle body swing angle beta of the vehicle_kAcquiring the region of interest Z_kAnd its final amplified region Z'_kDetermining a magnification ratio lambda, said magnification ratio lambda being said maximumFinal amplification region Z'_kRegion of interest Z_kCorresponding to the ratio of the side lengths.

Vehicle body pivot angle beta_kIt can be obtained directly from inertial sensors or by the ratio of vehicle speed to steering curvature or radius.

Step 5, determining the attention area Z according to a preset mapping formula_kCorresponding mapping area I in camera cutting image_k。

The preset mapping formula is as follows: w_{k_i}(u_{k_i},v_{k_i})＝T_{k_i}(x_{k_i}/γ,y_{k_i}V) where W_{k_i}Representing a mapping region I_kFour vertices of (1), T_{k_i}Representing a region of interest Z_kFour vertices of (2).

Namely:

W_{k_1}(u_{k_1},v_{k_1})：u_{k_1}＝x_{k_1}/γ,v_{k_1}＝y_{k_1}/γ；

W_{k_2}(u_{k_2},v_{k_2})：u_{k_2}＝x_{k_2}/γ,v_{k_2}＝y_{k_2}/γ；

W_{k_3}(u_{k_3},v_{k_3})：u_{k_3}＝x_{k_3}/γ,v_{k_3}＝y_{k_3}/γ；

W_{k_4}(u_{k_4},v_{k_4})：u_{k_4}＝*x_{k_4}/γ,v_{k_3}＝y_{k_4}/γ。

step 6, mapping the area I_kThe images in the area are processed according to a preset strategy and then updated to a final amplification area Z'_k。

In this embodiment, the preset policy includes:

A. if the product of the magnification ratio lambda and the size scaling factor gamma is equal to 1, the mapping area I is divided into two parts_kDirect copy fill of in-picture to the final magnified region Z'_k；

B. If the product of the magnification ratio lambda and the size scaling factor gamma is larger than 1, the mapping area I is divided into_kInterpolated image size to the final magnified region Z'_kIs uniform, is filled to the final enlarged region Z'_kInternal display;

C. if the product of the magnification ratio lambda and the size scaling factor gamma is less than 1, the mapping area I is divided into_kReducing the image size in to the final enlarged region Z'_kIs uniform, is filled to the final enlarged region Z'_kAnd (4) internally displaying.

Step 7, aiming at the attention area Z_kAnd combining the other pixels according to a preset compression strategy.

In this embodiment, the step 7 includes:

step A1, obtaining the attention area Z_kDistance L from each of the left, right, upper and lower sides to the corresponding side of the display screen image_{k_i}；

Step A2, obtaining a corresponding final amplification region Z'_kIs provided with a distance L 'from each of the left, right, upper and lower sides to the corresponding side of the display screen image'_{k_i}；

Step A3, calculating the region of interest Z_kOf the left area of (1) and a first combination coefficient j of the pixel columns of the left area of (2)_{k_1}Second merging coefficient j of pixel column in right region_{k_2}A third combination coefficient j of the pixel rows in the upper region_{k_3}And a fourth merging coefficient j of the pixel row of the lower region_{k_4}。

In this embodiment, the merging coefficient j_{k_i}＝[L_{k_i}/L'_{k_i}]Wherein i is 1,2,3,4, respectively, left, right, up, down, respectively]Representing a rounding operation, j_{k_i}Denotes each combining coefficient, L_{k_i}Representing a region of interest Z_kL 'from the left, right, upper and lower sides to the corresponding side of the display screen image'_{k_i}Denotes the final region of amplification Z'_kThe left, right, upper and lower sides of the display screen to the corresponding sides of the display screen image.

Step A4, for the region of interest Z_kThe pixel columns of the left and right side areas are respectively according to the first merging coefficient j_{k_1}A second combining coefficient j_{k_2}Merging the columns, and aiming at the region of interest Z_kUpper and lower side regions ofThe pixel rows of the domain are respectively according to a third merging coefficient j_{k_3}The fourth combining coefficient j_{k_4}And merging.

In another embodiment of the present invention, the step 7 comprises:

step B1, determining a first image boundary and a second image boundary, wherein the first image boundary is a central point D which is in each side of the display screen image and is far away from the attention area_kA largest edge, the second image boundary being an edge of the region of interest that is adjacent and parallel to the first image boundary.

As shown in fig. 5, the first image boundary is MN, and the second image boundary is M 'N'.

Step B2, calculating a first distance S according to a first preset relational expression_{k_1}Said first distance S_{k_1}Is the center point D of the region of interest_kA vertical distance to the first image boundary.

In this embodiment, the first predetermined relationship is:

S_{k_1}＝S_{1_1}+(S_{n_1}-S_{1_1})β_k/β_n

wherein S is_{1_1}Indicating a vehicle body pivot angle of 0 (i.e.,. beta.)₁) First distance of time, S_{n_1}Indicating maximum body pivot angle (i.e.. beta.)_n) A first distance of time.

Step B3, obtaining a second distance S_{k_2}Said second distance S_{k_2}Is the center point D of the region of interest_kA vertical distance to the second image boundary.

Step B4, calculating a first magnification factor lambda ', the first magnification factor lambda' being the region of interest Z_kIs compared to the area of the display screen image.

Step B5, calculating a third distance S_{k_ij}Said third distance S_{k_ij}Is the region of interest Z_kOuter pixel point P_{k_ij}With a center point D of the region of interest_kThe distance of (d);

step B6, determining the attention area Z according to a preset rule_kOuter pixel point P_ijA position in the transformed display screen image.

In this embodiment, the preset rule is:

A) with a center point D of the region of interest_kIs a distance S'_{k_ij}Determined by the following equation:

S'_{k_ij}＝S_{k_1}*(S_{k_ij}/S_{k_1})^p，

wherein p is determined according to the following formula: p 1+ log λ'/log (S)_{k_2}/S_{k_1})，S_{k_1}Denotes a first distance, S_{k_2}Representing the second distance.

B) With a center point D of the region of interest_kThe angle of (a) is maintained constant.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention.

Claims

1. A rearview mirror image display control method, comprising:

2. The rearview mirror image display control method according to claim 1, wherein the region of interest is a rectangle, the final magnified region is a region obtained by magnifying the region of interest at an equal scale, and center points of the two coincide with each other.

3. The rearview mirror image display control method according to claim 2, wherein the preset mapping formula is: w_{k_i}(u_{k_i},v_{k_i})＝T_{k_i}(x_{k_i}/γ,y_{k_i}V) where W_{k_i}Four vertices, T, representing mapped regions_{k_i}Four vertices representing the region of interest.

4. The rearview mirror image display control method according to claim 1, wherein the preset policy includes:

5. The rearview mirror image display control method according to claim 3, wherein the step 7 includes:

6. The rearview mirror image display control method according to claim 5, wherein the first combining coefficient, the second combining coefficient, the third combining coefficient, and the fourth combining coefficient are determined according to the following formulas:

7. The rearview mirror image display control method according to claim 3, wherein the step 7 includes:

8. The rearview mirror image display control method according to claim 7, wherein the first preset relationship is:

S_{k_1}＝S_{1_1}+(S_{n_1}-S_{1_1})β_k/β_n

9. The rearview mirror image display control method according to claim 8, wherein the preset rule is:

S'_{k_ij}＝S_{k_1}*(S_{k_ij}/S_{k_1})^p

B) the angle to the center point of the region of interest remains constant.

10. The rearview mirror image display control method according to any one of claims 1 to 9, wherein the preset condition is that the vehicle is steered straight or is backing.