CN114379462A - 用于车辆的侧摄像头及其控制方法 - Google Patents

用于车辆的侧摄像头及其控制方法 Download PDF

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CN114379462A
CN114379462A CN202111196934.3A CN202111196934A CN114379462A CN 114379462 A CN114379462 A CN 114379462A CN 202111196934 A CN202111196934 A CN 202111196934A CN 114379462 A CN114379462 A CN 114379462A
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vehicle
camera
view
image
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CN114379462B (zh
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李元务
金亨珉
尹铉盛
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Hyundai Mobis Co Ltd
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Abstract

一种用于车辆的侧摄像头，包括：设置于车辆的左边和/或右边的主体；盲点视图摄像头，其至少一部分被安置在主体内，并被配置为拍摄横向和后方的视图；环视摄像头(SVC)，其至少一部分被安置在主体内，并被配置为拍摄横向的视图；以及设置在车辆内的盲点视图监视器，以传输由盲点视图摄像头捕获的图像。当盲点视图摄像头发生故障时，根据由SVC捕获的图像执行图像转换处理，并传输给盲点视图监视器。当盲点视图监视器发生故障时，将由盲点视图摄像头捕获的图像传输到车辆的另一显示设备。

Description

用于车辆的侧摄像头及其控制方法
技术领域
本公开涉及一种用于车辆的侧摄像头及其控制方法。
背景技术
本节所描述的内容只是提供有关本公开的背景信息，并不构成相关技术。
侧镜安装在车辆的左边和右边，以备在行驶时需要监视车辆的后侧的情况。然而，由于侧镜严重突出于车辆的两侧，则侧镜使得停车困难或在行驶过程中增加空气阻力而产生风噪并降低车辆的燃油效率。此外，由于侧镜的结构，出现了仅凭驾驶员的视野难以检查的盲点，而这样的盲点是交通事故的主要原因之一。
为了解决现有侧镜的此类问题，常规技术为使用侧摄像头替换车辆的侧镜。当使用侧摄像头替换侧面后视镜时，在停车时增加了车辆侧面的自由空间，并且在车辆行驶时，侧摄像头在空气动力学方面比侧镜受到的风阻更小，从而提高了燃油效率。然而，传统技术只注重通过用摄像头取代现有的侧镜来扩大车辆后侧的视角，因此，当摄像头故障时，很难保证车辆的后侧视野。在车辆行驶过程中，当不能保证后侧视野时，就可能发生致命的事故。因此，即使在摄像头故障的情况下，也应该能够保证车辆的后侧视野。
发明内容
本公开目的在于即使在取代侧镜的盲点视图摄像头或盲点视图监视器故障时，也为用户提供后侧视野。
根据本公开，提供了一种用于车辆的侧摄像头，所述装置包括：设置于所述车辆的左边和/或右边的主体；盲点视图摄像头，其至少一部分被安置于所述主体内，并被配置为拍摄所述车辆的横向和后向方向的视图；环视摄像头(surround view camera，SVC)，其至少一部分被安置于所述主体内，并被配置为拍摄所述车辆的横向方向的视图；以及设置于所述车辆内的盲点视图监视器，以传输由所述盲点视图摄像头捕获的图像，其中，当所述盲点视图摄像头发生故障时，基于由所述SVC捕获的图像执行图像转换处理，并传输至所述盲点视图监视器，以及当所述盲点视图监视器发生故障时，将由所述盲点视图摄像头捕获的图像传输至所述车辆中除所述盲点视图监视器外的另一显示设备。
根据本公开，提供了一种控制用于车辆的侧摄像头的方法，当盲点视图摄像头或盲点视图监视器发生故障时，用于车辆的所述侧摄像头切换至应急系统，所述方法包括：故障检测操作，检测所述侧摄像头是否发生故障；通知操作，当确定用于车辆的所述侧摄像头发生故障时，通知操作员车辆的所述侧摄像头切换至所述应急系统；故障判定操作，判断所述盲点视图监视器是否故障；以及校正输出操作，当确定所述盲点视图监视器发生故障时，执行与车辆中除所述盲点视图监视器外的另一显示设备的连接，以及当确定所述盲点视图监视器未发生故障时，通过使用由设置于用于车辆的所述侧摄像头的主体中的环视摄像头SVC捕获的图像转换图像，然后将校正后的图像输出到所述盲点视图监视器。
附图说明
图1是根据本公开的一实施例的车辆的透视图，该车辆上安装有用于车辆的侧摄像头。
图2是根据本公开的一实施例的用于车辆的侧摄像头的透视图。
图3是根据本公开的一实施例的用于车辆的侧摄像头的框图。
图4是用于描述设置于车辆的侧摄像头中的盲点视图摄像头和环视摄像头(surround view camera，SVC)的视角(field of view，FOV)的视图。
图5示出了用于描述对由SVC捕获的图像的进行校正的过程的图像。
图6是根据本公开的一实施例的控制用于车辆的侧摄像头的方法的流程图。
具体实施方式
现在将参考说明性附图详细描述本公开的一些实施例。需要说明的是，在每幅图中，在对元件增加附图标记时，即使在不同的附图中示出，相同的元件也尽量采用相同的标记。在本公开的描述中，当确定可以做出本公开的主旨时，省略对相关已知配置或功能的详细描述。在描述根据本公开内容的实施方案的组件时，可以使用附图标记，如第一、第二、i)、ii)、a)和b)。这样的符号仅用于将组件与其他组件区分开来，组件的性质或顺序不受符号限制。当说明书中的一部分被称为“包含”或“包括”组件时，除非明确相反地说明，否则其表示该组件还可以包括其他组件而不是排除其他组件。
图1是车辆的透视图，其上安装有根据本公开的一实施例的用于车辆的侧摄像头。图2是根据本公开的一实施例的用于车辆的侧摄像头的透视图。图3是根据本公开的一实施例的用于车辆的侧摄像头的框图。图4是用于描述设置于车辆的侧摄像头中的盲点视图摄像头和环视摄像头(SVC)的视角(FOV)的视图。图5示出了用于描述对由SVC捕获的图像的进行校正的过程的图像。
参照1至图3，车辆的侧摄像头包括主体10、盲点视图摄像头20、SVC 30、盲点视图监视器40和控制器50的全部或部分。
主体10在其中包含一个外壳空间，并且安装在车辆左边和右边的每一处。主体10可以形成流线型以减少行驶过程中的空气阻力。
盲点视图摄像头20的至少一部分容纳在主体10内，并且被配置为拍摄车辆后面的横向方向上的视图。例如，如图2所示，可以将盲点视图摄像头20容纳在主体10内部。为了使盲点视图摄像头20能够拍摄车辆后面的横向方向上的视图，盲点视图摄像头20的镜头可以被设置为面向车辆后侧。
图4示出了盲点视图摄像头20和SVC 30之间的视角。盲点视图摄像头20的水平视角(HFOV)A在50°至80°之间，其垂直视角(VFOV)在20°至40°之间。若用盲点视图摄像头20取代现有的侧视镜，司机在行驶过程中可以检查的后侧范围增加了约两倍或更多。
SVC 30安装在主体10中，并被设置为从车辆的横向方向上拍摄两个视图的整个范围。SVC 30可以安装在主体10中，以面对与车辆的纵向方向垂直的方向。这里，SVC 30的HFOV B的范围在180°至200°之间，其VFOV的范围在120°至160°之间。SVC 30可以使用宽FOV拍摄车辆横向的整个视野范围。SVC 30通常用于检测车辆停放或沿狭窄道路行驶时的障碍物。
盲点视图监视器40是一种用于显示由盲点视图摄像头20所捕获的图像的信息的显示设备。也就是说，盲点视图监视器40和盲点视图摄像头20取代了车辆现有的侧镜。盲点视图监视器40被设置在车辆内部的前左边和前右边中的每一处，以显示由设置在车辆两侧的每一处的盲点视图摄像头20所捕获的图像。
控制器50设置在车辆内部，还称为电子控制单元(electronic control unit，ECU)。控制器50包含硬件处理器、存储器、用于执行控制器50的指令和存储在存储器中的查找表(look-up table，LUT)。然而，本公开内容不限于此，可以包括控制车辆整体操作的所有配置。控制器50执行控制，以处理由盲点视图摄像头20捕获的图像，并将屏幕传输到盲点视图监视器40，并检测盲点视图摄像头20和盲点视图监视器40中的一个或多个是否发生了故障。当盲点视图摄像头20和盲点视图监视器40中的一个或多个发生故障时，控制器50使用除车辆中的盲点视图监视器和SVC 30以外的另一个显示设备进行备份控制，以确保车辆的后侧视野。
控制器50可以包括故障检测器51和图像处理器52。故障检测器51周期性地检测盲点视图摄像头20和盲点视图监视器40的故障状态。当车辆的点火装置被打开时，故障检测器51在预设的时间间隔内检查盲点视图摄像头20和盲点视图监视器40是否发生故障。当故障检测器51检测到盲点视图摄像头20和盲点视图监视器40中的一个或多个发生故障时，故障检测器51发送故障检测信号以通知图像处理器52发生故障。此外，当故障检测器51检测到故障时，向每个设备传输信号，以通知驾驶员，车辆的侧摄像头切换到车内使用显示设备或扬声器设备的应急系统。应急系统的切换是由下面将描述的图像处理器52来执行的。尽管在图1中说明了盲点视图监视器40分别设置在车辆内的左边和右边的每处，但本公开并不局限于此，只要驾驶员在驾驶过程中能够毫无困难地观察盲点视图监视器40，盲点视图监视器40就可以设置在任何地方。
图像处理器52通常根据盲点视图摄像头20捕获的图像信号执行图像处理的计算，并将屏幕传输到盲点视图监视器40。当图像处理器52从故障检测器51接收到盲点视图摄像头20或盲点视图监视器40的故障检测信号时，图像处理器52响应故障检测信号执行图像处理。
当确定盲点视图监视器40发生故障时，图像处理器52将由盲点视图摄像头20捕获的图像屏幕传输到驾驶员视野内除盲点视图监视器40以外的另一个显示设备，以取代盲点视图监视器40。
当确定盲点视图摄像头20发生故障时，图像处理器52从SVC 30而不是盲点视图摄像头20接收图像信息，且仅从SVC 30的图像信息中提取有关后侧的信息，并将提取的信息转换并传输给盲点视图监视器40。SVC 30是一个广角摄像头，因此存在其图像的失真。为了使驾驶员能够通过盲点视图摄像头20真实地查看车辆的后侧，需要去畸变处理和透视变换处理。
参照图5，可以确认盲点视图摄像头20的图像和SVC 30的图像之间的差异。图5的(a)部分是通过用盲点视图摄像头20拍摄的车辆后方的横向视图所获得的图像，而图5的(b)部分是通过SVC 30拍摄的车辆横向的整个视图范围所获得的图像。参照图5的(b)部分，图像是扭曲的，以便覆盖横向的整个视野范围，后侧是扭曲图像的一部分。当扭曲的图像被传输到屏幕上而不作任何改变时，司机在驾驶过程中不能轻易掌握有关后侧的信息。因此，将由SVC 30捕获的图像中车辆后侧部分设定为感兴趣区域(region of interest，ROI)，并且需要对设定的部分进行去畸变处理和透视变换处理。在图像处理器52完成这样一个图像转换过程后，如图5所示，图像被转换。图像处理器52将转换后的图像传输给盲点视图监视器40，以使驾驶员即使在盲点视图摄像头20故障时也能看到车辆的后侧，从而使驾驶员避免事故风险。当图像处理器52执行去畸变处理和透视变换处理时，操作处理量增加，因此，需要一个高性能的硬件处理器。因此，可以将图像处理器52设计为将预设LUT存储在控制器50的存储器中以基于LUT变换图像。LUT根据安装在车辆上的盲点视图摄像头20和SVC 30的安装位置以及镜头失真率而不同，因此，应该为每种车辆类型设置单独的LUT。
图6是根据本公开的一实施例的控制用于车辆的侧摄像头的方法的流程图。
当车辆的点火装置启动时，控制器50周期性地检测CMS是否故障(S61)。这里，CMS是摄像监控系统的缩写，指的是一种设计成驾驶员可以使用盲点视图摄像头20和盲点视图监视器40来监控车辆后侧情况的系统。
当未检测到CMS的故障时，控制器50不继续进行后续操作，并定期重复操作S61以检测CMS是否故障。
当检测到CMS故障时，控制器50首先通知驾驶员车辆侧摄像头已切换到应急系统(S62)。应急系统的切换可以通过使用车辆中驾驶员视野内的显示设备或扬声器设备以视觉或听觉的方式进行通知。操作S62不是一定要在操作S61之后执行的操作，并且可以在下面将描述的操作S63之后执行。
在驾驶员接收到切换至应急系统的通知之后，控制器50确定盲点视图监视器40是否故障(S63)。当控制器50确定盲点视图监视器40故障时，车辆的后侧图像被传输到车辆中除盲点视图监视器外的另一个显示设备，而不是盲点视图监视器(S64)。这里，车辆中除盲点视图监视器外的另一个显示设备是设置在驾驶员视野内的显示设备。例如，车辆中除盲点视图监视器外的另一个显示设备可以是数字仪表或设置在中央仪表板上的导航显示设备。
当控制器50确定盲点视图监视器40未发生故障时，控制器50确定故障发生的位置与盲点视图摄像头20而不是盲点视图监视器40相同，使用SVC30的图像而不是由盲点视图摄像头20捕获的图像来校正图像，然后，执行替换以使校正的图像显示在盲点视图监视器40上(S65)。由于SVC 30的FOV大于盲点视图摄像头20的FOV，并且SVC 30捕获的图像会出现失真，因此应执行校正操作。如上所述，在由SVC 30捕获的图像中，与车辆后侧有关的部分被设置为ROI，并且由SVC 30捕获的图像经过去畸变处理和透视变换处理，并转换成如同由盲点视图摄像头20捕获的图像。由于去畸变处理和透视变换处理需要许多计算，为了降低硬件处理器的成本，可以在存储器中储存一个LUT来矫正SVC 30捕获的图像。由于变换坐标是在LUT中事先计算好的，所以只需利用LUT的信息就可以通过坐标变换对图像进行校正，无需计算。
在通过使用操作S64或S65完成确保车辆驾驶员后侧视野的设置之后，本算法结束。
尽管在图6中说明了操作是按顺序进行的，但这仅仅是对本公开的一实施例的技术思想的示例性描述。换言之，本公开的一实施例所属技术领域的技术人员将理解，在不脱离本发明的实施例的基本特征的情况下，可以进行各种修改和变化，也就是说，图6中说明的顺序可以改变，并且操作中的一个或多个操作可以并行执行。因此，图6不限于时间顺序。
如上所述，根据本发明的实施例，在用于车辆的侧摄像头以及控制该摄像头的方法中，当盲点视图摄像头发生故障时，由SVC捕获的图像被转换并传输到盲点视图监视器；或者当盲点视图监视器发生故障时，由盲点视图摄像头捕获的图像被传输到车辆中除盲点视图监视器外的另一个显示设备，从而在驾驶期间安全保障驾驶员的后侧视野。
本文描述的系统和技术的各种实施例可以用数字电子电路、集成电路、现场可编程门阵列(field programmable gate array，FPGA)、专用集成电路(applicationspecific integrated circuit，ASIC)、计算机硬件、固件、软件和/或其组合来实现。各种实施方案可以包括用一个或多个在可程式系统上能够执行的计算机程序的实现。可程系统包括至少一个可编程处理器，它可以是专用处理器，也可以是通用处理器，耦合以从存储系统接收和向存储系统传输的数据和指令，以及至少一个输入设备和至少一个输出设备。计算机程序(也被称为程序、软件、软件应用程序或代码)包括可编程处理器的指令，并存储在“计算机可读记录介质”中。
计算机可读记录介质可以包括所有可存储计算机可读数据的各类型存储设备。计算机可读记录介质可以是非易失性或非临时性介质，如只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、光盘ROM(compact disc ROM，CD-ROM)、磁带、软盘或光学数据存储设备。此外，计算机可读记录介质可进一步包括临时介质，如数据传输介质。而且，计算机可读记录介质可以分布在通过网络连接的计算机系统上，计算机可读程序代码可以以分布式的方式存储和执行。
本文所描述系统和技术的各种实施例可以通过一台可编程的计算机来实现。这里，计算机包括可编程处理器、数据存储系统(包括易失性存储器、非易失性存储器、其他类型的存储系统或其组合)以及至少一个通信接口。例如，可编程计算机可以是服务器、网络设备、机顶盒、嵌入式设备、计算机扩展模块、个人计算机、笔记本电脑、个人数据助理(personal data assistant，PDA)、云计算系统和移动设备其中之一。

Claims (12)

1.一种用于车辆的侧摄像头，包括：
设置于所述车辆的左边和/或右边的主体；
盲点视图摄像头，其至少一部分被安置于所述主体内，并被配置为拍摄所述车辆的横向和后向方向的视图；
环视摄像头SVC，其至少一部分被安置于所述主体内，并被配置为拍摄所述车辆的横向方向的视图；以及
设置于所述车辆内的盲点视图监视器，以传输由所述盲点视图摄像头捕获的图像，
其中，当所述盲点视图摄像头发生故障时，基于由所述SVC捕获的图像执行图像转换处理，并传输至所述盲点视图监视器，以及
当所述盲点视图监视器发生故障时，将由所述盲点视图摄像头捕获的图像传输至所述车辆中除所述盲点视图监视器外的另一显示设备。
2.根据权利要求1所述的侧摄像头，还包括：
故障检测器，定期检测所述盲点视图摄像头和所述盲点视图监视器的故障状态；以及
图像处理器，基于所述盲点视图摄像头捕获的图像信号进行计算以处理图像，并将处理后的图像传输至所述盲点视图监视器。
3.根据权利要求1所述的侧摄像头，其中，当检测到所述盲点视图摄像头和所述盲点视图监视器中的一个或多个出现故障时，通过所述车辆中的显示设备和扬声器设备中的至少一个，通知所述车辆的操作人员所述侧摄像头被切换到应急系统。
4.根据权利要求1所述的侧摄像头，其中，在图像转换过程中，由所述SVC捕获的图像的一部分被设置为感兴趣区域ROI，其中，所述图像的一部分对应于所述盲点视图摄像头的可拍摄范围，并对设置为所述ROI的所述一部分进行去畸变处理和透视转换处理，以对所述图像进行校正，并将校正后的图像传输至所述盲点视图监视器。
5.根据权利要求4所述的侧摄像头，其中，在所述图像转换过程中，所述SVC捕获的图像通过使用预先存储的查找表LUT进行校正，然后被传输至所述盲点视图监视器。
6.根据权利要求1所述的侧摄像头，其中，所述盲点视图摄像头的水平视角HFOV在50°至80°的范围内，并且
所述SVC的HFOV在180°至200°的范围内。
7.根据权利要求1所述的侧摄像头，其中，所述盲点视图摄像头的垂直视角VFOV在20°至40°的范围内，并且
所述SVC的VFOV在120°至160°的范围内。
8.根据权利要求1所述的侧摄像头，其中除所述盲点视图监视器外的所述另一显示设备是数字仪表和导航显示设备中的至少一个。
9.一种控制用于车辆的侧摄像头的方法，当盲点视图摄像头或盲点视图监视器发生故障时，用于车辆的所述侧摄像头切换至应急系统，所述方法包括：
故障检测操作，检测所述侧摄像头是否发生故障；
通知操作，当确定用于车辆的所述侧摄像头发生故障时，通知操作员车辆的所述侧摄像头切换至所述应急系统；
故障判定操作，判断所述盲点视图监视器是否故障；以及
校正输出操作，当确定所述盲点视图监视器发生故障时，执行与车辆中除所述盲点视图监视器外的另一显示设备的连接，以及当确定所述盲点视图监视器未发生故障时，通过使用由设置于用于车辆的所述侧摄像头的主体中的环视摄像头SVC捕获的图像转换图像，然后将校正后的图像输出到所述盲点视图监视器。
10.根据权利要求9所述的方法，其中，对所述图像的校正包括：
将由所述SVC捕获的所述图像的一部分设置为感兴趣区域ROI，所述图像的一部分对应于所述盲点视图摄像头的可拍摄范围；以及
对设置为所述ROI的一部分进行去畸变操作和透视变换操作，以对所述图像的校正，并传输至所述盲点视图监视器。
11.根据权利要求9所述的方法，其中，对所述图像的校正包括：
使用预先存储的查找表LUT对所述SVC捕获的所述图像进行校正，并将校正后的图像传输至所述盲点视图监视器。
12.根据权利要求9所述的方法，其中，所述通知操作包括：
使用所述车辆中的显示设备和扬声器设备中的至少一个，以视觉和听觉的方式通知所述车辆的操作者用于车辆的所述侧摄像头被切换至所述应急系统。
CN202111196934.3A 2020-10-19 2021-10-14 用于车辆的侧摄像头及其控制方法 Active CN114379462B (zh)

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