CN114394051B - Method and system for providing indirect view of vehicle - Google Patents
Method and system for providing indirect view of vehicle Download PDFInfo
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- CN114394051B CN114394051B CN202210206226.1A CN202210206226A CN114394051B CN 114394051 B CN114394051 B CN 114394051B CN 202210206226 A CN202210206226 A CN 202210206226A CN 114394051 B CN114394051 B CN 114394051B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims abstract description 130
- 238000004891 communication Methods 0.000 claims description 6
- 238000010191 image analysis Methods 0.000 claims description 5
- 238000012502 risk assessment Methods 0.000 abstract description 8
- 238000004458 analytical method Methods 0.000 description 22
- 239000013589 supplement Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- B60R2300/105—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
- B60R2300/80—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
Abstract
The application relates to a method and a system for providing an indirect view of a vehicle, which comprises the following steps: acquiring an indirect visual field image, wherein the indirect visual field image comprises visual field images of a plurality of areas except a direct visual field area in front of and on two sides of a vehicle; transmitting the indirect visual field image to an automatic driving controller and a visual field processor, and transmitting the indirect visual field image to a corresponding display area by the visual field processor; if the speed of the vehicle is lower than a preset value, the automatic driving controller and the vision processor judge whether safety risks and risk areas exist according to the indirect vision image and the source of the indirect vision image; and if the risk exists, displaying an alarm in a corresponding display area according to the risk azimuth. The obtained indirect visual field image can be subjected to safety risk analysis in the automatic driving controller and the visual field processor at the same time when the vehicle speed is low, so that double risk analysis and judgment are realized, the safety of a driver when driving the vehicle is improved, and the possibility of accident occurrence is reduced.
Description
Technical Field
The application relates to the technical field of indirect vision, in particular to a method and a system for providing an indirect vision of a vehicle.
Background
Currently, there are two indirect vision devices for existing vehicles: traditional physical rearview mirrors; the left and right cameras, the monitor and the related processor form the electronic rearview mirror.
The electronic rearview mirror in the related art can only provide image information for a driver, and cannot automatically identify driving dangerous scenes, so that dangerous information is timely and accurately transmitted to the driver. The current electronic rearview mirror only realizes the indirect visual field of the left side and the right side, the front and side blind supplement areas are still traditional physical rearview mirrors, a driver needs to see the front traditional physical rearview mirror visual field for observing the indirect visual field of the front, the right blind supplement and the right rear, then looks at the electronic rearview mirror monitor visual field arranged near the A column, looks at the vehicle right side indirect visual field displayed by the blind supplement mirror, has the process of multi-time head deflection viewing, and needs to carry out judgment adaptation of different images between the monitor image and the physical image, thereby influencing the driving safety. In addition, the electronic rearview mirror is provided with a camera independent of an automatic driving system of the vehicle at the outer side of the vehicle, and functions between the cameras of the electronic rearview mirror and the camera are repeated, so that the redundant cameras of the vehicle and the arrangement of the camera outside a cab are difficult.
Disclosure of Invention
The embodiment of the application provides a method and a system for providing an indirect view of a vehicle, which are used for solving the problems in the background technology.
In a first aspect, a method of providing an indirect view of a vehicle is provided.
A method of providing an indirect view of a vehicle, comprising the steps of:
transmitting the indirect view image to an automatic driving controller, a view processor and transmitting the indirect view image to a corresponding display area by the view processor;
transmitting the indirect view image to an autopilot controller, a view processor and a corresponding display area;
if the speed of the vehicle is lower than a preset value, the automatic driving controller and the vision processor judge whether safety risks and risk areas exist according to the indirect vision image and the source of the indirect vision image;
and if the risk exists, displaying an alarm in a corresponding display area according to the risk azimuth.
According to the scheme, indirect view images of the front side and the two sides of the vehicle, blind area view images and the like can be finally conveyed to the display area for display through directly acquiring the indirect view images, so that a driver can quickly grasp the view condition near the vehicle in the display area, the driver is prevented from looking at the electronic rearview mirror or the physical rearview mirror at multiple sides in a head-off manner, and the driver is prevented from wasting energy between the images of the electronic rearview mirror and the different types of images of the physical rearview mirror for adaptation;
on the other hand, the obtained indirect visual field image is subjected to safety risk analysis in the automatic driving controller and the visual field processor at the same time when the vehicle speed is low, and can be timely reflected to a display area according to a risk area to display alarm when the risk exists, so that double risk analysis and judgment are realized, the safety of a driver when driving the vehicle is obviously improved, and the possibility of accident occurrence caused by accidental neglecting of the safety risk in an indirect visual field at a certain position by the driver is reduced;
finally, because the obtained indirect visual field images are simultaneously transmitted to the automatic driving controller and the visual field processor, the automatic driving controller can directly use the visual field images as data of the automatic driving system of the vehicle, the situation that the automatic driving controller is independently provided with cameras outside the vehicle again to collect information is avoided, the number of the cameras arranged outside the vehicle is effectively reduced, more reasonable arrangement is realized, and meanwhile, the cost is effectively controlled.
In some embodiments, if the vehicle speed is higher than a preset value, the automatic driving controller only judges whether a safety risk and a risk area exist according to the indirect visual field image and the source of the indirect visual field image;
and if the risk exists, displaying an alarm on a corresponding display area according to the risk azimuth.
Through the scheme, when the vehicle speed is higher, the safety time for reaction buffering between the vehicle and other objects is shorter, so that the view processor can not quickly make image transmission and safety analysis of images in a short time, the automatic driving controller is only used for carrying out safety analysis and judgment of the images, the risk reminding function is guaranteed, and meanwhile, the calculation force of the view processor can be concentrated in timely conveying the indirect view images into the display area for viewing by a driver.
In some embodiments, the method of providing an indirect view of a vehicle further comprises:
if the speed of the vehicle is higher than a preset value, judging whether a safety risk and a risk area exist or not by an image analysis controller which is independently arranged in the automatic driving controller and the vision processor according to the indirect vision image and the source of the indirect vision image;
and if the risk exists, displaying an alarm on a corresponding display area according to the risk azimuth.
According to the scheme, when the vehicle speed is higher than the preset value, the acquired indirect visual field image is analyzed by the image analysis controller which is independently arranged in the visual field processor, so that quick analysis and judgment can be performed under the condition that the computing power of the visual field processor is not occupied, and further double safety analysis of the indirect visual field image can be performed by matching with the automatic driving controller when the vehicle speed is higher, and the safety of the vehicle is further improved.
In some embodiments, the autopilot controller generates a display alert of the display area via the vision processor.
Through the scheme, the automatic driving controller and the display area in the vehicle are interconnected, and when the image security analysis in any one of the automatic driving controller and the visual field processor is at risk, the visual field processor can receive information and prompt and alarm the display area in the vehicle.
In some embodiments, the method of providing an indirect view of a vehicle further comprises:
the automatic driving controller and the visual field processor continuously detect hardware and system safety of a plurality of cameras for acquiring the indirect visual field image and judge whether faults exist or not;
if the fault exists, an alarm is displayed in the corresponding display area according to the occurrence position of the fault.
According to the scheme, the automatic driving controller and the vision processor can carry out hardware and system safety detection on the camera for acquiring the vision image besides carrying out safety analysis on the acquired indirect vision image, and can timely feed back the safety failure to the corresponding display area to display an alarm, so that a driver can timely acquire and park and maintain.
In a second aspect, a vehicle indirect vision system is provided.
A vehicle indirect vision system, comprising:
the system comprises a plurality of cameras, a plurality of camera control units and a control unit, wherein the cameras are respectively used for acquiring indirect visual field images, and the indirect visual field images comprise visual field images of a plurality of areas except for direct visual field areas at the front and two sides of a vehicle;
the automatic driving controller and the vision processor are connected with the camera and used for judging whether safety risks and risk areas exist according to the indirect vision image and the source of the indirect vision image;
a plurality of monitors provided in a vehicle cab and connected to the view processor for displaying the indirect view image;
and the diversion device is used for transmitting the indirect visual field image to an automatic driving controller and a visual field processor.
According to the scheme, the camera acquires a plurality of indirect visual field images including visual field blind areas on the outer side of the vehicle, the indirect visual field images are transmitted into the automatic driving controller and the visual field processor under the action of the shunting device, the indirect visual field images are transmitted to the monitor through the visual field processor to be displayed, meanwhile, safety analysis of the images is carried out on the automatic driving controller and the visual field processor, so that display warning can be carried out on the monitor in time when risks occur, the situation that a driver can pass through the plurality of monitors or the indirect visual field on the outer side of the vehicle is achieved, meanwhile, when risks occur in the indirect visual field, the existence of the risks can be directly known through the monitor, and the driving safety is greatly improved.
In some embodiments, the autopilot controller and the vision processor are both communicatively coupled to a vehicle CAN, such that the vision processor CAN obtain vehicle speed.
Through the scheme, the connection between the vision processor and the automatic driving controller is realized, meanwhile, the indirect vision control CAN acquire the speed of the vehicle at any time through the vehicle CAN communication, and then under different speeds, the system CAN take different safety analysis measures of indirect vision, so that the driving safety CAN be effectively ensured.
In some embodiments, an image security analyzer capable of running independently is disposed in the view processor, and is used for replacing the view processor to determine whether there is a security risk or a security risk area for the indirect view image and the source of the indirect view image when the vehicle speed is greater than a preset value.
Through the scheme, when the vehicle speed is greater than a preset value, the safety analysis of the indirect visual field image can be performed by the image safety analyzer, so that the computing power of the visual field processor is avoided, the visual field processor can timely convey the visual field image to the monitor for display when the vehicle speed is high, the delay of the image is reduced, meanwhile, the dual safety analysis of the visual field image can be still performed when the vehicle runs at a high speed, and the safety of the vehicle during the high-speed running is guaranteed in all aspects.
In some embodiments, the autopilot control data of the autopilot controller includes the indirect field of view image.
Through the scheme, the obtained indirect visual field images are simultaneously conveyed into the automatic driving controller and the visual field processor, so that the automatic driving controller can directly use the visual field images as data of the automatic driving system of the vehicle, the automatic driving controller is prevented from independently setting the cameras outside the vehicle again to acquire information, the setting quantity of the cameras outside the vehicle is effectively reduced, and cost is effectively controlled while more reasonable arrangement is realized.
In some embodiments, the plurality of cameras comprises:
the first camera is arranged in front of the vehicle and used for acquiring a VI-class view field and a V-class view field of the vehicle;
the second cameras are provided with two cameras and are respectively positioned at two sides of the vehicle, so as to obtain a class II view and a class IV view at two sides of the vehicle;
and the third camera is used for acquiring a blind area view field between the class VI view field and the class II view field of the side where the driver is located.
Through the scheme, the VI, V, II and IV fields of vision which are necessary for the vehicle are obtained through the first camera and the second camera, and meanwhile, the third camera is utilized to obtain the fields of vision blind areas on the outer side of the vehicle where the driver is located, so that the fields of vision in front of the vehicle and on the two sides of the vehicle can be smoothly displayed on the monitor, the driver can more comprehensively grasp the fields of vision on the periphery of the vehicle, and the safety during driving is guaranteed.
The technical scheme provided by the application has the beneficial effects that:
the embodiment of the application provides a method, which can realize that indirect view images in front of and on two sides of a vehicle, blind area view images and the like are finally transmitted to a display area for display by directly acquiring indirect view images, so that a driver can quickly grasp the view condition near the vehicle in the display area, avoid the driver from looking at the electronic rearview mirror or the physical rearview mirror on multiple sides in a multi-time head deflection manner, and simultaneously avoid the driver from consuming energy to adapt between the images of the electronic rearview mirror and the different types of images of the physical rearview mirror;
on the other hand, the obtained indirect visual field image is subjected to safety risk analysis in the automatic driving controller and the visual field processor at the same time when the vehicle speed is low, and can be timely reflected to a display area according to a risk area to display alarm when the risk exists, so that double risk analysis and judgment are realized, the safety of a driver when driving the vehicle is obviously improved, and the possibility of accident occurrence caused by accidental neglecting of the safety risk in an indirect visual field at a certain position by the driver is reduced;
finally, because the obtained indirect visual field images are simultaneously transmitted to the automatic driving controller and the visual field processor, the automatic driving controller can directly use the visual field images as data of the automatic driving system of the vehicle, the situation that the automatic driving controller is independently provided with cameras outside the vehicle again to collect information is avoided, the number of the cameras arranged outside the vehicle is effectively reduced, more reasonable arrangement is realized, and meanwhile, the cost is effectively controlled.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an overall system diagram provided by an embodiment of the present application;
FIG. 2 is a schematic view of various fields of view provided by an embodiment of the present application;
FIG. 3 is a schematic view of a blind zone field of view according to an embodiment of the present application;
fig. 4 is a schematic view of an in-cab monitor according to an embodiment of the present application.
In the figure:
1. an autopilot controller;
2. a field of view processor; 20. an image security analyzer;
3. a shunt device;
40. a first camera; 400. class VI field of view; 401. a class V field of view; 41. a second camera; 410. class II field of view; 411. class IV field of view; 42. a third camera; 420. a blind zone view;
50. a first monitor; 51. a second monitor;
6. vehicle CAN communication.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The electronic rearview mirror in the related art can only provide image information for a driver, can not automatically identify dangerous driving scenes, and can timely and accurately transmit dangerous information to the driver. The current electronic rearview mirror only realizes the indirect visual field of the left side and the right side, the front and side blind supplement areas are still traditional physical rearview mirrors, a driver needs to see the front traditional physical rearview mirror visual field for observing the indirect visual field of the front, the right blind supplement and the right rear, then looks at the electronic rearview mirror monitor visual field arranged near the A column, looks at the vehicle right side indirect visual field displayed by the blind supplement mirror, has the process of multi-time head deflection viewing, and needs to carry out judgment adaptation of different images between the monitor image and the physical image, thereby influencing the driving safety. In addition, the electronic rearview mirror is provided with a camera independent of an automatic driving system of the vehicle at the outer side of the vehicle, and functions between the cameras of the electronic rearview mirror and the camera are repeated, so that the redundant cameras of the vehicle and the arrangement of the camera outside a cab are difficult.
Therefore, the embodiment of the application provides a method and a system for providing an indirect view of a vehicle, so as to solve the problems.
In a first aspect, a method of providing an indirect view of a vehicle is provided.
A method of providing an indirect view of a vehicle, comprising the steps of:
s100, transmitting the indirect visual field image to an automatic driving controller 1, a visual field processor 2 and transmitting the indirect visual field image to a corresponding display area by the visual field processor 2;
s200, transmitting the indirect visual field image to an automatic driving controller 1, a visual field processor 2 and a corresponding display area;
s310, if the vehicle speed is lower than a preset value, the automatic driving controller 1 and the vision processor 2 judge whether safety risks and risk areas exist according to the indirect vision image and the source of the indirect vision image;
and if the risk exists, displaying an alarm in a corresponding display area according to the risk azimuth.
As shown in fig. 2, the obtained indirect view image includes a class II view 410, a class IV view 411, a class V view 401, and a class VI view 400 that satisfy the specification ECER46, and further includes a blind area view 420 between the class VI view 400 and the class II view 410 on the side where the driver of the vehicle is located. Further, when analyzing the acquired visual field image, the automatic driving controller 1 and the visual field processor 2 perform security risk presentation of different levels by using the analysis means in the related art, as compared with when the target object enters the dangerous area of different levels set around the own vehicle at different relative speeds. For example, when the relative speed between the target objects on two sides of the vehicle and the vehicle is 10Km/h, the first-level risk prompt is carried out when the distance from the rear end of the vehicle is 10m, and a yellow prompt icon is displayed in a display area through the visual field processor 2; and when the target objects on two sides of the vehicle are 5m away from the rearmost end of the vehicle, a secondary risk prompt is carried out, and a red prompt icon is displayed on a display area through the vision processor 2.
By means of the arrangement, indirect view images in front of and on two sides of a vehicle, blind area view 420 images and the like can be finally conveyed to a display area to be displayed through direct acquisition of indirect view images, and then a driver can quickly grasp view conditions near the vehicle in the display area, so that the driver is prevented from looking at the electronic rearview mirror or the physical rearview mirror on multiple sides in a head-off mode for multiple times, and the driver is prevented from wasting energy between the images of the electronic rearview mirror and different types of images of the physical rearview mirror to adapt;
on the other hand, the obtained indirect visual field image simultaneously carries out safety risk analysis in the automatic driving controller 1 and the visual field processor 2 when the vehicle speed is low, and can timely respond to a display area according to a risk area to carry out display alarm when the risk exists, so that double risk analysis and judgment are realized, the safety of a driver when driving the vehicle is obviously improved, and the possibility of accident occurrence caused by the fact that the driver accidentally ignores the safety risk in a certain indirect visual field is reduced;
finally, because the obtained indirect visual field images are simultaneously transmitted to the automatic driving controller 1 and the visual field processor 2, the automatic driving controller 1 can directly use the visual field images as data of an automatic driving system of the vehicle, the situation that the automatic driving controller 1 independently sets cameras outside the vehicle again to collect information is avoided, the setting quantity of the cameras outside the vehicle is effectively reduced, more reasonable arrangement is realized, and meanwhile, the cost is effectively controlled.
Optionally, the method for providing an indirect view of a vehicle further includes:
s320, if the vehicle speed is higher than a preset value, judging whether safety risks and risk areas exist only by the automatic driving controller 1 according to the indirect visual field images and the sources of the indirect visual field images;
and if the risk exists, displaying an alarm on a corresponding display area according to the risk azimuth.
Through the scheme, when the vehicle speed is higher, the safety time for reaction buffering between the vehicle and other objects is shorter, so that the view processor 2 can not quickly make image transmission and safety analysis of images in a short time, the automatic driving controller 1 is only used for carrying out safety analysis and judgment of the images, the risk reminding function is ensured, and meanwhile, the calculation force of the view processor 2 can be concentrated in timely conveying the indirect view images into the display area for viewing by a driver.
In addition, in order to perform security analysis of two indirect view images independently when the vehicle speed is greater than a preset value, in other embodiments, the method for providing an indirect view of the vehicle includes:
s320, if the vehicle speed is higher than a preset value, judging whether a safety risk and a risk area exist or not by an image analysis controller which is independently arranged in the automatic driving controller 1 and the vision processor 2 according to the indirect vision image and the source of the indirect vision image;
and if the risk exists, displaying an alarm on a corresponding display area according to the risk azimuth.
When the vehicle speed is higher than the preset value, the acquired indirect visual field image is analyzed by utilizing the image analysis controller independently arranged in the visual field processor 2, so that quick analysis and judgment can be realized under the condition that the computing power of the visual field processor 2 is not occupied, and further, double safety analysis of the indirect visual field image can be still carried out when the vehicle speed is higher by matching with the automatic driving controller 1, and the safety of the vehicle is further improved.
In some preferred embodiments, the autopilot controller 1 generates a display alert in the display area via the vision processor 2.
By the arrangement, the automatic driving controller 1 is interconnected with the display area in the vehicle, and when the image security analysis in any one of the automatic driving controller 1 and the vision processor 2 is at risk, the vision processor 2 can receive information and prompt and alarm the display area in the vehicle.
Optionally, the method for providing an indirect view of a vehicle further includes:
s400, the automatic driving controller 1 and the visual field processor 2 continuously detect hardware and system safety of a plurality of cameras for acquiring the indirect visual field images and judge whether faults exist or not;
if the fault exists, an alarm is displayed in the corresponding display area according to the occurrence position of the fault.
The steps S400, S310, and S320 can be analyzed after the step S200, so as to ensure that the image and the security structure of the hardware system can be obtained quickly.
The arrangement realizes that the automatic driving controller 1 and the vision processor 2 can carry out hardware and system safety detection on the camera for acquiring the vision image besides carrying out safety analysis on the acquired indirect vision image, and can timely feed back the safety failure to the corresponding display area for displaying an alarm, so that a driver can timely acquire and park and maintain.
In a second aspect, a vehicle indirect vision system is provided.
Referring to fig. 1, a vehicle indirect vision system, comprising:
the system comprises a plurality of cameras, a plurality of camera control units and a control unit, wherein the cameras are respectively used for acquiring indirect visual field images, and the indirect visual field images comprise visual field images of a plurality of areas except for direct visual field areas at the front and two sides of a vehicle;
the automatic driving controller 1 and the vision processor 2 are connected with the camera and used for judging whether safety risks and risk areas exist according to the indirect vision image and the source of the indirect vision image;
a plurality of monitors provided in a vehicle cab and connected to the view processor 2 for displaying the indirect view image;
and a shunt device 3 for transmitting the indirect view image to the automatic driving controller 1 and the view processor 2.
The camera obtains a plurality of indirect visual field images including visual field blind areas on the outer side of the vehicle, the indirect visual field images are transmitted into the automatic driving controller 1 and the visual field processor 2 under the action of the shunt device 3, the indirect visual field images are transmitted to the monitor through the visual field processor 2 to be displayed, meanwhile, safety analysis of the images is carried out on the automatic driving controller 1 and the visual field processor 2, so that display warning can be timely carried out on the monitor when risks occur, the situation that a driver can pass through a plurality of monitors or the indirect visual field on the outer side of the vehicle is realized, meanwhile, when risks occur in the indirect visual field, the existence of the risks can be directly known through the monitor, and the driving safety is greatly improved.
Referring to fig. 1, further, the autopilot controller 1 and the vision processor 2 are both connected to a vehicle CAN communication 6 to interconnect the two and to enable the vision processor 2 to obtain vehicle speed.
The system is arranged in such a way, the connection between the vision processor 2 and the automatic driving controller 1 is realized, meanwhile, the vehicle speed of the vehicle CAN be obtained at any time through the vehicle CAN communication 6 in indirect vision control, and then under different vehicle speeds, the system CAN adopt different safety analysis measures of indirect vision, so that the driving safety CAN be effectively ensured.
Referring to fig. 1, further, an image security analyzer 20 capable of running independently is provided in the view processor 2, and is used for determining whether there is a security risk or a risk area instead of the view processor 2 for the indirect view image and the source of the indirect view image when the vehicle speed is greater than a preset value.
By the arrangement, when the vehicle speed is greater than a preset value, the safety analysis of the indirect visual field image can be performed by the image safety analyzer 20, so that the computing power of the visual field processor 2 is avoided, the visual field processor 2 can timely convey the visual field image to the monitor for display when the vehicle speed is high, the delay of the image is reduced, meanwhile, the dual safety analysis of the visual field image can be performed when the vehicle runs at a high speed, and the safety of the vehicle during the high-speed running is guaranteed in all aspects.
Further, the automatic driving control data of the automatic driving controller 1 includes the indirect view image.
Through the scheme, the obtained indirect visual field images are simultaneously conveyed into the automatic driving controller 1 and the visual field processor 2, so that the automatic driving controller 1 can directly use the visual field images as data of an automatic driving system of a vehicle, the automatic driving controller 1 is prevented from independently setting cameras outside the vehicle again to acquire information, the setting quantity of the cameras outside the vehicle can be effectively reduced, more reasonable arrangement is realized, and meanwhile, the cost is effectively controlled.
Referring to fig. 1, in a preferred embodiment, a plurality of the cameras includes:
a first camera 40 provided in front of the vehicle for acquiring a class VI field of view 400 and a class V field of view 401 of the vehicle;
the second camera 41 is provided with two cameras and is respectively positioned at two sides of the vehicle, so as to obtain a class II view 410 and a class IV view 411 at two sides of the vehicle;
a third camera 42 for acquiring a blind zone view 420 between a class VI view 400 and a class II view 410 of the driver's side.
Referring to fig. 2-3, the third camera 42 is disposed outside the vehicle on the side where the driver is located, and is configured to obtain a blind area view 420 between the class VI view 400 and the class II view 410, and it should be noted that at least a partial overlap exists between two ends of the range where the third camera 42 can obtain the view and the views of the first camera 40 and the second camera 41, so as to ensure that the third camera 42 can completely obtain the blind area view 420 between the views where the first camera 40 and the second camera 41 can obtain. Finally, the driver can acquire the front view and the view at the two sides of the vehicle through three types of cameras, and the existence of the blind areas of the view in the areas is avoided.
Through the above scheme, the VI type visual field 400, the V type visual field 401, the II type visual field 410 and the IV type visual field 411 which are necessary for the vehicle are obtained through the first camera 40 and the second camera 41, and meanwhile, the blind area visual field 420 is obtained for the visual field blind area on the outer side of the vehicle where the driver is located through the third camera 42, so that the visual fields on the front side and the two sides of the vehicle can be smoothly displayed on the monitor, the driver can more comprehensively grasp the visual field on the periphery of the vehicle, and the safety during driving is ensured.
Referring to fig. 1 and 4, in the present embodiment, first monitors 50 are disposed in the vehicle cab corresponding to the class II and class IV view 411 on one side and the class II view, class IV view and blind area view 420 on the other side of the vehicle, the two first monitors 50 are distributed in the column a areas on both sides of the cab, and the display areas of the respective view images are sequentially arranged in the up-down direction on the first monitors 50. A second monitor 51 for displaying the class VI field of view, class V field of view 401, is also provided in the vehicle and is located on a side of the vehicle away from the driver so as to conform to the driver's sense of spatial orientation. Further, the first monitor 50 and the second monitor 51 can realize an indirect view image in which each region can be quickly and reasonably viewed in the cab.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that in the present application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for providing an indirect view of a vehicle, comprising the steps of:
acquiring an indirect visual field image, wherein the indirect visual field image comprises visual field images of a plurality of areas except for a direct visual field area at the front and two sides of a vehicle;
transmitting the indirect view image to an automatic driving controller (1), a view processor (2) and transmitting the indirect view image to a corresponding display area by the view processor (2);
if the speed of the vehicle is lower than a preset value, the automatic driving controller (1) and the vision processor (2) judge whether safety risks and risk areas exist according to the indirect vision image and the source of the indirect vision image;
and if the risk exists, displaying an alarm in a corresponding display area according to the risk azimuth.
2. The method according to claim 1, wherein if the vehicle speed is higher than a preset value, the automatic driving controller (1) determines whether or not there is a safety risk and a risk region based on the indirect view image and the source of the indirect view image;
and if the risk exists, displaying an alarm on a corresponding display area according to the risk azimuth.
3. The method for providing an indirect view of a vehicle according to claim 1, further comprising:
if the speed of the vehicle is higher than a preset value, judging whether a safety risk and a risk area exist or not by an image analysis controller which is independently arranged in the automatic driving controller (1) and the vision processor (2) according to the indirect vision image and the source of the indirect vision image;
and if the risk exists, displaying an alarm on a corresponding display area according to the risk azimuth.
4. The method for providing an indirect view of a vehicle according to claim 1, characterized in that the automatic driving controller (1) gives a display warning of a display area through the view processor (2).
5. The method for providing an indirect view of a vehicle according to claim 1, further comprising:
the automatic driving controller (1) and the visual field processor (2) continuously detect hardware and system safety of a plurality of cameras for acquiring the indirect visual field images and judge whether faults exist or not;
if the fault exists, an alarm is displayed in the corresponding display area according to the occurrence position of the fault.
6. An indirect vision system for a vehicle, comprising:
the system comprises a plurality of cameras, a plurality of camera control units and a control unit, wherein the cameras are respectively used for acquiring indirect visual field images, and the indirect visual field images comprise visual field images of a plurality of areas except for direct visual field areas at the front and two sides of a vehicle;
the automatic driving controller (1) and the vision processor (2) are connected with the camera and used for judging whether safety risks and risk areas exist according to the indirect vision image and the sources of the indirect vision image when the vehicle speed is lower than a preset value;
a plurality of monitors provided in a vehicle cab and connected to the view processor (2) for displaying the indirect view image;
-a diverting means (3) for transmitting said indirect view image to an automatic driving controller (1) and a view processor (2).
7. The vehicle indirect vision system according to claim 6, characterized in that the automatic driving controller (1) and the vision processor (2) are both connected to a vehicle CAN communication (6) to interconnect the two and to make the vision processor (2) available for vehicle speed.
8. The indirect view system of the vehicle according to claim 6, wherein the view processor (2) is provided with an independently operable image safety analyzer (20) for determining whether or not there is a safety risk or a risk area for the indirect view image and the source of the indirect view image instead of the view processor (2) when the vehicle speed is greater than a preset value.
9. The vehicle indirect-view system according to claim 6, characterized in that the automatic driving control data of the automatic driving controller (1) comprises the indirect-view image.
10. The vehicle indirect vision system of claim 6, wherein a plurality of the cameras comprise:
a first camera (40) provided in front of the vehicle for acquiring a class VI view (400) and a class V view (401) of the vehicle;
the second cameras (41) are provided with two cameras and are respectively positioned at two sides of the vehicle, so as to obtain a class II view field (410) and a class IV view field (411) at two sides of the vehicle;
and the third camera (42) is used for acquiring a blind area visual field (420) between the class VI visual field (400) and the class II visual field (410) of the side where the driver is located.
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| CN202210206226.1A CN114394051B (en) | 2022-02-28 | 2022-02-28 | Method and system for providing indirect view of vehicle |
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