CN117261768A - Electronic rearview mirror control method and system capable of automatically adjusting visual field - Google Patents
Electronic rearview mirror control method and system capable of automatically adjusting visual field Download PDFInfo
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- CN117261768A CN117261768A CN202311410496.5A CN202311410496A CN117261768A CN 117261768 A CN117261768 A CN 117261768A CN 202311410496 A CN202311410496 A CN 202311410496A CN 117261768 A CN117261768 A CN 117261768A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000004886 head movement Effects 0.000 claims abstract description 41
- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- 238000013519 translation Methods 0.000 claims abstract description 21
- 238000012545 processing Methods 0.000 claims abstract description 14
- 210000003128 head Anatomy 0.000 claims description 37
- 238000004891 communication Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 230000004913 activation Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000013589 supplement Substances 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
- B60R1/20—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
- B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/28—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
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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
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
- B60R2300/605—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint the adjustment being automatic
-
- 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
- B60R2300/8046—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 replacing a rear-view mirror system
-
- 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
- B60R2300/8073—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 vehicle security, e.g. parked vehicle surveillance, burglar detection
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
An electronic rearview mirror control method capable of automatically adjusting visual field and a system thereof, comprising the following steps: acquiring an initial position of an eye point of a driver; step two: acquiring the moving distance of the eyepoint; step three: calculating the head movement angle of the driver; step four: calculating the number of the visual field translation angles; step five: the image processing unit adjusts the field of view of the display unit according to the calculated field of view translation angle. According to the invention, the head movement condition of the driver is obtained through the driver monitoring unit and the driver image acquisition unit, so that the field of view of the electronic rearview mirror is automatically adjusted according to the head movement condition of the driver, and the effect of the extra field of view obtained by the head movement of the traditional rearview mirror is achieved; in addition, the method for calculating the translation angle of the visual field of the electronic rearview mirror is adopted, and the visual field image acquisition unit or the display unit of the electronic rearview mirror system is used as a datum point to calculate the angle of head movement so as to simulate the head movement of the traditional rearview mirror to the greatest extent and acquire the effect of additional visual fields.
Description
Technical Field
The invention relates to an electronic rearview mirror system capable of automatically adjusting a visual field.
Background
In motor vehicles, law requires that a certain number of indirect vision devices, typically consisting of sight glasses, must be provided to provide the driver with a field of view that ensures that the driver can see the environment around the vehicle in the cab. In recent years, a scheme of replacing the sight glass by a Camera Monitoring System (CMS), namely an electronic rearview mirror, has appeared due to the large wind resistance, small visual field, bad weather due to rain and snow, bad night visibility and the like. The electronic outside rear-view mirror system can widen the visual field for a driver, increase the visual distance, improve the driving safety and obtain legal approval.
In order to distinguish electronic rearview mirrors, afternoon mirrors are called conventional rearview mirrors, surrounding environments are observed through light reflection, and visual fields are different when the sitting posture and the head position of a driver are different, in a vehicle provided with the conventional rearview mirrors, the driver often obtains an additional visual field through head movement under special driving conditions such as reversing, rotating discs and the like, the visual field of the vehicle provided with the conventional rearview mirrors can be represented by fig. 1, a is the minimum visual field required by regulations such as GB15084, b is the additional indirect visual field beyond the regulations provided by a vehicle manufacturer, and c is the additional visual field range obtained by the head movement. Studies have shown that conventional rearview mirrors provide a considerable additional field of view through head movement, as compared to the minimum field of view required by regulations and the additional field of view provided by the vehicle manufacturer.
Unlike conventional rearview mirrors, however, where the electronic rearview mirror (CMS) is configured to capture a field of view through a camera and the field of view of the camera is fixed, the electronic rearview mirror lacks the additional field of view provided by head movement as compared to conventional rearview mirrors, and thus, regulations such as GB15084 require that the electronic rearview mirror (CMS) should be able to temporarily adjust the field of view under certain special driving conditions, such as lane merging, parking, etc., to capture additional fields of view.
In the prior art, there are two ways of adjusting the field of view of an electronic rearview mirror. The temporary adjustment view of the electronic rearview mirror is actually used for simulating the additional view acquired by the traditional rearview mirror through head movement, and the current implementation method generally has two types: 1. manual activation: when a switch is arranged in the vehicle and a driver presses the switch, an electronic rearview mirror (CMS) is switched to temporarily adjust the visual field by changing the magnification, the visual field translation and the like. 2. Automatic activation: the electronic rearview mirror automatically enters a temporary adjustment view according to the running state of the vehicle, wherein the running state of the vehicle comprises low-speed running, high-speed running, turning, reversing and the like, and the vehicle speed signal, the reverse gear signal, the steering signal and the like from the whole vehicle are judged.
At present, two technical schemes have certain disadvantages: 1. manual activation: manual operation is needed in the driving process, the convenience is poor, and the driving safety is affected. 2. Automatic activation: depending on the running state information provided by the whole vehicle, such as steering signals, reversing signals and the like, the vehicle can be started only in specific scenes, and all application scenes cannot be covered. Both schemes cannot be well adapted to the intention and habit of a driver, and have poor convenience and influence on driving safety.
Disclosure of Invention
The invention aims to solve the technical problems that: the electronic rearview mirror system aims at solving the problems that in the prior art, an electronic rearview mirror system realizes an extra view obtained by head movement of a traditional rearview mirror through temporarily adjusting the view, and the temporary view is triggered manually or according to the running state of a vehicle, so that manual intervention of a driver is required, the coverage scene is incomplete, and the intention of the driver cannot be responded in time, and potential safety hazards exist. According to the invention, the visual field of the electronic rearview mirror is automatically regulated according to the head movement of the driver, so that the visual field of the electronic rearview mirror timely responds to the intention of the driver without manual intervention, and the convenience and safety are improved.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
an electronic rearview mirror control method capable of automatically adjusting visual field comprises the following steps:
step one: acquiring an initial position of an eye point of a driver: the method comprises the steps that a driver head image is obtained through a driver image collecting unit, the sight line gazing position of a driver is identified according to the driver head image, when the driver gazes at an electronic rearview mirror display screen, the space position coordinates of two eyes of the driver are obtained, and the midpoint of a connecting line of the two eyes is used as the initial position of an eye point of the driver;
step two: acquiring the eye point moving distance: when the driver looks at the electronic rearview mirror display screen and the head moves, the driver monitoring unit is used for identifying the transverse movement distance deltax and the longitudinal movement distance deltay of the driver's eye point relative to the initial position;
step three: calculating the head movement angle of the driver: when the head of the driver does not move, calculating a horizontal transverse distance x and a horizontal longitudinal distance y from the initial position of the driver's eyepoint to the center of the camera, and connecting an included angle 2 between a vertical plane connecting the center of the camera and the driver's reference eyepoint and a vehicle longitudinal reference plane; after the head of the driver moves, the angle between the vertical plane connecting the center of the visual field image acquisition unit and the driver reference eye point and the vehicle longitudinal reference plane is +.4=arctan ((x+Δx)/(y+Δy)); the head movement angle of the driver is 3= 4- < 2;
step four: calculating a view translation angle: a default view angle +.1, a view translation angle, that is, an angle of inward or outward movement of the default view angle +.1, wherein the view translation angle is related to the head movement angle +.3 of the driver calculated in the step two, and the view translation angle = 3 x a, a is a correction coefficient;
step five: the image processing unit adjusts the field of view of the display unit according to the calculated field of view translation angle.
The electronic rearview mirror system capable of automatically adjusting the visual field by adopting the method comprises a driver image acquisition unit, a driver state monitoring unit, a visual field image acquisition unit, an image processing unit and a display unit; the visual field image acquisition unit consists of a plurality of cameras and is used for acquiring visual field images of a left rear main visual field, a left rear wide-angle visual field, a right rear main visual field, a right rear wide-angle visual field, a front visual field and a blind supplementing visual field; the driver image acquisition unit is at least composed of a single-eye, double-eye or infrared camera and is used for acquiring the head image of the driver; the driver state monitoring unit is used for positioning the position of the head of the driver according to the acquired image of the head of the driver so as to analyze the movement of the head of the driver; the image processing unit performs image quality optimization, splicing and combination operation on the visual field images, and simultaneously automatically adjusts the displayed visual field range according to the head movement condition of the driver; the display unit displays the processed view image.
In the present invention, the driver state monitoring unit and the image processing unit are integrated.
The driver status monitoring unit is integrated in the driver monitoring system or the intelligent cabin system and then sends the driver status information to the electronic rear view mirror system via a communication link.
Compared with the prior art, the invention has the following advantages: the head movement condition of the driver is acquired through the driver monitoring unit and the driver image acquisition unit, so that the view field of the electronic rearview mirror is automatically adjusted according to the head movement condition of the driver, and the effect of the extra view field obtained by the head movement of the traditional rearview mirror is achieved; in addition, the method for calculating the translation angle of the visual field of the electronic rearview mirror is adopted, and the visual field image acquisition unit (camera) or the display unit (display screen) of the electronic rearview mirror system is used as a datum point to calculate the angle of head movement, so that the effect of acquiring extra visual fields by simulating the head movement of the traditional rearview mirror to the greatest extent is achieved, and the visual field adjustment accords with the subjective intention of a driver.
Drawings
FIG. 1 is an additional view of a prior art simulated conventional rearview mirror acquired through head movement;
FIG. 2 is a schematic diagram of the present invention;
fig. 3 is a schematic diagram of the calculation of the head movement angle of the driver in the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
As shown in fig. 1 and 2, an electronic rearview mirror control method and system for automatically adjusting a visual field are based on the following principle: the state of the driver is monitored, the visual field range displayed by the electronic rearview mirror (CMS) is automatically adjusted according to the head movement of the driver, the additional visual field is quickly and conveniently obtained, and the interference of the existing scheme on normal driving is reduced.
An electronic rearview mirror control method capable of automatically adjusting visual field comprises the following steps:
step one: acquiring an initial position of an eye point of a driver: the method comprises the steps of obtaining a driver head image through a driver image collecting unit, identifying the sight line gazing position of a driver according to the driver head image, obtaining the space position coordinates of two eyes of the driver when the driver gazes at an electronic rearview mirror display screen (display unit) is detected, and taking the midpoint of a connecting line of the two eyes as the initial position of the eyes of the driver. In the implementation, the spatial position coordinates of the two eyes of the driver can be obtained through coordinate conversion according to the obtained coordinates of the two-eye image in the head image of the driver.
Step two: acquiring the eye point moving distance: when the driver looks at the electronic rear view mirror display screen (display unit), the lateral movement distance deltax and the longitudinal movement distance deltay of the driver's eye point with respect to the initial position are recognized by the driver monitoring unit while the head moves.
Step three: calculating the head movement angle of the driver: as shown in fig. 3, when the head of the driver is not moving, calculating a horizontal transverse distance x and a horizontal longitudinal distance y from the initial position of the driver's eye point to the center (known coordinates) of the camera, and connecting an included angle 2 between a vertical plane connecting the center of the camera and the reference eye point of the driver and the longitudinal reference plane of the vehicle; after the head of the driver moves, the angle between the vertical plane connecting the center of the visual field image acquisition unit (camera) and the driver reference eye point and the vehicle longitudinal reference plane +.4=arctan ((x+Δx)/(y+Δy)); the head movement angle of the driver is 3= 4- < 2.
Step four: calculating a view translation angle: the default view angle is less than 1, the view translation angle is the angle of the default view angle which is moved inwards (on the side of the vehicle body) or outwards (away from the vehicle body), the view translation angle is related to the head movement angle of the driver which is calculated in the step two, the view translation angle is less than 3 x a, a is a correction coefficient, and calibration can be set according to different vehicle types and user habits.
Step five: the image processing unit adjusts the field of view of the display unit according to the calculated field of view translation angle.
It should be noted that, in the present invention, the angle of the head movement is calculated by taking the center of the camera as a reference, the effect of the present invention is not greatly affected by the selection of the reference points, and different reference points can be corrected according to the coefficient a in the step 4, so that the alternative scheme is that the reference points select the center of the display screen or other parts on the whole vehicle, and the similar effect is achieved by correcting the coefficient a.
An electronic rearview mirror system capable of automatically adjusting visual field comprises a driver image acquisition unit, a driver state monitoring unit, a visual field image acquisition unit, an image processing unit and a display unit. The visual field image acquisition unit consists of a plurality of cameras and is used for acquiring visual field images of a left rear main visual field, a left rear wide-angle visual field, a right rear main visual field, a right rear wide-angle visual field, a front visual field, a blind-supplement visual field and the like, and setting the visual field images according to different vehicle type requirements and regulation requirements; the driver image acquisition unit is at least composed of a single-eye, double-eye or infrared camera and is used for acquiring the head image of the driver; the driver state monitoring unit is used for positioning the position of the head of the driver according to the acquired image of the head of the driver so as to analyze the movement of the head of the driver; the image processing unit performs operations such as image quality optimization, splicing, combination and the like on the visual field images, and simultaneously automatically adjusts the displayed visual field range according to the head movement condition of the driver; the display unit displays the processed view image.
Further, in the present invention, the driver state monitoring unit and the image processing unit are integrated, and in a specific scheme, the image processing unit has a function of driver state monitoring.
Further, the driver state monitoring unit is integrated in other monitoring systems of the whole vehicle, such as a Driver Monitoring System (DMS), an intelligent cabin, etc., and then sends the driver state information (information of initial position of the driver's eye point, moving distance, etc.) to the electronic rearview mirror system through a communication link such as CAN, ethernet, etc.
Further, the driver image acquisition unit and the driver state monitoring unit in the present invention are used for locating the coordinates of the eyes and the moving distance (Δx, Δy) of the eyes of the driver, for monitoring the head movement of the driver, and other schemes for locating the head of the driver, such as a sound source locating device or an ultrasonic locating device based on a microphone array, etc., can be adopted in practice.
In summary, the principle of the invention is:
1. the key innovation point of the invention is that the electronic rearview mirror system is provided with a driver monitoring unit and a driver image acquisition unit, and the head movement condition of the driver is acquired through the driver monitoring unit and the driver image acquisition unit, so that the visual field of the electronic rearview mirror is automatically regulated according to the head movement condition of the driver, and the effect of the extra visual field obtained by the head movement of the traditional rearview mirror is achieved.
2. The other key innovation point of the invention is a calculation method of the electronic rearview mirror visual field translation angle, and the visual field image acquisition unit (camera) or the display unit (display screen) of the electronic rearview mirror system is used as a reference point to calculate the head movement angle so as to simulate the traditional rearview mirror head movement to the maximum extent and acquire the additional visual field effect, so that the visual field adjustment accords with the subjective intention of a driver.
3. The other key innovation point of the invention is a method for determining the head initial position of the driver, which is characterized in that the head initial positions of different drivers are different because of the difference of heights and habits of the drivers, the head initial positions of the different drivers are required to be determined firstly for accurately identifying the head movement and the movement distance of the driver, and the head initial positions of the different drivers are automatically updated along with the adjustment of the seats of the drivers. The invention takes the display unit (display screen) for detecting the gaze of the driver on the electronic rearview mirror as a trigger signal, the driver image acquisition unit acquires the face image of the driver at the moment, the driver state monitoring unit recognizes the space positions of the two eyes at the moment, and takes the midpoint of the connecting line of the two eyes as the initial eye point position, namely the initial head position. And, when the driver looks at the electronic rear view mirror display unit (display screen) again, the head initial position is repositioned, so that the initial head position can be automatically adjusted according to different drivers and different seat positions.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that several changes and modifications can be made without departing from the general inventive concept, and these should also be regarded as the scope of the invention.
Claims (4)
1. An electronic rearview mirror control method capable of automatically adjusting visual field is characterized in that: the method comprises the following steps:
step one: acquiring an initial position of an eye point of a driver: the method comprises the steps that a driver head image is obtained through a driver image collecting unit, the sight line gazing position of a driver is identified according to the driver head image, when the driver gazes at an electronic rearview mirror display screen, the space position coordinates of two eyes of the driver are obtained, and the midpoint of a connecting line of the two eyes is used as the initial position of an eye point of the driver;
step two: acquiring the eye point moving distance: when the driver looks at the electronic rearview mirror display screen and the head moves, the driver monitoring unit is used for identifying the transverse movement distance deltax and the longitudinal movement distance deltay of the driver's eye point relative to the initial position;
step three: calculating the head movement angle of the driver: when the head of the driver does not move, calculating a horizontal transverse distance x and a horizontal longitudinal distance y from the initial position of the driver's eyepoint to the center of the camera, and connecting an included angle 2 between a vertical plane connecting the center of the camera and the driver's reference eyepoint and a vehicle longitudinal reference plane; after the head of the driver moves, the angle between the vertical plane connecting the center of the visual field image acquisition unit and the driver reference eye point and the vehicle longitudinal reference plane is +.4=arctan ((x+Δx)/(y+Δy)); the head movement angle of the driver is 3= 4- < 2;
step four: calculating a view translation angle: a default view angle +.1, a view translation angle, that is, an angle of inward or outward movement of the default view angle +.1, wherein the view translation angle is related to the head movement angle +.3 of the driver calculated in the step two, and the view translation angle = 3 x a, a is a correction coefficient;
step five: the image processing unit adjusts the field of view of the display unit according to the calculated field of view translation angle.
2. An automatically adjusting field of view electronic rearview mirror system employing the method of claim 1, wherein: the system consists of a driver image acquisition unit, a driver state monitoring unit, a visual field image acquisition unit, an image processing unit and a display unit; the visual field image acquisition unit consists of a plurality of cameras and is used for acquiring visual field images of a left rear main visual field, a left rear wide-angle visual field, a right rear main visual field, a right rear wide-angle visual field, a front visual field and a blind supplementing visual field; the driver image acquisition unit is at least composed of a single-eye, double-eye or infrared camera and is used for acquiring the head image of the driver; the driver state monitoring unit is used for positioning the position of the head of the driver according to the acquired image of the head of the driver so as to analyze the movement of the head of the driver; the image processing unit performs image quality optimization, splicing and combination operation on the visual field images, and simultaneously automatically adjusts the displayed visual field range according to the head movement condition of the driver; the display unit displays the processed view image.
3. The automatically adjusting field of view electronic rearview mirror system of claim 2, wherein: in the present invention, the driver state monitoring unit and the image processing unit are integrated.
4. The automatically adjusting field of view electronic rearview mirror system of claim 2, wherein: the driver status monitoring unit is integrated in the driver monitoring system or the intelligent cabin system and then sends the driver status information to the electronic rear view mirror system via a communication link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311410496.5A CN117261768A (en) | 2023-10-27 | 2023-10-27 | Electronic rearview mirror control method and system capable of automatically adjusting visual field |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311410496.5A CN117261768A (en) | 2023-10-27 | 2023-10-27 | Electronic rearview mirror control method and system capable of automatically adjusting visual field |
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| CN117261768A true CN117261768A (en) | 2023-12-22 |
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| CN202311410496.5A Pending CN117261768A (en) | 2023-10-27 | 2023-10-27 | Electronic rearview mirror control method and system capable of automatically adjusting visual field |
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| CN (1) | CN117261768A (en) |
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- 2023-10-27 CN CN202311410496.5A patent/CN117261768A/en active Pending
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