CN202966138U - Car 360-degree ambient environment reconstruction system based on vehicle network - Google Patents
Car 360-degree ambient environment reconstruction system based on vehicle network Download PDFInfo
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- CN202966138U CN202966138U CN201220479220.3U CN201220479220U CN202966138U CN 202966138 U CN202966138 U CN 202966138U CN 201220479220 U CN201220479220 U CN 201220479220U CN 202966138 U CN202966138 U CN 202966138U
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Abstract
The utility model discloses a car 360-degree ambient environment reconstruction system based on a vehicle network. The system comprises a video acquisition module, a video encoding and decoding module connected with the video acquisition module, an image processing module connected with the video encoding and decoding module, an image display module connected, a memory module, a vehicle network terminal interface and a power module, wherein the image display module connected, the memory module and the vehicle network terminal interface are connected with the image processing module. According to the utility model, a high-performance image processor with a Vinci processing structure is adopted to realize stitching and fusion of vertical images of processed images in four directions, so that the system has higher data processing capability, high real-time performance and wider range of application and is not restricted to parking and other occasions in which the driving speeds of cars are lower; and the system is provided with the vehicle network terminal interface which can be connected with users, so that the traffic information of a whole city, the information of adjacent cars and the like can be acquired, and various functions provided by vehicle network service providers can be enjoyed.
Description
Technical field
The utility model relates to technical field of automotive electronics, particularly relates to a kind of 360 ° of environment reconstruction systems of vehicle periphery based on the car networking.
Background technology
the car networking is that the typical case of Internet of Things uses, it is take automobile as information node, integrated all types of sensor, set up M2M interconnected, realize the slitless connection of perception and communication, make information and the preventing road monitoring system of board units, traffic control system, the garage parking system, the 4 S auto shop service system, insurance system, road medical aid system, the increased value service system that daily life is relevant etc., be incorporated into the power networks and form a powerful automobile Internet of Things, and take automobile and driver as target customers, by powerful background data base, carry out orientation analysis and behavioural analysis, carry out the professional system solution of derivative consumption service.Car networking terminal except having present main flow car-mounted terminal all functions, the also integrated personalized car the Internet services of various customizations.As the picker of traffic information, for traffic department provides in detail, accurate original data; As the user of transport services, for the car owner provides traffic information required under specified conditions.Finally by setting up the information system take automobile as node, reach transport solution and block up, reduce energy consumption, realize the target that the efficient management of government and intelligent and safe are driven.
The car networking will realize that an important goal is the active safety of vehicle, and it is dangerous that active safety is intended to predict possible traffic accident, makes chaufeur can take measures in advance to evade traffic accident.Data shows, chaufeur has caused a large amount of traffic accidents to the environment under estimate around driving vehicle.When chaufeur only depends on the front and back visor of automobile to observe vehicle-periphery at present, there is vision dead zone, can not obtains comprehensive vehicle-periphery information.Therefore researching and developing a kind of chaufeur that can allow perceives 360 ° of environmental information systems of vehicle body surrounding, and shows in a kind of mode that meets the human vision custom, can increase substantially vehicle active safety in motion.
Application number is that 201120209228.3 and 201120267640.0 Chinese patent application is mainly constantly carried out the vehicle's surroundings panoramic picture and gathered and use parking, and its system does not possess the interface with the networking vehicle mounted terminal of car, can't adapt to the growth requirement of car networking.It adopts DM642 treater and four block coding/decoding devices to realize, the scheme chip reason ability that this scheme adopts than us a little less than, computational efficiency is low, this scheme cost is higher.Application number is that 201120182503.7 Chinese patent application adopts four cameras to be installed on the vehicle top, and is higher to installation requirement, and it adopts infrared camera, is mainly used in night, and cost is higher.The same existence of this scheme can not be applied to the problem of car networking.
Therefore, for above-mentioned technical matters, be necessary to provide a kind of 360 ° of environment reconstruction systems of vehicle periphery based on the car networking, to overcome defects.
The utility model content
In view of this, the utility model provides a kind of 360 ° of environment reconstruction systems of vehicle periphery based on the car networking, it can be linked into the car networking, can provide vehicle's surroundings 360 ° of environmental informations for chaufeur, and the field of application of system not only is restricted to the slower situations of the speed of a motor vehicle such as vehicle parking.
To achieve these goals, the technical scheme that provides of the utility model embodiment is as follows:
A kind of 360 ° of environment reconstruction systems of vehicle periphery based on the car networking, described system comprises:
Video acquisition module comprises some wide-angle cameras of being located at vehicle's surroundings;
Be used for the coding and decoding video module that image with the video acquisition module collection carries out being combined into after encoding and decoding one tunnel vision signal, described coding and decoding video module is connected with video acquisition module;
Be used for the overhead view image that covers 360 ° of ambient environment of vehicle body and the image processing module of exporting are processed, are fused into to the vision signal of coding and decoding video module, described image processing module is connected with the coding and decoding video module;
Be used for accepting the overhead view image of image processing module output and the image display that shows, described image display is connected with image processing module;
Memory module, described memory module is connected with image processing module, and memory module comprises DDR2, Flash storage medium;
Car networking terminal interface is connected with described image processing module, and car networking terminal interface comprises video image interface and control line interface;
Be used to the power module of described system power supply.
As further improvement of the utility model, in described video acquisition module, wide-angle camera is made as 4, and described wide-angle camera is the visual angle greater than CCD or the CMOS camera of 180 °.
As further improvement of the utility model, described wide-angle camera comprises:
Front camera is installed on vehicle exhaust fan top and is positioned at the vehicle width center, the shooting angle of described front camera be oblique lower outside vehicle body scene;
Right camera is installed on the below of right back visor, and the shooting angle of described right camera is oblique lower outside vehicle body;
Left camera is installed on the below of left-hand mirror, and the shooting angle of described left camera is oblique lower outside vehicle body;
Rear camera is installed on car plate top and is positioned at the center of vehicle width, the shooting angle of described rear camera be oblique lower outside vehicle body scene.
As further improvement of the utility model, described image processing module comprises:
Be used for vision signal and carry out the image demultiplexing unit of demultiplexing;
Be used for image is carried out the image correction unit of distortion correction;
For the image transforming unit that image is carried out the aerial view conversion;
Be used for image is spliced the image co-registration unit of fusion;
Be used for image is carried out the image optimization unit that follow-up vision is optimized.
As further improvement of the utility model, described image processing module comprises DM6437 or DM6446 or DM6467 image processor; Described coding and decoding video module comprises the TVP5158 codec chip.
As further improvement of the utility model, in described memory module, the content of DDR2 storage medium stores comprises image buffer, program code and self-triggered program.
As further improvement of the utility model, the interface between described image display and image processing module is composite video interface.
As further improvement of the utility model, described video image interface is S terminal or composite video interface, and the control line interface is I2C bus or spi bus.
As further improvement of the utility model, described system also comprises the crystal oscillator module for generation of oscillator signal, and the crystal oscillator module comprises active crystal oscillator and passive crystal oscillator.
As further improvement of the utility model, described system also comprises for the supplementary module of assisting whole system according to the systemic-function work of setting.
The 360 ° of environment reconstruction systems of vehicle periphery based on the car networking that the utility model proposes adopt the performance-oriented Leonardo da Vinci of possessing to process the splicing fusion that the structural images treater is realized four road images processing overhead view images, the system data processing capacity is stronger, real-time is high, field of application is more extensive, and the slower occasion of running speed such as be not limited to park;
System is provided with car networking terminal interface, can make the user be connected to car networking terminal, and then can obtain the traffic information in whole city, adjacent information of vehicles etc., enjoys the various functions that car the Internet services business provides.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, the accompanying drawing that the following describes is only some embodiment that put down in writing in the utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is that the utility model is based on the module diagram of 360 ° of environment reconstruction systems of vehicle periphery of car networking;
Fig. 2 is that the utility model is based on the workflow diagram of 360 ° of environment reconstruction systems of vehicle periphery of car networking;
Fig. 3 is the scheme of installation of camera in video acquisition module in the utility model one embodiment;
Fig. 4 is the schematic diagram in camera collection zone in video acquisition module in the utility model one embodiment;
Fig. 5 is the demonstration schematic diagram of image display in another embodiment of the utility model.
The specific embodiment
In order to make those skilled in the art person understand better technical scheme in the utility model, below in conjunction with the accompanying drawing in the utility model embodiment, technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that obtains under the creative work prerequisite, all should belong to the scope of the utility model protection.
Ginseng Fig. 1, Fig. 2 are the utility model based on module diagram and the workflow diagram of 360 ° of environment reconstruction systems of vehicle periphery of car networking, and this system comprises:
Coding and decoding video module 20 is connected with video acquisition module, is used for the image of video acquisition module collection is carried out being combined into one tunnel vision signal after encoding and decoding;
Car networking terminal interface 60 is connected with image processing module, and car networking terminal interface comprises video image interface and control line interface;
Further, this system also comprises
Join shown in Figure 3, preferably in video acquisition module 10, wide-angle camera is made as 4,4 wide-angle cameras are the visual angle greater than CCD (the Charge-coupled Device of 180 °, charge coupled cell) or CMOS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor) camera, be responsible for taking the ambient image of vehicle's surroundings, specifically comprise:
Front camera 11 (CF) is installed on vehicle exhaust fan top and is positioned at the vehicle width center, the shooting angle of front camera 11 be oblique lower outside vehicle body scene;
Right camera 12 (CR) is installed on the below of right back visor, and the shooting angle of right camera 12 is oblique lower outside vehicle body;
Left camera 13 (CL) is installed on the below of left-hand mirror, and the shooting angle of left camera 13 is oblique lower outside vehicle body;
Rear camera 14 (CB) is installed on car plate top and is positioned at the center of vehicle width, the shooting angle of rear camera 14 be oblique lower outside vehicle body scene.
Be provided with the TVP5158 codec chip in coding and decoding video module 20, the image that coding and decoding video module 20 gathers four-way CCD camera CF, CR, CL, CB carries out being combined into one tunnel vision signal after encoding and decoding and is input to image processing module 30.
Image correction unit 32 is used for image is carried out distortion correction;
The signal of 30 pairs of image codec inputs of image processing module carries out demultiplexing, be divided into four tunnel vision signals, carry out image correction, get a bird's eye view conversion and the splicing fusion treatment, be fused into the plan view that a width covers 360 ° of ambient environment of vehicle body, should compound plan view export through after encoding, be provided with DM6437 or DM6446 or DM6467 image processor in image processing module.
Image output after image display 40 is processed image processor is shown to read-out, and this read-out can be LCDs or touch-screen.Interface between image display and image processing module is composite video interface SVHS.
Car networking terminal interface 60 is mainly video image interface and some control line interfaces, is used for that 360 ° of panoramic pictures of vehicle periphery are shown, send to car networked server terminal and carries out that Storage and Processing and car networking are communicated by letter with the control information of this system etc.The video image interface is S terminal or composite video interface, and the control line interface is I2C bus or spi bus.
In a preferred implementation of the present utility model, ginseng Figure 4 shows that the schematic diagram in camera collection zone in video acquisition module, and four-way CCD camera CF, CR, CL, CB all adopt 185 ° of wide-angle cameras.Video image is yuv format, and the interface of four road video images can be the input of S terminal video format or composite video image interface, and four road video image encoding and decoding modules adopt TVP5158.
Four road image composite video image interfaces are input to TVP5158 coding and decoding video module.TVP5158 carries out digitalisation and encoding and decoding to four tunnel composite video signals, and four road signals are carried out multiplexed pixel alternation sum way interleave pattern is combined into one road video output.TVP5158 is a four-way NTSC/PAL Video Decoder, with independent scaler, reducing noise, contrast and output format device flexibly automatically, can guarantee safety, is applicable to other multi-channel video and uses.TVP5158 samples to 2 times of ITU-RBT.601 clock frequencys of four road videos and line lock location, then significantly is down to 1 times of pixel rate.CVBS decoding is used five circuit self adaptations to be combined as brightness and chroma data path filtering to intersect brightness and the colourity pseudomorphism that intersects to reduce.The colourity wave trap is provided simultaneously.In the CVBS input, image processor can be controlled the TVP5158 video properties by the I2C interface, as contrast ratio, brightness, saturation value and color.The video-out port support has 8 ITU-R BT.656 and 16 4:2:2YCbCr of Embedded Synchronous function.
Image processing module adopts the DM6437 image processor to realize, utilize the composite video interface reception from four tunnel composite video signals of coding and decoding video module, pixel alternation sum way interleave pattern multiplexed according to it carried out demultiplexing, isolate four road independent signals and be stored to the DDR2 memory device.And open up a plurality of buffer zones, the image that four cameras are taken carries out respectively that distortion correction is processed, after the aerial view conversion, carry out again the image co-registration splicing and process and follow-up visual effect optimization process such as brightness of image adjustment, piece elimination etc., obtain 360 ° of ambient image of vehicle's surroundings.
In processing, will take full advantage of the enhancement mode dma controller EDMA3 of DM6437 four-way, accelerate processing and the storage speed of view data.TMS320DM6437 is that the TI corporation in 2006 is released, is that High Performance, low-cost Video Applications are exploitation, processor family dominant frequency 600MHz, 32 fixed DSP Leonardo da Vincis (DaVinci (TM)) technology specially.The TMS320DM6437 TMS320C64x+DSP kernel of TI the 3rd generation VLIW structure set (VelociTI.3), dominant frequency can reach 600MHz, supports 88 or 4 16 bit parallel MAC computings, and the peak value processing capacity is up to 4800MIPS; Adopt 2 grades of Cache memory architectures, the configurable 1 grade of program store L1P of 32K byte RAM/Cache is arranged on sheet, the configurable 1 DBMS memory device L1D of 48K byte RAM+32K byte RAM/Cache, with the configurable 2 grades of programs of 128K byte RAM/Cache/data memory L2, memory architecture is more flexible, reasonable, is conducive to improve the throughput rate that image is processed code/data; Have 64 passage enhancement mode dma controller EDMA3 on sheet, the transmission that it supports complicated data type is conducive to high efficiency of transmission and the format conversion of view data, has accelerated processing and the storage speed of view data.
After ambient image process S terminal or the output of composite video terminal that vehicle's surroundings after image processor is processed is 360 °, the read-out that can be connected on image display shows, also can according to the network control information of terminal of car, output to car networking terminal.Car networking terminal can be transferred to car networked server center by the car wireless communication module of network with it, is used for further application of exploitation.
Adopt 4 wide-angle cameras in preferred implementation of the present utility model, also can adopt other numbers in other embodiments, as adopt 6 cameras or 8 cameras, and increase picture processing chip, coding and decoding video chip in system; Perhaps when the panorama stitching image shows, be divided into two zones and show on image display, as shown in Figure 5, wherein the a-quadrant shows panoramic picture, the image of each single channel of B zone demonstration, perhaps four-way CCD camera image.
Can be found out by technique scheme, the 360 ° of environment reconstruction systems of vehicle periphery based on the car networking that the utility model proposes adopt the performance-oriented Leonardo da Vinci of possessing to process the splicing fusion that the structural images treater is realized four road images processing overhead view images, the system data processing capacity is stronger, real-time is high, field of application is more extensive, and the slower occasion of running speed such as be not limited to park;
System is provided with car networking terminal interface, can make the user be connected to car networking terminal, and then can obtain the traffic information in whole city, adjacent information of vehicles etc., enjoys the various functions that car the Internet services business provides.
To those skilled in the art, obviously the utility model is not limited to the details of above-mentioned one exemplary embodiment, and in the situation that do not deviate from spirit of the present utility model or essential characteristic, can realize the utility model with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims rather than above-mentioned explanation, therefore is intended to include in the utility model dropping on the implication that is equal to important document of claim and all changes in scope.Any Reference numeral in claim should be considered as limit related claim.
In addition, be to be understood that, although this specification sheets is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification sheets is only for clarity sake, those skilled in the art should make specification sheets as a whole, and the technical scheme in each embodiment also can through appropriate combination, form other embodiments that it will be appreciated by those skilled in the art that.
Claims (7)
1. 360 ° of environment reconstruction systems of vehicle periphery based on the car networking, is characterized in that, described system comprises:
Video acquisition module comprises some wide-angle cameras of being located at vehicle's surroundings;
Be used for the coding and decoding video module that image with the video acquisition module collection carries out being combined into after encoding and decoding one tunnel vision signal, described coding and decoding video module is connected with video acquisition module;
Be used for the overhead view image that covers 360 ° of ambient environment of vehicle body and the image processing module of exporting are processed, are fused into to the vision signal of coding and decoding video module, described image processing module is connected with the coding and decoding video module;
Be used for accepting the overhead view image of image processing module output and the image display that shows, described image display is connected with image processing module;
Memory module, described memory module is connected with image processing module, and memory module comprises DDR2, Flash storage medium;
Car networking terminal interface is connected with described image processing module, and car networking terminal interface comprises video image interface and control line interface;
Be used to the power module of described system power supply.
2. system according to claim 1, is characterized in that, in described video acquisition module, wide-angle camera is made as 4, and described wide-angle camera is the visual angle greater than CCD or the CMOS camera of 180 °.
3. system according to claim 2, is characterized in that, described wide-angle camera comprises:
Front camera is installed on vehicle exhaust fan top and is positioned at the vehicle width center, the shooting angle of described front camera be oblique lower outside vehicle body scene;
Right camera is installed on the below of right back visor, and the shooting angle of described right camera is oblique lower outside vehicle body;
Left camera is installed on the below of left-hand mirror, and the shooting angle of described left camera is oblique lower outside vehicle body;
Rear camera is installed on car plate top and is positioned at the center of vehicle width, the shooting angle of described rear camera be oblique lower outside vehicle body scene.
4. system according to claim 1, is characterized in that, described image processing module comprises DM6437 or DM6446 or DM6467 image processor; Described coding and decoding video module comprises the TVP5158 codec chip.
5. system according to claim 1, is characterized in that, the interface between described image display and image processing module is composite video interface.
6. system according to claim 1, is characterized in that, described video image interface is S terminal or composite video interface, and the control line interface is I2C bus or spi bus.
7. system according to claim 1, is characterized in that, described system also comprises the crystal oscillator module for generation of oscillator signal, and the crystal oscillator module comprises active crystal oscillator and passive crystal oscillator.
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| CN103448628A (en) * | 2013-09-18 | 2013-12-18 | 中科院微电子研究所昆山分所 | Safety device and safety system for accessing to internet of vehicles of engineering trucks |
| CN104276102A (en) * | 2013-07-10 | 2015-01-14 | 德尔福电子(苏州)有限公司 | Surround view system calibrating device based on vehicle position detection |
| CN104859542A (en) * | 2015-05-26 | 2015-08-26 | 寅家电子科技（上海）有限公司 | Vehicle monitoring system and vehicle monitoring processing method |
| CN105398382A (en) * | 2015-12-01 | 2016-03-16 | 电子科技大学 | Electronic type automotive rearview mirror |
| CN106143305A (en) * | 2015-04-24 | 2016-11-23 | 天津普正动力科技有限公司 | A kind of automobile mounted panoramic parking system |
| CN107054226A (en) * | 2017-04-17 | 2017-08-18 | 深圳市车泊乐科技有限公司 | 360 degree of panoramas of automobile get a bird's eye view image system |
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| CN104276102A (en) * | 2013-07-10 | 2015-01-14 | 德尔福电子(苏州)有限公司 | Surround view system calibrating device based on vehicle position detection |
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| CN103448628A (en) * | 2013-09-18 | 2013-12-18 | 中科院微电子研究所昆山分所 | Safety device and safety system for accessing to internet of vehicles of engineering trucks |
| CN103448628B (en) * | 2013-09-18 | 2016-06-15 | 中科院微电子研究所昆山分所 | A kind of for accessing engineering truck safety device and the system that car is networked |
| CN106143305A (en) * | 2015-04-24 | 2016-11-23 | 天津普正动力科技有限公司 | A kind of automobile mounted panoramic parking system |
| CN104859542A (en) * | 2015-05-26 | 2015-08-26 | 寅家电子科技（上海）有限公司 | Vehicle monitoring system and vehicle monitoring processing method |
| CN105398382A (en) * | 2015-12-01 | 2016-03-16 | 电子科技大学 | Electronic type automotive rearview mirror |
| CN107054226A (en) * | 2017-04-17 | 2017-08-18 | 深圳市车泊乐科技有限公司 | 360 degree of panoramas of automobile get a bird's eye view image system |
| CN109949439A (en) * | 2019-04-01 | 2019-06-28 | 星觅(上海)科技有限公司 | Driving outdoor scene information labeling method, apparatus, electronic equipment and medium |
| CN109949439B (en) * | 2019-04-01 | 2020-10-30 | 星觅(上海)科技有限公司 | Driving live-action information labeling method and device, electronic equipment and medium |
| CN110356328A (en) * | 2019-07-09 | 2019-10-22 | 安徽富煌科技股份有限公司 | A kind of outside vehicle surrounding three-dimensional looks around real scene video display system |
| CN111711798A (en) * | 2020-06-23 | 2020-09-25 | 众格智能科技（上海）有限公司 | Super multichannel video vehicle-mounted system |
| CN114040155A (en) * | 2021-10-31 | 2022-02-11 | 中汽院(重庆)汽车检测有限公司 | Panoramic all-around image testing system for vehicle |
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Address after: 215347 7th floor, IIR complex, 1699 Weicheng South Road, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Kunshan Microelectronics Technology Research Institute Address before: 215347 905, complex building, No. 1699, Weicheng South Road, Kunshan City, Suzhou City, Jiangsu Province Patentee before: KUNSHAN BRANCH, INSTITUTE OF MICROELECTRONICS OF CHINESE ACADEMY OF SCIENCES |
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Granted publication date: 20130605 |