CN204978413U - Car panorama system of looking around that low -angle camera was realized - Google Patents

Car panorama system of looking around that low -angle camera was realized Download PDF

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CN204978413U
CN204978413U CN201520467891.1U CN201520467891U CN204978413U CN 204978413 U CN204978413 U CN 204978413U CN 201520467891 U CN201520467891 U CN 201520467891U CN 204978413 U CN204978413 U CN 204978413U
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camera
cameras
image
angle
vehicle
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张烂熳
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张烂熳
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Abstract

The utility model discloses a car panorama system of looking around that low -angle camera was realized is one kind and is applied to automotive electronics field and the safe supplementary technique of driving of car initiative. The system contains 6 or 6 above cameras (wherein 4 at least ordinary cameras), corresponds the installing support of every camera, takes the video acquisition and the image processor host computer of 6 or 6 above camera interfaces, a display, function change over switch and rat tail. The system has effectively solved owing to adopt 4 wide -angle camera among the prior art, and marginal portion's the higher definition that leads to of the degree of distortion is not enough to it implements the not good problem of effect to reach on the longer cart of automobile body. The utility model discloses an adopt ordinary camera, increased the overall pixel of image response, because the degree of distortion is little, has increased effective pixel, has improved the definition of image, the object can not disappear around can ensureing the vehicle through special mounting means, obtains vehicle farther, bigger display field on every side moreover.

Description

The automobile panoramic round-looking system that a kind of low-angle camera realizes
Technical field:
The utility model belongs to technical field of automotive electronics, is also that a kind of automobile active safety assists driving technique.Observe the situation of vehicle's surroundings when vehicle travels or move backward for car assisted chaufeur.
Background technology:
Existing auto-panorama is parked viewing system, is generally made up of telltale in four wide-angle cameras, image processor, operator's compartment.These four wide-angle cameras are located at position, automobile front, rear, left and right respectively.Before general, wide-angle camera is arranged on front part of saloon car grating position, and rear wide-angle camera is arranged on car rear door, and left and right wide-angle camera is arranged in the rearview mirror of left and right respectively.The vision signal of four camera collections gives image processor, by image processing algorithm, image rectification, splicing are carried out to video image, form a width vehicle to overlook and get a bird's eye view picture, help chaufeur Real Time Observation vehicle's surroundings image, eliminate visual angle blind spot, improve automobile parking and the safe maneuverability at narrow crossing.
And existing auto-panorama is parked, the defect of viewing system is mainly manifested in:
(1), adopt wide-angle camera, because tool fisheye effect can reduce visibility after image rectification:
The coverage of general wide-angle camera horizontal view angle, between 170 °-190 °, only needs four cameras just can reach and looks around object to the surrounding 360 ° of vehicle body.But the geometric distortion degree of camera itself is between 50%-90%, the degree of distortion of the part that keeps to the side is very high, and general image has fisheye effect, the visibility of general image can be made at image processing process to decline through image rectification;
(2), image mosaic obscure portions, unintelligible:
The geometric distortion degree of the image gathered due to the marginal portion of wide-angle camera itself is high, and what image mosaic part generally corresponded to camera is edge portions, so the image definition of splicing part is very poor;
(3), for the longer vehicle of bodywork length, by existing scheme, then image definition is too poor:
For truck, truck, passenger vehicle, bus, minibus etc. that vehicle body is longer, if with the mounting means of existing four wide-angle cameras, because vehicle body is longer, the very bulk image-region on left and right vehicle wheel both sides will be the image obtained by the edge portions of the right and left wide-angle camera, the panoramic picture realized thus is in the region of correspondence by smudgy, and user cannot accept.
Utility model patent 201220661383 " a kind of auto-panorama parking system ", and the utility model difference:
(1), this utility model adopts four wide-angle cameras.And the utility model adopt six-eight cameras, wherein at least four low-angle cameras, the degree of distortion of this low-angle camera far below wide-angle camera, particularly marginal portion; So the image definition of the method synthesis that the utility model adopts is higher;
(2) these four wide-angle cameras that, this utility model adopts are located at position, automobile front, rear, left and right respectively.Before general, wide-angle camera is arranged on automotive front grating position, and rear wide-angle camera is arranged on automotive back door, and left and right wide-angle camera is arranged in the rearview mirror of left and right respectively; And six-eight cameras that the utility model adopts, installation site is different;
(3), because camera number is different different with the degree of distortion of camera, then the required image processing techniques adopted is different;
(4), this utility model data that only need gather four cameras process, and the general low speed dsp processor module that adopts can realize; And gather the vision signal of multiple camera due to the utility model, need to carry out software processing technology by high-speed dsp or FPGA, realize high rate bioreactor.
Patent of invention 201010590428 " a kind of panoramic parking assist system ", and the utility model difference:
(1), this patent adopts four 180 ° of ultra wide-angle imaging heads, adopts eight 180 ° of ultra wide-angle imaging heads for truck; And no matter the utility model is for small passenger car or truck, six-eight cameras can be adopted, wherein at least four low-angle cameras.The degree of distortion of this low-angle camera far below wide-angle camera, particularly marginal portion; So the image definition of the method synthesis that the utility model adopts is higher;
(2) the camera load module, in this patent, is be placed in four the ultra wide-angle imaging heads of car body all around on four direction, for the camera load module of truck, also add the ultra wide-angle imaging head of four diagonals; And six-eight cameras that the utility model adopts, wherein at least four low-angle cameras, so installation site is also different;
(3) what, due to this patent adopt is wide-angle lens, and the feature of wide-angle lens is central area clear picture, edge fog; According to the installation arrangement of this patent for eight cameras of truck, the vertical vehicle body of optical axis that can only be each camera is outside, each camera is on average responsible for one piece of image-region, and primary picture gets the region near oneself, this mode can cause the object of adjacent two camera intersections of vehicle same side to diminish, and there will be and allows the user observing image think the phenomenon that object disappears; Specific installation method of the present utility model, overcomes this problem;
(4) processing module for image mosaic synthesis, in this patent is different from the utility model:
Because the signal of camera collection is different, then the software of image processing techniques is different; This patent is that the data of collection four or eight 180 ° of ultra wide-angle imaging heads process, and adopts dsp processor module to realize; And due to the utility model collection six-eight cameras, wherein at least four low-angle cameras, the data of its vision signal are processed, adopts and carry out software processing technology by high-speed dsp or FPGA, realize high rate bioreactor.
Summary of the invention:
The automobile panoramic round-looking system that a kind of low-angle camera realizes, it is characterized in that: by more than six or six cameras, through respective mounting bracket, separately with specific angle and position, be fixed on four sides, automobile front, rear, left and right, to obtain the image of automobile surrounding, these more than six or six cameras at least contain four horizontal view angles and are less than 150 ° and the geometric distortion degree low-angle camera that is less than 30%; The vision signal of the output of each camera gives video acquisition with more than six or six camera input interfaces and image processor main frame through wire harness; The vision signal that each camera inputs by this video acquisition and image processor main frame carries out image rectification, visual angle effect, then be spliced into a width vehicle to overlook and get a bird's eye view picture, or formed with the Softcam image of various view vehicle-periphery, or only show single camera picture, or the combined picture of this several picture, these pictures export to telltale display image in car; This video acquisition and image processor main frame, through wire harness linkage function change-over switch, carry out showing the switching of image angle, content for receiving user instruction; This video acquisition and image processor main frame are connected CAN signal, picture switching signal, gear signal, ignition lock signal, VDD-to-VSS line on car through wire harness, for realizing the different driver behavior automatic switching pictures according to vehicle.
The automobile panoramic round-looking system that described a kind of low-angle camera realizes, it is characterized in that: when the low-angle camera (as 5 and 6 of Fig. 1) described in two, when its Main Function is the external environment condition image observing vehicle the same side, its mounting bracket makes its setting angle and position have one of following special characteristic: one: the respective optical axis (5 and 6 arrows of drawing as Fig. 1) of these two cameras to the vertical projection on ground two straight lines (AC and BC as Fig. 1) of being formed, a triangle (the Δ ABC as Fig. 1) can be formed to the line of the point (A point and B point as Fig. 1) corresponding to the vertical projection on ground separately with these two cameras, and this vertex of a triangle (the C point as Fig. 1) intersected to form by the projection line (AC and BC as Fig. 1) of the optical axis of these two cameras of this triangle (the Δ ABC as Fig. 1), must in the vehicle same side external environment condition region that these two cameras (as 5 and 6 of Fig. 1) will observe, its two: the spacing of these two cameras is less than 1/15th of the side edge length of the vehicle that it is installed.
The automobile panoramic round-looking system that a kind of low-angle camera described in the utility model realizes, by adopting more camera, adds the overall pixel of image sensing; By adopting low-angle camera, because the degree of distortion of low-angle camera is little, adding the valid pixel of camera, improve the visibility of image; Visibility due to camera is high and distortion is little, and the birds-eye view of formation can collect the larger scope of vehicle periphery; By specific mounting means, can guarantee vehicle periphery object, particularly the object of camera cross section can not disappear; By specific mounting means, when with the Softcam image of various view vehicle-periphery, the indication range that vehicle periphery is farther and larger can be obtained.
Accompanying drawing illustrates:
Fig. 1, Fig. 2, Fig. 3, Fig. 5, Fig. 6 are the installation site scheme birds-eye view of six cameras at car load;
Fig. 4 is the installation site scheme birds-eye vieies of eight cameras at car load;
Fig. 7 is the front elevations of six cameras at the installation site example of truck;
Fig. 8 is the birds-eye vieies of six cameras at the installation site example of truck;
Fig. 9 is the back views of six cameras at the installation site example of truck.
In figure:
Forward sight camera 1 rearview camera 2
Left frontly look the left rearview camera 4 of camera 3
Right frontly look the right rearview camera 6 of camera 5
Front right looks camera 8 depending on camera 7 rear right
Left-hand mirror 10 vehicle body 11
Right rear view mirror 12 ground line 13
Wherein:
The installation site scheme of Fig. 1, Fig. 3, Fig. 4 is applicable to truck, truck, passenger vehicle, bus, minibus, minibus car, small passenger car etc.;
The installation site scheme of Fig. 2, Fig. 5, Fig. 6 is applicable to small passenger car, minibus car, minibus etc.
Detailed description of the invention:
In order to explain technical scheme described in the utility model further, below by the concrete case study on implementation on a truck, the utility model is elaborated:
As shown in Figure 8, it is the roof birds-eye view of the low-angle camera (indicate 1,2,3,4,5, the position of 6 is the position of six cameras) installing six 120 ° on truck.The line of the band arrow of drawing from the position of each camera represents the optical axis direction of each camera.Lean on midway location at the forward top of vehicle, a forward sight camera 1 is installed; Lean on midway location at the back top of vehicle, a rearview camera 2 is installed; In the position that the left side of vehicle roof is forward, install and left frontly look camera 3; In the rearward position, left side of vehicle roof, left rearview camera 4 is installed; In the position that the right side of vehicle roof is forward, install and right frontly look camera 5; In the rearward position, right side of vehicle roof, right rearview camera 6 is installed.Distance between two cameras 3 and 4 (or 5 and 6) of the side of vehicle roof, and all can adjust as required apart from the distance of headstock, the tailstock.But, the optical axis direction rear-inclined of the optical axis of these two cameras 3 and 4 (or 5 and 6) necessarily camera 3 above, the optical axis direction top rake of camera 4 below; The right front optical axis direction rear-inclined looking camera 5, the optical axis direction top rake of right rearview camera 6.All service areas, vehicle both sides can be covered like this, eliminate splicing blind area, territory;
Be illustrated in figure 7 vehicle front elevation, the optical axis of the forward sight camera 1 namely seen from the front of vehicle and side four cameras 3,4,5,6 and the angle schematic diagram on ground;
Be illustrated in figure 9 vehicle rearview figure, the optical axis of the rearview camera 2 namely seen from the back side of vehicle and side four cameras 3,4,5,6 and the angle schematic diagram on ground;
The camera installation site of design and angle, in theory on the ground non-blind area (owing to being subject to the impact of headstock globoidal structure, there is certain blind area in the forward sight visual field), therefore, under technique and outward appearance satisfy condition, camera will stretch out certain distance, avoids being close to car body and causes and block the blind area of causing by car body itself.Meanwhile, camera will be installed firmly, in order to avoid produce float phenomenon; Camera installation site with normally to drive a vehicle and other normal running (as opening car door, body repair etc.) does not produce interference.

Claims (2)

1. the automobile panoramic round-looking system of a low-angle camera realization, it is characterized in that: by more than six or six cameras, through respective mounting bracket, separately with specific angle and position, be fixed on four sides, automobile front, rear, left and right, to obtain the image of automobile surrounding, these more than six or six cameras at least contain four horizontal view angles and are less than 150 ° and the geometric distortion degree low-angle camera that is less than 30%; The vision signal of the output of each camera gives video acquisition with more than six or six camera input interfaces and image processor main frame through wire harness; The vision signal that each camera inputs by this video acquisition and image processor main frame carries out image rectification, visual angle effect, then be spliced into a width vehicle to overlook and get a bird's eye view picture, or formed with the Softcam image of various view vehicle-periphery, or only show single camera picture, or the combined picture of this several picture, these pictures export to telltale display image in car; This video acquisition and image processor main frame, through wire harness linkage function change-over switch, carry out showing the switching of image angle, content for receiving user instruction; This video acquisition and image processor main frame are connected CAN signal, picture switching signal, gear signal, ignition lock signal, VDD-to-VSS line on car through wire harness, for realizing the different driver behavior automatic switching pictures according to vehicle.
2. the automobile panoramic round-looking system of a kind of low-angle camera realization according to claim 1, it is characterized in that: when the low-angle camera described in two, when its Main Function is the external environment condition image observing vehicle the same side, its mounting bracket makes its setting angle and position have one of following special characteristic: one: two straight lines that the vertical projection of respective optical axis to ground of these two cameras is formed, a triangle can be formed to the line of the point corresponding to the vertical projection on ground separately with these two cameras, and this leg-of-mutton this vertex of a triangle intersected to form by the projection line of the optical axis of these two cameras, in the vehicle same side external environment condition region will must observed at these two cameras, its two: the spacing of these two cameras is less than 1/15th of the side edge length of the vehicle that it is installed.
CN201520467891.1U 2015-06-24 2015-06-24 Car panorama system of looking around that low -angle camera was realized Active CN204978413U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109278641A (en) * 2018-05-30 2019-01-29 惠州市德赛西威汽车电子股份有限公司 A kind of high-definition intelligent devices and methods therefor for eliminating vehicle blind zone based on camera

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109278641A (en) * 2018-05-30 2019-01-29 惠州市德赛西威汽车电子股份有限公司 A kind of high-definition intelligent devices and methods therefor for eliminating vehicle blind zone based on camera
WO2019227666A1 (en) * 2018-05-30 2019-12-05 惠州市德赛西威汽车电子股份有限公司 Camera-based car blind region elimination high-definition smart device and method therefor

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