CN217892710U - Vehicle surrounding image acquisition system and vehicle - Google Patents
Vehicle surrounding image acquisition system and vehicle Download PDFInfo
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- CN217892710U CN217892710U CN202120724044.4U CN202120724044U CN217892710U CN 217892710 U CN217892710 U CN 217892710U CN 202120724044 U CN202120724044 U CN 202120724044U CN 217892710 U CN217892710 U CN 217892710U
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Abstract
The present application relates to a vehicle surroundings image capturing system, the system including: the vehicle bottom image acquisition device is arranged at the bottom of the vehicle; the vehicle bottom image acquisition device is used for acquiring a vehicle bottom image of the bottom of the vehicle, and the overlapping coverage area of the vehicle bottom image acquisition device for image acquisition is larger than or equal to the vehicle bottom coverage area of the vehicle. Above-mentioned image acquisition system and vehicle around vehicle sets up the vehicle bottom image acquisition device that is used for gathering the image of vehicle bottom in the vehicle bottom, and vehicle bottom image acquisition device carries out the overlapping coverage area that image acquisition is greater than or equal to the vehicle bottom coverage area of vehicle, can perceive the condition of vehicle bottom, even if at vehicle static state, also can acquire the image information of vehicle bottom through vehicle bottom image acquisition device equally to reduce because of can't know the accident that the condition caused in the bottom of the car.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle surrounding image acquisition system and a vehicle.
Background
In the traditional look-around system, more perception abilities are provided for the periphery of the vehicle body, and the research on perception of the vehicle bottom is relatively less. In the driving system, the blind zone is sensed at the bottom of the vehicle, so that accidents are directly caused, the driving system is expanded into an automatic driving system, and the blind zone defect is inevitably caused in the automatic driving system due to the fact that the vehicle bottom cannot be sensed.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide a vehicle surrounding image acquisition system and a vehicle for solving the problem that a blind area exists at the bottom of the vehicle.
A vehicle surroundings image capture system, the system comprising: the vehicle bottom image acquisition device is arranged at the bottom of the vehicle;
the vehicle bottom image acquisition device is used for acquiring a vehicle bottom image of the bottom of the vehicle, and the overlapping coverage area of the vehicle bottom image acquisition device for image acquisition is larger than or equal to the vehicle bottom coverage area of the vehicle.
In one embodiment, the number of the vehicle bottom image acquisition devices comprises more than two.
In one embodiment, the vehicle bottom image acquisition devices comprise two vehicle bottom image acquisition devices, and the two vehicle bottom image acquisition devices are arranged in the center of the bottom of the vehicle back to back.
In one embodiment, the horizontal field angle of the vehicle bottom image acquisition device is greater than or equal to a preset horizontal field angle; the vertical field angle of the vehicle bottom image acquisition device is larger than or equal to the preset vertical field angle.
In one embodiment thereof, the preset horizontal field of view =2 × arctan (B/2/H); wherein, B represents the vehicle body width of the vehicle, and H represents the vehicle bottom height of the vehicle.
In one embodiment, the preset vertical field of view = arctan (a/2/H) + Theta; wherein, A represents the vehicle body length of the vehicle, theta represents the preset overlapping angle of the two vehicle bottom image acquisition devices.
In one embodiment, the pitch angle of the underbody image acquisition device is a preset angle.
In one embodiment thereof, the vehicle surroundings image capturing system further includes: the vehicle body image acquisition devices are arranged around the vehicle;
the vehicle body image acquisition device is used for acquiring vehicle body images around the vehicle; the vehicle body image acquisition device is used for acquiring images, and the superposition coverage area covers the 360-degree area around the vehicle.
In one embodiment thereof, the vehicle surroundings image capturing system further includes: and the image splicing module is used for splicing the vehicle body image and the vehicle bottom image to obtain a spliced image.
A vehicle comprising the vehicle surroundings image capture system as described in any one of the above embodiments.
Above-mentioned image acquisition system and vehicle around vehicle sets up the vehicle bottom image acquisition device that is used for gathering the image of vehicle bottom in the vehicle bottom, and vehicle bottom image acquisition device carries out the overlapping coverage area that image acquisition is greater than or equal to the vehicle bottom coverage area of vehicle, can perceive the condition of vehicle bottom, even if at vehicle static state, also can acquire the image information of vehicle bottom through vehicle bottom image acquisition device equally to reduce because of can't know the accident that the condition caused in the bottom of the car.
Drawings
FIG. 1 (1) is a schematic side view of a long side of a vehicle bottom acquisition device with two vehicle bottom acquisition devices arranged back-to-back at a center of the bottom of the vehicle in an embodiment;
FIG. 1 (2) is a schematic side view of a wide side angle of a vehicle bottom acquisition device with two vehicle bottom acquisition devices arranged back-to-back at the center of the bottom of the vehicle in one embodiment;
FIG. 2 (1) is a schematic view of two underbody image capturing devices arranged back-to-back in the center of the underbody in one embodiment;
FIG. 2 (2) is a schematic view of the arrangement positions of two vehicle bottom image acquisition devices arranged at the front side and the rear side of the vehicle bottom in a specific embodiment;
FIG. 2 (3) is a schematic view of the arrangement positions of two vehicle bottom image acquisition devices arranged at the left and right sides of the vehicle bottom in a specific embodiment;
fig. 2 (4) is a schematic view of an arrangement position in which two vehicle bottom image acquisition devices are installed in a face-to-face manner and the installation positions are staggered;
fig. 2 (5) is a schematic view of the arrangement positions of two vehicle bottom image acquisition devices which are installed in opposite directions and have a certain staggered installation position in another embodiment;
fig. 2 (6) is a schematic view of the arrangement position of two vehicle bottom image acquisition devices simultaneously installed on the left side or the right side in one specific embodiment;
fig. 2 (7) is a schematic view of the arrangement position of two vehicle bottom image acquisition devices simultaneously installed on the left side or the right side in another embodiment;
fig. 2 (8) is a schematic diagram of the arrangement positions of two vehicle bottom image acquisition devices arranged back to back at the center of the vehicle bottom and an image acquisition device additionally arranged at the vehicle head and the vehicle tail respectively in the specific embodiment;
FIG. 3 is a simplified schematic view of the underbody region in one embodiment;
FIG. 4 is a schematic view of the arrangement of the underbody image acquisition device in one embodiment;
FIG. 5 is a schematic view of the coverage area of an image of a vehicle body and an image of a vehicle underbody in a particular embodiment;
FIG. 6 is a schematic view of a vehicle body in an exemplary embodiment, wherein the vehicle body images are assembled to form a body surround view;
FIG. 7 is a schematic perspective view of a chassis obtained by stitching images of a vehicle bottom in an embodiment;
FIG. 8 is a schematic diagram of a body image and a floor image respectively spliced and combined in a specific embodiment;
FIG. 9 is a schematic diagram of a body image and a floor image stitched together in a specific embodiment;
fig. 10 is a schematic structural diagram of a vehicle surroundings image capturing system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The application provides a vehicle surrounding image acquisition system, the system includes: the vehicle bottom image acquisition device is arranged at the bottom of the vehicle; the vehicle bottom image acquisition device is used for acquiring a vehicle bottom image of the bottom of the vehicle, and the superposition coverage area of the vehicle bottom image acquisition device for image acquisition is larger than or equal to the vehicle bottom coverage area of the vehicle.
The vehicle bottom image acquisition device is arranged at the bottom of the vehicle and is used for acquiring image information of the bottom of the vehicle; the number of the vehicle bottom image acquisition devices is not limited, and in one embodiment, the number of the vehicle bottom image acquisition devices comprises more than two; the image of gathering the vehicle bottom image acquisition device is marked as the vehicle bottom image in this embodiment.
In one embodiment, the arrangement position of the vehicle bottom image acquisition device can have various arrangement modes. For example, the number of the vehicle bottom image acquisition devices is 1, the vehicle bottom image acquisition devices can be arranged at the front end, the rear end, the left end or the right end of the bottom of the vehicle, and also can be arranged at the left front part, the right front part, the left rear part or the right rear part of the bottom of the vehicle, and images in the coverage range of the bottom of the whole vehicle can be acquired only when the vehicle bottom image acquisition devices are used for acquiring images. Like vehicle bottom image acquisition device includes 2 again, can set up respectively in the front and back both ends of vehicle bottom, control both ends, perhaps set up the central point that puts at the vehicle bottom back to back, perhaps can also set up in the left front and right back of vehicle bottom. If the vehicle bottom image acquisition device comprises 4 image acquisition devices, two image acquisition devices are arranged back to back at the center position of the bottom of the vehicle, and the two image acquisition devices are arranged at the front end and the rear end of the bottom of the vehicle respectively. In other embodiments, the vehicle bottom image acquisition devices can be arranged in other numbers and positions, and only the requirement that the overlapping coverage range of all the vehicle bottom image acquisition devices for image acquisition is larger than or equal to the coverage area of the bottom of the vehicle is met.
As shown in fig. 1 (1) and 1 (2), a schematic diagram of two vehicle bottom acquisition devices arranged back to back at a central position of a vehicle bottom in a specific embodiment is shown, wherein a position shown by a five-pointed star represents the central position of the vehicle bottom, fig. 1 (1) shows a side view from a long side of a vehicle body, and fig. 1 (2) shows a side view from a wide side of the vehicle body.
Each schematic diagram in fig. 2 shows a schematic diagram of the coverage area of the vehicle bottom image acquisition device when the vehicle bottom image acquisition device is arranged at different positions; the directions indicated by the two arrows are the directions in which the two image acquisition devices are arranged to acquire images, and the ranges of the two semi-ellipses shown in the figure are respectively the coverage ranges of the two image acquisition devices when the two image acquisition devices acquire images. Specifically, fig. 2 (1) is a schematic view of a coverage range when two vehicle bottom image acquisition devices are arranged back to back at the center position of the bottom of the vehicle; fig. 2 (2) is a schematic view showing a coverage area of the vehicle bottom image acquisition device when the coverage area is set to two positions of the front side and the rear side of the bottom of the vehicle, and the two positions can be both arranged on the longitudinal central line of the bottom of the vehicle. As shown in figure 2 (3), the two vehicle bottom image acquisition devices are arranged at the left side and the right side of the bottom of the vehicle, and the two positions can be both arranged on the transverse central line of the bottom of the vehicle. As shown in fig. 2 (4), the two vehicle bottom image acquisition devices are installed in a face-to-face manner and are arranged at staggered positions; fig. 2 (5) is a schematic view of the arrangement positions of two vehicle bottom image acquisition devices which are installed in opposite directions and have a certain staggered installation position in another embodiment; FIG. 2 (6) is a schematic view of the arrangement positions of two vehicle bottom image acquisition devices which are simultaneously arranged on the left side or the right side; fig. 2 (7) is a schematic view of the arrangement position of two vehicle bottom image acquisition devices simultaneously installed on the left side or the right side in another specific embodiment. In other embodiments, the two underbody image acquisition devices can be arranged at other positions of the bottom of the vehicle.
When the number of the vehicle bottom image acquisition devices comprises more than two, in one embodiment, a certain overlapping area needs to exist between the image acquisition coverage areas of two adjacent vehicle bottom image acquisition devices. The overlapping area between the coverage areas of two adjacent image acquisition devices can be used for splicing the vehicle bottom images acquired by the two devices conveniently. As shown in fig. 1 (1) and 1 (2), the vehicle structure obtains a vehicle body length, a vehicle body width, a vehicle bottom center position, a ground clearance height, a vehicle bottom image acquisition device and a vehicle bottom image acquisition device, wherein the vehicle body length is recorded as a _ chassis, the vehicle body width is recorded as B _ chassis, the ground clearance height of the vehicle bottom center position is recorded as a vehicle bottom height H, the vehicle bottom image acquisition device is installed at the vehicle center positions of 0.5a _chassisand 0.5b _chassis, and the ground clearance height is H. The vehicle bottom image acquisition device is arranged back to back at the central position Q of the vehicle bottom, one faces the vehicle head and the other faces the vehicle tail, and the height of the vehicle bottom image acquisition device from the ground is H. The length of the actually required ground covering area is marked as A, the width is marked as B, and the length A of the vehicle body is the length A _ chassis of the ground covering area covered by the top view of the bottom of the vehicle (namely the chassis of the vehicle) and the redundancy designed in the long direction is marked as A _ redundancy, namely A = A _ chassis + A _ redundancy. The body width B is the width B _ chassis of the ground area covered by the vehicle bottom plan view plus the redundancy of the design in the width direction, denoted as B _ redundancy, i.e. B = B _ chassis + B _ redundancy.
Furthermore, if two vehicle bottom image acquisition devices are arranged at the bottom of the vehicle and cannot cover all vehicle bottom areas, such as a longer large vehicle, the number of the vehicle bottom image acquisition devices can be increased so as to ensure that the vehicle bottom image acquisition devices can acquire images in all areas of the vehicle bottom; for example, if two image capturing devices are arranged back-to-back at the center of the bottom of the vehicle and cannot cover all vehicle bottom areas, two vehicle bottom image capturing devices can be added at the front end and the rear end (i.e., the head and the tail) of the bottom of the vehicle according to the position shown in fig. 2 (8) to compensate for the blind area, and similarly, the corresponding vehicle bottom image capturing devices must include corresponding view overlapping.
In one embodiment, the vehicle bottom image acquisition device can be any equipment with a shooting function, such as a camera; and parameters required by the selected camera are determined according to actual requirements. Further, in one embodiment, the camera can be set as a hidden camera, and when the vehicle is not in the ignition state, the camera is hidden, and when the vehicle is in the ignition state, the camera is controlled to extend out for image acquisition. The hidden camera can be arranged in any mode. In another embodiment, a mounting bracket can be arranged at the bottom of the vehicle, and then the underbody image acquisition device is arranged on the mounting bracket. In other embodiments, the underbody image acquisition device can be arranged at the bottom of the vehicle in other manners.
Above-mentioned image acquisition system around vehicle sets up the vehicle bottom image acquisition device that is used for gathering the image of vehicle bottom in the vehicle bottom, and vehicle bottom image acquisition device carries out the overlapping coverage area that image acquisition is greater than or equal to the vehicle bottom coverage area of vehicle, can carry out the perception to the condition of vehicle bottom, even if at vehicle quiescent condition, also can acquire the image information of vehicle bottom through vehicle bottom image acquisition device equally to reduce because of not having solved the accident that the condition caused at the bottom of the vehicle.
Further, in one embodiment, the horizontal field angle of the vehicle bottom image acquisition device is greater than or equal to a preset horizontal field angle; the vertical field angle of the vehicle bottom image acquisition device is larger than or equal to the preset vertical field angle.
Because the overlapping coverage area of image acquisition is required to be larger than or equal to the coverage area of the bottom of the vehicle when the vehicle bottom image acquisition device is installed, the size of the field angle of the selected vehicle bottom image acquisition device is required to meet certain conditions. In this embodiment, the preset horizontal view field angle and the preset vertical view field angle are used as the minimum threshold of the selected vehicle bottom image capturing device, and the selected vehicle bottom image capturing device must be larger than the corresponding threshold. The preset horizontal view field angle and the preset vertical view field angle can be determined according to actual conditions. In one embodiment, the preset horizontal view angle and the preset vertical view angle may be determined according to the length and width of the vehicle body of the vehicle.
In one embodiment, the preset horizontal field of view =2 × arctan (B/2/H); wherein, B represents the vehicle body width of the vehicle, and H represents the vehicle bottom height of the vehicle. In one embodiment, the preset vertical field of view = arctan (a/2/H) + Theta; wherein, A represents the length of the vehicle body of the vehicle, and Theta represents the preset overlapping angle of the two vehicle bottom image acquisition devices.
Wherein, the vehicle bottom height represents the height of the vehicle chassis from the ground; in one embodiment, the vehicle bottom height represents the height from the ground of the position where the vehicle bottom image acquisition device is arranged. Where y = arctanx denotes an inverse tangent function (inverse tangent), which is one of inverse trigonometric functions, and means that the function y = tanx. The calculation method comprises the following steps: let the two acute angles be x, y, respectively, then the following are expressed: if tanx =1.9/5, then x = arctan1.9/5; if tany =5/1.9, then y = arctan5/1.9.
Taking the example that two vehicle bottom image acquisition devices are arranged back to back at the center position of the bottom of a vehicle, the two vehicle bottom image acquisition devices respectively acquire images in front of the vehicle (from a transverse center line of the vehicle to the front end of the vehicle) and in back of the vehicle (from the transverse center line of the vehicle to the tail part of the vehicle); as shown in FIG. 3, P0 represents the projection of the vehicle bottom image acquisition device on the ground, P 1 、P 2 The length of the vehicle body is marked as A, wherein the length of the vehicle body is two middle points in the long side direction of the vehicle bottom area; p 3 、P 4 The width of the vehicle body is marked as B, wherein the width of the vehicle body is two midpoints in the width direction of the bottom of the vehicle; the height of the bottom of the car is marked as H. Thus: p 0 P 3 ＝P 0 P 4 ＝A/2，P 0 P 1 ＝P 0 P 2 ＝B/2，QP 0 And (H). Preset horizontal field angle =2 × P0QP2=2 × arctan ((B/2)/H); presetting a vertical view angle = ≈ P0QP1+ Theta = arctan ((a/2)/H) + Theta; theta represents the overlapping angle between two vehicle bottom image acquisition devices in the embodiment, and the size of Theta can be preset according to actual conditions.
In one embodiment, the pitch angle of the vehicle bottom image acquisition device is a preset angle.
The image acquisition coverage area of the image acquisition device needs to accurately cover the vehicle bottom area and keep the set overlapping degree, so that the setting angle of the vehicle bottom image acquisition device needs to be adjusted. The pitch angle adjustment value represents an adjustment angle required when setting the image pickup device. When the angle of the vehicle bottom image acquisition device is adjusted, firstly, the horizontal arrangement is used as the initial position of the image acquisition device; then, the pitch angle is adjusted, and the adjustment value is the pitch angle in this embodiment. In one embodiment, the pitch angle may be set according to actual conditions, and in the present embodiment, is set to a preset angle.
As shown in fig. 4, the image pickup device is horizontally disposed, the vertical field angle FOV _ V of the image pickup device is horizontally averaged, and the Pitch angle adjustment value Pitch = FOV _ V/2+ (pi/2-arctan (a/2/H)) is determined from the geometric relationship. When actually setting up, the vehicle bottom image acquisition device that will horizontally place is according to the downward angle of adjustment of Pitch, can satisfy the requirement that covers vehicle bottom region correctly and keep the degree of overlap of settlement.
It is understood that in other embodiments, when the number and the arrangement positions of the vehicle bottom image acquisition devices are different, the manner of calculating the target horizontal angle of view, the target vertical angle of view and the arrangement angle that the image acquisition devices need to meet is similar to that in the present embodiment.
In the embodiment, after the setting position of the vehicle bottom image acquisition device is determined, the required parameters required to be met by the vehicle bottom image acquisition device are calculated according to the vehicle bottom height, the vehicle body length and the vehicle body width, wherein the required parameters comprise a preset horizontal view angle, a preset vertical view angle and a pitching angle required to be adjusted by the vehicle bottom image acquisition device, so that the requirement that the image acquisition coverage range of the vehicle bottom image acquisition device is larger than or equal to the vehicle bottom coverage area is met.
In one embodiment, the vehicle surroundings image capture system further includes: the vehicle body image acquisition devices are arranged around the vehicle; the vehicle body image acquisition device is used for acquiring vehicle body images around the vehicle; the overlapping coverage area of the vehicle body image acquisition device for image acquisition covers the 360-degree area around the vehicle.
The vehicle body image acquisition device is arranged around a vehicle body and used for acquiring image information around the vehicle; in this embodiment, an image acquired by the vehicle body image acquisition device is recorded as a vehicle body image. The vehicle body image acquisition devices comprise one or more, for example, in a specific embodiment, the vehicle body image acquisition devices comprise more than 4, and are respectively arranged in the front, back, left and right directions of the vehicle body so as to acquire images within 360 degrees around the vehicle. Further, in one embodiment, the image acquisition coverage areas between the adjacent vehicle body image acquisition devices are overlapped so as to splice the acquired vehicle body images and output a complete image around the vehicle body.
In one embodiment, the vehicle surroundings image capture system further includes: and the image splicing module is used for splicing the vehicle body image and the vehicle bottom image to obtain a spliced image.
Image stitching is a technique for stitching several overlapped images (obtained at different times, different viewing angles or different sensors) into a seamless panoramic image or high-resolution image. In this embodiment, carry out the image concatenation with the vehicle bottom image that obtains with the vehicle body image, obtain complete image and export, be convenient for offer the user and look over, perhaps be convenient for carry out the target detection to the concatenation image, the driving in-process carries out the target detection through the image to the vehicle body of shooting, vehicle bottom, if detect the barrier suggestion user or to control system send information to make control system control vehicle make corresponding reaction.
In one embodiment, the image splicing module splices the vehicle body images to obtain vehicle body spliced images, and the image splicing module splices the vehicle bottom images to obtain vehicle bottom spliced images; further, the image splicing module can splice the vehicle body splicing image and the vehicle bottom splicing image to obtain a vehicle panoramic image. In another embodiment, the image stitching module can also directly acquire the images of the vehicle bodies and the images of the vehicle bottoms, and stitching the images of the vehicle bodies and the images of the vehicle bottoms to obtain the panoramic image of the vehicle. In other embodiments, other combination modes can be selected for image stitching. Fig. 5 is a schematic diagram showing the coverage area of the car body image and the car bottom image in a specific embodiment. FIG. 6 is a schematic view of a vehicle body in a specific embodiment, wherein the vehicle body is obtained by stitching vehicle body images; FIG. 7 is a schematic perspective view of a chassis obtained by stitching underbody images in a specific embodiment; as shown in fig. 8, the upper and lower images are schematic diagrams respectively obtained by respectively stitching and combining the vehicle body image and the vehicle bottom image in a specific embodiment; fig. 9 is a schematic diagram of a car body image and a car bottom image spliced together in a specific embodiment.
In one embodiment, the vehicle surroundings image capturing system further includes: a video input unit. Before an image acquired by an automobile body image acquisition device or an automobile bottom image acquisition device is input into an image splicing module, image data needs to be converted into a digital signal through a video input unit so as to be provided for the splicing module to be spliced.
In the system, the image splicing can be realized by any method. For example, in one embodiment, stitching the images includes two parts: and (4) offline calibration and online splicing. Wherein, off-line calibration comprises: 1. acquiring the internal reference and distortion coefficient of each vehicle body image acquisition device, and acquiring the internal reference and distortion coefficient of each vehicle bottom image acquisition device; 2. carrying out distortion correction on the images acquired by the image acquisition devices according to the internal parameters and the distortion coefficients of the image acquisition devices to obtain corrected vehicle body images and vehicle bottom images; projecting each corrected image to the same reference surface to obtain a projection transformation matrix of each image; 3. projecting each corrected image to a corresponding coverage area of the same reference surface according to the projection transformation matrix, and calibrating to obtain a superposition area between the projection images corresponding to each vehicle body image and the vehicle bottom image; 4. and generating a calibration lookup table. The online splicing comprises: 1. loading a calibration lookup table; 2. distortion correction: carrying out distortion correction on the vehicle body image and the vehicle bottom image which are collected in real time to obtain a distortion corrected image; 3. projection transformation: carrying out projection transformation on the image after distortion correction to obtain a projection image; 4. image fusion: and fusing the marked overlapped areas by using methods such as pyramid fusion and the like to generate spliced images. In other embodiments, other methods may be used to achieve stitching of the images.
Further, in an embodiment, after the stitched image is obtained, the stitched image may be provided to a system post-stage for processing, may be displayed after video encoding, and may also be transmitted to a server through a network for storage, post-processing, and the like.
In one embodiment, the vehicle surroundings image capturing system further includes: and the display module is used for displaying the spliced image.
After the spliced image is obtained, the spliced image is displayed on a display screen of the vehicle-mounted terminal and can be provided for a driver to drive, so that the driver can make corresponding operation according to the real-time situation around the vehicle displayed in the spliced image. In another embodiment, after the stitched image is obtained, the stitched image may also be sent to a control module connected to the vehicle, so that the control module performs corresponding operations according to real-time conditions around the vehicle displayed in the stitched image, for example, remotely controlling a driving scene.
Further, the vehicle surrounding image acquisition system supports signal linkage. For example, in one specific embodiment, when the vehicle is currently in a forward gear, the vehicle body images are spliced, and a vehicle body all-around image is displayed; when the vehicle is in a left-turn state at present, a left high-resolution image is displayed, a right high-resolution image is displayed in a right-turn supporting mode, a vehicle bottom perspective high-resolution display image is displayed in a parking supporting mode, vehicle bottom invasion is monitored in real time, and accidents are prevented.
In one embodiment, the vehicle surroundings image capturing system further includes: and the image detection module is used for carrying out target detection on the spliced image. Further, in one embodiment, the vehicle surroundings image capturing system further includes: and the warning module is used for generating warning information when the image detection module detects a specific target in the spliced image.
After the spliced image is obtained, the spliced image can be displayed, target detection can be carried out on the spliced image, and prompt information is generated for prompting a driver or informing a vehicle control system to take corresponding measures if a specific target appears around the vehicle according to the target detection result.
In the embodiment, after the vehicle bottom image and the vehicle body image are spliced, the spliced image is subjected to target detection, whether specific targets which possibly influence the driving of the vehicle exist around the vehicle is determined, and if the specific targets are detected, prompt information is generated, so that accidents caused by sight blind areas when a driver drives the vehicle can be reduced, an intelligent driving control system can be helped to control the situation around the vehicle when the vehicle drives to be sensed, and the accidents are avoided.
In one embodiment, fig. 10 is a schematic diagram of a vehicle surroundings image capturing system.
In another embodiment, the present application further provides a vehicle comprising the vehicle surroundings image capturing system according to any one of the above embodiments.
Above-mentioned vehicle sets up the vehicle bottom image acquisition device that is used for gathering the image of vehicle bottom in the vehicle bottom, and vehicle bottom image acquisition device carries out the overlapping coverage area that image acquisition is greater than or equal to the vehicle bottom coverage area of vehicle, can perceive the condition of vehicle bottom, even if at vehicle quiescent condition, also can acquire the image information of vehicle bottom through vehicle bottom image acquisition device equally to reduce because of not knowing the accident that the condition caused in the bottom of the car.
For the specific definition of the vehicle, reference may be made to the definition of the vehicle surrounding image capturing system above, and details are not repeated here.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A vehicle surroundings image capture system, comprising: the vehicle body image acquisition device is arranged at the periphery of the vehicle; the vehicle bottom image acquisition device is a camera;
the vehicle body image acquisition device is used for acquiring vehicle body images around the vehicle; the overlapping coverage area of the vehicle body image acquisition device for image acquisition covers the 360-degree area around the vehicle;
the vehicle bottom image acquisition device is used for acquiring a vehicle bottom image of the bottom of the vehicle, and the overlapping coverage area of the vehicle bottom image acquisition device for image acquisition is greater than or equal to the vehicle bottom coverage area of the vehicle;
the number of the vehicle bottom image acquisition devices comprises two, and the two vehicle bottom image acquisition devices are arranged at the center position of the bottom of the vehicle back to back; the horizontal field angle of the vehicle bottom image acquisition device is greater than or equal to a preset horizontal field angle; the vertical field angle of the vehicle bottom image acquisition device is greater than or equal to a preset vertical field angle;
the preset horizontal field of view =2 × arctan (B/2/H); wherein B represents the width of the vehicle body of the vehicle, and H represents the height of the bottom of the vehicle;
the preset vertical field angle = arctan (A/2/H) + Theta; wherein, A represents the vehicle body length of the vehicle, theta represents the preset overlapping angle of the two vehicle bottom image acquisition devices.
2. The vehicle surroundings image acquisition system according to claim 1, wherein the underbody image acquisition device is configured as a concealed camera; when the vehicle is in an ignition state, the camera stretches out to collect images, and when the vehicle is not in the ignition state, the camera is hidden.
3. The vehicle surrounding image acquisition system of claim 1, wherein the underbody image acquisition device is arranged on a mounting bracket at the bottom of the vehicle.
4. The system for capturing images around a vehicle according to claim 1, wherein the elevation angle of the underbody image capturing device is a predetermined angle.
5. The vehicle surroundings image capture system according to claim 4, wherein the preset angle = FOV _ V/2+ (pi/2-arctan (A/2/H)), wherein FOV _ V is a vertical field angle of the image capture device.
6. The vehicle surroundings image capturing system according to claim 1, wherein the number of vehicle body image capturing devices is 4 or more, and these are provided in four directions, i.e., front, rear, left, and right, of the vehicle body.
7. The vehicle surroundings image capture system according to any one of claims 1 to 6, further comprising: and a display module.
8. The vehicle surroundings image capture system according to any one of claims 1 to 6, further comprising: and an alarm module.
9. A vehicle characterized by comprising the vehicle surroundings image capture system according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120724044.4U CN217892710U (en) | 2021-04-09 | 2021-04-09 | Vehicle surrounding image acquisition system and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120724044.4U CN217892710U (en) | 2021-04-09 | 2021-04-09 | Vehicle surrounding image acquisition system and vehicle |
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| CN217892710U true CN217892710U (en) | 2022-11-25 |
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| CN202120724044.4U Active CN217892710U (en) | 2021-04-09 | 2021-04-09 | Vehicle surrounding image acquisition system and vehicle |
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2021
- 2021-04-09 CN CN202120724044.4U patent/CN217892710U/en active Active
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