WO2021093391A1 - 一种a柱透视实现方法及系统 - Google Patents

一种a柱透视实现方法及系统 Download PDF

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Publication number
WO2021093391A1
WO2021093391A1 PCT/CN2020/109284 CN2020109284W WO2021093391A1 WO 2021093391 A1 WO2021093391 A1 WO 2021093391A1 CN 2020109284 W CN2020109284 W CN 2020109284W WO 2021093391 A1 WO2021093391 A1 WO 2021093391A1
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pillar
camera
human eye
image
observation object
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PCT/CN2020/109284
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English (en)
French (fr)
Inventor
李晨轩
张祺
王可峰
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浙江合众新能源汽车有限公司
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Publication of WO2021093391A1 publication Critical patent/WO2021093391A1/zh

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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
    • 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
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/202—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used displaying a blind spot scene on the vehicle part responsible for the blind spot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views

Definitions

  • the invention belongs to the technical field of transparent A-pillars, and specifically relates to an A-pillar perspective realization method and system.
  • the A-pillar refers to the column between the front windshield and the front door.
  • the existence of the A-pillar enables the load-bearing body structure to have higher stability and body rigidity, and protects the cockpit in the event of a car collision. Security plays an important role. Because of its certain angle, when the display screen is installed in this position, it will also introduce the problem of viewing angle.
  • the original rectangular screen will be deformed due to the viewing angle (similar to looking at parallel railroad tracks in the distance, and eventually intersect at a point), becoming an irregular quadrilateral, especially the A-pillar on the left.
  • the original rectangular screen will be deformed due to the viewing angle (similar to looking at parallel railroad tracks in the distance, and eventually intersect at a point), becoming an irregular quadrilateral, especially the A-pillar on the left.
  • the general method is to display all the images of the camera, but its drawback is that it does not take into account the driver's actual viewing angle, which affects the user experience, and affects the driver's normal judgment of the road conditions, which brings hidden dangers to driving safety.
  • the first object of the present invention is to provide an A-pillar perspective realization method, which can accurately present the A-pillar blind area image and improve the visual experience of the driver. And safety.
  • the present invention adopts the following technical solutions:
  • a method for realizing A-pillar perspective including: determining the positional relationship between the human eye, A-pillar, camera, and observation object, and calculating the positional relationship between the human eye, A-pillar, camera, and observation object to calculate the human eye occluded by the A-pillar
  • the area occupies the range of the observation object image obtained by the camera, and the image within the range is presented on the display screen of the A-pillar.
  • the present invention uses the positional relationship between the human eye, the A-pillar, the camera and the observation object to calculate that the accurate area of the human eye that is blocked by the A-pillar occupies the range of the image obtained by the camera, so as to accurately restore the blind spot image on the A-pillar display screen. Thereby improving the driver's visual experience and improving driving safety.
  • it also includes: according to the delay of image processing, real-time vehicle speed and driving direction, advance the calculation of the area where the human eye is blocked by the A-pillar. Since the image collected from the camera is finally displayed on the A-pillar display through the car-side processing platform, there will be a delay of 70-150 milliseconds. The image seen at this time will actually be the one that is later in the image collected by the camera. Part, the scene closer to the vehicle. Therefore, in order to eliminate the influence of this factor, it is necessary to advance the processing area according to the vehicle speed and driving direction (turning situation), that is, the scene farther in front of the vehicle.
  • the method for determining the positional relationship between the human eye, the A-pillar, the camera, and the observation object is to establish a coordinate system with a certain point on the vehicle as the origin, and respectively determine that the human eye, the A-pillar, the camera, and the observation object are in the coordinate system Calculate the positional relationship between each other based on the coordinates.
  • the positioning method is simpler and more accurate.
  • the specific method for determining the coordinates of the human eye is: determining the coordinates of the in-vehicle camera in the coordinate system, obtaining the position of the human eye relative to the in-vehicle camera through the in-vehicle camera, and calculating the coordinates of the human eye Coordinates in the system. Because different drivers have different heights and sitting postures, their eye positions may be different. Therefore, it is necessary to obtain the accurate position of the human eyes through the in-vehicle camera to ensure the accuracy of the blind spot calculation.
  • the position of the A-pillar specifically refers to the coordinate range of each point on both sides of the A-pillar.
  • the second objective of the present invention is to provide an A-pillar perspective realization system, including:
  • the positioning module is used to determine the positional relationship between the human eye, A-pillar, camera and observation object;
  • the camera module is used to obtain environmental images of the front left and right sides of the vehicle;
  • the image processing module is used to calculate the area that the human eye is blocked by the A-pillar occupies the range of the observation object image obtained by the camera according to the positional relationship of the human eye, A-pillar, camera and observation object;
  • the display module is used to present the processing result of the image processing module through the display screen on the A-pillar.
  • the image module includes:
  • the delay calculation unit is used to advance the calculation of the area where the human eye is blocked by the A-pillar according to the delay of image processing, real-time vehicle speed and driving direction.
  • the positioning module includes:
  • Ranging camera or ultrasonic radar used to obtain the position of the observation object
  • the camera in the car is used to obtain the position of the human eye.
  • the method and system provided by the present invention can accurately present the images in the blind area on the A-pillar display screen. On the one hand, it avoids the appearance of repeated scenes and improves the driver’s visual experience; on the other hand, it improves the driver’s judgment of road conditions. Accuracy, to ensure safety.
  • Figure 1 is a schematic diagram of the A-pillar perspective realization method provided by the present invention.
  • a method for realizing A-pillar perspective including: determining the positional relationship between the human eye, A-pillar, camera, and observation object, and calculating the positional relationship between the human eye, A-pillar, camera, and observation object to calculate the human eye occluded by the A-pillar
  • the area occupies the range of the observation object image obtained by the camera, and the image within the range is presented on the display screen of the A-pillar.
  • the present invention uses the positional relationship between the human eye, the A-pillar, the camera and the observation object to calculate that the accurate area of the human eye that is blocked by the A-pillar occupies the range of the image obtained by the camera to accurately restore the blind spot image on the A-pillar display screen. Thereby improving the driver's visual experience and improving driving safety.
  • the range of images acquired by camera 1 is a ⁇ b
  • the part of human eye 2 that is blocked by A-pillar is c ⁇ d, so it needs to be based on the human eye 2, A-pillar 3, camera 1 and the observation object.
  • the method further includes: according to the delay of the image processing, the real-time vehicle speed and the driving direction, advance the calculated area where the human eye is blocked by the A-pillar. Since the image collected from the camera is finally displayed on the A-pillar display through the car-side processing platform, there will be a delay of 70-150 milliseconds. The image seen at this time will actually be the one that is later in the image collected by the camera. Part, the scene closer to the vehicle. Therefore, in order to eliminate the influence of this factor, it is necessary to advance the processing area according to the vehicle speed and driving direction (turning situation), that is, the scene farther in front of the vehicle. To give a simple example, for example, a car is going straight ahead at a constant speed, and it is necessary to talk about the product of the processing area's advance speed and delay.
  • the method for determining the positional relationship between the human eye, A-pillar, camera, and observation object is to establish a coordinate system with a certain point on the vehicle as the origin, and respectively determine the position of the human eye, A-pillar, camera, and observation object in the coordinate system. Coordinates, calculate the positional relationship between each other according to the coordinates.
  • the positioning method is simpler and more accurate.
  • the specific method for determining the coordinates of the human eye is: determining the coordinates of the in-vehicle camera in the coordinate system, obtaining the position of the human eye relative to the in-vehicle camera through the in-vehicle camera, and calculating the position of the human eye in the coordinate system In the coordinates.
  • the A-pillar is not a point, but has a certain width, so the position of the A-pillar specifically refers to the coordinate range of each point on both sides of the A-pillar.
  • the present invention also provides an A-pillar perspective realization system, including:
  • the positioning module is used to determine the positional relationship between the human eye, A-pillar, camera and observation object;
  • the camera module is used to obtain environmental images of the front left and right sides of the vehicle;
  • the image processing module is used to calculate the area that the human eye is blocked by the A-pillar occupies the range of the observation object image obtained by the camera according to the positional relationship of the human eye, A-pillar, camera and observation object;
  • the display module is used to present the processing result of the image processing module through the display screen on the A-pillar.
  • the image module includes:
  • the delay calculation unit is used to advance the calculation of the area where the human eye is blocked by the A-pillar according to the delay of image processing, real-time vehicle speed and driving direction.
  • the positioning module includes:
  • Ranging camera or ultrasonic radar used to obtain the position of the observation object
  • the camera in the car is used to obtain the position of the human eye.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

一种A柱透视实现方法及系统，属于透明A柱技术领域。本发明的方法包括：确定人眼、A柱、摄像头及观察物之间的位置关系，根据人眼、A柱、摄像头及观察物的位置关系，计算人眼被A柱遮挡的区域占摄像头获取到的观察物图像的范围，将范围内的图像呈现在A柱的显示屏上。本发明的系统包括：定位模块，用于确定人眼、A柱、摄像头及观察物之间的位置关系；摄像模块，用于获取车辆左前侧及右前侧的环境图像；图像处理模块，用于计算人眼被A柱遮挡的区域占摄像头获取到的观察物图像的范围；显示模块，用于通过A柱上的显示屏将图像处理模块的处理结果进行呈现。本发明能够准确呈现A柱盲区图像，提高驾驶者的视觉感受及安全性。

Description

一种A柱透视实现方法及系统 技术领域
本发明属于透明A柱技术领域，具体涉及一种A柱透视实现方法及系统。
 背景技术
A柱是指前挡风玻璃与前车门之间的柱，A柱的存在得以使承载式车身结构具有更高的稳定性和车身刚度，在汽车发生碰撞时保护驾驶舱，对驾驶员以及乘客的安全起到重要的作用。由于其存在一定的角度，显示屏幕安装在这个位置上时，也会随之引入观察视角的问题。
在驾驶员的位置观看，原本矩形的屏幕因视角关系会发生形变（类似于看远处平行的铁轨，最终相交于一点），成为不规则四边形，左侧A柱尤为明显。
 技术问题
在驾驶员的位置观看，原本矩形的屏幕因视角关系会发生形变（类似于看远处平行的铁轨，最终相交于一点），成为不规则四边形，左侧A柱尤为明显。
一般的做法是显示摄像头的全部图像，但其弊端就是没有考虑到驾驶员的实际观察角度，影响用户体验，并且会影响驾驶员对路况的正常判断，带来驾车安全隐患。
 技术解决方案
为了克服现有的车内显示摄像头的全部图像所带来的上述缺陷，本发明的第一目的是提供一种A柱透视实现方法，其能够准确呈现A柱盲区图像，提高驾驶者的视觉感受及安全性。
为了达到上述的第一目的，本发明采用如下的技术方案：
一种A柱透视实现方法，包括：确定人眼、A柱、摄像头及观察物之间的位置关系，根据人眼、A柱、摄像头及观察物的位置关系，计算人眼被A柱遮挡的区域占摄像头获取到的观察物图像的范围，将范围内的图像呈现在A柱的显示屏上。
本发明通过人眼、A柱、摄像头及观察物之间的位置关系，计算出人眼被A柱遮挡的准确区域占摄像头获取图像的范围，以准确在A柱的显示屏上还原盲区图像，从而提高驾驶者的视觉感受，并提高驾驶的安全性。
作为优选，还包括：根据图像处理的延迟、实时车速及行驶方向，将计算人眼被A柱遮挡的区域提前。由于从摄像头采集到图像，经过车端处理平台，最终显示到A柱显示屏上，会有70-150毫秒的延迟，此时看到的图像实际上会是摄像头采集的图像中更靠后的部分，即更靠近车辆的景象。所以，为了消除该因素带来的影响，需要根据车速及行驶方向（转向情况），将处理区域提前，即在车辆前方更远处的景象。
作为优选，确定人眼、A柱、摄像头及观察物位置关系的方法为：以车辆上的某点为原点建立坐标系，分别确定人眼、A柱、摄像头及观察物在所述坐标系中的坐标，根据坐标计算相互间的位置关系。所述定位方法更为简单和准确。
作为优选，确定人眼坐标的具体方法为：确定车内摄像头在所述坐标系中的坐标，通过所述车内摄像头获取人眼相对于车内摄像头的位置，计算得到人眼在所述坐标系中的坐标。因为不同的驾驶者的身高和坐姿不同，所以其眼部的位置可能会有差异，所以需要通过车内摄像头去获取人眼的准确位置，以确保盲区计算的准确性。
作为优选，A柱的位置具体指：A柱两侧边上各个点的坐标范围。
本发明的第二目的是提供一种A柱透视实现系统，包括：
定位模块，用于确定人眼、A柱、摄像头及观察物之间的位置关系；
摄像模块，用于获取车辆左前侧及右前侧的环境图像；
图像处理模块，用于根据人眼、A柱、摄像头及观察物的位置关系，计算人眼被A柱遮挡的区域占摄像头获取到的观察物图像的范围；
显示模块，用于通过A柱上的显示屏将所述图像处理模块的处理结果进行呈现。
作为本发明优选，所述图像模块中包含：
延时计算单元，用于根据图像处理的延迟、实时车速及行驶方向，将计算人眼被A柱遮挡的区域提前。
作为优选，所述定位模块包括：
测距摄像头或超声波雷达，用于获取观察物的位置；
车内摄像头，用于获取人眼的位置。
 有益效果
本发明提供的方法及系统能够准确地在A柱显示屏上呈现盲区范围内的图像，一方面避免了重复景象的出现，提高驾驶者的视觉感受；另一方面提高了驾驶者对于路况判断的准确性，确保安全性。
 附图说明
附图1为本发明所提供的A柱透视实现方法的原理图。
 本发明的最佳实施方式
一种A柱透视实现方法，包括：确定人眼、A柱、摄像头及观察物之间的位置关系，根据人眼、A柱、摄像头及观察物的位置关系，计算人眼被A柱遮挡的区域占摄像头获取到的观察物图像的范围，将范围内的图像呈现在A柱的显示屏上。
本发明通过人眼、A柱、摄像头及观察物之间的位置关系，计算出人眼被A柱遮挡的准确区域占摄像头获取图像的范围，以准确在A柱的显示屏上还原盲区图像，从而提高驾驶者的视觉感受，并提高驾驶的安全性。
如附图1所示，摄像头1获取的图像范围为a~b，而人眼2被A柱遮挡的部分为c~d，所以需要根据人眼2、A柱3、摄像头1及观察物之间的位置关系，来准确计算出c~d所占a~b的范围，从而截取该部分图像，通过A柱显示屏进行显示。
具体的，本方法还包括：根据图像处理的延迟、实时车速及行驶方向，将计算人眼被A柱遮挡的区域提前。由于从摄像头采集到图像，经过车端处理平台，最终显示到A柱显示屏上，会有70-150毫秒的延迟，此时看到的图像实际上会是摄像头采集的图像中更靠后的部分，即更靠近车辆的景象。所以，为了消除该因素带来的影响，需要根据车速及行驶方向（转向情况），将处理区域提前，即在车辆前方更远处的景象。举个简单的例子，比如汽车正在匀速向前直行，则需要讲处理区域提前车速与延迟的乘积。
另外，确定人眼、A柱、摄像头及观察物位置关系的方法为：以车辆上的某点为原点建立坐标系，分别确定人眼、A柱、摄像头及观察物在所述坐标系中的坐标，根据坐标计算相互间的位置关系。所述定位方法更为简单和准确。其中，确定人眼坐标的具体方法为：确定车内摄像头在所述坐标系中的坐标，通过所述车内摄像头获取人眼相对于车内摄像头的位置，计算得到人眼在所述坐标系中的坐标。因为不同的驾驶者的身高和坐姿不同，所以其眼部的位置可能会有差异，所以需要通过车内摄像头去获取人眼的准确位置，以确保盲区计算的准确性。当然，A柱并不是一个点，而是有一定宽度的，所以A柱的位置具体指：A柱两侧边上各个点的坐标范围。
另外，本发明还提供一种A柱透视实现系统，包括：
定位模块，用于确定人眼、A柱、摄像头及观察物之间的位置关系；
摄像模块，用于获取车辆左前侧及右前侧的环境图像；
图像处理模块，用于根据人眼、A柱、摄像头及观察物的位置关系，计算人眼被A柱遮挡的区域占摄像头获取到的观察物图像的范围；
显示模块，用于通过A柱上的显示屏将所述图像处理模块的处理结果进行呈现。
所述图像模块中包含：
延时计算单元，用于根据图像处理的延迟、实时车速及行驶方向，将计算人眼被A柱遮挡的区域提前。
所述定位模块包括：
测距摄像头或超声波雷达，用于获取观察物的位置；
车内摄像头，用于获取人眼的位置。

Claims (8)

  1. 一种A柱透视实现方法，其特征在于，包括：确定人眼、A柱、摄像头及观察物之间的位置关系，根据人眼、A柱、摄像头及观察物的位置关系，计算人眼被A柱遮挡的区域占摄像头获取到的观察物图像的范围，将范围内的图像呈现在A柱的显示屏上。
  2. 根据权利要求1所述的A柱透视实现方法，其特征在于，还包括：根据图像处理的延迟、实时车速及行驶方向，将计算人眼被A柱遮挡的区域提前。
  3. 根据权利要求1所述的A柱透视实现方法，其特征在于，确定人眼、A柱、摄像头及观察物位置关系的方法为：以车辆上的某点为原点建立坐标系，分别确定人眼、A柱、摄像头及观察物在所述坐标系中的坐标，根据坐标计算相互间的位置关系。
  4. 根据权利要求3所述的A柱透视实现方法，其特征在于，确定人眼坐标的具体方法为：确定车内摄像头在所述坐标系中的坐标，通过所述车内摄像头获取人眼相对于车内摄像头的位置，计算得到人眼在所述坐标系中的坐标。
  5. 根据权利要求3所述的A柱透视实现方法，其特征在于，A柱的位置具体指：A柱两侧边上各个点的坐标范围。
  6. 一种A柱透视实现系统，其特征在于，包括：
    定位模块，用于确定人眼、A柱、摄像头及观察物之间的位置关系；
    摄像模块，用于获取车辆左前侧及右前侧的环境图像；
    图像处理模块，用于根据人眼、A柱、摄像头及观察物的位置关系，计算人眼被A柱遮挡的区域占摄像头获取到的观察物图像的范围；
    显示模块，用于通过A柱上的显示屏将所述图像处理模块的处理结果进行呈现。
  7. 根据权利要求6所述的A柱透视实现系统，其特征在于，所述图像模块中包含：
    延时计算单元，用于根据图像处理的延迟、实时车速及行驶方向，将计算人眼被A柱遮挡的区域提前。
  8. 根据权利要求6所述的A柱透视实现系统，其特征在于，所述定位模块包括：
    测距摄像头或超声波雷达，用于获取观察物的位置；
    车内摄像头，用于获取人眼的位置。
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