CN105539289B - A kind of parking enabling method for early warning looked around based on four 360 degree of cameras - Google Patents
A kind of parking enabling method for early warning looked around based on four 360 degree of cameras Download PDFInfo
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- CN105539289B CN105539289B CN201510932196.2A CN201510932196A CN105539289B CN 105539289 B CN105539289 B CN 105539289B CN 201510932196 A CN201510932196 A CN 201510932196A CN 105539289 B CN105539289 B CN 105539289B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—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
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- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Alarm Systems (AREA)
- Traffic Control Systems (AREA)
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Abstract
The invention discloses a kind of parking enabling method for early warning looked around based on four 360 degree of cameras, including the automobile all around camera on four direction, and the car running computer ECU being connected with camera, specific method are as follows：(1) accurate early warning range is demarcated, by the programming of image range look-up table into the DSP Processor being connected with car running computer ECU；(2) car running computer ECU connections DSP Processor, the original image that camera collects is handled by DSP Processor, so as to judge that it is whether safe that parking is opened the door.The alarm mode that the present invention uses belongs to image processing field, using the object for coordinating other image processing algorithms to realize to catch relative motion in image based on Background difference.This method and non-detection barrier, so being not in there is stationary object to appear in the phenomenon for producing wrong report in region.
Description
Technical field
It is specifically a kind of to be looked around based on four 360 degree of cameras the present invention relates to image and technical field of video processing
Stop enabling method for early warning.
Background technology
Traffic accident between the flourishing current era vehicle of traffic is of common occurrence.Passenger opens the door and got off on automobile
When run over the motorcycle come with side or battery truck bumps against situation about causing casualties and happened occasionally.Parking enabling early warning system
System is to shift to an earlier date reminding passengers when passenger opens the door when whether button fly front is safe.
Existing parking enabling early warning system is more by means of ultrasonic sensor, infrared sensor etc. on the market.These sensings
Device coordinates special ECU to realize that the modes such as sound or LED light send pre-warning signal.
The mode of sensors with auxiliary electrode generally use detection of obstacles produces early warning.Work as so erroneous judgement can be produced in some occasions
Around have static object in measurement range or when stop both sides car stop closely may all produce false alarm very much.Such
Sensor is used to usually produce wrong report when detection of obstacles and the identification of rear mobile object, is impacted at heart to driver.
The content of the invention
It is an object of the invention to provide a kind of parking enabling method for early warning looked around based on four 360 degree of cameras, with
Solve the problems, such as to propose in above-mentioned background technology.
To achieve the above object, the present invention provides following technical scheme：
A kind of parking enabling method for early warning looked around based on four 360 degree of cameras, including automobile all around four sides
Upward camera, and the car running computer ECU being connected with camera, specific method are as follows：
Step (1) demarcates accurate early warning range, by the programming of image range look-up table to being connected with car running computer ECU
In DSP Processor；
Step (2) car running computer ECU connection DSP Processors, the original image collected by DSP Processor to camera
Handled, so as to judge whether parking enabling is safe, its specific determination methods：
A. car running computer ECU reads CAN data, when car door lock opening and vehicle are in and stop shape
During state, start DSP Processor, otherwise do not start；If automobile is in dead ship condition and arrangements for automotive doors does not have locking state, surpass
Parking enabling will be triggered and give warning in advance program by spending the time of setting；
B.DSP processors read the view data of four-way CCD camera by car running computer ECU, inside DSP Processor
The look-up table demarcated extracts the image in early warning range；
C.DSP processors obtain multiframe picture to the image in early warning range within the regular hour, and pass through quiet and secluded difference
Image processing method based on method identifies mobile object, and the relative velocity magnitude with motor racing of interpretation mobile object, together
When judge the position relationship of mobile object and automobile, once mobile object enters early warning range, you can carry out early warning；
The data of detection are sent in car running computer ECU by d.DSP processors in real time, and car running computer ECU believes image
The warning information of breath and DSP Processor is sent in navascreen simultaneously, and driver is reminded by picture cues.
As the further scheme of the present invention：The scaling method of early warning range in the step (1), by car running computer ECU
It is connected by netting twine with the notebook computer equipped with calibration software, it is comprised the following steps that：
A. automobile is reached on the place of spaciousness, lays the demarcation apart from vehicle body 1.5m or so respectively on vehicle right and left both sides
Point, vehicle right and left both sides are respectively uniformly distributed four calibration points, and the distance between two calibration points are determined by motor vehicle length；
B. the original image of camera on four direction is obtained using notebook computer, and according to prompting in calibration software
Mark position of each calibration point in original image respectively with mouse；
C. calibration scale is generated by calibration software, image range look-up table is calculated by calibration software, will finally be looked into
Table programming is looked for into the DSP Processor being connected with car running computer ECU, you can complete calibration process.
As the further scheme of the present invention：DSP Processor is calculated according to look-up table by morphology in the step (2)
The image processing techniques such as method or template matches comes out the image zooming-out for the early warning range that setting is represented in original image.
As the further scheme of the present invention：Picture cues can be according to mobile object apart from Automobile in the step (2)
Body distance and use different colours and different conditions to prompt.
Compared with prior art, the beneficial effects of the invention are as follows：The alarm mode that the present invention uses belongs to image procossing neck
Domain, using the object for coordinating other image processing algorithms to realize to catch relative motion in image based on Background difference.This method is simultaneously
Non-detection barrier, so being not in there is stationary object to appear in the phenomenon for producing wrong report in region.The present invention utilizes automobile
On 360 degree of viewing systems video source of four cameras as early warning system, it is possible to reduce installation more multisensor and band
Damage during the hardware cost and rear dress that come to vehicle body.In addition in the selection of warning device, what the present invention used
Method is directly to embody video early warning directly output on the navigation screen that vehicle body carries, and such alarm mode can reduce it
The installation of his device, while decrease the overall cost of hardware.
Embodiment
Below in conjunction with the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described,
Obviously, described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based in the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of protection of the invention.
In the embodiment of the present invention, a kind of parking enabling method for early warning looked around based on four 360 degree of cameras, including automobile
The camera on four direction all around, and the car running computer ECU being connected with camera, specific method are as follows：
Step (1) demarcates accurate early warning range, and car running computer ECU is passed through into netting twine and the notebook equipped with calibration software
Computer is connected, and it is comprised the following steps that：
A. automobile is reached on the place of spaciousness, lays the demarcation apart from vehicle body 1.5m or so respectively on vehicle right and left both sides
Point, vehicle right and left both sides are respectively uniformly distributed four calibration points, and the distance between two calibration points are determined by motor vehicle length；
B. the original image of camera on four direction is obtained using notebook computer, and according to prompting in calibration software
Mark position of each calibration point in original image respectively with mouse；
C. calibration scale is generated by calibration software, image range look-up table is calculated by calibration software, will finally be looked into
Table programming is looked for into the DSP Processor being connected with car running computer ECU, you can complete calibration process；
Step (2) car running computer ECU connection DSP Processors, the image collected by DSP Processor to camera are carried out
Processing, so as to judge whether parking enabling is safe, its specific determination methods：
A. car running computer ECU reads CAN data, when car door lock opening and vehicle are in and stop shape
During state, start DSP Processor (starting early warning program), otherwise do not start；If automobile is in dead ship condition and Automobile
Door have locking state, and the time more than setting will trigger enabling of stopping and give warning in advance program；
B.DSP processors read the view data of four-way CCD camera by car running computer ECU, inside DSP Processor
The look-up table demarcated extract in early warning range image (look-up table by images such as Morphology Algorithm, template matches at
Reason technology comes out the image zooming-out for the early warning range that setting is represented in original image, and so as to obtain new image, the image is just
The image in alarm range can be represented)；
C.DSP processors obtain multiframe picture to the image in early warning range within the regular hour, and pass through quiet and secluded difference
Method and other image processing methods identify mobile object, and the relative velocity magnitude with motor racing of interpretation mobile object, together
When judge the position relationship of mobile object and automobile, once mobile object enters early warning range, you can carry out early warning；
The data of detection are sent in car running computer ECU by d.DSP processors in real time, and car running computer ECU believes image
The warning information of breath and DSP Processor is sent in navascreen simultaneously, and driver, picture cues meeting are reminded by picture cues
Different colours and different conditions are used to prompt apart from vehicle body distance according to mobile object.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (4)
1. a kind of parking enabling method for early warning looked around based on four 360 degree of cameras, including automobile all around four direction
On camera, and the car running computer ECU being connected with camera, it is characterised in that specific method is as follows：
Step (1) demarcates accurate early warning range, by the programming of image range look-up table at the DSP being connected with car running computer ECU
Manage in device；
Step (2) car running computer ECU connection DSP Processors, the original image collected by DSP Processor to camera are carried out
Processing, so as to judge whether parking enabling is safe, its specific determination methods：
A. car running computer ECU reads CAN data, when car door lock opening and vehicle are in halted state
When, start DSP Processor, otherwise do not start；If automobile is in dead ship condition and arrangements for automotive doors does not have locking state, exceed
The time of setting will trigger parking enabling and give warning in advance program；
B.DSP processors read the view data of four-way CCD camera by car running computer ECU, by being demarcated inside DSP Processor
Good look-up table extracts the image in early warning range；
C.DSP processors obtain multiframe picture to the image in early warning range within the regular hour, and are by quiet and secluded poor method
Main image processing method identifies mobile object, and the relative velocity magnitude with motor racing of interpretation mobile object, sentences simultaneously
The position relationship of offset animal body and automobile, once mobile object enters early warning range, you can carry out early warning；
The data of detection are sent in car running computer ECU by d.DSP processors in real time, car running computer ECU by image information and
The warning information of DSP Processor is sent in navascreen simultaneously, so as to remind driver.
2. a kind of parking enabling method for early warning looked around based on four 360 degree of cameras according to claim 1, its feature
It is, the scaling method of early warning range in the step (1), car running computer ECU is passed through into netting twine and the pen equipped with calibration software
Remember that this computer connects, it is comprised the following steps that：
A. automobile is reached on the place of spaciousness, lays the calibration point apart from vehicle body 1.5m, automobile respectively on vehicle right and left both sides
The right and left is respectively uniformly distributed four calibration points, and the distance between two calibration points are determined by motor vehicle length；
B. the original image of camera on four direction is obtained using notebook computer, and mouse is used according to prompting in calibration software
Mark marks position of each calibration point in original image respectively；
C. calibration scale is generated by calibration software, image range look-up table is calculated by calibration software, finally by look-up table
Programming is into the DSP Processor being connected with car running computer ECU, you can completes calibration process.
3. a kind of parking enabling method for early warning looked around based on four 360 degree of cameras according to claim 1, its feature
It is, DSP Processor passes through Morphology Algorithm or the image procossing skill of template matches according to look-up table in the step (2)
Art comes out the image zooming-out for the early warning range that setting is represented in original image.
4. a kind of parking enabling method for early warning looked around based on four 360 degree of cameras according to claim 1, its feature
It is, picture cues can use different colours and difference according to mobile object apart from body of a motor car distance in the step (2)
Condition prompting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510932196.2A CN105539289B (en) | 2015-12-14 | 2015-12-14 | A kind of parking enabling method for early warning looked around based on four 360 degree of cameras |
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| CN201510932196.2A CN105539289B (en) | 2015-12-14 | 2015-12-14 | A kind of parking enabling method for early warning looked around based on four 360 degree of cameras |
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| CN105539289A CN105539289A (en) | 2016-05-04 |
| CN105539289B true CN105539289B (en) | 2018-03-06 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6822303B2 (en) * | 2017-04-28 | 2021-01-27 | トヨタ自動車株式会社 | Image display device |
| CN109552315B (en) * | 2017-09-26 | 2022-06-24 | 纵目科技（上海）股份有限公司 | Full-view camera host control system |
| CN108252591A (en) * | 2018-01-22 | 2018-07-06 | 哈尔滨拓博科技有限公司 | A kind of anticollision door device of view-based access control model identification and processing |
| CN108446592A (en) * | 2018-02-08 | 2018-08-24 | 深圳市赛格导航科技股份有限公司 | A kind of method of controlling security of car door, device, mobile unit and storage medium |
| CN109094337A (en) * | 2018-09-28 | 2018-12-28 | 东南（福建）汽车工业有限公司 | A kind of action control automobile power back door system and method based on AVM |
| CN110371140B (en) * | 2019-08-02 | 2021-08-06 | 云度新能源汽车有限公司 | Vehicle door opening early warning system and method based on panoramic all-around image processing |
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| CN105059190A (en) * | 2015-08-17 | 2015-11-18 | 上海交通大学 | Vision-based automobile door-opening bump early-warning device and method |
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| JPS61275022A (en) * | 1985-05-29 | 1986-12-05 | Oki Electric Ind Co Ltd | Half-open door warning device for automobile |
| CN201665184U (en) * | 2010-01-22 | 2010-12-08 | 叶春林 | Safety warning system when opening door of vehicle |
| CN201677807U (en) * | 2010-05-13 | 2010-12-22 | 叶春林 | Vehicle door-opening warning device |
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Effective date of registration: 20221215 Address after: Room 1606, Youte Headquarters Building, No. 88, Xingye Road, Xiangzhou District, Zhuhai City, Guangdong Province, 519000 Patentee after: Zhuhai Daxuan Information Technology Co.,Ltd. Address before: 315700 No. 98 yuan yuan Road, Xiangshan County Economic Development Zone, Ningbo, Zhejiang Patentee before: NINGBO YULAN INFORMATION TECHNOLOGY Co.,Ltd. |