CN107640111A - Automotive vision image processing system and method based on the control of hundred core microprocessors - Google Patents
Automotive vision image processing system and method based on the control of hundred core microprocessors Download PDFInfo
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Abstract
The invention provides a kind of automotive vision image processing system based on the control of hundred core microprocessors and method, the system to include：Data acquisition device and hundred core microprocessors, wherein, the data acquisition device gathers the view data of peripheral vehicle, and image data information is transmitted to hundred core microprocessors；View data includes：The datagraphic information and heat transfer agent of motor vehicle environment；Hundred core microprocessors receive datagraphic information, carry out parallel processing to datagraphic information, generate the panoramic view of peripheral vehicle.By the embodiment of the present invention, system is controlled by hundred core microprocessors, effectively reduces the power consumption of chip, and processor is the parallel utilization rate for performing, can effectively improving system processor and internal memory.
Description
Technical field
The present invention relates to automobile image process field, and in particular to a kind of automotive vision based on the control of hundred core microprocessors
Image processing system and method.
Background technology
As application of the humanized on automobile is more and more ripe, automobile industry is improving constantly the trend of security
Under, vehicle, which needs to integrate increasing peripheral cameras, (to be included：Camera, sensor, data acquisition unit, hardware interface and
Network interface) and intelligent image software processing technology, to realize advanced automobile real time panoramic image processing system, such as track
Deviate warning, collision free, blind spot monitoring, advanced reversing photography, and the vehicle panoramic view with object identification function
System etc..Its main target is that the driving environment of safety is created for vehicle driver, in order to promote the target of this joint development
, the research and development of auto-panorama visual pattern processing system at present, more and more obtain people's concern and pay attention to.
Automobile electronic system is controlled by Single Electron control unit at present, and chip power-consumption is higher, and processor is serially to hold
OK, the utilization rate of system processor and internal memory is low.
The content of the invention
Therefore, the technical problem to be solved in the present invention is to overcome of the prior art by Single Electron control unit control
The defects of system, chip power-consumption is higher, and processor performs to be serial, and the utilization rate of system processor and internal memory is low, so as to provide
A kind of automotive vision image processing system and method based on the control of hundred core microprocessors.
To achieve these goals, the present invention provides a kind of automotive vision image procossing based on the control of hundred core microprocessors
System, including：Data acquisition device and hundred core microprocessors, wherein, the image of the data acquisition device collection peripheral vehicle
Data, and by described image data information transfer to the hundred core microprocessor；Described image data include：The number of motor vehicle environment
According to image information and heat transfer agent；The hundred core microprocessor receives the datagraphic information, to the datagraphic information
Parallel processing is carried out, generates the panoramic view of the peripheral vehicle.
In one embodiment, above-mentioned method also includes：The data acquisition device includes：Camera, sensor, data
Collector, camera are used for the datagraphic information for producing motor vehicle environment；Sensor obtains the sensing of motor vehicle environment
Information；Data acquisition unit gathers the datagraphic information and the heat transfer agent, and by the datagraphic information and described
Heat transfer agent is sent to the hundred core microprocessor.
In one embodiment, hundred above-mentioned core microprocessors generate the step of panoramic view of the peripheral vehicle, including：
According to the True Data image of institute's datagraphic information generation peripheral vehicle；Peripheral vehicle object and action motor track are carried out
3D rendering is calculated, and the True Data image is converted into digital picture, forms the panoramic view of peripheral vehicle.
In one embodiment, the hundred core microprocessor is additionally operable to parallel processing following steps：According to the data image
Information and the heat transfer agent judge whether distance of the automobile in the process of moving with periphery object reaches the first pre-determined distance, when
When the distance of automobile and periphery object reaches first pre-determined distance, alarmed；According to the datagraphic information and institute
State heat transfer agent and judge whether the distance of automobile and lane line reaches the second pre-determined distance, when the distance of automobile and lane line reaches
During second pre-determined distance, alarmed；Other are determined whether according to the datagraphic information and the heat transfer agent
Automobile enters the blind area of the automobile, and is prompted；Automobile is judged according to the datagraphic information and the heat transfer agent
Whether the distance with periphery object in docking process reaches the 3rd pre-determined distance, when the distance of automobile and periphery object reaches institute
When stating three pre-determined distances, alarmed.
In one embodiment, above-mentioned method also includes：Judged according to the datagraphic information and the heat transfer agent
When there are other automobiles to enter blind area, alarmed with the first alarm mode；According to the datagraphic information and the sensing letter
Breath judges the blind area for having other automobiles to enter the automobile, and the automobile opens the steering of the corresponding automobile side into blind area
During lamp, alarmed with the second alarm mode.
The embodiment of the present invention also provides a kind of automotive vision image processing method, including：Obtain the picture number of peripheral vehicle
According to described image data include：The datagraphic information and heat transfer agent of motor vehicle environment；The datagraphic information is carried out simultaneously
Row processing, generate the panoramic view of the peripheral vehicle.
In one embodiment, the panoramic view of the above-mentioned generation peripheral vehicle, including：Believed according to the data image
The True Data image of breath generation peripheral vehicle；3D rendering calculating is carried out to peripheral vehicle object and action motor track, by institute
State True Data image and be converted into digital picture, form the panoramic view of peripheral vehicle.
In one embodiment, above-mentioned automotive vision image processing method also includes：The following steps performed parallel：According to
The datagraphic information and the heat transfer agent judge whether automobile reaches with the distance of periphery object in the process of moving
One pre-determined distance, when the distance of automobile and periphery object reaches first pre-determined distance, alarmed；According to the data
Image information and the heat transfer agent judge whether the distance of automobile and lane line reaches the second pre-determined distance, when automobile and track
When the distance of line reaches second pre-determined distance, alarmed；Sentenced according to the datagraphic information and the heat transfer agent
The disconnected blind area for whether thering are other automobiles to enter the automobile, and prompted；According to the datagraphic information and the sensing
Information judges whether distance of the automobile with periphery object in docking process reaches the 3rd pre-determined distance, when automobile and periphery object
Distance when reaching three pre-determined distance, alarmed.
In one embodiment, it is above-mentioned that other vapour are determined whether according to the datagraphic information and the heat transfer agent
Car enters the blind area of the automobile, and is prompted, including：Judge have according to the datagraphic information and the heat transfer agent
When other automobiles enter blind area, alarmed with the first alarm mode；According to the datagraphic information and the heat transfer agent
Judge the blind area for there are other automobiles to enter the automobile, and the automobile opens the steering indicating light of the corresponding automobile side into blind area
When, alarmed with the second alarm mode.
The beneficial effect of the embodiment of the present invention is, passes through the structure of the embodiment of the present invention, automotive vision image procossing mistake
Journey is controlled by hundred core microprocessors, effectively reduces the power consumption of chip, and processor performs to be parallel, can effectively improve system
The utilization rate of processor and internal memory.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is one of the automotive vision image processing system based on hundred core microprocessors in the embodiment of the present invention 1 specific
The structural representation of example；
Fig. 2 is the structural representation of a specific example of data acquisition device in the embodiment of the present invention 1；
Fig. 3 A are another tool of the automotive vision image processing system based on hundred core microprocessors in the embodiment of the present invention 1
The structural representation of body example；
Fig. 3 B are the system interface of the automotive vision image processing system based on hundred core microprocessors in the embodiment of the present invention 1
With the schematic diagram of operation display interface；
Fig. 4 is the partial schematic diagram of a specific framework of hundred core microprocessors in the embodiment of the present invention 1；
Fig. 5 is the flow chart of a specific example of automotive vision image processing method in the embodiment of the present invention 2.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It is be combined with each other into conflict can.
Embodiment 1
The embodiment of the present invention provides a kind of automotive vision image processing system controlled with hundred core microprocessors, such as Fig. 1 institutes
Show, the automotive vision image processing system mainly includes：Core microprocessor 2 of data acquisition device 1 and hundred etc..
Wherein, above-mentioned data acquisition device 1 gathers the view data of peripheral vehicle, and by image data information transmit to
Hundred core microprocessors 2；The view data mainly includes：The datagraphic information of motor vehicle environment and heat transfer agent etc..
The hundred core microprocessor 2 receives datagraphic information, and parallel processing, generation automobile week are carried out to datagraphic information
The panoramic view on side.
The automotive vision image processing system based on the control of hundred core microprocessors of the embodiment of the present invention, by hundred core microprocessors
Device 2 controls automotive vision image processing process, effectively reduces the power consumption of chip, and processor performs to be parallel, can be effective
Improve the utilization rate of system processor and internal memory.
Below in conjunction with specific example, the automotive vision image procossing controlled the core microprocessor of use hundred of the embodiment of the present invention
The each part and its function of system elaborate.
Above-mentioned data acquisition device 1 gathers the view data of peripheral vehicle, and image data information is transmitted to hundred cores
Microprocessor 2；View data includes：The datagraphic information and heat transfer agent of motor vehicle environment.
Specifically, as shown in Fig. 2 above-mentioned data acquisition device 1 includes：Camera 101, sensor 102, data acquisition
Device 103, wherein, camera 101 is used for the datagraphic information for producing motor vehicle environment, and sensor 102 is used to obtain automobile
Around the heat transfer agent, data acquisition unit 103 is used to gather the datagraphic information and the heat transfer agent, and by institute
State datagraphic information and the heat transfer agent is sent to the hundred core microprocessor.
In a preferred embodiment, as shown in Fig. 3 A and Fig. 3 B, above-mentioned camera 101 may particularly include：Preceding camera
301st, rear camera 302, left camera 303 and right camera 304, and it is correspondingly arranged on sensing with above-mentioned each camera
Device, data acquisition unit and various interfaces.
In the specific implementation, the interface of the automotive vision image processing system and operation interface can be such as Fig. 3 A and Fig. 3 B institutes
Show, wherein, including：Touch display screen 305, display distance window 306, power lights 307, SD card socket 308, power interface 309,
Loudspeaker 310, USB interface 311, video camera entrance 312, alarm lamp 313, touch button 314 etc..Wherein, touch display screen 305 is used
Panoramic view around display automobile；Display distance window 306 is used for display automobile and the distance of barrier or lane line；Electricity
Source lamp 307 is used for the state for showing automotive vision image processing system access power supply；SD card socket 308, which is used to insert to be used as, to be deposited
The SD card of storage media；Power interface 309 is used to access power line, and power supply is provided for whole system；Loudspeaker 310 are used for driver
Sound is sent to be prompted；USB interface 311 is used for the USB interface for accessing PnP device；In the access of video camera entrance 312
The camera for the different azimuth stated；Alarm lamp 313 is used to show different alarm conditions (for example, normal condition shows green light, needed
Alert condition shows that amber light, emergency show red light etc.)；Touch button 314 can include a variety of buttons, such as correspond to each orientation
The button of camera, for switching the panoramic view of all directions；Trigger the button of camera " photograph or video recording " function；Play
Camera records broadcast button of video content etc., and the present invention is not limited thereto.
Hundred above-mentioned core microprocessors 2, datagraphic information is received, parallel processing, generation are carried out to datagraphic information
The panoramic view of peripheral vehicle.
In actual applications, hundred above-mentioned core microprocessors 2 can be hx3100TMMicroprocessor, as shown in figure 4, in it
Have 100 processing units (PE) 401, the milliwatt of total power consumption 25 to 2.5 watts, processor be encapsulated in one 27 millimeters, 984 pins, 0.8
In the encapsulation of millimeter spacing；100 processing units (PE) array is divided into four quadrants, respectively power quadrant number be 0,1,2,
With 3；Each PE has 4kb program storages, 500MHz clock variable, 8,16, nx16 integers, 32 floating-point operations, 50,000
(million instructions per second) and the 50 of 50 accumulating operations, 32 floating-point operations and 15 (gigabit per second time floating-point operations)；Place
Reason device in also have 121 Data Memory Routers DMR 402, each DMR have 8kb data storages, 8 independent DMA engines,
Data storage total amount configuration 968kb, can real time algorithm topology, high velocity neighbor communication, at a high speed across chip communication and autonomous number
According to movement；Have in processor 16 High Speed Is/O routers passage 403,2 kind of -4 passage of data rate (32 giga bits per second) and
8 passages (64 giga bits per second), 2 kind of -8 passage of LVDS (Low Voltage Differential Signal) (64 giga bits per second) and 12 passages (96
Giga bits per second), CMOS have 2 kind of -6 passage (12 giga bits per second) and 12 passages (24 giga bits per second), per second same
Walk 2 kind of -104 gigabit and 168 gigabits；It may have access to the chip external memory of 64 gigabits.
It should be noted that the model and its Inner Constitution of hundred above-mentioned core microprocessors 2, by way of example only, and simultaneously
It is not used to the limitation present invention.
In the automotive vision image processing system of the embodiment of the present invention, using the low-power consumption of hundred core microprocessors 2,100
Function and the features such as processing unit, more I/O passages, by (being included to the vehicle carried data collecting device 1 of automobile all around：Take the photograph
As head, sensor, data acquisition unit, hardware interface and network interface) datagraphic information of production, carry out it is true and effectively
3D (three-dimensional) image, parallel processing and parallel computation, so as to form the panoramic view data image of vehicle's surroundings and be shown on screen.
It can help driver in normally travel, track is kept, blind area monitoring, park/stop etc. during, clearly check vehicle-surroundings
With the presence or absence of barrier either statically or dynamically, and understand the either statically or dynamically position of barrier and vehicle (display screen) and distance
(display distance window).
In a preferred embodiment, hundred core microprocessors 2 of the embodiment of the present invention are located parallel to automotive vision image
Reason and the process of parallel computation mainly include the following steps that：
Step S1：Distance of the automobile in the process of moving with periphery object is judged according to datagraphic information and heat transfer agent
Whether reach the first pre-determined distance, when the distance of automobile and periphery object reaches the first pre-determined distance, alarmed；
Step S2：It is pre- to judge whether the distance of automobile and lane line reaches second according to datagraphic information and heat transfer agent
If distance, when the distance of automobile and lane line reaches the second pre-determined distance, alarmed；
Step S3：Determine whether that other automobiles enter the blind area of automobile according to datagraphic information and heat transfer agent, and
Prompted；
Step S4：Distance of the automobile with periphery object in docking process is judged according to datagraphic information and heat transfer agent
Whether reach the 3rd pre-determined distance, when the distance of automobile and periphery object reaches three pre-determined distances, alarmed.
Wherein, above-mentioned steps S1 is used in vehicle traveling process, being monitored to the vehicle condition of peripheral vehicle.
In a preferred embodiment, vehicle, can be by being monitored, to drive in normally travel to the vehicle of peripheral vehicle
The person of sailing provides auxiliary prompting function.For driver when being travelled on expressway or urban road, the speed of vehicle is mainly including following
It is several：The first is that 10km/h to 30km/h category is run at a low speed；Second is that 60km/h to 90km/h belongs to economic speed per hour traveling；The
Three kinds are 100km/h to 120km/h category fast runnings.
Driver is when the first is to the third situation downward driving, as vehicle (front side, rear side, left side, right side) runs into row
When people, object (static or movable), either statically or dynamically object and the vehicle action of vehicle-surroundings are generated by hundred core microprocessors 2
3D (three-dimensional) image of track, and combine the 3D rendering, is monitored to the situation of vehicle-surroundings, when vehicle and periphery people or
When object distance is nearer, alarming horn ring is added to remind driver by the display window of display screen.Specifically adopted from data
Depending on acquisition means 1 (front side, rear side, left side, right side) to object (static or movable) relative distance, green light is indicated under normal circumstances
Chang Liang；Current data acquisition device 1 is at a distance of people and 50 meters of object (static or movable), rear data acquisition device 1 at a distance of 20 meters, a left side
Right data acquisition device 1 at a distance of 5 meters when, it is necessary to open alarming horn and yellow indicator lamp, distance nearlyer (display window) is alarmed
Sound is very briefer；(display window) instruction red light Chang Liang, the frequency conversion of alarming horn sound disappear during apart from a distance of 0 meter.
Wherein, above-mentioned steps S2 is used in vehicle traveling process, being monitored to the distance of automobile and lane line.
In a preferred embodiment, vehicle, can be by the monitoring to vehicle and lane line distance, to drive in normally travel
The person of sailing provides auxiliary prompting.When vehicle is travelled in speed per hour 60km/h between 120km/h, indicate that green light is normal under normal circumstances
It is bright.If vehicle has driven to the lane line monitored close to (such as distance of the vehicle away from both sides lane line be less than 0.5 meter when)
When (driver not use corresponding steering indicating light), alarming horn and instruction amber light should be opened.Crossing lane line when vehicle should send out
Go out instruction blinking red lamp and the warning of alarming horn ring of deviation.If left side, right side data acquisition device 1 are acquired
Left and right steering indicating light has been played to driver, has avoided the need for sending instruction blinking red lamp and the police of alarming horn ring of deviation
Accuse.
In actual applications, when vehicle traveling is in highway or urban road, if road is without track or road
Middle a certain section without track when, this function can temporary close, wait restarts when having track.
Wherein, above-mentioned steps S3 is used in vehicle traveling process, being monitored to the vehicle condition of vehicle blind zone.
In a preferred embodiment, vehicle is in normally travel, can by being monitored to the vehicle condition of vehicle blind zone,
Auxiliary prompting function is provided for driver.Vehicle travel when speed per hour 60km/h is between 120km/h, its left and right sides 3 meters, after
The region of 3 to 5 meters of side, the vision dead zone easily formed on exterior mirror, and potential danger is caused to vehicle, it is therefore desirable to
Monitoring vehicle road in the rear situation in real time, green light Chang Liang is indicated under normal circumstances.During rear, left side, 3 meters to 5 meters of right side,
Data acquisition device 1 monitor rear, left side, right side of automobile etc. have vehicle blind area or close to drive towards blind area when, it is corresponding
Alarming horn and instruction amber light are opened；If data acquisition device 1 monitors that rear, left side, right side of automobile etc. have vehicle to exist
Blind area or close to driving towards blind area, and be arranged at rear view of vehicle, left side, the data acquisition device 1 on right side collect driver and beaten
Open be corresponding with vehicle blind area or close to drive towards blind area side steering indicating light when, send at once instruction red light continuously flicker and it is very brief
Alarming horn sound, as reminding the strong warning that not turn to of driver.
Wherein, above-mentioned steps S4 is for being monitored in automobile parking/parking to the vehicle condition on periphery.
In a preferred embodiment, vehicle, can be by being monitored, to drive in normally travel to parking of automobile situation
Person provides auxiliary prompting function.When driver drives to parking lot or parking area, set by vehicle left side, right side and rear
The image information around the collection vehicle of data acquisition device 1 put, including parking spot, stopway and this vehicle left side, right side
Object (static or movable) below etc., through vehicle movement track and static and dynamic object calculating, the image letter of collection
Breath is truly shown on a display screen.When this vehicle and left side, right side object (static or movable) are between 0.5 to 1.5 meter
When (display window), alarming horn ring simultaneously indicates blinking red lamp, and the nearlyer alarm of distance is very briefer and indicates blinking red lamp more
Frequently, at a distance of 0 meter when (display window) instruction red light Chang Liang, the frequency conversion of alarming horn sound disappear.When the data acquisition that rear is set
, it is necessary to from data acquisition device 1 to object (static or movable) phase during object (static or movable) behind the collection vehicle of device 1
Start alarming horn ring away from 2.0 meters (display window) and indicate blinking red lamp, the nearlyer alarm of distance is very briefer and indicates red
Lamp flicker it is more frequent, at a distance of 0 meter when (display window) instruction red light Chang Liang, the frequency conversion of alarming horn sound disappear.
It should be noted that during above-mentioned, for the concrete numerical value limited with each camera distance, it is only
For example, can be adjusted according to being actually needed, the present invention is not limited thereto.
Embodiment 2
The embodiment of the present invention provides a kind of automotive vision image processing method, as shown in figure 5, the automotive vision image procossing
Method mainly includes the following steps that：
Step S501：Obtain the view data of peripheral vehicle.Wherein, the view data mainly includes：The number of motor vehicle environment
According to image information and heat transfer agent；
Step S502：Parallel processing is carried out to datagraphic information, generates the panoramic view of peripheral vehicle.
In one embodiment, above-mentioned automotive vision figure can be performed using the hundred core microprocessors of above-described embodiment 1
As processing method, by (being included to the vehicle-mounted vidicon of automobile all around：Camera, sensor, data acquisition unit, hardware
Interface and network interface) production datagraphic information, carry out true and effectively 3D (three-dimensional) image, parallel processing and parallel
Calculate, so as to form the panoramic view data image of vehicle's surroundings and be shown on screen.It can help driver in normally travel, car
Road is kept, blind area monitoring, park/stop etc. during, clearly check vehicle-surroundings with the presence or absence of barrier either statically or dynamically,
And understand either statically or dynamically the position of barrier and vehicle (display screen) and distance (display distance window).
In a preferred embodiment, the process of parallel processing and parallel computation carried out to automotive vision image mainly include with
Lower step：
Step S1：Distance of the automobile in the process of moving with periphery object is judged according to datagraphic information and heat transfer agent
Whether reach the first pre-determined distance, when the distance of automobile and periphery object reaches the first pre-determined distance, alarmed；
Step S2：It is pre- to judge whether the distance of automobile and lane line reaches second according to datagraphic information and heat transfer agent
If distance, when the distance of automobile and lane line reaches the second pre-determined distance, alarmed；
Step S3：Determine whether that other automobiles enter the blind area of automobile according to datagraphic information and heat transfer agent, and
Prompted；
Step S4：Distance of the automobile with periphery object in docking process is judged according to datagraphic information and heat transfer agent
Whether reach the 3rd pre-determined distance, when the distance of automobile and periphery object reaches three pre-determined distances, alarmed.
Wherein, above-mentioned steps S1 is used in vehicle traveling process, being monitored to the vehicle condition of peripheral vehicle.
In a preferred embodiment, vehicle, can be by being monitored, to drive in normally travel to the vehicle of peripheral vehicle
The person of sailing provides auxiliary prompting function.For driver when being travelled on expressway or urban road, the speed of vehicle is mainly including following
It is several：The first is that 10km/h to 30km/h category is run at a low speed；Second is that 60km/h to 90km/h belongs to economic speed per hour traveling；The
Three kinds are 100km/h to 120km/h category fast runnings.
Driver is when the first is to the third situation downward driving, as vehicle (front side, rear side, left side, right side) runs into row
When people, object (static or movable), either statically or dynamically object and the vehicle action of vehicle-surroundings are generated by hundred core microprocessors 2
3D (three-dimensional) image of track, and combine the 3D rendering, is monitored to the situation of vehicle-surroundings, when vehicle and periphery people or
When object distance is nearer, alarming horn ring is added to remind driver by the display window of display screen.Specifically adopted from data
Depending on acquisition means 1 (front side, rear side, left side, right side) to object (static or movable) relative distance, green light is indicated under normal circumstances
Chang Liang；Current data acquisition device 1 is at a distance of people and 50 meters of object (static or movable), rear data acquisition device 1 at a distance of 20 meters, a left side
Right data acquisition device 1 at a distance of 5 meters when, it is necessary to open alarming horn and yellow indicator lamp, distance nearlyer (display window) is alarmed
Sound is very briefer；(display window) instruction red light Chang Liang, the frequency conversion of alarming horn sound disappear during apart from a distance of 0 meter.
Wherein, above-mentioned steps S2 is used in vehicle traveling process, being monitored to the distance of automobile and lane line.
In a preferred embodiment, vehicle, can be by the monitoring to vehicle and lane line distance, to drive in normally travel
The person of sailing provides auxiliary prompting.When vehicle is travelled in speed per hour 60km/h between 120km/h, indicate that green light is normal under normal circumstances
It is bright.If vehicle has driven to the lane line monitored close to (such as distance of the vehicle away from both sides lane line be less than 0.5 meter when)
When (driver not use corresponding steering indicating light), alarming horn and instruction amber light should be opened.Crossing lane line when vehicle should send out
Go out instruction blinking red lamp and the warning of alarming horn ring of deviation.If left side, right side data acquisition device 1 are acquired
Left and right steering indicating light has been played to driver, has avoided the need for sending instruction blinking red lamp and the police of alarming horn ring of deviation
Accuse.
In actual applications, when vehicle traveling is in highway or urban road, if road is without track or road
Middle a certain section without track when, this function can temporary close, wait restarts when having track.
Wherein, above-mentioned steps S3 is used in vehicle traveling process, being monitored to the vehicle condition of vehicle blind zone.
In a preferred embodiment, vehicle is in normally travel, can by being monitored to the vehicle condition of vehicle blind zone,
Auxiliary prompting function is provided for driver.Vehicle travel when speed per hour 60km/h is between 120km/h, its left and right sides 3 meters, after
The region of 3 to 5 meters of side, the vision dead zone easily formed on exterior mirror, and potential danger is caused to vehicle, it is therefore desirable to
Monitoring vehicle road in the rear situation in real time, green light Chang Liang is indicated under normal circumstances.During rear, left side, 3 meters to 5 meters of right side,
Data acquisition device 1 monitor rear, left side, right side of automobile etc. have vehicle blind area or close to drive towards blind area when, it is corresponding
Alarming horn and instruction amber light are opened；If data acquisition device 1 monitors that rear, left side, right side of automobile etc. have vehicle to exist
Blind area or close to driving towards blind area, and be arranged at rear view of vehicle, left side, the data acquisition device 1 on right side collect driver and beaten
Open be corresponding with vehicle blind area or close to drive towards blind area side steering indicating light when, send at once instruction red light continuously flicker and it is very brief
Alarming horn sound, as reminding the strong warning that not turn to of driver.
Wherein, above-mentioned steps S4 is for being monitored in automobile parking/parking to the vehicle condition on periphery.
In a preferred embodiment, vehicle, can be by being monitored, to drive in normally travel to parking of automobile situation
Person provides auxiliary prompting function.When driver drives to parking lot or parking area, set by vehicle left side, right side and rear
The image information around the collection vehicle of data acquisition device 1 put, including parking spot, stopway and this vehicle left side, right side
Object (static or movable) below etc., through vehicle movement track and static and dynamic object calculating, the image letter of collection
Breath is truly shown on a display screen.When this vehicle and left side, right side object (static or movable) are between 0.5 to 1.5 meter
When (display window), alarming horn ring simultaneously indicates blinking red lamp, and the nearlyer alarm of distance is very briefer and indicates blinking red lamp more
Frequently, at a distance of 0 meter when (display window) instruction red light Chang Liang, the frequency conversion of alarming horn sound disappear.When the data acquisition that rear is set
, it is necessary to from data acquisition device 1 to object (static or movable) phase during object (static or movable) behind the collection vehicle of device 1
Start alarming horn ring away from 2.0 meters (display window) and indicate blinking red lamp, the nearlyer alarm of distance is very briefer and indicates red
Lamp flicker it is more frequent, at a distance of 0 meter when (display window) instruction red light Chang Liang, the frequency conversion of alarming horn sound disappear.
It should be noted that during above-mentioned, for the concrete numerical value limited with each camera distance, it is only
For example, can be adjusted according to being actually needed, the present invention is not limited thereto.
Obviously, above-described embodiment is only intended to clearly illustrate example, and is not the restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (9)
- A kind of 1. automotive vision image processing system based on hundred core microprocessors, it is characterised in that including：Data acquisition device With hundred core microprocessors, wherein,The view data of data acquisition device collection peripheral vehicle, and by described image data information transfer to hundred core Microprocessor；Described image data include：The datagraphic information and heat transfer agent of motor vehicle environment；The hundred core microprocessor receives the datagraphic information, and parallel processing, generation are carried out to the datagraphic information The panoramic view of the peripheral vehicle.
- 2. the automotive vision image processing system according to claim 1 based on hundred core microprocessors, it is characterised in that institute Stating data acquisition device includes：Camera, sensor, data acquisition unit, wherein：Camera is used for the datagraphic information for producing motor vehicle environment；Sensor obtains the heat transfer agent of motor vehicle environment；Data acquisition unit gathers the datagraphic information and the heat transfer agent, and by the datagraphic information and the biography Information transmission is felt to the hundred core microprocessor.
- 3. the automotive vision image processing system according to claim 2 based on hundred core microprocessors, it is characterised in that institute The step of hundred core microprocessors generate the panoramic view of the peripheral vehicle is stated, including：The True Data image of peripheral vehicle is generated according to the datagraphic information；3D rendering calculating is carried out to peripheral vehicle object and action motor track, the True Data image is converted into digitized map Picture, form the panoramic view of peripheral vehicle.
- 4. the automotive vision image processing system according to claim 1 based on hundred core microprocessors, it is characterised in that institute State hundred core microprocessors and be additionally operable to parallel processing following steps：Judge that distance of the automobile in the process of moving with periphery object is according to the datagraphic information and the heat transfer agent It is no to reach the first pre-determined distance, when the distance of automobile and periphery object reaches first pre-determined distance, alarmed；It is default to judge whether the distance of automobile and lane line reaches second according to the datagraphic information and the heat transfer agent Distance, when the distance of automobile and lane line reaches second pre-determined distance, alarmed；Determine whether that other automobiles enter the blind area of the automobile according to the datagraphic information and the heat transfer agent, and Prompted；Judge that distance of the automobile with periphery object in docking process is according to the datagraphic information and the heat transfer agent It is no to reach the 3rd pre-determined distance, when the distance of automobile and periphery object reaches three pre-determined distance, alarmed.
- 5. the automotive vision image processing system according to claim 4 based on hundred core microprocessors, it is characterised in that root Determine whether that other automobiles enter the blind area of the automobile according to the datagraphic information and the heat transfer agent, and carried Show, including：When judging to have other automobiles enter blind area according to the datagraphic information and the heat transfer agent, with the first alarm mode Alarmed；The blind area for judging to there are other automobiles to enter the automobile according to the datagraphic information and the heat transfer agent, and it is described When automobile opens the steering indicating light of the corresponding automobile side for entering blind area, alarmed with the second alarm mode.
- A kind of 6. automotive vision image processing method, it is characterised in that including：The view data of peripheral vehicle is obtained, described image data include：The datagraphic information and heat transfer agent of motor vehicle environment；Parallel processing is carried out to the datagraphic information, generates the panoramic view of the peripheral vehicle.
- 7. automotive vision image processing method according to claim 6, it is characterised in that the generation peripheral vehicle Panoramic view, including：The True Data image of peripheral vehicle is generated according to the datagraphic information；3D rendering calculating is carried out to peripheral vehicle object and action motor track, the True Data image is converted into digitized map Picture, form the panoramic view of peripheral vehicle.
- 8. automotive vision image processing method according to claim 6, it is characterised in that also include：Perform parallel with Lower step：Judge that distance of the automobile in the process of moving with periphery object is according to the datagraphic information and the heat transfer agent It is no to reach the first pre-determined distance, when the distance of automobile and periphery object reaches first pre-determined distance, alarmed；It is default to judge whether the distance of automobile and lane line reaches second according to the datagraphic information and the heat transfer agent Distance, when the distance of automobile and lane line reaches second pre-determined distance, alarmed；Determine whether that other automobiles enter the blind area of the automobile according to the datagraphic information and the heat transfer agent, and Prompted；Judge that distance of the automobile with periphery object in docking process is according to the datagraphic information and the heat transfer agent It is no to reach the 3rd pre-determined distance, when the distance of automobile and periphery object reaches three pre-determined distance, alarmed.
- 9. automotive vision image processing method according to claim 8, it is characterised in that according to the datagraphic information And the heat transfer agent determines whether that other automobiles enter the blind area of the automobile, and prompted, including：When judging to have other automobiles enter blind area according to the datagraphic information and the heat transfer agent, with the first alarm mode Alarmed；The blind area for judging to there are other automobiles to enter the automobile according to the datagraphic information and the heat transfer agent, and it is described When automobile opens the steering indicating light of the corresponding automobile side for entering blind area, alarmed with the second alarm mode.
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